International Journal Papers

  • Birk, A., Doernbach, T., Mueller, C., Luczynski, T., Gomez Chavez, A., Koehntopp, D., Kupcsik, A., Calinon, S., Tanwani, A.K., Antonelli, G., Di Lillo, P., Simetti, E., Casalino, G., Indiveri, G., Ostuni, L., Turetta, A., Caffaz, A., Weiss, P., Gobert, T., Chemisky, B., Gancet, J., Siedel, T., Govindaraj, S., Martinez, X., Letier, P., Dexterous Underwater Manipulation from Onshore Locations: Streamlining Efficiencies for Remotely Operated Underwater Vehicles”, (2018) IEEE Robotics and Automation Magazine
  • P. Abreu, G. Antonelli, F. Arrichiello, A. Caffaz, A. Caiti, G. Casalino, NC Volpi, IB de Jong, D. De Palma, H. Duarte, JP Gomes, J. Grimsdale, G. Indiveri, S. Jesus, K. Kebkal, E. Kelholt, A. Pascoal, D. Polani, L. Pollini, E. Simetti, A. Turetta , Widely Scalable Mobile Underwater Sonar Technology: An Overview of the H2020 WiMUST, Marine Technology Society Journal, 50(4), 42-53, 2016
  • P. Di Lillo, E. Simetti, D. De Palma, E. Cataldi, G. Indiveri, G. Antonelli, G. Casalino , Advanced ROV Autonomy for Efficient Remote Control in the DexROV Project, Marine Technology Society Journal, 50(4), 67-80, 2016
  • K. Baizid, R. Chellai, R. Luza, B. Vitezslav, F. Arrichiello, RRS: Rapidly-Exploring Random Snakes a New Method for Mobile Robot Path Planning, Intelligent Autonomous Systems, 13, 291-305, 2016
  • S. Moe and G. Antonelli and A. Teel and K. Pettersen and J. Schrimpf, Set-based Tasks within the Singularity-robust Multiple Task-priority Inverse Kinematics Framework: General Formulation, Frontiers in Robotics and AI, vol. 3, n., pp. 16, 2016
  • F. Arrichiello, A. Marino, F. Pierri, Observer-based decentralized fault detection and isolation strategy for networked multirobot systems, IEEE Transactions on Control System Technology, 23(4), 1465-1476, 2015
  • G. Antonelli, Robotic research: are we applying the scientific method?, Frontiers in Robotics and AI, vol. 2, n. 13, pp. 1–4, 2015
  • A. R. Di Fazio, G. Fusco and M. Russo, Smart DER Control for Minimizing Power Losses in Distribution Feeders, Elsevier Journal of Electric Power System Research, vol. 109, pp. 71-79, 2014.
  • A. R. Di Fazio, G. Fusco and M. Russo, Testing new reactive power control of DERs by real-time simulation, International Journal of Emerging Electric Power Systems, De Gruyter Editor, ISSN (Online) 1553-779X, ISSN (Print) 2194-5756, DOI: 10.1515/ijeeps-2013-0130, pp. 1-9, February 2014.
  • A. R. Di Fazio, G. Fusco and M. Russo, A smart device for islanding detection in distribution system operation, Elsevier Journal of Electric Power System Research, Special Issue on Smart Grids, 2014.
  • A. Marino and G. Antonelli and S. Chiaverini and A.P. Aguiar and A. Pascoal, A decentralized strategy for multi-robot sampling/patrolling: theory and experiments, IEEE Transactions on Control Systems Technology, 2014.
  • G. Antonelli, F. Arrichiello, F. Caccavale, A. Marino, Decentralized time-varying formation control for multi-robot systems, International Journal of Robotics Research, vol.33, n.7, pp. 1029–1043, 2014.
  • F. Arrichiello and G. Antonelli and A.P. Aguiar and A. Pascoal, An observability metric for underwater vehicle localization using range measurements, Sensors, vol. 13, n. 12, pp. 16191-16215, 2013.
