Name
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Giovanni (Nanni) Ulivi |
(sorry, no more recent photo....)
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Organization
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Dipartimento di Informatica e Automazione |
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University
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Università degli Studi
"Roma Tre" |
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Address
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Via Della Vasca Navale, 79, 00146, Roma, Italy |
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Telephone |
+39 (06) 57333239 | |
Fax |
+39 (06) 57333211 | |
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Teaching
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Biographical Sketch
I was born in Rome in 1950 and received the
Laurea degree in Electronic Engineering in 1974.
After a short time spent in the industry, I joined the Department of Computer
and System Science of the University of Rome "La Sapienza", where I
worked on the control of asyncronous motors and then of robots. In 1992 I moved
to the new University of Roma TRE where I teach Automatic Control (“Fondamenti di
Automatica”), Measures for Automation (“Strumentazione e Misure per
l’Automazione”) and Fuzzy Control in engineering courses. From 1996, I joined the Department on
Computer Science and Automation (D.I.A.) and I have been tutor of several PhD
students.
My lecture activity have included also courses on "Sensors and Actuators
for Advanced Robotics" and "Fuzzy Control" for doctorate
students. My research interests, begun with the control of electric motors,
include now nonlinear control of rigid and elastic robots, autonomous vehicles
control and scene recognition for motion planning. I am author of about 100
scientific papers.
I am a member of IFAC Technical Committees on Robotics (RobTeC), Autonomous
Vehicles, and Components and Instruments. Moreover, I have been member of FALCON (Fuzzy
Algorithms for COntrol) EEC's workgroup and ERUDIT Network of Excellence for uncertainty modeling and fuzzy technology in
the European Union. I have been member of IPC and NOC of several international
conferences.
At the moment (2010) I am head of the Department.
Should you really be interested in my research and publications you can download a complete story in .pdf format (sorry, in Italian).
Bibliography (till 2000)
Journal Papers
S. Battilotti, G. Ulivi, "An
architecture for high performance control using digital signal processor
chips,"IEEE Control Systems Magazine, vol. 10, no. 6, pp. 20-23,
1990. [abstract]
A. De Luca, L. Lanari, G. Ulivi,
"Output regulation of a flexible robot arm," 9th INRIA
International Conference on Analysis and Optimization of Systems, Antibes,
F, Lecture Notes in Control and Information Sciences, vol. 144, pp. 833-842,
1990. [abstract]
A. De Luca, L. Lanari, G. Ulivi,
"Nonlinear regulation of end-effector motion for a flexible robot
arm," in New Trends in Systems Theory, G. Conte, A.M. Perdon, B.
Wyman, Eds., Progress in Systems and Control Theory Series, vol. 7, pp.
229-236, Birkhauser, Boston, 1991. [abstract]
A. De Luca, L. Lanari, G. Ulivi,
"End-effector trajectory tracking in flexible arms: Comparison of
approaches based on regulation theory," in Advanced Robot Control,
C. Canudas de Wit, Ed., Lecture Notes in Control and Information Sciences, vol.
162, pp. 190-206, Springer-Verlag, Berlin, 1991. [abstract]
A. De Luca, G. Paesano, G. Ulivi,
"A frequency-domain approach to learning control: Implementation for a
robot manipulator," IEEE Transactions on Industrial Electronics,
vol. 39, no. 1, pp. 1-10, 1992. [abstract]
A. De Luca, F. Nicolo, G. Ulivi,
"Trajectory tracking in flexible robot arms," in Systems, Models
and Feedback: Theory and Applications, A. Isidori, T.J. Tarn, Eds.,
Progress in Systems and Control Theory Series, vol. 12, pp. 17-34, Birkhauser,
Boston, 1992. [abstract]
P. Lucibello, G. Ulivi, "Design
and realization of a two-link direct drive robot with a very flexible
forearm," 1992 International Journal of Robotics and Automation,
vol. 8, no. 3, pp. 113-128, 1993. [abstract]
M. Poloni, G. Ulivi, M. Vendittelli,
"Fuzzy logic and autonomous vehicles: Experiments in ultrasonic
vision", Fuzzy Sets and Systems, no. 69, pp. 15-27, 1995. [abstract]
G. Oriolo, G. Ulivi, M. Vendittelli,
Fuzzy Maps: A New Tool for Mobile Robot Perception and Planning. J. of Robotics
Systems, vol. 14,3, pp. 179-197, 1997.
