-
A. Fasano, A. Germani, and A. Monteriù, "Reduced-Order Quadratic Kalman-like Filtering of Non-Gaussian Systems," to appear on IEEE Transactions on Automatic Control, 2013.
@article{tac2013,
author = {Fasano, A. and Germani, A. and Monteri\`u, A.},
Date-Added = {2013-01-17 18:13:00 +0000},
Date-Modified = {2013-01-18 13:49:41 +0000},
Journal = {to appear on IEEE Transactions on Automatic Control},
Title = {Reduced-Order Quadratic {K}alman-like Filtering of Non-{G}aussian Systems},
Year = {2013},
Bdsk-Url-1 = {http://dx.doi.org/10.1109/TAC.2009.2017975}
}
-
A. Freddi, S. Longhi, and A. Monteriù, "A Diagnostic Thau Observer for a Class of Unmanned Vehicles," Journal of Intelligent \& Robotic Systems, vol. 67, pp. 61-73, 2012.
@article{jirs2012,
author = {Freddi, A. and Longhi, S. and Monteri\`u, A.},
Date-Added = {2013-01-17 11:57:21 +0000},
Date-Modified = {2013-01-18 13:50:31 +0000},
Doi = {10.1007/s10846-012-9650-4},
Issn = {0921-0296},
Issue = {1},
Journal = {Journal of Intelligent \& Robotic Systems},
Keywords = {Model-based fault diagnosis; Fault detection; Quad-rotor dynamics; Observers},
Language = {English},
Pages = {61-73},
Publisher = {Springer Netherlands},
Title = {A Diagnostic {T}hau Observer for a Class of Unmanned Vehicles},
Url = {http://dx.doi.org/10.1007/s10846-012-9650-4},
Volume = {67},
Year = {2012},
Bdsk-Url-1 = {http://dx.doi.org/10.1007/s10846-012-9650-4}
}
-
A. Freddi, S. Longhi, and A. Monteriù, "A coordination architecture for UUV fleets," Journal of Intelligent Service Robotics, vol. 5, pp. 133-146, 2012.
@article{jisr2012,
author = {Freddi, A. and Longhi, S. and Monteri\`u, A.},
Date-Added = {2013-01-17 11:58:56 +0000},
Date-Modified = {2013-01-18 13:50:12 +0000},
Doi = {10.1007/s11370-012-0108-0},
Issn = {1861-2776},
Issue = {2},
Journal = {Journal of Intelligent Service Robotics},
Keywords = {Coordination architecture; Formation control; Underwater vehicles},
Language = {English},
Pages = {133-146},
Publisher = {Springer-Verlag},
Title = {A coordination architecture for {UUV} fleets},
Url = {http://dx.doi.org/10.1007/s11370-012-0108-0},
Volume = {5},
Year = {2012},
Bdsk-Url-1 = {http://dx.doi.org/10.1007/s11370-012-0108-0}
}
-
M. L. Corradini, A. Monteriù, and G. Orlando, "An Actuator Failure Tolerant Control Scheme for an Underwater Remotely Operated Vehicle," IEEE Transactions on Control Systems Technology, vol. 19, iss. 5, pp. 1036-1046, 2011.
@article{cst2011,
author = {Corradini, M.L. and Monteri\`u, A. and Orlando, G.},
Date-Added = {2013-01-17 12:00:38 +0000},
Date-Modified = {2013-01-18 23:38:48 +0000},
Doi = {10.1109/TCST.2010.2060199},
Issn = {1063-6536},
Journal = {IEEE Transactions on Control Systems Technology},
Keywords = {Actuators;Fault detection;Fault tolerant systems;Remotely operated vehicles;Sliding mode control;Underwater vehicles;actuators;fault diagnosis;fault tolerance;mobile robots;nonlinear control systems;remotely operated vehicles;underwater vehicles;variable structure systems;ROV control;actuator failure tolerant control scheme;fault isolation;input decoupling nonlinear state transformation;inspection purposes;nonlinear systems;residual generation module;sliding-mode-based approach;underwater remotely operated vehicle;Fault detection;fault isolation;fault tolerant control;sliding mode control;underwater vehicles;},
Month = {September},
Number = {5},
Pages = {1036-1046},
Title = {An Actuator Failure Tolerant Control Scheme for an Underwater Remotely Operated Vehicle},
Volume = {19},
Year = {2011},
Bdsk-Url-1 = {http://dx.doi.org/10.1109/TCST.2010.2060199}
}
-
S. Longhi and A. Monteriù, "Fault Detection for Linear Periodic Systems Using a Geometric Approach," IEEE Transactions on Automatic Contro, vol. 54, iss. 7, pp. 1637-1643, 2009.
@article{tac2009,
author = {Longhi, S. and Monteri\`u, A.},
Date-Added = {2013-01-17 12:02:30 +0000},
Date-Modified = {2013-01-18 13:45:35 +0000},
Doi = {10.1109/TAC.2009.2017975},
Issn = {0018-9286},
Journal = {IEEE Transactions on Automatic Contro},
Keywords = {Communication switching;Communication system control;Control systems;Control theory;Fault detection;Fault diagnosis;Gain;Linear systems;Networked control systems;Nonlinear systems;Poles and zeros;Robustness;Spine;Stability;Sufficient conditions;Sun;Switched systems;Upper bound;discrete time systems;fault diagnosis;geometry;linear systems;observers;fault detection;geometric approach;inner reachable subspace;linear periodic discrete-time systems;outer observable subspace;output-free response;unknown input observer;Fault detection;linear discrete-time systems;periodic systems;residual generation;},
Month = {July},
Number = {7},
Pages = {1637 -1643},
Title = {Fault Detection for Linear Periodic Systems Using a Geometric Approach},
Volume = {54},
Year = {2009},
Bdsk-Url-1 = {http://dx.doi.org/10.1109/TAC.2009.2017975}
}
-
A. Monteriù, P. Asthana, K. P. Valavanis, and S. Longhi, "Real-Time Model-Based Fault Detection and Isolation for UGVs," Journal of Intelligent \& Robotic Systems, vol. 56, pp. 425-439, 2009.
