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Luca Consolini

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

5 papers

2 author rows

JAIR Journal 2024 Journal Article

An Algorithm with Improved Complexity for Pebble Motion/Multi-Agent Path Finding on Trees

Stefano Ardizzoni
Irene Saccani
Luca Consolini
Marco Locatelli
Bernhard Nebel

The pebble motion on trees (PMT) problem consists in finding a feasible sequence of moves that repositions a set of pebbles to assigned target vertices. This problem has been widely studied because, in many cases, the more general Multi-Agent path finding (MAPF) problem on graphs can be reduced to PMT. We propose a simple and easy to implement procedure, which finds solutions of length O(|P|nc + n2), where n is the number of nodes, P is the set of pebbles, and c the maximum length of corridors in the tree. This complexity result is more detailed than the current best known result O(n3), which is equal to our result in the worst case, but does not capture the dependency on c and |P|.

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ICRA Conference 2010 Conference Paper

Non-rigid formations of nonholonomic robots

Luca Consolini
Fabio Morbidi
Domenico Prattichizzo
Mario Tosques

The paper deals with a general class of leader-follower formations of unicycle robots induced by a constraint function that depends on the position and the orientation of the vehicles. We study the flexibility of such formations by introducing the notion of formation internal dynamics, characterize its equilibria and give sufficient geometric conditions for their existence. In particular, we show that the displacement and the relative orientation of each follower with respect to the leader's reference frame are fixed if and only if the robots either move along circular paths or parallel straight lines. These equilibrium configurations always exist if the trajectory of the leader is a circle of sufficiently small curvature or a straight line.

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ICRA Conference 2010 Conference Paper

Recursive convex replanning for the trajectory tracking of wheeled mobile robots

Mauro Argenti
Luca Consolini
Gabriele Lini
Aurelio Piazzi

The article consider the Cartesian trajectory tracking of wheeled mobile robots to be performed by a hybrid control scheme with feedforward inverse control and a state feedaback that is only updated periodically and relies on a recursive convex replanning of the reference trajectory. This approach applied to the standard unicycle model is shown to maintain its efficacy also in presence of noise or unmodeled robot dynamics. Explicit, sufficient conditions are provided to ensure global boundedness of the tracking error. Experimental results are presented using Lego Mindstorm mobile robots.

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ICRA Conference 2007 Conference Paper

A Geometric Characterization of Leader-Follower Formation Control

Luca Consolini
Fabio Morbidi
Domenico Prattichizzo
Mario Tosques

The paper focuses on leader-follower formations of nonholonomic mobile robots. A formation control alternative to those existing in the literature is introduced. We show that the geometry of the formation imposes a bound on the maximum admissible curvature of leader trajectory. A peculiar feature of the proposed strategy is that the followers position is not rigidly fixed with respect to the leader reference frame but varies in suitable cones centered in the leader reference frame. Our approach also applies to hierarchical multirobot formations described by rooted tree graphs. Simulation experiments confirm the effectiveness of the proposed control schemes.

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ICRA Conference 2007 Conference Paper

Minimum-time control of flexible joints with input and output constraints

Luca Consolini
Oscar Gerelli
Corrado Guarino Lo Bianco
Aurelio Piazzi

The paper proposes a linear programming approach to the feedforward minimum-time control of flexible joints. Taking into account both input and output constraints, the optimal bang-bang control is computed by discretizing a continuous-time joint model and by solving a sequence of linear programming feasibility problems. The resulting joint motion is a smooth rest-to-rest motion without oscillations. Experimental results illustrate the proposed open-loop technique.

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