G. Oriolo, G. Ulivi, M. Vendittelli,
Path Planning via Skeletons on Grey Level Maps. Intell. Automation and Soft
Computing, vol. 2,4, pp. 355-374, 1996.
P. Lucibello, S. Panzieri, G. Ulivi,
Repositioning Control of a Two-Link Flexible Arm by Learning, Automatica, vol.
33,4, pp. 579-590, 1997.
G. Oriolo, M. Vendittelli, G. Ulivi,
Real-Time Map Building and navigation for Autonomous Robots in Unknown
Environments. IEEE Trans. on System Men and Cybernetics - Part B: Cybernetics,
vol. 28,3, pp. 316-333, 1998.
G. Oriolo, S. Panzieri, G. Ulivi, An
iterative learning controller for nonholonomic mobile robots, Int. J. of
Robotics Research, vol. 17,9, pp. 954-969, 1998.
Book chapters
G. Oriolo, G. Ulivi, M. Vendittelli,
"Fuzzy maps: Managing uncertainty in sensor-based motion planning",
Chapter 9 in Applications of Fuzzy Logic: Towards High Machine Intelligent
Quotient Systems, M. Jamshidi (Ed.), Prentice-Hall, 1996. [abstract]
G. Ulivi, On Fuzzy Logic Control of
Mobile Robots, in Fuzzy Logic Control -- Advances in Methodologies, C.
Bonivento et al., (Eds.), World Scientific, Singapore, 1998.
Ollero, F. Cuesta , G. Ulivi, “Fuzzy
Logic Applications in Mobile Robotics”, Chapter 11 in “Fuzzy Algorithms for
Control, H. B. Verbruggen et al. (Ed.), pp.~301-322, Kluwer Academic
Publishers, Boston, USA, ISBN 0-7923-8461-X, February 1999.
G. Oriolo, E. Fabrizi , G. Ulivi,
“Accurate Map Building via Fusion of Laser and Ultrasonic Range Measures”, in
Fuzzy Logic Techniques for Autonomous Vehicle Navigation, A.~Saffiotti e
D.~Driankov (Eds.) (to appear).
Conference Papers
P. Lucibello, G. Ulivi, "An
optical angular transducer for flexible robots arms" IFAC Conf. on Low
Cost Automation Milan, Italy, 1989. [abstract]
A. De Luca, L. Lanari, P. Lucibello,
S. Panzieri, G. Ulivi, "Control experiments on a two-link robot with a
flexible forearm," 29th IEEE Conference on Decision and Control,
Honolulu, HI, pp. 520-527, 1990. [abstract]
F. Bellezza, L. Lanari, G. Ulivi,
"Exact modeling of the slewing flexible link," 1990 IEEE
International Conference on Robotics and Automation, Cincinnati, OH, pp.
734-739, 1990. [abstract]
M. Poloni, G. Ulivi, "Iterative
learning control of a one-link flexible manipulator," 3rd IFAC
Symposium on Robot Control (SYROCO'91), Vienna, A, pp. 393-398, 1991. [abstract]
M. Poloni, G. Ulivi, "Iterative
trajectory tracking for flexible arms with approximate models," 5th
International Conference on Advanced Robotics ('91 ICAR), Pisa, I, pp.
108-113, 1991. [abstract]
A. De Luca, G. Ulivi, "Iterative
learning control of robots with elastic joints," 1992 IEEE
International Conference on Robotics and Automation, Nice, F, pp.