@article{jirs2009,
author = {Monteri\`u, A. and Asthana, P. and Valavanis, K.P. and Longhi, S.},
Date-Added = {2013-01-17 12:03:37 +0000},
Date-Modified = {2013-01-18 13:50:59 +0000},
Doi = {10.1007/s10846-009-9321-2},
Issn = {0921-0296},
Issue = {4},
Journal = {Journal of Intelligent \& Robotic Systems},
Keywords = {Fault detection; Fault diagnosis; Real--time systems},
Language = {English},
Pages = {425-439},
Publisher = {Springer Netherlands},
Title = {Real-Time Model-Based Fault Detection and Isolation for {UGV}s},
Url = {http://dx.doi.org/10.1007/s10846-009-9321-2},
Volume = {56},
Year = {2009},
Bdsk-Url-1 = {http://dx.doi.org/10.1007/s10846-009-9321-2}
}
-
A. Bonci, S. Longhi, A. Monteriù, and M. Vaccarini, "Navigation system for a smart wheelchair," Journal of Zhejiang University Science A, vol. 6, pp. 110-117, 2005.
@article{jzus2005,
author = {Bonci, A. and Longhi, S. and Monteri\`u, A. and Vaccarini, M.},
Date-Added = {2013-01-17 12:04:34 +0000},
Date-Modified = {2013-01-17 18:39:39 +0000},
Doi = {10.1007/BF02847974},
Issn = {1009-3095},
Issue = {2},
Journal = {Journal of Zhejiang University Science A},
Keywords = {Smart wheelchair; Guidance system; Path planning; Tracking control; A; TP273},
Language = {English},
Pages = {110-117},
Publisher = {Zhejiang University Press},
Title = {Navigation system for a smart wheelchair},
Url = {http://dx.doi.org/10.1007/BF02847974},
Volume = {6},
Year = {2005},
Bdsk-Url-1 = {http://dx.doi.org/10.1007/BF02847974}
}
-
A. Freddi, S. Longhi, and A. Monteriù, "Nonlinear Decentralized Model Predictive Control Strategy for a Formation of Unmanned Aerial Vehicles," in 2nd IFAC Workshop on Multivehicle Systems, Espoo, Finland, 2012, pp. 49-54.
@inproceedings{mvs2012, Address = {Espoo, Finland},
Author = {Freddi, A. and Longhi, S. and Monteri\`u, A.},
Booktitle = {2nd IFAC Workshop on Multivehicle Systems},
Date-Added = {2013-01-17 17:59:14 +0000},
Date-Modified = {2013-01-17 18:40:21 +0000},
Doi = {10.3182/20121003-3-SF-4024.00009},
Issn = {978-3-902823-15-1},
Keywords = {Predictive Control;Co-operative Control;Autonomous Vehicles;Decentralized Systems},
Month = {October, 3-4},
Number = {1},
Pages = {49-54},
Title = {Nonlinear Decentralized Model Predictive Control Strategy for a Formation of Unmanned Aerial Vehicles},
Volume = {2},
Year = {2012},
Bdsk-Url-1 = {http://dx.doi.org/10.3182/20121003-3-SF-4024.00009}
}
-
A. Fasano, A. Germani, and A. Monteriù, "Reduced-Order Quadratic Kalman-like Filtering for Non-Gaussian Systems," in 51th IEEE Conference on Decision and Control, Maui, Hawaii, 2012.
@inproceedings{cdc2012, Address = {Maui, Hawaii},
Author = {Fasano, A. and Germani, A. and Monteri\`u, A.},
Booktitle = {51th IEEE Conference on Decision and Control},
Date-Added = {2013-01-17 17:52:40 +0000},
Date-Modified = {2013-01-18 13:53:22 +0000},
Month = {December, 10-13},
Title = {Reduced-Order Quadratic {K}alman-like Filtering for Non-{G}aussian Systems},
Year = {2012},
Bdsk-Url-1 = {http://dx.doi.org/10.1109/CDC.2011.6160578}
}
-
S. Longhi and A. Monteriù, "The Geometric Approach for Periodic System Control and Fault Detection," in One- Day Symposium on Advances and Challenges in Linear Control Systems in honour of master and mentor Osvaldo Maria Grasselli, Rome, Italy, 2012.
@inproceedings{omg2012, Address = {Rome, Italy},
Author = {Longhi, S. and Monteri\`u, A.},
Booktitle = {One- Day Symposium on Advances and Challenges in Linear Control Systems in honour of master and mentor Osvaldo Maria Grasselli},
Date-Added = {2013-01-17 18:03:54 +0000},
Date-Modified = {2013-01-17 18:40:26 +0000},
Month = {March, 19},
Title = {The Geometric Approach for Periodic System Control and Fault Detection},
Year = {2012}
}
-
A. Fonti, A. Freddi, S. Longhi, and A. Monteriù, "Cooperative control of underwater glider fleets by fault tolerant decentralized MPC," in 18th IFAC World Congress, Milan, Italy, 2011, pp. 12813-12818.