  • A.R. Di Fazio, G. Fusco, and M. Russo, Decentralized Control of Distributed Generation for Voltage Profile Optimization in Smart Feeders, IEEE Trans. on Smart Grid, vol. 4, n.3, pp. 1586–1596, 2013.
  • G. Antonelli and F. Arrichiello and F. Caccavale and A. Marino, A decentralized controller-observer scheme for multi-agent weighted centroid tracking, IEEE Transactions on Automatic Control, vol. 58, n. 5, pp. 1310–1316, 2013.
  • G. Fusco and M. Russo, Design of decentralized robust controller for voltage regulation and stabilization of multimachine power systems, International Journal of Control, Automation and Systems, Editrice Springer-Verlag, vol. 11, n. 2, pp. 277–285, 2013.
  • G. Antonelli , Interconnected dynamic systems: An overview on distributed control, IEEE Control Systems Magazine, vol. 33, n. 1, pp. 76–88, 2013.
  • A. Marino and L. Parker and G. Antonelli and 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 & Robotic Systems, vol. 71, n. 3-4, pp. 423-444, 2013.
  • F. Arrichiello, H. Heidarsson, S. Chiaverini, G.S. Sukhatme, Cooperative caging and transport using autonomous aquatic surface vehicles, Journal of Intelligent Service Robotics, Special Issue on Marine Robotics Systems, 5(1)73-87, 2012.
  • G. Fusco and M. Russo, Nonlinear Control Design for Excitation Controller and Power System Stabilizer, Control Engineering Practice, 19(3)243-251, 2011.
  • G. Antonelli, C. Curatella, A. Marino, Constrained motion planning for open-chain industrial robots, Robotica, 29(3)403-420, 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
    , Journal of Intelligent Service Robotics, 3(3)163-173 2010.
  • G. Antonelli, F. Arrichiello, S. Chiaverini, The NSB control: a behavior-based approach for multi-robot systems, Paladyn. Journal of Behavioral Robotics, 1(1)48-56, 2010.
  • F. Arrichiello, S. Chiaverini, G. Indiveri, P. Pedone, The null-space based behavioral control for mobile robots with velocity actuator saturations, International Journal of Robotics Research, 29(10)1317-1337, 2010.
  • R. Smith, J. Das, H. Heidarsson, A. Pereira, F.
    Arrichiello, I. Cetinic, L. Darjany, M. Garneau, M. Howard, C. Oberg,
    M. Ragan, E. Seubert, E. Smith, B. Stauffer, A. Schnetzer, G.
    Toro-Farmer, D. Caron, B. Jones, G. Sukhatme,
    The USC Center for Integrated Networked Aquatic PlatformS (CINAPS): Observing and monitoring the Southern California bight, IEEE Robotics and Automation Magazine, Special Issue on Marine Robotic Systems, 17(1)20-30, 2010.
  • G.Antonelli, F. Arrichiello, S. Chiaverini, Flocking for Multi-Robot Systems via the Null-Space-based Behavioral Control, Swarm Intelligence, 4(1)37-56, 2010.
  • G. Fusco and M. Russo, Excitation control design based on nonlinearities compensation technique for voltage regulation in power systems, International Journal of Modelling Identification and Control , Inderscience Ltd., UK, 6(1)1-9,2009.
  • G. Antonelli, Stability Analysis for Prioritized Closed-Loop Inverse Kinematic Algorithms for Redundant Robotic Systems, IEEE Transactions on Robotics, 25,1173–1182, 2009.
  • M.-Y. Chow, S. Chiaverini, C. Kitts (Guest Eds.), Introduction to the Focused Section on Mechatronics in Multi Robot Systems, IEEE/ASME Transactions on Mechatronics, 14(2)133-140, 2009.
