Ricerc@Sapienza

The problem of minimizing the transfer time along a given Cartesian path for redundant robots can be approached in two steps, by separating the generation of a joint path associated to the Cartesian path from the exact minimization of motion time under kinematic/dynamic bounds along the obtained parameterized joint path. In this framework, multiple suboptimal solutions can be found, depending on how redundancy is locally resolved in the joint space within the first step.

In this paper, a new approach is proposed to optimally plan the motion along a parametrized path for flexible joint robots, i.e., robots whose structure is purposefully provided with compliant elements. State-of-the-art methods efficiently solve the problem in case of torque-controlled rigid robots via a translation of the optimal control problem into a convex optimization problem. Recently, we showed that, for jerk-controlled rigid robots, the problem could be recast into a non-convex optimization problem.

Abstract—Fleets of cooperative drones are a powerful tool in monitoring critical scenarios requiring early anomaly discovery and
intervention. Due to limited energy availability and application requirements, drones may visit target points in consecutive trips, with
recharging and data offloading in between. To capture timeliness of intervention and prioritize early coverage, we propose the new
notion of Weighted Progressive Coverage, which is based on the definition of time dependent weights. Weighted progressive coverage