@inproceedings{ifac2011, Abstract = {A fleet of Autonomous Underwater Vehicles (AUVs) moving together in a prescribed pattern can form an efficient data acquisition network. The problem is to control several AUVs such that after transients, they form a required formation and move along a desired trajectory. The capability to accomplish the mission even in case of faults, is a fundamental requirement for these kind of missions. A completely decentralized predictive control and FDI strategy is here proposed for allowing cooperation. Trough an underwater communication channel, each vehicle broadcasts its position, its future behavior and its actuator/sensor fault situation. Based both on the local and the received information, each vehicle selects the desired formation to keep and plans its future actions. Simulation results are provided to validate the approach.},
Address = {Milan, Italy},
Author = {Fonti, A. and Freddi, A. and Longhi, S. and Monteri\`u, A.},
Booktitle = {18th IFAC World Congress},
Date-Added = {2013-01-17 17:49:14 +0000},
Date-Modified = {2013-01-18 13:53:44 +0000},
Doi = {10.3182/20110828-6-IT-1002.02980},
Issn = {9783902661937},
Keywords = {Marine system navigation, guidance and control; Coordinated control; Unmanned marine vehicles},
Month = {July, 6-11},
Number = {1},
Pages = {12813-12818},
Title = {Cooperative control of underwater glider fleets by fault tolerant decentralized {MPC}},
Volume = {18},
Year = {2011},
Bdsk-Url-1 = {http://dx.doi.org/10.3182/20080706-5-KR-1001.3518}
}
-
M. L. Corradini, A. Monteriù, G. Orlando, and S. Pettinari, "An actuator failure tolerant robust control approach for an underwater Remotely Operated Vehicle," in 50th IEEE Conference on Decision and Control and European Control Conference, Orlando, Florida, 2011, pp. 3934-3939.
@inproceedings{cdc2011, Address = {Orlando, Florida},
Author = {Corradini, M.L. and Monteri\`u, A. and Orlando, G. and Pettinari, S.},
Booktitle = {50th IEEE Conference on Decision and Control and European Control Conference},
Date-Added = {2013-01-17 17:55:17 +0000},
Date-Modified = {2013-01-18 13:42:28 +0000},
Doi = {10.1109/CDC.2011.6160578},
Issn = {0743-1546},
Keywords = {Actuators;Circuit faults;Mathematical model;Observers;Robustness;Underwater vehicles;Vehicles;autonomous underwater vehicles;failure analysis;marine propulsion;mobile robots;observers;position control;reduced order systems;robust control;variable structure systems;ROV position;ROV velocity estimation;actuator failure tolerant robust control;actuator redundancy;control reconfiguration;isolation policy;position measurement;reduced order observer;sliding mode control law;sliding surface;thruster failure;underwater remotely operated vehicle;},
Month = {December, 12-15},
Pages = {3934-3939},
Title = {An actuator failure tolerant robust control approach for an underwater Remotely Operated Vehicle},
Year = {2011},
Bdsk-Url-1 = {http://dx.doi.org/10.1109/CDC.2011.6160578}
}
-
A. Freddi, S. Longhi, and A. Monteriù, "Actuator fault detection system for a mini-quadrotor," in IEEE International Symposium on Industrial Electronics, Bari, Italy, 2010, pp. 2055-2060.
@inproceedings{isie2010, Address = {Bari, Italy},
Author = {Freddi, A. and Longhi, S. and Monteri\`u, A.},
Booktitle = {IEEE International Symposium on Industrial Electronics},
Date-Added = {2013-01-17 17:34:52 +0000},
Date-Modified = {2013-01-17 18:41:00 +0000},
Doi = {10.1109/ISIE.2010.5637750},
Issn = {9781424463909},
Keywords = {Actuators;Equations;Fault detection;Force;Mathematical model;Observers;Vehicles;actuators;aircraft control;fault diagnosis;microactuators;observers;Lagrange approach;Thau observer;actuator fault detection system;low cruise speed;miniflying machine;miniquadrotor;nested saturation controller;},
Month = {July, 4-7},
Pages = {2055-2060},
Title = {Actuator fault detection system for a mini-quadrotor},
Year = {2010},
Bdsk-Url-1 = {http://dx.doi.org/10.1109/ISIE.2010.5637750}
}
-
M. L. Corradini, S. Longhi, G. Orlando, and A. Monteriù, "Observer-based Fault Tolerant Sliding Mode Control for Remotely Operated Vehicles," in 8th IFAC Conference on Control Applications in Marine Systems, Rostock-Warnemünde, Germany, 2010, pp. 173-178.
@inproceedings{cams2010a, Address = {Rostock-Warnem{\"u}nde, Germany},
Author = {M.L. Corradini and S. Longhi and G. Orlando and A. Monteri\`u},
Booktitle = {8th IFAC Conference on Control Applications in Marine Systems},
Date-Added = {2013-01-17 17:30:55 +0000},
Date-Modified = {2013-01-17 18:40:52 +0000},
Doi = {10.3182/20100915-3-DE-3008.00073},
Issn = {9783902661883},
Keywords = {Fault tolerant control and fault handling for marine vessels; Autonomous and remotely operated (surface and underwater) marine vessels; Thrusters and propulsion systems},
Month = {September, 15-17},
Pages = {173-178},
Title = {Observer-based Fault Tolerant Sliding Mode Control for Remotely Operated Vehicles},
Year = {2010},
Bdsk-Url-1 = {http://dx.doi.org/10.3182/20100915-3-DE-3008.00073}
}
-
A. Freddi, S. Longhi, A. Monteriù, and M. Vaccarini, "Fault tolerant decentralized nonlinear MPC for fleets of unmanned marine vehicles," in 8th IFAC Conference on Control Applications in Marine Systems, Rostock-Warnemünde, Germany, 2010, pp. 381-386.
@inproceedings{cams2010b, Address = {Rostock-Warnem{\"u}nde, Germany},
Author = {A. Freddi and S. Longhi and A. Monteri\`u and M. Vaccarini},
Booktitle = {8th IFAC Conference on Control Applications in Marine Systems},
Date-Added = {2013-01-17 17:20:40 +0000},
Date-Modified = {2013-01-18 13:54:15 +0000},
Doi = {10.3182/20100915-3-DE-3008.00037},
Issn = {9783902661883},
Keywords = {Cooperative navigation and control; Navigation, guidance and control of unmanned marine vessels (surface and underwater); Fault tolerant control and fault handling for marine vessels},
Month = {September, 15-17},
Pages = {381-386},
Title = {Fault tolerant decentralized nonlinear {MPC} for fleets of unmanned marine vehicles},
Year = {2010},
Bdsk-Url-1 = {http://dx.doi.org/10.3182/20100915-3-DE-3008.00037}
}
-
A. Freddi, A. Monteriù, and S. Longhi, "Intelligent techniques for faults diagnosis and prognosis of CHP plant with gas turbine engine plant with gas turbine engine," in 8th Workshop on Advanced Control and Diagnosis, Ferrara, Italy, 2010, pp. 119-124.
