Author name cluster

Basilio Bona

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9 papers

1 author row

ICRA Conference 2011 Conference Paper

A first-order solution to simultaneous localization and mapping with graphical models

Luca Carlone
Rosario Aragues
José A. Castellanos 0001
Basilio Bona

In this work we investigate the problem of Simultaneous Localization And Mapping (SLAM) for the case in which the information acquired by the robot is modeled as a network of constraints in a graphical model. Analyzing the resulting formulation we propose a closed-form approach to tackle the problem, which is proved to retrieve a first-order approximation of the actual nonlinear solution, under mild assumptions on the structure of the involved covariance matrices. The outcome of the analysis reveals several desirable properties of the proposed approach: no initial guess for optimization is needed and the technique is able to correctly estimate robot posterior also in presence of arbitrarily long loops. The approach is further validated by means of extensive simulations and real tests, and the consistency of the estimation process is also evaluated. We remark that this work is not intended to extend the already crowded literature on SLAM but is aimed at providing a consistent analytical insight, useful for efficiently attacking several open research issues, like active SLAM and exploration, for which the computational cost of simulating SLAM posterior still constitutes a troublesome bottleneck.

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IROS Conference 2010 Conference Paper

An application of Kullback-Leibler divergence to active SLAM and exploration with Particle Filters

Luca Carlone
Jingjing Du
Miguel Efrain Kaouk Ng
Basilio Bona
Marina Indri

Autonomous exploration under uncertain robot position requires the robot to plan a suitable motion policy in order to visit unknown areas while minimizing the uncertainty on its pose. The corresponding problem, namely active SLAM (Simultaneous Localization and Mapping) and exploration has received a large attention from the robotic community for its relevance in mobile robotics applications. In this work we tackle the problem of active SLAM and exploration with Rao-Blackwellized Particle Filters. We propose an application of Kullback-Leibler divergence for the purpose of evaluating the particle-based SLAM posterior approximation. This metric is then applied in the definition of the expected gain from a policy, which allows the robot to autonomously decide between exploration and place revisiting actions (i. e. , loop closing). The technique is shown to enhance robot awareness in detecting loop closing occasions, which are often missed when using other state-of-the-art approaches. Results of extensive tests are reported to support our claims.

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ICRA Conference 2010 Conference Paper

Rao-Blackwellized Particle Filters multi robot SLAM with unknown initial correspondences and limited communication

Luca Carlone
Miguel Efrain Kaouk Ng
Jingjing Du
Basilio Bona
Marina Indri

Multi robot systems are envisioned to play an important role in many robotic applications. A main prerequisite for a team deployed in a wide unknown area is the capability of autonomously navigate, exploiting the information acquired through the on-line estimation of both robot poses and surrounding environment model, according to Simultaneous Localization And Mapping (SLAM) framework. As team coordination is improved, distributed techniques for filtering are required in order to enhance autonomous exploration and large scale SLAM increasing both efficiency and robustness of operation. Although Rao-Blackwellized Particle Filters (RBPF) have been demonstrated to be an effective solution to the problem of single robot SLAM, few extensions to teams of robots exist, and these approaches are characterized by strict assumptions on both communication bandwidth and prior knowledge on relative poses of the teammates. In the present paper we address the problem of multi robot SLAM in the case of limited communication and unknown relative initial poses. Starting from the well established single robot RBPF-SLAM, we propose a simple technique which jointly estimates SLAM posterior of the robots by fusing the prioceptive and the eteroceptive information acquired by each teammate. The approach intrinsically reduces the amount of data to be exchanged among the robots, while taking into account the uncertainty in relative pose measurements. Moreover it can be naturally extended to different communication technologies (bluetooth, RFId, wifi, etc.) regardless their sensing range. The proposed approach is validated through experimental test.