  • G. Antonelli, F. Arrichiello, S. Chiaverini, Experiments of Formation Control with Multi-Robot Systems using the Null-Space-Based Behavioral Control, IEEE Transactions on Control Systems Technology, 17(5)1173-1182, 2009.
  • G. Fusco and M. Russo, Adaptive voltage regulator design for synchronous
    generator
    , IEEE Transactions on Energy Conversion, 23(3)946-956, 2008.
  • G. Antonelli, F. Arrichiello, S. Chiaverini, The Entrapment/Escorting Mission: An Experimental Study Using a Multirobot System, IEEE
    Robotics and Automation Magazine (RAM). Special Issues on Design,
    Control, and Applications of Real-World Multi-Robot Systems,
    15(1)22-29, March, 2008.
  • G. Antonelli, S. Chiaverini, Linear Estimation of the Physical Odometric Parameters for Differential-Drive Mobile Robots, Autonomous Robots, 23(1)59-68, 2007.
  • G. Antonelli, On the use of adaptive/integral actions for 6-degrees-of-freedom control of autonomous underwater vehicles, IEEE Journal of Oceanic Engineering, 32(2)300-312, 2007.
  • G. Antonelli, S. Chiaverini, M. Palladino, G. Gerio, G. Renga, SmartMove4: An Industrial Implementation of Trajectory Planning for Robots, IEEE Journal of Industrial Robots, 34(3)217-224, 2007.
  • G. Antonelli, F. Arrichiello, S. Chiaverini, The Null-Space-Based Behavioral Control for Autonomous Robotic Systems, International Journal of Intelligent Service Robotics, 1(1)27-39, 2008. /span>
  • G. Antonelli, S. Chiaverini, Kinematic Control of Platoons of Autonomous Vehicles, IEEE Transactions on Robotics, 22(6)1285-1292 , 2006.
  • M. Lee, S. Chiaverini, Introduction to the Focused Section on Advanced Intelligent Mechatronics, IEEE/ASME Transactions on Mechatronics, 11(4)369-371, 2006.
  • G. Antonelli, S. Chiaverini, G. Fusco, A Fuzzy-Logic Based Approach for Mobile Robot Path Tracking, IEEE Transactions on Fuzzy Systems, 5(2)211-221, 2007.
  • G. Antonelli, F. Arrichiello, S. Chiaverini, R. Setola, Coordinated control of mobile antennas for ad-hoc networks, International
    Journal of Modelling Identification and Control Special/Inaugural issue
    on Intelligent Robot Systems, 1(1)63-71, 2006.
  • G. Antonelli, S. Chiaverini, G. Fusco, A
    systematic calibration method for odometry of mobile robots based on
    the least-squares technique: theory and experimental validation
    , IEEE Transactions on Robotics, 21(5)994-1004, 2005.
  • 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, 20(3)594-602, 2004.
  • G. Fusco, M. Russo, Self-tuning regulator design for nodal voltage waveform control in electrical power systems, IEEE Transactions on Control Systems Technology, 11(2)258-266, 2003.
  • G. Antonelli, F. Caccavale, S. Chiaverini, G. Fusco, A novel adaptive control law for underwater vehicles, IEEE Transactions on Control Systems Technology, 11(2)221-232, 2003.
  • G. Antonelli, S. Chiaverini, Fuzzy redundancy resolution and motion coordination for underwater vehicle-manipulator systems, IEEE Transactions on Fuzzy Systems, 11(1)109-120, 2003.
  • G. Antonelli, S. Chiaverini, A fuzzy approach to redundancy resolution for underwater vehicle-manipulator systems, Control Engineering Practice, 11(4)445-452, 2003.
  • G. Antonelli, S. Chiaverini, G. Fusco, A new on-line algorithm for inverse kinematics of robot manipulators ensuring path tracking capability under joint limits, IEEE Transactions on Robotics and Automation, 19(1)162-167, 2003.
  • N. Sarkar, T.K. Podder, G. Antonelli, Fault Accommodating Thruster Force Allocation of an AUV Considering Thruster Redundancy and Saturation, IEEE Trans. on Robotics and Automation, 18(2):223-233, April 2002.
