AREA Laboratory (Automation, Robotics and Applied Electromagnetism)

International Journal Papers

2023

Caccavale, F., Pierri, F. Distributed source-user estimation over directed graphs. Automatica, 155, 2023. https://doi.org/10.1016/j.automatica.2023.111116.
Carriero, G., Calzone, N., Sileo, M., Pierri, F., Caccavale, F., Mozzillo, R. Human-Robot Collaboration: An Augmented Reality Toolkit for Bi-Directional Interaction. Applied Sciences, 13(20), 2023. https://doi.org/10.3390/app132011295
Sileo, M., Bloisi, D. D., Pierri, F. Grasping of Solid Industrial Objects Using 3D Registration. Machines, 11(3), 2023. https://doi.org/10.3390/machines11030396
M. Nigro, M. Sileo, F. Pierri, D.D. Bloisi, F. Caccavale, Assembly task execution using visual 3D surface reconstruction: An integrated approach to parts mating, Robotics and Computer-Integrated Manufacturing, 81, 2023, https://doi.org/10.1016/j.rcim.2022.102519.

2021

Nigro M, Pierri F, Caccavale F. Control of an Omnidirectional UAV for Transportation and Manipulation Tasks. Applied Sciences. 2021; 11(22):10991. https://doi.org/10.3390/app112210991
Di Lillo, P., Pierri, F., Antonelli, G., Caccavale, F., Ollero, A. “A framework for set-based kinematic control of multi-robot systems”. Control Engineering Practice, 106, 2021. doi:10.1016/j.conengprac.2020.104669

2020

Pierri, F., Nigro, M., Muscio, G., Caccavale, F. “Cooperative Manipulation of an Unknown Object via Omnidirectional Unmanned Aerial Vehicles.” Journal of Intelligent & Robotic Systems, 100(3), pp. 1635-1649, 2020. doi:10.1007/s10846-020-01213-0.

2019

Ryll, M., Muscio, G., Pierri, F., Cataldi, E., Antonelli, G., Caccavale, F., Bicego, D. and Franchi, A. “6D Interaction Control with Aerial Robots: The Flying End-Effector Paradigm.” The International Journal of Robotics Research, 38(9), pp. 1045–1062, 2019. doi:10.1177/0278364919856694.

2018

A. Ollero, G. Heredia, A. Franchi, G. Antonelli, K. Kondak, A. Sanfeliu, A. Viguria, J. Ramiro Martinez-de Dios, F. Pierri, J. Cortés, A. Santamaria-Navarro, M. A. Trujillo, R. Balachandran, J. Andrade-Cetto, and A. Rodriguez (2018). The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance. IEEE Robotics & Automation Magazine, vol. 25, no. 4, pp. 12-23, Dec. 2018.
Pierri, F., Muscio, G., Caccavale, F. (2018). An adaptive hierarchical control for aerial manipulators. Robotica, 36(10), 1527-1550.
Marino, A., Pierri, F. (2018). A two stage approach for distributed cooperative manipulation of an unknown object without explicit communication and unknown number of robots. Robotics and Autonomous Systems, 103, 122-133.
G. Muscio, F. Pierri, M.A. Trujillo, E. Cataldi, G. Antonelli, F. Caccavale, A. Viguria, S. Chiaverini, A. Ollero (2018), "Coordinated Control of Aerial Robotic Manipulators: Theory and Experiments. IEEE Transactions on Control Systems Technology.", 26(4), 1406-1413.

2017

K. Baizid, G. Giglio, F. Pierri, M.A. Trujillo, G. Antonelli, F. Caccavale, A. Viguria, S. Chiaverini, A. Ollero "Behavioral control of unmanned aerial vehicle manipulator systems." AUTONOMOUS ROBOTS, vol. 41, p. 1203-1220, 2017
A. Marino, F. Pierri, F. Arrichiello "Distributed Fault Detection Isolation and Accommodation for Homogeneous Networked Discrete-Time Linear Systems." IEEE TRANSACTIONS ON AUTOMATIC CONTROL, vol. 62, p. 4840-4847, 2017
F. Arrichiello, A. Marino, F. Pierri, "Distributed Fault-Tolerant Control for Networked Robots in the Presence of Recoverable/Unrecoverable Faults and Reactive Behaviors." FRONTIERS IN ROBOTICS AND AI, vol. 4, p. 1-12, 2017

2015

F. Arrichiello, A. Marino, F. Pierri, "Observer-Based Decentralized Fault Detection and Isolation Strategy for Networked Multirobot Systems," IEEE Transactions on Control Systems Technology, vol.23, no.4, pp.1465-1476, 2015.