1920-1926, 1992. [abstract]
A. Fedele, A. Fioretti, G. Ulivi,
"Implementation of a hybrid force-position controller using sliding-mode
techniques," 1992 International Conference on Robotics and Automation,
Nice, F, pp. 2126-2133, 1992. [abstract]
D. Del Vescovo, W. D'Ambrogio, G.
Ulivi, "End-point control of a flexible structure using acceleration and
displacement feedback," 12th International Seminar on Modal Analysis
and Structural Dynamics, Leuven, B, 1992. [abstract]
A. Fedele, A. Fioretti, C. Manes, G.
Ulivi, On-line processing of position and force measures for contour
identification and robot control," 1993 International Conference on
Robotics and Automation, Atlanta, GA, pp. 369-374, 1993. [abstract]
P. Lucibello, S. Panzieri, G. Ulivi,
"Point to point learning control of a two-link flexible arm," 3rd
International Symposium on Experimental Robotics, Kyoto, J, 1993. [abstract]
S. Panzieri, G. Ulivi, "Design
and implementation of state-space observers for flexible robots," 1993
IEEE International Conference on Robotics and Automation, Atlanta, GA, vol.
3, pp. 204-209, 1993. [abstract]
S. Panzieri, G. Ulivi, "Neural
modeling of a flexible link," IMACS/IFAC 2nd International Symposium on
Mathematical and Intelligent Models in System Simulation, Brussels, B, pp.
79-83, 1993. [abstract]
P. Lucibello, S. Panzieri, G. Ulivi,
"Experiments on repositioning learning control of a flexible link under
gravity," 4th IFAC Symposium on Robot Control (SYROCO'94), Capri,
I, 1994. [abstract]
G. Oriolo, G. Ulivi, M. Vendittelli,
"Potential-based motion planning on fuzzy maps," EUFIT'94,
Aachen, D, 1994. [abstract]
G. Ulivi, "Comparison of
equation-based fuzzy controllers," IFAC Workshop on Motion Control for
Intelligent Automation, Perugia, I, pp. 209-215, 1992. [abstract]
M. Poloni, G. Ulivi, M. Vendittelli,
"Sonar scene reconstruction using fuzzy logic," 36th ANIPLA Annual
Conference, Genova, I, pp. 324-334, 1992. [abstract]
A. Carozzi, A. Fioretti, M. Poloni, F.
Nicolo, G. Ulivi, "Implementation of a tracking learning controller for an
industrial manipulator," 2nd IEEE Conference on Control Application,
Vancouver, CND, pp. 519-523, 1993. [abstract]
A. Fedele, A. Fioretti, G. Ulivi,
"Experiments in robotic deburring with on-line surface
identification," 2nd IEEE Mediterranean Conference on new Directions in
Control and Automation, Chania, GR, pp. 120-126, 1994. [abstract]
G. Oriolo, G. Ulivi, M. Vendittelli,
"Potential-based motion planning on fuzzy maps," EUFIT'94,
Aachen, D, 1994. [abstract]
G. Oriolo, G. Ulivi, M. Vendittelli,
"Motion planning with uncertainty: Navigation on fuzzy maps," 4th
IFAC Symposium on Robot Control (SYROCO'94), Capri, I, 1994. [abstract]
G. Oriolo, G. Ulivi, M. Vendittelli,
"Motion planning with uncertainty: Navigation on fuzzy maps", 4th
IFAC Symp. on Robot Control, Capri, I, pp. 71- 78, 1994. [abstract]
G. Oriolo, G. Ulivi, M. Vendittelli,
"On-line map building and navigation for autonomous mobile robots", 1995
IEEE Int. Conf. on Robotics and Automation, Nagoya, J, May 1995. [abstract]
G. Oriolo, G. Ulivi, M. Vendittelli,
"Path planning via skeletons on grey-level maps", 3rd IEEE
Mediterranean Symp. on New Directions in Control and Automation, Limassol,
CY, July 1995. [abstract]
S. Panzieri, G. Ulivi,
"Disturbance rejection of iterative learning control applied to trajectory
tracking for a flexible manipulator", 1995 European Control Conf.,
Roma, I, September 1995. [abstract]
G. Fortarezza, G. Oriolo, G. Ulivi, M.
Vendittelli "A mobile robot localization method for incremental map
building and navigation", 3rd International Symposium on INTELLIGENT
ROBOTIC SYSTEMS '95, Pisa, Italy, 10-14 July , 1995 [abstract]
G. Ulivi, "Emergent techniques
for mobile robots and autonomous vehicles", IFAC Work. on Intelligent
Components for Autonomous and Semi- Autonomous Vehicles (ICASAV'95),
Toulouse, F, pp. 35-42, 1995. [abstract]
G. Oriolo, S. Panzieri, G. Ulivi
"An iterative learning controller for nonholonomic robots", Int.
