Search Results - "Frego, Marco"

Non-Orthogonal Serret–Frenet Parametrization Applied to Path Following of B-Spline Curves by a Mobile Manipulator by Dyba, Filip, Frego, Marco

“…A tool for path following for a mobile manipulator is herein presented. The control algorithm is obtained by projecting a local frame associated with the robot…”
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Volume-Preserving Shear Transformation of an Elliptical Slant Cone to a Right Cone by Frego, Marco, Consonni, Cristian

“…One nappe of a right circular cone, cut by a transverse plane, splits the cone into an infinite frustum and a cone with an elliptical section of finite volume…”
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A Non-Smooth Numerical Optimization Approach to the Three-Point Dubins Problem (3PDP) by Piazza, Mattia, Bertolazzi, Enrico, Frego, Marco

“…This paper introduces a novel non-smooth numerical optimization approach for solving the Three-Point Dubins Problem (3PDP). The 3PDP requires determining the…”
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Model Predictive Control-Based Reinforcement Learning Using Expected Sarsa by MoradiMaryamnegari, Hoomaan, Frego, Marco, Peer, Angelika

“…Recent studies have shown the potential of Reinforcement Learning (RL) algorithms in tuning the parameters of Model Predictive Controllers (MPC), including the…”
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Closed form parametrisation of 3D clothoids by arclength with both linear varying curvature and torsion by Frego, Marco

“…The extension from the planar case to three dimensions of the clothoid curve (Euler spiral) is herein presented, that is, a curve parametrised by arc length,…”
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Interpolating clothoid splines with curvature continuity by Bertolazzi, Enrico, Frego, Marco

“…An efficient algorithm for the computation of a C2 interpolating clothoid spline is herein presented. The spline is obtained following an optimisation process,…”
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Semianalytical minimum‐time solution for the optimal control of a vehicle subject to limited acceleration by Bertolazzi, Enrico, Frego, Marco

“…Summary A semianalytic solution of the minimum‐time optimal control problem of a carlike vehicle is herein presented. The vehicle is subject to the effect of…”
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Semi-analytical minimum time solutions with velocity constraints for trajectory following of vehicles by Frego, Marco, Bertolazzi, Enrico, Biral, Francesco, Fontanelli, Daniele, Palopoli, Luigi

“…We consider the problem of finding an optimal manoeuvre that moves a car-like vehicle between two configurations in minimum time. We propose a two phase…”
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A Note on Robust Biarc Computation by Bertolazzi, Enrico, Frego, Marco

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A Markovian model for the spread of the SARS-CoV-2 virus by Palopoli, Luigi, Fontanelli, Daniele, Frego, Marco, Roveri, Marco

“…We propose a Markovian stochastic approach to model the spread of a SARS-CoV-2-like infection within a closed group of humans. The model takes the form of a…”
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Point data reconstruction and smoothing using cubic splines and clusterization by Bertolazzi, Enrico, Frego, Marco, Biral, Francesco

“…An algorithm to smooth a sequence of noisy data in Rd with cubic polynomials is herein presented. The data points are assumed to be sequentially ordered, with…”
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A new Markov–Dubins hybrid solver with learned decision trees by Consonni, Cristian, Brugnara, Martin, Bevilacqua, Paolo, Tagliaferri, Anna, Frego, Marco

“…In this paper, the applicability of machine learning models and techniques to the Markov–Dubins path planning problem have been explored. Machine learning…”
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Efficient intersection between splines of clothoids by Bertolazzi, Enrico, Bevilacqua, Paolo, Frego, Marco

“…A technique for the intersection of two splines of clothoid curves is herein presented. The study is motivated by the motion planning problem for a…”
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Activity Planning for Assistive Robots Using Chance-Constrained Stochastic Programming by Bevilacqua, Paolo, Frego, Marco, Palopoli, Luigi, Fontanelli, Daniele

“…In this article, we present a framework for planning an activity to be executed with the support of a robotic navigation assistant. The two main components are…”
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Interpolating Splines of Biarcs from a Sequence of Planar Points by Bertolazzi, Enrico, Frego, Marco, Biral, Francesco

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Reactive Planning for Assistive Robots by Bevilacqua, Paolo, Frego, Marco, Fontanelli, Daniele, Palopoli, Luigi

“…We consider a vehicle consisting of a robotic walking assistant pushed by a user. The robot can guide the person along a path and suggest a velocity by various…”
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G1 fitting with clothoids by Bertolazzi, Enrico, Frego, Marco

“…A new algorithm for the solution to the problem of Hermite G1 interpolation with a clothoid curve is herein proposed, that is, a clothoid that interpolates two…”
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G 1 fitting with clothoids by Bertolazzi, Enrico, Frego, Marco

“…Abstract A new algorithm for the solution to the problem of Hermite G 1 interpolation with a clothoid curve is herein proposed, that is, a clothoid that…”
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G super(1) fitting with clothoids by Bertolazzi, Enrico, Frego, Marco

“…A new algorithm for the solution to the problem of Hermite G super(1) interpolation with a clothoid curve is herein proposed, that is, a clothoid that…”
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An Iterative Dynamic Programming Approach to the Multipoint Markov-Dubins Problem by Frego, Marco, Bevilacqua, Paolo, Saccon, Enrico, Palopoli, Luigi, Fontanelli, Daniele

“…A new solution to the multipoint Markov-Dubins problem via iterative dynamic programming is herein presented. The shortest path problem connecting a sequence…”
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