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View article: A Machine Learning Approach for the Three-Point Dubins Problem (3PDP)
A Machine Learning Approach for the Three-Point Dubins Problem (3PDP) Open
This paper studies the symmetries of the extension to three points of the Dubins problem, the Three-Point Dubins Problem (3PDP), which consists of finding the shortest curvature-constrained C1 path passing through three waypoints, which ar…
View article: Fast Shortest Path Polyline Smoothing With $G^1$ Continuity and Bounded Curvature
Fast Shortest Path Polyline Smoothing With $G^1$ Continuity and Bounded Curvature Open
In this work, we propose a novel and efficient method for smoothing polylines in motion planning tasks. The algorithm applies to motion planning of vehicles with bounded curvature. In the paper, we show that the generated path: 1) has mini…
View article: Non-Orthogonal Serret–Frenet Parametrization Applied to Path Following of B-Spline Curves by a Mobile Manipulator
Non-Orthogonal Serret–Frenet Parametrization Applied to Path Following of B-Spline Curves by a Mobile Manipulator Open
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 onto the desired path, thus obtaining a non-orthogonal moving frame. The Serret…
View article: A Non-Smooth Numerical Optimization Approach to the Three-Point Dubins Problem (3PDP)
A Non-Smooth Numerical Optimization Approach to the Three-Point Dubins Problem (3PDP) Open
This paper introduces a novel non-smooth numerical optimization approach for solving the Three-Point Dubins Problem (3PDP). The 3PDP requires determining the shortest path of bounded curvature that connects given initial and final position…
View article: Volume-Preserving Shear Transformation of an Elliptical Slant Cone to a Right Cone
Volume-Preserving Shear Transformation of an Elliptical Slant Cone to a Right Cone Open
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. There is a standard way of computing this finite volume, which involves finding…
View article: ALPINE: a climbing robot for operations in mountain environments
ALPINE: a climbing robot for operations in mountain environments Open
Mountain slopes are perfect examples of harsh environments in which humans are required to perform difficult and dangerous operations such as removing unstable boulders, dangerous vegetation or deploying safety nets. A good replacement for…
View article: CLIO: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments
CLIO: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments Open
Rescue missions in mountain environments are hardly achievable by standard legged robots—because of the high slopes—or by flying robots—because of limited payload capacity. We present a concept for a rope-aided climbing robot which can neg…
View article: A new Markov–Dubins hybrid solver with learned decision trees
A new Markov–Dubins hybrid solver with learned decision trees Open
In this paper, the applicability of machine learning models and techniques to the Markov–Dubins path planning problem have been explored. Machine learning techniques are already applied to several fields, which range from computer vision, …
View article: CLIO: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments
CLIO: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments Open
Rescue missions in mountain environments are hardly achievable by standard legged robots-because of the high slopes-or by flying robots-because of limited payload capacity. We present a concept for a rope-aided climbing robot which can neg…
View article: A Markovian Model for the Spread of the SARS-CoV-2 Virus
A Markovian Model for the Spread of the SARS-CoV-2 Virus Open
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 Partially Observable Markov Decision Process (POMDP), whose states are given by th…
View article: Model Predictive Control-Based Reinforcement Learning Using Expected Sarsa
Model Predictive Control-Based Reinforcement Learning Using Expected Sarsa Open
Recent studies have shown the potential of Reinforcement Learning (RL) algorithms in tuning the parameters of Model Predictive Controllers (MPC), including the weights of the cost function and unknown parameters of the MPC model. However, …
View article: Activity Planning for Assistive Robots Using Chance-Constrained Stochastic Programming
Activity Planning for Assistive Robots Using Chance-Constrained Stochastic Programming Open
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 the activity and the motion planner. The activity planner composes a sequence o…
View article: Interpolating Splines of Biarcs from a Sequence of Planar Points
Interpolating Splines of Biarcs from a Sequence of Planar Points Open
Intuitive interactive methods for novice users to create 3D content and 3D geometry have eluded the CAGD community for several decades, and they continue to be critical yet unresolved challenges.The need for such methods is even more acute…
View article: A Note on Robust Biarc Computation
A Note on Robust Biarc Computation Open
A new robust algorithm for the numerical computation of biarcs, i.e. $G^1$ curves composed of two arcs of circle, is presented. Many algorithms exist but are based on geometric constructions, which must consider many geometrical configurat…
View article: Reactive Planning for Assistive Robots
Reactive Planning for Assistive Robots Open
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 means. The vehicle moves in a crowded environment and can detect other pedestri…
View article: Semianalytical minimum‐time solution for the optimal control of a vehicle subject to limited acceleration
Semianalytical minimum‐time solution for the optimal control of a vehicle subject to limited acceleration Open
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 laminar (linear) and aerodynamic (quadratic) drag, taking into account the asymme…
View article: Semi-analytical minimum time solutions for a vehicle following clothoid-based trajectory subject to velocity constraints
Semi-analytical minimum time solutions for a vehicle following clothoid-based trajectory subject to velocity constraints Open
A possible strategy for finding the optimal path that connects two different configurations of a car-like vehicle can be addressed by solving two different sub-problems: 1. identifying a curve that connects the two points respecting the ge…
View article: Semi-Analytical Minimum Time Solution for the Optimal Control of a\n Vehicle subject to Limited Acceleration
Semi-Analytical Minimum Time Solution for the Optimal Control of a\n Vehicle subject to Limited Acceleration Open
The basic module for the solution of the minimum time optimal control of a\ncar-like vehicle is herein presented. The vehicle is subject to the effect of\nlaminar (linear) and aerodynamic (quadratic) drag, taking into account the\nasymmetr…