2014

G. Antonelli, K. Baizid, F. Caccavale, G. Giglio, G. Muscio, F. Pierri, “Control Software Architecture for Cooperative Multiple Unmanned Aerial Vehicle-Manipulator Systems”, Journal of Software Engineering for Robotics, vol. 5, n. 2, pp. 1-12, 2014.
F. Basile, F. Caccavale, P. Chiacchio, J. Coppola, A. Marino, D. Gerbasio, "Automated synthesis of hybrid Petri net models for robotic cells in the aircraft industry", Control Engineering Practice, vol. 31, pp. 35-49, 2014.
G. Antonelli, F. Arrichiello, F. Caccavale, A. Marino. "Decentralized time-varying formation control for multi-robot systems" The International Journal of Robotics Research, vol. 33, pp. 1029-1043, 2014.

2013

F. Basile, F. Caccavale, P. Chiacchio, J. Coppola, A. Marino, "A decentralized kinematic control architecture for collaborative and cooperative multi-arm systems". Mechatronics, vol. 23 (8), pp. 1100-1112, 2013.
G. Antonelli, F. Arrichiello, F. Caccavale, A. Marino, "A decentralized controller-observer scheme for multi-agent weighted centroid tracking," IEEE Transactions on Automatic Control, Vol.58, no.5, pp.1310-1316, 2013.
A. Marino, L.E. Parker, G. Antonelli, F. Caccavale, "A decentralized architecture for multi-robot systems based on the Null-Space-Behavioral control with application to multi-robot border patrolling," Journal of Intelligent and Robotic Systems: Theory and Applications, Vol. 71 (3-4), pp. 423-444, 2013.
F. Caccavale, A. Marino, G. Muscio, F. Pierri, "Discrete-Time Framework for Fault Diagnosis in Robotic Manipulators," IEEE Transactions on Control Systems Technology, Vol. 21 (5), pp. 1858-1873, 2013.
F. Caccavale, V. Lippiello, G. Muscio, F. Pierri, F. Ruggiero, L. Villani, "Grasp planning and parallel control of a redundant dual-arm/hand manipulation system", Robotica, Vol. 37, pp. 1169-1194, 2013.

2012

F. Basile, F. Caccavale, P. Chiacchio, J. Coppola, C. Curatella, "Task-oriented motion planning for multi-arm robotic systems," Robotics and Computer-Integrated Manufacturing, Vol. 28 (5), pp. 569-582, 2012.

2011

F. Pierri, M. Iamarino, F. Caccavale, V. Tufano, "Model reduction and identification for temperature control of the phenol-formaldehyde reaction in batch reactors", International Journal of Modelling, Identification and Control, Inderscience Publishers, Vol. 13 (4), pp. 278-290, 2011. ISSN 1746-6172.

2010

G. Antonelli, F. Caccavale, F. Grossi, A. Marino, "A non-iterative and effective procedure for simultaneous odometry and camera calibration for a differential drive mobile robot based on the Singular Value Decomposition", Intelligent Service Robotics, Vol. 3, pp. 163–173, 2010.
F. Caccavale, P. Digiulio, M. Iamarino, S. Masi, F. Pierri, "A neural network approach for on-line fault detection of nitrogen sensors in alternated active sludge treatment plants", Water Science & Technology, IWA Publishing, Vol. 62 (12), pp. 2760-2768, 2010. ISSN 0273-1223
G. Paviglianiti, F. Pierri, F. Caccavale, M. Mattei, "Robust fault detection and isolation for proprioceptive sensors of robot manipulators", Mechatronics, Elsevier Ltd., Oxford UK, Vol. 20, pp. 162-170, 2010. ISSN 0957-4158