@inproceedings{acd2010, Abstract = {This paper addresses the problem of fault detection and isolation (FDI) for a mini-quadrotor. First a model for a four-rotor rotorcraft is presented whose model is obtained via a Lagrange approach. In order to stabilize the quadrotor at low cruise speed, a control strategy based on PD (Proportional-Derivative) controllers is presented. Using a Thau's observer, a diagnostic system has been developed for the nonlinear model of the quadrotor. Different simulation trials have been performed and the analysis of the results proves that the developed diagnostic system represents an effective solution to FDI problems in mini-flying machines.},
Address = {Ferrara, Italy},
Author = {A. Freddi and A. Monteri\`u and S. Longhi},
Booktitle = {8th Workshop on Advanced Control and Diagnosis},
Date-Added = {2013-01-17 17:24:24 +0000},
Date-Modified = {2013-01-18 13:54:04 +0000},
Doi = {http://www.acd2010.it},
Keywords = {Diagnosis, Prognosis, Condition-Based Mainentance, Prognostic Health Management, Intelligent Mainentance},
Month = {November, 18-19},
Pages = {119-124},
Title = {Intelligent techniques for faults diagnosis and prognosis of CHP plant with gas turbine engine plant with gas turbine engine},
Year = {2010},
Bdsk-Url-1 = {http://www.issi.uz.zgora.pl/ACD_2009/program/Papers/58_ACD_2009.pdf}
}
-
S. Longhi and A. Monteriù, "A geometric approach to Fault Detection and Isolation Problem for linear periodic systems," in 49th IEEE Conference on Decision and Control, 2010, pp. 7724-7729.
@inproceedings{cdc2010,
author = {Longhi, S. and Monteri\`u, A.},
Booktitle = {49th IEEE Conference on Decision and Control},
Date-Added = {2013-01-17 17:46:31 +0000},
Date-Modified = {2013-01-17 18:40:39 +0000},
Doi = {10.1109/CDC.2010.5717278},
Issn = {0743-1546},
Keywords = {Fault detection;Fault diagnosis;Generators;Matrices;Observability;Observers;Silicon;computability;control system synthesis;discrete time systems;fault diagnosis;fault tolerance;geometry;linear systems;observers;periodic control;time-varying systems;control system design;fault detection;fault isolation;geometric approach;linear discrete time periodic system;observer based residual generator;solvability condition;},
Month = {December, 15-17},
Pages = {7724-7729},
Title = {A geometric approach to Fault Detection and Isolation Problem for linear periodic systems},
Year = {2010},
Bdsk-Url-1 = {http://dx.doi.org/10.1109/CDC.2010.5717278}
}
-
M. L. Corradini, A. Monteriù, and G. Orlando, "Actuator Failure Tolerant Control Design for Underwater Remotely Operated Vehicles," in 7th Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, 2010, pp. 25-30.
@inproceedings{iav2010, Address = {Lecce, Italy},
Author = {M.L. Corradini and A. Monteri\`u and G. Orlando},
Booktitle = {7th Symposium on Intelligent Autonomous Vehicles},
Date-Added = {2013-01-17 17:39:36 +0000},
Date-Modified = {2013-01-17 18:40:48 +0000},
Doi = {10.3182/20100906-3-IT-2019.00007},
Issn = {9783902661876},
Keywords = {fault detection,fault isolation,fault-tolerant systems,sliding-mode control},
Month = {September, 6-8},
Pages = {25-30},
Title = {Actuator Failure Tolerant Control Design for Underwater Remotely Operated Vehicles},
Year = {2010},
Bdsk-Url-1 = {http://dx.doi.org/10.3182/20070919-3-HR-3904.00052}
}
-
P. Antonini, L. Fulimeni, S. Longhi, and A. Monteriù, "A racing car setup evaluation support system based on nonlinear model predictive control," in FISITA 2010 World Automotive Congress, Budapest, Hungary, 2010.
@inproceedings{fisita2010, Abstract = {The paper presents a racing car setup evaluation support system that uses nonlinear model predictive control to emulate driver control actions. Simulation plays a crucial role in car competitions for reducing risks and costs of real track tests. Racing teams usually have their own simulation environments and the related technical literature is not of public domain. Commercial solutions are available with the related technical literature. The proposed system is composed of: a simulator implementing vehicle model and control system (driver actions), a neuro-fuzzy subsystem estimating the vehicle performance changes resulting from setup modifications and a database storing simulations results (figure 1). The implemented vehicle model is very detailed and includes 10 DOF (longitudinal and lateral vehicle translation, sprung mass vertical translation, yaw, roll, pitch, axles vertical translation and roll), which describes accurately the nonlinear behavior of a four wheels vehicle with elastic suspensions. This model includes: the semi-empirical nonlinear model defined by Pacejka equations, that describes tires behavior in terms of lateral and longitudinal forces with combined effect, powertrain dynamics, including gear changing and clutch, brakes dynamics, aerodynamic and friction effects. Vehicle control system, which emulates the driver, is based on a nonlinear model predictive control (NMPC). The chosen control strategy includes main vehicle model nonlinearities and fits real driver decision process. As a driver, the control system takes into consideration desired performance, knowledge of vehicle behavior and limits, vehicle state perception, and uses a receding horizon strategy. The control system involves forces generated by tires and their combined effects, vertical vehicle load distribution on tires, longitudinal load transfer due to traction and braking, lateral load transfer due to lateral acceleration. Receding horizon length is chosen considering required prediction accuracy and acceptable computational load. The control inputs, consisting in front steering angle, brake and throttle pedal positions, are obtained minimizing the vehicle deviation from the target path and the desired velocity. Overall driver performance is evaluated using indexes for path-following and velocity tracking; lower values characterize a better car setup. Experimental tests showed a good correspondence between telemetry data and simulation results.},
Address = {Budapest, Hungary},
Author = {P. Antonini and L. Fulimeni and S. Longhi and A. Monteri\`u},
Booktitle = {FISITA 2010 World Automotive Congress},
Date-Added = {2013-01-17 17:43:47 +0000},
Date-Modified = {2013-01-17 18:41:04 +0000},
Issn = {9789639058293},
Keywords = {Racing car simulation; Driver simulation; Car control system; Nonlinear Model Predictive Control},
Month = {May 30 - June 4},
Title = {A racing car setup evaluation support system based on nonlinear model predictive control},
Year = {2010}
}
-
M. L. Corradini, A. Monteriù, and G. Orlando, "An Actuator Failure Tolerant Approach for Underwater Remotely Operated Vehicles," in 8th Internation Conference on Manoeuvring and Control of Marine Craft, Guarujá, Brazil, 2009, pp. 267-272.
