Blar i Institutt for teknisk kybernetikk på forfatter "Paliotta, Claudio"
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Control of Under-actuated Marine Vehicles
Paliotta, Claudio (Doctoral theses at NTNU;2017:240, Doctoral thesis, 2017)In this dissertation, various topics related to control problems for under-actuated marine vehicles are investigated. The thesis is divided into three parts. The first part deals with the source-seeking problem for ... -
Cooperative Control of Formations of Underwater Vehicles
Matous, Josef (Doctoral theses at NTNU;NTNU, 2023:347, Doctoral thesis, 2023)This thesis investigates various control algorithms for marine vehicles. Most of the algorithms proposed in the thesis address the formation path-following problem for a fleet of underactuated autonomous underwater vehicles, ... -
Distributed MPC for Formation Path-Following of Multi-Vehicle Systems
Matous, Josef; Varagnolo, Damiano; Pettersen, Kristin Ytterstad; Paliotta, Claudio (Peer reviewed; Journal article, 2022)The paper considers the problem of formation path-following of multiple vehicles and proposes a solution based on combining distributed model predictive control with parametrizations of the trajectories of the vehicles ... -
Incremental Self-Deployment of Multi-Agent Networks in Unknown Environments
Berdal, Magnus (Master thesis, 2021)Utrykkningspersonell i søk- og redningsoperasjoner utsetter seg ofte for ukjente og farlige miljøer. Med den økende kapasiteten til mikrodroner og andre mobile robot-teknologier, kan noen av risikoene utrykkningspersonell ... -
Incremental self-deployment using virtual potential fields
Lone, Erlend (Master thesis, 2021)Denne avhandlingen undersøker hvordan mikrodroner kan trinnvis bli sendt inn i et ukjent område for å muliggjøre lokalisering av førsterespondere. Førsterespondere er de første som entrer et katastrofeområde og setter sine ... -
Observer based path following for underactuated marine vessels in the presence of ocean currents: A global approach
Belleter, Dennis Johannes Wouter; Maghenem, Mohamed; Paliotta, Claudio; Pettersen, Kristin (Journal article; Peer reviewed, 2019)In this paper a solution to the problem of following a curved path in the presence of a constant unknown ocean current disturbance is presented. We introduce a path variable that represents the curvilinear abscissa on the ... -
Observer Based Path Following for Underactuated Marine Vessels in the Presence of Ocean Currents: A Local Approach
Maghenem, Mohamed; Belleter, Dennis Johannes Wouter; Paliotta, Claudio; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2017)In this article a solution to the problem of following a curved path in the presence of a constant unknown ocean current disturbance is presented. The path is parametrised by a path variable that is used to propagate a ... -
Path Planning for Formation Control of Autonomous Vehicles
Paliotta, Claudio; Xidias, Elias K.; Aspragathos, Nikos A.; Pettersen, Kristin Ytterstad (Chapter, 2016)In this paper a two-stage approach is introduced for optimum path planning of a team of autonomous vehicles in an environment cluttered with obstacles. The vehicles are requested to move in formation from an initial point ... -
Singularity-free Formation Path Following of Underactuated AUVs
Matous, Josef; Pettersen, Kristin Ytterstad; Varagnolo, Damiano; Paliotta, Claudio (Journal article; Peer reviewed, 2023)This paper proposes a method for formation path following control of a fleet of underactuated autonomous underwater vehicles. The proposed method combines several hierarchic tasks in a null space-based behavioral algorithm ... -
Source Seeking With a Variable Leader Multi-Agent Fixed Topology Network
Paliotta, Claudio; Pettersen, Kristin Ytterstad (Chapter, 2015)In this paper a source seeking method for multi-agent systems organized with the Leader-Follower scheme is studied. Our objective is to develop a controller for the headings of the agents. The group of agents is characterized ... -
Trajectory Tracking and Path Following for Underactuated Marine Vehicles
Paliotta, Claudio; Lefeber, Erjen; Pettersen, Kristin Ytterstad; Pinto, José; Costa, Maria; Borgesde de Sousa, João Tasso de Figueiredo (Journal article; Peer reviewed, 2018)In this paper, we present a control strategy for trajectory tracking and path following of generic paths for underactuated marine vehicles. Our work is inspired and motivated by previous works on ground vehicles. In ...