Tesi di Dottorato
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Item Mobile robots:localization and mapping alogorithms(2013-11-27) D'Alfonso, Luigi; Greco, Sergio; Muraca, Pietro; Garone, EmanueleIn recent years, mobile robots start to be very often used in various applications involving home automation, planetary exploration, regions surveillance, rescue missions, ruins exploration. In all these elds, to accomplish its tasks, a mobile robot needs to navigate into an environment facing the localization, mapping and path planning problems. In this thesis a set of new algorithms to solve the mobile robots localization and mapping problems are proposed. The aim is to provide an accurate mobile robot estimated pose and to build a reliable map for the environment where the robot moves, ensuring algorithms computational costs low enough so that the algorithms can be used in real time, while the robot is moving. The localization problem is faced in static and dynamic contexts, assuming the environment surrounding the robot completely known, partially known or totally unknown. In the static context, localization algorithms based on the use of cameras and inertial measurement units are proposed. In the dynamic context, the mobile robots localization problem is solved by developing a set of new Kalman lter versions. About the mapping problem, two novel mapping models are de- ned. These models are used along with the proposed localization techniques to develop three algorithms able to solve the Simultaneous Localization and Mapping (SLAM) problem. All the proposed solutions are tested through numerical simulations and experimental tests in a real environment and using a real mobile robot. The results show the e ectiveness of the proposed algorithms, encouraging further researches.Item Getting knowledge from presentation‐oriented documents(2014-03-10) Oro,Ermelinda; Saccà,Domenico; Ruffolo,Massimo; Palopoli,LuigiItem Service-Oriented workflows for distributed data mining applications(2014-03-07) Lackovic,Marco; Talia,Domenico; Palopoli,LuigiItem Tools and methods for engine control systems development and validation(2014-03-07) De Cristofaro,Ferdinando; Casavola,Alessandro; Palopoli,LuigiItem Metodi di rilevazione ed isolamento guasti per sistemi LPV ed ibridi(2014-03-07) Gagliardi,Gianfranco; Casavola,Alessandro; Palopoli,Luigi; Famularo,DomenicoItem Data mining techniques for fraud detection(2014-03-07) Guarascio, Massimo; Saccà, Domenico; Manco, Giuseppe; Palopoli, LuigiItem Model predictive control schemes for linear parameter varying systems(2014-03-03) Garone,Emanuele; Talia,Domenico; Casavola,AlessandroThis dissertation presents several contributions inherently the control of con- strained Linearly Parameter Varying (LPV) systems. First the basic analysis and synthesis tools needed to deal with the class of LPV systems are carried out and introduced. Some novel results are given, especially for what regards the use of scheduled control laws and stability conditions for LPV with slow parameter variations. Then we moved on the problem of constrained control. Several new constrained stabilization results are proposed here for the first time and improvements in the procedures to build-up time-variant strategies able to deal with constrained LPV system are given. Moreover a new particular kind of control strategy based on the idea of exploiting the prediction set structure is introduced here for the first time in the LPV framework. It has been pointed out in which way those approaches can be arranged within Model Predictive Control (MPC) schemes to more efficiently deal with constrained LPV systems and two new fast-MPC algorithms for LPV system have been proposed. In this thesis some attention has been given to the analysis of LPV systems with slow parameter variations and some preliminary results are reported. Such a class of systems has many potentials but, due to the ”hidden” nonlinearities it introduces, it is still not well understood and would deserves further careful investigations.