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ICRA Conference 2005 Conference Paper

Identification of Industrial Robot Parameters for Advanced Model-Based Controllers Design

Basilio Bona
Aldo Curatella

This paper presents the identification process aimed at estimating the model parameters of a COMAU Smart S2 industrial robot for controller design purposes. The principal challenges are given by the presence of a controller in-the-loop, and the absence of sensors to measure joint accelerations and velocities. A method valid in this context has been applied, and suitable trajectories were generated in order to avoid to excite the unmodelled plant dynamic while allowing to compute analytically the joint velocities and accelerations. This method was then applied to a real 6 degrees of freedom (DoF) industrial robot, estimating and using its parameters to design new improved model-based controllers.

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IROS Conference 2003 Conference Paper

Experimental validation of a simple architecture for force/torque and vision control in a 6-dof industrial robot

Basilio Bona
Cosimo Greco
Tommaso Calvelli

Industrial robots use closed proprietary controller architecture that prevents the prototyping of advanced control algorithms when new sensor, such as force/torque or vision sensors, are used. The main bottleneck, apart from the closed architecture, consists in the real-time nature of the control task, that set tight temporal constraints usually unattainable by the limited sampling rate of force and vision sensors. The aim of this paper is to present and test a low-cost simple architecture able to perform both force/torque and vision-in-the-loop control, using an industrial COMAU Smart S2 6-dof articulated manipulator. Successful experiments were performed with various force control tasks and vision-based tracking of planar moving optical marks.

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ICRA Conference 1998 Conference Paper

Analysis and Implementation of observers for Robotic Manipulators

Basilio Bona
Marina Indri

Different solutions to the robot control problem by using only position measurements have been studied in literature. The performances of some linear and nonlinear observers previously proposed are discussed in this paper, on the basis of the experimental results obtained in the control of a SCARA two-link manipulator with two revolute joints. The comparison is carried out by using the observed velocities to implement a linear state feedback algorithm for the robot control. The obtained results show that different factors (e. g. the required task, the available knowledge of the robot dynamic model) may influence the choice of a particular observer.

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ICRA Conference 1994 Conference Paper

Finite Element Modeling and Experimental Validation of an Elastic Beam with Surface Bonded Piezoelectric Devices

Basilio Bona
Eugenio Brusa
P. Canestrelli
Giancarlo Genta
A. Tonoli

This paper presents a new formulation, in terms of an integrated finite element model, of a mechanical beam with surface bonded piezoelectric sensors and actuators. Lagrange equation considering both mechanical and piezoelectric energies is used to derive the element dynamic equation which, assembled with the state space formulation of the electronic circuit, yields the overall state space equation. Modal reduction, including static deflections modes, is introduced to lower the model order. An experimental verification has been carried out on a simple beam with a bonded polyvinylidene fluoride layer acting as a sensor. The results have shown a very good accordance between the model and the real system. >

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ICRA Conference 1992 Conference Paper

Exact decoupling of the force-position control using the operational space formulation

Basilio Bona
Marina Indri

The authors present an algorithm for hybrid force-position control of a robot manipulator using the operational space formulation approach. The proposed scheme modifies and integrates a previous algorithm due to O. Khatib (1987) and to Khatib and J. Burdick (1986), to achieve an exact decoupling of the force and position control along the task subspaces. The theoretical results presented demonstrate the viability of this approach, which was confirmed by simulation results. These provided evidence that the decoupling between force and position was exact, with no noticeable increase in the required computational burden. >

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ICRA Conference 1992 Conference Paper

Model and adaptive control for a 4-DOF manipulator with a flexible arm

Basilio Bona
W. Li

The model of a manipulator with four degrees of freedom and a long flexible arm that includes the coupling effects between rigid and flexible links is used to design a decentralized control scheme. An additional control scheme is included to suppress the elastic variation of the flexible arm. The control scheme does not rely on the dynamic model and payload parameters since disturbance estimation and rejection techniques are used. The simulation results show that the model is accurate enough to design the controller and to perform further analysis on the system. The proposed controller closely tracks the desired input under variations of configuration, payload, and input reference signal. >

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