Mohammed Tarnini

SoRoMoX: Fast, Differentiable, and Parallelizable Soft Robot Models

Maximilian Stölzle, Solange Gribonval, Daniel Feliu-Talegón, Vito Daniele Perfetta et autres

Reduced-order models based on Cosserat-rod theory are now well established, and modeling theory is no longer the primary bottleneck in soft-robot control. Their implementations, however, do not support the differentiable, GPU-parallel, and control-oriented workflows that underpin advanced rigid-robotics applications. Here, we fill …

SoRoMoX: Fast, Differentiable, and Parallelizable Soft Robot Models

Maximilian Stölzle, Solange Gribonval, Daniel Feliu-Talegón, Vito Daniele Perfetta et autres

Reduced-order models based on Cosserat-rod theory are now well established, and modeling theory is no longer the primary bottleneck in soft-robot control. Their implementations, however, do not support the differentiable, GPU-parallel, and control-oriented workflows that underpin advanced rigid-robotics applications. Here, we fill …

Formation Control With Obstacle Avoidance of Underwater Swarms Based on Relative Visual Feedback

Andrea Infanti, Saverio Iacoponi, Saif Alameri, Mohammed El Hanbaly et autres

ABSTRACT Underwater multi‐robot and swarm systems require advanced methodologies for controlling collective behavior. Conventional single‐robot techniques, such as tethering, sonar imaging, and acoustic localization, are not scalable or effective for swarm applications. This work introduces novel approaches for visual detection, relative localization, …

fr, ae (code pays fourni par la source)

Boundary Control Behaviors of Multiple Low-Cost AUVs Using Acoustic Communication

Mohammed Tarnini, Saverio Iacoponi, Andrea Infanti, Cesare Stefanini et autres

This study presents acoustic-based methods for the control of multiple autonomous underwater vehicles (AUVs). This study proposes two different models for implementing boundary and path control on low-cost AUVs using acoustic communication and a single central acoustic beacon. Both models are based …

ae, it (code pays fourni par la source)

Boundary Control Behaviors of Multiple Low-cost AUVs Using Acoustic Communication

Mohammed Tarnini, Saverio Iacoponi, Andrea Infanti, Cesare Stefanini et autres

This study presents acoustic-based methods for the control of multiple autonomous underwater vehicles (AUV). This study proposes two different models for implementing boundary and path control on low-cost AUVs using acoustic communication and a single central acoustic beacon. Two methods are presented: …