  • S. Chiaverini, G. Fusco, The use of real-world computer models for computer-aided design of tracking control schemes for induction motors, Mathematical and Computer Modeling of Dynamical Systems, 8(2)213-233, 2002.
  • S. Chiaverini, G. Fusco, Bandwidth vs. gains design of H* speed tracking controllers for current-fed induction motors, Automatica, 38(9)1575-1581, 2002.
  • S. Chiaverini, G. Fusco, Design of H* position tracking controllers for current-fed induction motors used in articulated mechanical loads, Transactions of the ASME-Journal of Dynamic Systems, Measurement and Control, 124, pp.485-491, 2002.
  • G. Antonelli, N. Sarkar, S. Chiaverini, Explicit force control for underwater vehicle-manipulator systems, Robotica, 20(3)251-260, 2002.
  • G. Antonelli, S. Chiaverini, A fuzzy approach to redundancy resolution for underwater vehicle-manipulator systems, Control Engineering Practice, 10(6/7), 2002.
  • G. Antonelli, S. Chiaverini, N. Sarkar, External force control for underwater vehicle-manipulator systems, IEEE Transactions on Robotics and Automation, 17(6)931-938, 2001.
  • G. Antonelli, S. Chiaverini, N. Sarkar, M. West, Adaptive control of an autonomous underwater vehicle: Experimental results on ODIN, IEEE Transactions on Control Systems Technology, 9(5)756-765, 2001.
  • G. Antonelli, S. Chiaverini, R. Finotello, R. Schiavon, Real-time path planning and obstacle avoidance for RAIS: An autonomous underwater vehicle, IEEE Journal of Oceanic Engineering, 26(2)216-227, 2001.
  • T.K. Podder, G. Antonelli, N. Sarkar, An Experimental Investigation into the Fault-Tolerant Control of an Autonomous Underwater Vehicle, Journal of Advanced Robotics, 15(5)501-520, 2001.
  • G. Fusco, A. Losi, M. Russo, Adaptive voltage regulator design for Static VAR Systems, Control Engineering Practice, 9(7)759-767,2001.
  • G. Antonelli, F. Caccavale, S. Chiaverini, L. Villani, Tracking control for underwater vehicle-manipulator systems with velocity estimation, IEEE Journal of Oceanic Engineering, 25(3)399-413, 2000.
  • F. Caccavale, P. Chiacchio, S. Chiaverini, Task-space regulation of cooperative manipulators, Automatica, 36(6)879-887, 2000.
  • G. Fusco, A. Losi, M. Russo, Constrained Least Squares Methods for Parameter Tracking of Power System Steady-State Equivalent Circuits, IEEE Transactions on Power Delivery, 15(3)1073-1080, 2000.
  • S. Chiaverini, B. Siciliano, L. Villani, A survey of robot interaction control schemes with experimental comparison, IEEE/ASME Transactions on Mechatronics, 4(3)273-285, 1999.
  • S. Chiaverini, B. Siciliano, The unit quaternion: A useful tool for inverse kinematics of robot manipulators, Systems Analysis, Modelling and Simulation, 35(1)45-60, 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, 44(1)85-88, 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, 1999.
  • S. Chiaverini, B. Siciliano, L. Villani, Force and position tracking: Parallel control with stiffness adaptation, IEEE Control Systems Magazine, 18(1)27-33, 1998.
  • 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, 2(3)188-194, 1997.
  • S. Chiaverini, B. Siciliano, L. Villani, An adaptive force/position control scheme for robot manipulators, Journal of Applied Mathematics and Computer Science, 7(2)293-303, 1997.
  • S. Chiaverini, Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators, IEEE Transactions on Robotics and Automation, 13(3)398-410, 1997.