@inproceedings{mcmc2009, Abstract = {This paper presents a preliminary set of results on the design of an Actuator Failure Tolerant Control Systems for an underwater remotely operated vehicle (ROV). The approach consists of two phases. First a model-based approach is applied to the nonlinear model of the ROV for failure detection purposes. Successively, using a Sliding Mode Control based approach, the failure is isolated and the control law is reconfigured using the remaining working actuators.},
Address = {Guaruj{\'a},
Brazil},
Author = {M.L. Corradini and A. Monteri\`u and G. Orlando},
Booktitle = {8th Internation Conference on Manoeuvring and Control of Marine Craft},
Date-Added = {2013-01-17 17:12:58 +0000},
Date-Modified = {2013-01-18 13:40:18 +0000},
Doi = {10.3182/20090916-3-BR-3001.0023},
Issn = {9783902661517},
Keywords = {Control of remotely operated vehicles (ROVs); Thrusters and propulsion systems; Operational safety},
Month = {September, 16-18},
Pages = {267-272},
Title = {An Actuator Failure Tolerant Approach for Underwater Remotely Operated Vehicles},
Year = {2009},
Bdsk-Url-1 = {http://dx.doi.org/10.3182/20090916-3-BR-3001.0023}
}
-
A. Freddi, A. Monteriù, and S. Longhi, "A Model-Based Fault Diagnosis System for a Mini-Quadrotor," in 7th Workshop on Advanced Control and Diagnosis, Zielona Góra, Poland, 2009.
@inproceedings{acd2009, Abstract = {This paper addresses the problem of fault detection and isolation (FDI) for a mini-quadrotor. First a model for a four-rotor rotorcraft is presented whose model is obtained via a Lagrange approach. In order to stabilize the quadrotor at low cruise speed, a control strategy based on PD (Proportional-Derivative) controllers is presented. Using a Thau's observer, a diagnostic system has been developed for the nonlinear model of the quadrotor. Different simulation trials have been performed and the analysis of the results proves that the developed diagnostic system represents an effective solution to FDI problems in mini-flying machines.},
Address = {Zielona G{\'o}ra, Poland},
Author = {A. Freddi and A. Monteri\`u and S. Longhi},
Booktitle = {7th Workshop on Advanced Control and Diagnosis},
Date-Added = {2013-01-17 17:16:28 +0000},
Date-Modified = {2013-01-17 18:41:07 +0000},
Doi = {http://www.issi.uz.zgora.pl/ACD_2009/program/Papers/58_ACD_2009.pdf},
Keywords = {quadrotor dynamics, model-based fault diagnosis, fault detection, fault isolation, observers},
Month = {November, 19-20},
Title = {A Model-Based Fault Diagnosis System for a Mini-Quadrotor},
Year = {2009},
Bdsk-Url-1 = {http://www.issi.uz.zgora.pl/ACD_2009/program/Papers/58_ACD_2009.pdf}
}
-
A. Freddi, S. Longhi, and A. Monteriù, "A Model-Based Fault Diagnosis System for Unmanned Aerial Vehicles," in 7th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, Barcelona, Spain, 2009, pp. 71-76.
@inproceedings{safeprocess2009, Abstract = {This paper addresses the problem of fault detection and isolation for helicopters used as Unmanned Aerial Vehicles. First a model for a reduced-scale helicopter is presented, then this model is linearized and used to design unknown input observers for fault diagnosis. The developed system is tested and analyzed. The results prove that it represents an effective solution to fault diagnosis problems in Unmanned Aerial Vehicles.},
Address = {Barcelona, Spain},
Author = {A. Freddi and S. Longhi and A. Monteri\`u},
Booktitle = {7th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes},
Date-Added = {2013-01-17 17:18:21 +0000},
Date-Modified = {2013-01-17 18:41:16 +0000},
Doi = {10.3182/20090630-4-ES-2003.00012},
Issn = {9783902661463},
Keywords = {Sensor and actuator faults; Linear and robust methods; Fault-tolerant control},
Month = {June, 30 - July, 3},
Pages = {71-76},
Title = {A Model-Based Fault Diagnosis System for Unmanned Aerial Vehicles},
Year = {2009},
Bdsk-Url-1 = {http://dx.doi.org/10.3182/20090630-4-ES-2003.0147}
}
-
S. Longhi, A. Monteriù, and M. Vaccarini, "Cooperative control of underwater glider fleets by fault tolerant decentralized MPC," in 17th IFAC World Congress, Seoul, Korea, 2008, pp. 16021-16026.