2009

F. Caccavale, F. Pierri, M. Iamarino, V. Tufano, "An Integrated Approach to Fault Diagnosis for a Class of Chemical Batch Processes", Journal of Process Control, Elsevier Ltd, Oxford UK, Vol. 19, pp. 827-841, 2009. ISSN 0959-1524
F. Caccavale, P. Cilibrizzi, F. Pierri, L. Villani, "Actuators fault diagnosis for robot manipulators with uncertain model", Control Engineering Practice, Elsevier Ltd, Oxford UK, Vol. 17, pp. 146-157, 2009. ISSN 0976-0661

2008

F. Caccavale, P. Chiacchio, A. Marino, L. Villani, "Six-Dof Impedance Control of Dual-Arm Cooperative Manipulators", IEEE/ASME Transactions on Mechatronics, IEEE, Vol. 13, pp. 576-586, 2008.
F. Pierri, G. Paviglianiti, F. Caccavale, M. Mattei, "Observer-Based Sensor Fault Detection and Isolation for Chemical Batch Reactors", Journal of Engineering Applications of Artificial Intelligence, Elsevier Ltd, Oxford UK, Vol. 21, pp. 1204-1216, 2008, ISSN 0952-1976
F. Caccavale, F. Pierri, L. Villani, "Adaptive Observer for Fault Diagnosis in Nonlinear Discrete-Time Systems", ASME Journal of Dynamic Systems, Measurement and Control, ASME, New York, NY, Vol. 130, n. 2, 2008, ISSN 0022-0434
F. Caccavale, M. Iamarino, F. Pierri, V. Tufano, "An Adaptive Controller-Observer Scheme for Temperature Control of Non-Chain Reactions in Batch Reactors", International Journal of Adaptive Control and Signal Processing, Wiley InterScience, Vol. 22, pp. 627-651, 2008, ISSN 0890-6327

2006

F. Caccavale, P. Chiacchio, I.D. Walker, “A time-delayed observer for fault detection and isolation in industrial robots,” Robotica, Vol. 24, pp. 557-565, Cambridge University Press, Cambridge, UK, 2006.

2005

F. Caccavale, C. Natale, B. Siciliano, L. Villani, "Integration for the next generation: Embedding force control into industrial robots", IEEE Robotics and Automation Magazine, Vol. 12, pp. 53–64, The Institute of Electrical and Electronics Engineers Inc., Piscataway (NJ), USA, 2005.

2004

G. Antonelli, F. Caccavale, S. Chiaverini, "Adaptive tracking control of underwater vehicle-manipulator systems based on the virtual decomposition approach", IEEE Transactions on Robotics and Automation, Vol. 20, pp. 594–602, The Institute of Electrical and Electronics Engineers Inc., Piscataway (NJ), USA, 2004.

2003

F. Caccavale, B. Siciliano, L. Villani, "The Tricept robot: Dynamics and impedance control", IEEE/ASME Transactions on Mechatronics, Vol. 8, pp. 263–268, The Institute of Electrical and Electronics Engineers Inc., Piscataway (NJ), USA, 2003.
F. Caccavale, C. Natale, L. Villani, "Output feedback control of mechanical systems with application to spacecrafts and robots", AIAA Journal of Guidance, Control, and Dynamics, Vol. 26, pp. 273–282, American Institute of Aeronautics and Astronautics, Reston (VA), USA, 2003.
G. Antonelli, F. Caccavale, S. Chiaverini, G. Fusco, "A novel adaptive control law for underwater vehicles", IEEE Transactions on Control System Technology, Vol. 11, pp. 221–232, The Institute of Electrical and Electronics Engineers Inc., Piscataway (NJ), USA, 2003.

2001

F. Caccavale, C. Natale, B. Siciliano, L. Villani, “Achieving a cooperative behaviour in a dual-arm robot system via a modular control structure,” Journal Robotic Systems, Vol. 18, pp. 691–700, Wiley Interscience, Hoboken (NJ), USA, 2001.
F. Caccavale, B. Siciliano, “Kinematic control of redundant free-floating robotic systems,” Advanced Robotics, Vol. 15, pp. 429–448, VSP/Robotics Society of Japan, Giappone, 2001.

