Abstract

The University of Cassino is currently involved in two projects considering the use of floating base manipulators. One scenario concerns autonomous aerial platforms while the other autonomous underwater vehicles. In both cases two vehicles should cooperatively grasp and transport an object. The lecture will address possible kinematic and dynamic strategies to the case study under concern. Preliminary numerical simulation and experimental results will be shown.

Biosketch

Gianluca Antonelli is an Associate Professor at the "University of Cassino and Southern Lazio''. His research interests include marine and industrial robotics, multi-agent systems, identification. He has published 32 international journal papers and more than 90 conference papers, he is author of the book "Underwater Robots'' (Springer-Verlag, 2003, 2006, 2014) and co-authored the chapter ``Underwater Robotics'' for the Springer Handbook of Robotics, (Springer-Verlag, 2008). He has been scientific responsible of the European project Co3AUVs, Associate Editor for ECHORD and researcher for ARCAS and EUROC. He served both as independent expert and reviewer for the European FP calls several times since 2006. He is chair of the IEEE RAS Chapter of the IEEE-Italy section, he has been Chair of the IEEE Robotics and Automation Society (RAS) Technical Committee in Marine Robotics. He serves/served in the Editorial Board of the IEEE Transactions on Robotics, IEEE Transactions on Control Systems Technology, Springer Journal of Intelligent Service Robotics, he is Editor for the RAS Conference Editorial Board.

URL: http://www.eng.docente.unicas.it/gianluca_antonelli