@inproceedings{ifac2008, Abstract = {A fleet of Autonomous Underwater Vehicles (AUVs) moving together in a prescribed pattern can form an efficient data acquisition network. The problem is to control several AUVs such that after transients, they form a required formation and move along a desired trajectory. The capability to accomplish the mission even in case of faults, is a fundamental requirement for these kind of missions. A completely decentralized predictive control and FDI strategy is here proposed for allowing cooperation. Trough an underwater communication channel, each vehicle broadcasts its position, its future behavior and its actuator/sensor fault situation. Based both on the local and the received information, each vehicle selects the desired formation to keep and plans its future actions. Simulation results are provided to validate the approach.},
Address = {Seoul, Korea},
Author = {Longhi, S. and Monteri\`u, A. and Vaccarini, M.},
Booktitle = {17th IFAC World Congress},
Date-Added = {2013-01-17 17:05:41 +0000},
Date-Modified = {2013-01-18 13:54:33 +0000},
Doi = {10.3182/20080706-5-KR-1001.3518},
Issn = {9781605607580},
Keywords = {Cooperative control; Data acquisition networks; Fault-tolerant; Health monitoring and diagnosis; Marine system navigation, guidance and control; Predictive control; Simulation result; Underwater communication; Underwater gliders},
Month = {July, 6-11},
Number = {1},
Pages = {16021-16026},
Title = {Cooperative control of underwater glider fleets by fault tolerant decentralized {MPC}},
Volume = {17},
Year = {2008},
Bdsk-Url-1 = {http://dx.doi.org/10.3182/20080706-5-KR-1001.3518}
}
-
S. Longhi and A. Monteriù, "A geometric approach to fault detection of periodic systems," in 46th IEEE Conference on Decision and Control, New Orleans, USA, 2007, pp. 6376-6382.
@inproceedings{cdc2007, Address = {New Orleans, USA},
Author = {Longhi, S. and Monteri\`u, A.},
Booktitle = {46th IEEE Conference on Decision and Control},
Date-Added = {2013-01-17 17:02:16 +0000},
Date-Modified = {2013-01-18 13:56:35 +0000},
Doi = {10.1109/CDC.2007.4434813},
Issn = {0191-2216},
Keywords = {Control systems;Fault detection;Fault diagnosis;Mathematical model;Observers;Robustness;Signal design;Signal generators;Spine;USA Councils;discrete time systems;linear systems;periodic control;fault detection;geometric approach;input disturbance;linear periodic discrete-time systems;periodic systems;residual generator;},
Month = {Dec, 12-14},
Pages = {6376-6382},
Title = {A geometric approach to fault detection of periodic systems},
Year = {2007},
Bdsk-Url-1 = {http://dx.doi.org/10.1109/CDC.2007.4434813}
}
-
M. L. Corradini, S. Longhi, G. Orlando, and A. Monteriù, "An Actuator Fault Tolerant Approach for Underwater Remotely Operated Vehicles," in IFAC Conference on Control Applications in Marine Systems, Bol, Croatia, 2007, pp. 293-299.
@inproceedings{cams2007, Address = {Bol, Croatia},
Author = {M.L. Corradini and S. Longhi and G. Orlando and A. Monteri\`u},
Booktitle = {IFAC Conference on Control Applications in Marine Systems},
Date-Added = {2013-01-17 16:57:42 +0000},
Date-Modified = {2013-01-17 18:41:32 +0000},
Doi = {10.3182/20070919-3-HR-3904.00052},
Issn = {9783902661623},
Keywords = {Control of remotely operated vehicles (ROVs); Thrusters and propulsion systems; Operational safety},
Month = {September, 19-21},
Number = {1},
Pages = {293-299},
Title = {An Actuator Fault Tolerant Approach for Underwater Remotely Operated Vehicles},
Volume = {7},
Year = {2007},
Bdsk-Url-1 = {http://dx.doi.org/10.3182/20070919-3-HR-3904.00052}
}
-
A. Mancini, F. Caponetti, A. Monteriù, E. Frontoni, P. Zingaretti, and S. Longhi, "Safe flying for an UAV helicopter," in 15th Mediterranean Conference on Control Automation, Athens, Greece, 2007, pp. 1-6.
@inproceedings{med2007, Address = {Athens, Greece},
Author = {Mancini, A. and Caponetti, F. and Monteri\`u, A. and Frontoni, E. and Zingaretti, P. and Longhi, S.},
Booktitle = {15th Mediterranean Conference on Control Automation},
Date-Added = {2013-01-17 12:53:05 +0000},
Date-Modified = {2013-01-18 13:54:47 +0000},
Doi = {10.1109/MED.2007.4433946},
Issn = {9781424412815},
Keywords = {Financial management;Geoscience;Helicopters;Military aircraft;Mobile robots;Process design;Prototypes;Remotely operated vehicles;Surveillance;Unmanned aerial vehicles;aerospace robotics;air safety;aircraft control;helicopters;remotely operated vehicles;Helibot helicopter;UAV helicopter;autonomous aerial vehicle;cooperative networks;failure detection;safe flying;small autonomous helicopters;terrain vision system;failure detection;flying/aerospace systems;mobile robotics;navigation and planning;sensor fusion;vision;},
Month = {June, 27-29},
Pages = {1-6},
Title = {Safe flying for an {UAV} helicopter},
Year = {2007},
Bdsk-Url-1 = {http://dx.doi.org/10.1109/MED.2007.4433946}
}
-
A. Monteriù, P. Asthana, K. P. Valavanis, and S. Longhi, "Residual Generation Approaches in Navigation Sensors Fault Detection Applications," in European Control Conference, Kos, Greece, 2007, pp. 1-8.
@inproceedings{ecc2007, Address = {Kos, Greece},
Author = {A. Monteri\`u and P. Asthana and K.P Valavanis and S. Longhi},
Booktitle = {European Control Conference},
Date-Added = {2013-01-17 14:28:51 +0000},
Date-Modified = {2013-01-17 18:41:41 +0000},
Issn = {9789608902855},
Month = {July, 2-5},
Pages = {1-8},
Title = {Residual Generation Approaches in Navigation Sensors Fault Detection Applications},
Year = {2007}
}
-
A. Monteriù, P. Asthan, K. Valavanis, and S. Longhi, "Model-Based Sensor Fault Detection and Isolation System for Unmanned Ground Vehicles: Theoretical Aspects (part I)," in IEEE International Conference on Robotics and Automation, Rome, Italy, 2007, pp. 2736-2743.
