Papers by Manuel Cugliari
Summary. A FastSLAM approach to the SLAM problem is considered in this paper. An improvement to t... more Summary. A FastSLAM approach to the SLAM problem is considered in this paper. An improvement to the classical FastSLAM algorithm has been obtained by replacing the Extended Kalman Filters used in the prediction step and in the feature update with Unscented Kalman Filters and by introducing an adaptive selective resampling. The simulations confirm the effectiveness of the proposed modifications. 1
2009 American Control Conference, 2009
The output tracking problem of periodic reference signals (of known period) for single-input sing... more The output tracking problem of periodic reference signals (of known period) for single-input single-output observable minimum phase uncertain linear time-invariant systems with unitary relative degree is considered. A continuous global iterative learning control via output error feedback is designed which guarantees closed loop boundedness and asymptotic output tracking, thus improving the L2 convergence achieved in [6]. Its closed loop performances are then compared with those obtained by using the adaptive learning control in [2] and the adaptive regulator in [5]: in particular the effects of finite memory implementation, measurement noise and uncertainties in the period of the output reference signal are explicitly taken into account in the simulations.
Springer Tracts in Advanced Robotics
An improvement to the classical FastSLAM algorithm has been obtained by replacing the Extended Ka... more An improvement to the classical FastSLAM algorithm has been obtained by replacing the Extended Kalman Filters used in the prediction step and in the feature update with Unscented Kalman Filters and by introducing an adaptive selective resampling. The simulations confirm the effectiveness of the proposed modifications. ⋆ This work has been partially supported by MIUR under grant PRIN 2005092439. The authors would like to thank F. Romanelli and L. Spinello for their valuable initial support.
A FastSLAM approach to the SLAM problem is considered in this paper. An improvement to the classi... more A FastSLAM approach to the SLAM problem is considered in this paper. An improvement to the classical FastSLAM algorithm has been obtained by replacing the Extended Kalman Filters used in the prediction step and in the feature update with Unscented Kalman Filters and by introducing an adaptive selective resampling. The simulations confirm the effectiveness of the proposed modifications.
The output tracking problem of periodic reference signals (of known period) for single-input sing... more The output tracking problem of periodic reference signals (of known period) for single-input single-output observable minimum phase uncertain linear time-invariant systems with unitary relative degree is considered. A continuous global iterative learning control via output error feedback is designed which guarantees closed loop boundedness and asymptotic output tracking, thus improving the L2 convergence achieved. Its closed loop performances are then compared with those obtained by using the adaptive learning control and the adaptive regulator: in particular the effects of finite memory implementation, measurement noise and uncertainties in the period of the output reference signal are explicitly taken into account in the simulations.
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Papers by Manuel Cugliari