Conf. on Robotics & Automation, Minneapolis, Minnesota, April 22-28,
1996. [abstract]
G. Oriolo, S. Panzieri, G. Ulivi
"Finite-dimensional optimal learning control: application to a flexible
link", Proc. of the 4th IEEE Mediterranean Symposium on New Directions
in Control and Automation, pp.687-692, Maleme, Crete, Greece, June 10-13,
1996. [abstract]
G. Oriolo, S. Panzieri, G. Ulivi
"Cyclic learning control of chained-form systems with application to
car-like robots", 13th IFAC World Congress, San Francisco,
California, June 30 July 5, 1996. [abstract]
F. Gambino, G. Ulivi, M. Vendittelli
“The Transferable Belief Model in Ultrasonic Map Building”. 6th IEEE Conf.
on Fuzzy Syst., Barcellona, E, July 1-5, 1997, pp. 601-606.
F. Gambino, G. Oriolo, G. Ulivi, “A
comparison of three uncertainty calculus techniques for ultrasonic map
building”. SPIE 1996 Int. Symp. on Aerospace-Defence Sensing and Control,
Orlando, Fl, pp.249-260, 8-12 April, 1996.
G. Ulivi, “Fuzzy Logic in the Design
of the Navigation System of a Wheelchair for Disabled People. in New Trends in
Fuzzy logic”, Proceedings of the WILF '95, Bonarini A. et al. (Eds.),
World Scientific, pp. 122-132, Singapore, 1996.
G. Oriolo, S. Panzieri, G. Ulivi, “An
Iterative Learning Controller for Nonholonomic Robots”. 1996 IEEE Conf. on
Robotics and Automation, Minneapolis, MN, pp. 2676-2681, April 22-28, 1996.
M. Balzarotti, G. Ulivi, “The Fuzzy
Horizons Obstacle Avoidance Method for Mobile Robots”. In World Automation
Conf. - ISRAM'96, Montpellier, Fr, May 27-30, 1996.
E. Ferretti, G. Oriolo, S. Panzieri,
G. Ulivi, “Learning Nice Robust Trajectories for a Car-Like Robot”. Int.
Symp. on Intell. Robotic Systems '96, Lisbon, PT, pp. 123-130, July 22-26,
1996.
E. Fabrizi, G. Oriolo, S. Panzieri, G.
Ulivi, “Enhanced uncertainty modeling for robot localization”, 7th Int.
Symp. on Robotics with Applications (ISORA'98), Anchorage, AL, 1998.
De Luca, S. Panzieri, G. Ulivi,
“Stable inversion control for flexible link manipulators”, 1998 IEEE Conf in
Robotics and Automation, Leuven, Belgium, pp. 799-805, May 16-20, 1998.
E. Fabrizi, S. Panzieri, G. Ulivi, “A
KF-based localization algorithm for nonholonomic mobile robots”, 6th IEEE
Mediterranean Conference on Control and Automation, Alghero, I, 1998.
M. Caravassilis, G. Ulivi, “Position
Estimation for a Low Cost Wheelchair Prototype with a Sonar System”, IARP,
International Advanced Robotics Programme, Genova 23-24 Ottobre 1997.
E. Fabrizi, G. Ulivi, “Sensor Fusion
for a Mobile Robot with Ultrasonic and Laser Rangefinders”, 3rd IFAC Symp.on
Intell. Components and Instruments for Control Appl., Annecy, France, June
9-11 1997.
G. Oriolo, S. Panzieri, G. Ulivi,
“Learning Optimal Trajectories for Nonholonomic Systems”, Iterative Learning
Control Workshop, Tampa, FL, Dicembre 1998.