@inproceedings{icra2007a, Address = {Rome, Italy},
Author = {Monteri\`u, A. and Asthan, P. and Valavanis, K. and Longhi, S.},
Booktitle = {IEEE International Conference on Robotics and Automation},
Date-Added = {2013-01-17 14:37:19 +0000},
Date-Modified = {2013-01-17 18:41:53 +0000},
Doi = {10.1109/ROBOT.2007.363879},
Issn = {1050-4729},
Keywords = {Antenna measurements;Coordinate measuring machines;Fault detection;Global Positioning System;Land vehicles;Measurement units;Optical sensors;Position measurement;Rotation measurement;Sensor systems;Global Positioning System;fault diagnosis;mobile robots;remotely operated vehicles;sensor fusion;fault isolation;global positioning system antenna;incremental optical encoder;inertial measurement unit;model-based sensor fault detection;nonlinear model;residual generation;structural analysis;unmanned ground vehicle;},
Month = {April, 10-14},
Pages = {2736-2743},
Title = {Model-Based Sensor Fault Detection and Isolation System for Unmanned Ground Vehicles: Theoretical Aspects (part I)},
Year = {2007},
Bdsk-Url-1 = {http://dx.doi.org/10.1109/ROBOT.2007.363879}
}
-
P. Zingaretti, A. Mancini, E. Frontoni, A. Monteriù, and S. Longhi, "Autonomous Helicopter for Surveillance and Security," in ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications and the 19th Reliability, Stress Analysis, and Failure Prevention Conference, Las Vegas, Nevada, USA, 2007, pp. 227-234.
@inproceedings{asme2007, Address = {Las Vegas, Nevada, USA},
Author = {P. Zingaretti and A. Mancini and E. Frontoni and A. Monteri\`u and S. Longhi},
Booktitle = {ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications and the 19th Reliability, Stress Analysis, and Failure Prevention Conference},
Date-Added = {2013-01-17 16:11:05 +0000},
Date-Modified = {2013-01-18 13:41:02 +0000},
Doi = {10.1115/DETC2007-35427},
Issn = {0-7918-4805-1},
Month = {September, 4--7},
Pages = {227-234},
Title = {Autonomous Helicopter for Surveillance and Security},
Volume = {4},
Year = {2007},
Bdsk-Url-1 = {http://link.aip.org/link/abstract/ASMECP/v2007/i48051/p227/s1},
Bdsk-Url-2 = {http://dx.doi.org/10.1115/DETC2007-35427}
}
-
A. Monteriù, P. Asthan, K. Valavanis, and S. Longhi, "Model-Based Sensor Fault Detection and Isolation System for Unmanned Ground Vehicles: Experimental Validation (part II)," in IEEE International Conference on Robotics and Automation, Rome, Italy, 2007, pp. 2744-2751.
@inproceedings{icra2007b, Address = {Rome, Italy},
Author = {Monteri\`u, A. and Asthan, P. and Valavanis, K. and Longhi, S.},
Booktitle = {IEEE International Conference on Robotics and Automation},
Date-Added = {2013-01-17 14:45:25 +0000},
Date-Modified = {2013-01-17 18:41:49 +0000},
Doi = {10.1109/ROBOT.2007.363880},
Issn = {1050-4729},
Keywords = {Fault detection;Global Positioning System;Land vehicles;Measurement units;Mobile robots;Optical sensors;Real time systems;Robot sensing systems;Sensor systems;System testing;Global Positioning System;fault diagnosis;mobile robots;nonlinear control systems;remotely operated vehicles;sensor fusion;ATRV-Jr mobile robot;fault isolation;global positioning system antenna;incremental optical encoders;inertial measurement unit;model-based sensor fault detection;nonlinear model;outdoor environment;structural analysis;unmanned ground vehicles;},
Month = {April, 10-14},
Pages = {2744-2751},
Title = {Model-Based Sensor Fault Detection and Isolation System for Unmanned Ground Vehicles: Experimental Validation (part II)},
Year = {2007},
Bdsk-Url-1 = {http://dx.doi.org/10.1109/ROBOT.2007.363880}
}
-
G. Ippoliti, S. Longhi, and A. Monteriù, "On-line sensor fault detection system for a smart wheelchair," in 8th International IFAC Symposium on Robot Control, Bologna, Italy, 2006, pp. 91-96.
@inproceedings{syroco2006, Abstract = {This paper presents a set of results on the design and on the experimental validations of a Sensor Fault Detection System (SFDS) for a smart wheelchair to prevent simples navigation sensor faults and hence to reduce the risk of safety hazards. The design has been performed by the Structural Analysis technique which uses graph theory to determine which redundancy exists in the sensory system and thus shows the possibility to detect and handle the navigation sensor faults. The considered navigation sensor equipment includes odometric, gyroscopic and laser range measures. The experimental tests have been developed by a smart wheelchair equipped with a navigation system.},
Address = {Bologna, Italy},
Author = {G. Ippoliti and S. Longhi and A. Monteri\`u},
Booktitle = {8th International IFAC Symposium on Robot Control},
Date-Added = {2013-01-17 12:44:14 +0000},
Date-Modified = {2013-01-18 23:37:28 +0000},
Doi = {10.3182/20060906-3-IT-2910.00017},
Issn = {978-3-902661-16-6},
Keywords = {fault diagnosis;fault detection;fault isolation;wheelchair;analytical redundancy relations,structural analysis fault diagnosis,fault detection,fault isolation,wheelchair,analytical redundancy relations,structural analysis fault diagnosis,fault detection,fault isolation,wheelchair,analytical redundancy relations,structural analysis fault diagnosis,fault detection,fault isolation,wheelchair,analytical redundancy relations;structural analysis},
Month = {September, 6-8},
Number = {1},
Pages = {91-96},
Title = {On-line sensor fault detection system for a smart wheelchair},
Volume = {8},
Year = {2006},
Bdsk-Url-1 = {http://dx.doi.org/10.3182/20060906-3-IT-2910.00017}
}
-
A. Monteriù, P. Asthana, K. Valavanis, and S. Longhi, "Experimental Validation of a Real-Time Model-Based Sensor Fault Detection and Isolation System for Unmanned Ground Vehicles," in 14th Mediterranean Conference on Control and Automation, 2006, pp. 1-8.