2000

F. Caccavale, L. Villani, “Impedance Control of Cooperative Manipulators,” Machine Intelligence and Robotic Control, Vol. 2, pp. 51-57, Cyber Scientific, Fukuoka, Giappone, 2000.
G. Antonelli, F. Caccavale, S. Chiaverini, L. Villani, “Tracking control for underwater vehicle-manipulator systems with velocity estimation,” IEEE Journal of Oceanic Engineering, Vol. 25, pp. 399-413, The Institute of Electrical and Electronics Engineers Inc., Piscataway (NJ), USA, 2000.
F. Caccavale, P. Chiacchio, S. Chiaverini, “Task-space regulation of cooperative manipulators,” Automatica, Vol. 36, pp. 879-887, Elsevier Science Ltd, Oxford, UK, 2000.
F. Caccavale, P. Chiacchio, “An experimental setup for cooperative manipulation based on industrial manipulators,” Industrial Robot, Vol. 27, pp. 120-130, MCB University Press, Bradford, UK, 2000.

1999

F. Caccavale, L. Villani, “Output feedback control for attitude tracking,” Systems & Control Letters, Vol. 38, pp. 91-98, Elsevier Science Ltd, Oxford, UK, 1999.
F. Caccavale, B. Siciliano, L. Villani, “Robot impedance with nondiagonal stiffness for robot manipulators,” IEEE Transactions on Automatic Control, Vol. 44, pp. 1943-1946, The Insistute of Electrical and Electronics Engineers Inc., Piscataway (NJ), USA, 1999.
G. Antonelli, F. Caccavale, P. Chiacchio, “A systematic procedure for the identification of dynamic parameters of robot manipulators,” Robotica, Vol. 17, pp. 427-435, Cambridge University Press, Cambridge, UK, 1999.
F. Caccavale, B. Siciliano, L. Villani, “The role of Euler parameters in robot control,” Asian Journal of Control, Vol. 1, pp. 25-34, The Chinese Automatic Control Society, Taiwan, 1999.
F. Caccavale, C. Natale, B. Siciliano, L. Villani, “Six-dof impedance control based on angle/axis representations,” IEEE Transactions on Robotics and Automation, Vol. 15, pp. 289-300, The Institute of Electrical and Electronics Engineers Inc., Piscataway (NJ), 1999.
F. Caccavale, P. Chiacchio, S. Chiaverini, “Stability analysis of a joint space control law for a two-manipulator system,” IEEE Transactions on Automatic Control, Vol. 44, pp. 85-88, The Institute of Electrical and Electronics Engineers Inc., Piscataway (NJ), USA, 1999.

1998

F. Caccavale, C. Natale, B. Siciliano, L. Villani, “Resolved-acceleration control of robot manipulators: A critical review with experiments,” Robotica, Vol. 16, pp. 565-573, Cambridge University Press, Cambridge, UK, 1998.

1997

F. Caccavale, S. Chiaverini, B. Siciliano, “Second-order kinematic control of robot manipulators with jacobian damped least-squares inverse: Theory and experiments,” IEEE/ASME Transactions on Mechatronics, Vol. 2, pp. 188-194, The Institute of Electrical and Electronics Engineers Inc., Piscataway (NJ), USA, 1997. (A)

1996

F. Caccavale, P. Chiacchio, S. Chiaverini, B. Siciliano, “Experiments of kinematic control on a redundant robot manipulator with non-spherical wrist,” Laboratory Robotics and Automation, Vol. 8, pp. 25-36, John Wiley & Sons Inc., New York (NY), USA, 1996.

1994

F. Caccavale, P. Chiacchio, “Identification of dynamic parameters and feedforward control for a conventional industrial manipulator,” Control Engineering Practice, Vol. 2, No. 6, pp. 1039-1050, Elsevier Science Ltd, Oxford, UK, 1994. (A)

National Journal Papers

2008

F. Caccavale, A. Marino, P. Chiacchio, L. Villani, "Experiments of Impedance Control for a Dual-Arm Cooperative System", Automazione e Strumentazione, Vol. 56(3), pp. 82-89, Fiera Milano Editore, Milano, 2008.

2003

F. Caccavale, L. Villani, "Un approccio alla diagnosi di guasti in robot industriali", Automazione e Strumentazione, Vol. 51(4), pp. 99–107, Editrice BIAS Sas, Milano, 2003.

1996

F. Caccavale, A. Carozzi, P. Chiacchio, “Manipolazione cooperante: un'installazione sperimentale,” Automazione e Strumentazione, Vol. 44(4), pp. 117-122, Editrice BIAS Sas, Milano, 1996.