  • P. Chiacchio, S. Chiaverini, B. Siciliano, Direct and inverse kinematics for coordinated motion tasks of a two-manipulator system, Transactions of the ASME-Journal of Dynamic Systems, Measurement, and Control, 118(4)691-697, 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, 8(1)25-36, 1996.
  • P. Chiacchio, S. Chiaverini, PD-type control schemes for cooperative manipulator systems, Intelligent Automation and Soft Computing, 2(1)65-72, 1996.
  • P. Chiacchio, S. Chiaverini, Coping with joint velocity limits in first-order inverse kinematics algorithms: Analysis and real-time implementation, Robotica, 13(5)515-519, 1995.
  • S. Chiaverini, B. Siciliano, O. Egeland, Review of the damped least-squares inverse kinematics with experiments on an industrial robot manipulator, IEEE Transactions on Control Systems Technology, 2(2)123-134, 1994.
  • S. Chiaverini, B. Siciliano, L. Villani, Force/position regulation of compliant robot manipulators, IEEE Transactions on Automatic Control, 39(3)647-652, 1994.
  • S. Chiaverini, O. Egeland, R.K. Kanestr�m, Weighted damped least-squares in kinematic control of robotic manipulators, Advanced Robotics, 7(3)201-218, 1993.
  • S. Chiaverini, Estimate of the two smallest singular values of the Jacobian matrix: Application to damped least-squares inverse kinematics, Journal of Robotic Systems, 10(8)991-1008, 1993.
  • S. Chiaverini, L. Sciavicco, The parallel approach to force/position control of robotic manipulators, IEEE Transactions on Robotics and Automation, 9(4)361-373, 1993.
  • P. Chiacchio, S. Chiaverini, L. Sciavicco, B. Siciliano, Reply to ‘Comments on Global task space manipulability ellipsoids for multiple-arm systems, and further considerations’, IEEE Transactions on Robotics and Automation, 9(2)235-236, 1993.
  • P. Chiacchio, S. Chiaverini, L. Sciavicco, B. Siciliano, Influence of gravity on the manipulability ellipsoid for robot arms, Transactions of the ASME-Journal of Dynamic Systems, Measurement, and Control, 114(4)723-727, 1992.
  • S. Chiaverini, O. Egeland, J.R. Sagli, B. Siciliano, User-defined accuracy in the augmented task space approach for redundant manipulators, Laboratory Robotics and Automation, 4(2/3)59-67, 1992.
  • F. Gagliardi, U. De Martinis, G. Fusco, D. Lauria, Interaction between non-linear loads and synchronous generators, European Transactions on Electrical Power Engineering, 2(5)279-283, 1992.
  • G. Carpinelli, G. Fusco, F. Gagliardi, D. Lauria, Sensitivity analysis for harmonic evaluation in unbalanced three-phase power system, International Journal of Energy Systems, 12(3)128-133, 1992.
  • S. Chiaverini, B. Siciliano, O. Egeland, Redundancy resolution for the human-arm-like manipulator, Robotics and Autonomous Systems, 8(3)239-250, 1991.
  • P. Chiacchio, S. Chiaverini, L. Sciavicco, B. Siciliano, Task space dynamic analysis of multiarm system configurations, The International Journal of Robotics Research, 10(6)708-715, 1991.
  • P. Chiacchio, S. Chiaverini, L. Sciavicco, B. Siciliano, Global task space manipulability ellipsoids for multiple-arm systems, IEEE Transactions on Robotics and Automation, 7(5)678-685, 1991.
  • P. Chiacchio, S. Chiaverini, L. Sciavicco, B. Siciliano, Closed-loop
    inverse kinematics schemes for constrained redundant manipulators with
    task space augmentation and task priority strategy
    , The International Journal of Robotics Research, 10(4)410-425, 1991.
  • S. Chiaverini, O. Egeland, An efficient pseudo-inverse solution to the inverse kinematic problem for six-joint manipulators, Modeling, Identification and Control, 11(4)201-222, 1990.