@inproceedings{med2006,
author = {Monteri\`u, A. and Asthana, P. and Valavanis, K. and Longhi, S.},
Booktitle = {14th Mediterranean Conference on Control and Automation},
Date-Added = {2013-01-17 12:49:44 +0000},
Date-Modified = {2013-01-18 13:44:11 +0000},
Doi = {10.1109/MED.2006.328690},
Issn = {9780978672010},
Keywords = {Fault detection;Global Positioning System;Land vehicles;Mobile robots;Optical filters;Optical sensors;Real time systems;Robot sensing systems;Sensor systems;System testing;Global Positioning System;Kalman filters;fault diagnosis;inertial navigation;mobile robots;remotely operated vehicles;sensors;ATRV-Jr mobile robot;GPS;Global Positioning System antenna;Kalman filter;incremental optical encoder;inertial measurement unit;residual evaluation module;residual generation module;sensor fault detection system;sensor fault isolation system;unmanned ground vehicle;},
Month = {June, 28-30},
Pages = {1-8},
Title = {Experimental Validation of a Real-Time Model-Based Sensor Fault Detection and Isolation System for Unmanned Ground Vehicles},
Year = {2006},
Bdsk-Url-1 = {http://dx.doi.org/10.1109/MED.2006.328690}
}
-
G. Ippoliti, S. Longhi, and A. Monteriù, "Model-Based Sensor Fault Diagnostic System for a Smart Wheelchair," in 16th IFAC World Congress, Prague, Czech Republic, 2005, pp. 1841-1846.
@inproceedings{ifac2005, Abstract = {This paper presents a preliminary set of results on the design of a Sensor Fault Detection System (SFDS) for a smart wheelchair to prevent simples navigation sensor faults and hence to reduce the risk of safety hazards. The Structural Analysis technique is considered which uses graph theory to determine which redundancy exists in the sensory system and thus shows the possibility to detect and handle the navigation sensor faults. The considered navigation sensor equipment includes odometric, gyroscopic and laser range measures.},
Address = {Prague, Czech Republic},
Author = {G. Ippoliti and S. Longhi and A. Monteri\`u},
Booktitle = {16th IFAC World Congress},
Date-Added = {2013-01-17 12:37:31 +0000},
Date-Modified = {2013-01-18 23:35:53 +0000},
Doi = {10.3182/20050703-6-CZ-1902.01847},
Issn = {9783902661753},
Keywords = {Fault diagnosis; fault detection; fault isolation; wheelchair; analytical redundancy relations; structural analysis},
Month = {July, 4-8},
Number = {1},
Pages = {1841-1846},
Title = {Model-Based Sensor Fault Diagnostic System for a Smart Wheelchair},
Volume = {16},
Year = {2005},
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}
-
G. Ippoliti, S. Longhi, and A. Monteriù, "Sensor Fault Diagnostic System to Improve the Navigation Reliability of a Smart Wheelchair," in 4th International Symposium on Robotics and Automation, Querétaro, Mexico, 2004, pp. 588-593.
@inproceedings{isra2004a, Address = {Quer{\'e}taro, Mexico},
Author = {G. Ippoliti and S. Longhi and A. Monteri\`u},
Booktitle = {4th International Symposium on Robotics and Automation},
Date-Added = {2013-01-17 12:25:42 +0000},
Date-Modified = {2013-01-17 18:42:16 +0000},
Issn = {9789709702002},
Month = {August, 25-27},
Pages = {588--593},
Title = {Sensor Fault Diagnostic System to Improve the Navigation Reliability of a Smart Wheelchair},
Year = {2004}
}
-
G. Ippoliti, L. Jetto, S. Longhi, A. Monteriù, and M. Vaccarini, "A Properly Designed Extended Kalman Filtering Approach for Robot Localization by Sensors with Different Degree of Accuracy," in 4th International Symposium on Robotics and Automation, Querétaro, Mexico, 2004, pp. 574-581.
@inproceedings{isra2004b, Address = {Quer{\'e}taro, Mexico},
Author = {G. Ippoliti and L. Jetto and S. Longhi and A. Monteri\`u and M. Vaccarini},
Booktitle = {4th International Symposium on Robotics and Automation},
Date-Added = {2013-01-17 12:26:48 +0000},
Date-Modified = {2013-01-17 18:42:12 +0000},
Issn = {9789709702002},
Month = {August, 25-27},
Pages = {574--581},
Title = {A Properly Designed Extended Kalman Filtering Approach for Robot Localization by Sensors with Different Degree of Accuracy},
Year = {2004}
}
-
A. Bonci, S. Longhi, A. Monteriù, and M. Vaccarini, "Motion Control of a Smart Mobile Manipulator," in IEEE International Conference on Intelligent Manipulation and Grasping, Geneva, Italy, 2004, pp. 218-224.
@inproceedings{img2004, Address = {Geneva, Italy},
Author = {A. Bonci and S. Longhi and A. Monteri\`u and M. Vaccarini},
Booktitle = {IEEE International Conference on Intelligent Manipulation and Grasping},
Date-Added = {2013-01-17 12:33:22 +0000},
Date-Modified = {2013-01-18 13:55:58 +0000},
Issn = {9788890042614},
Month = {July, 1-2},
Pages = {218--224},
Title = {Motion Control of a Smart Mobile Manipulator},
Year = {2004}
}
A. Freddi, S. Longhi, and A. Monteriù, "A Diagnostic Thau Observer for a Class of Unmanned Vehicles," Journal of Intelligent \& Robotic Systems, vol. 67, pp. 61-73, 2012.