Potential fields study of Marsili basin and Palinuro volcanic complex

In this thesis Marsili back-arc basin and Palinuro Volcanic Complex (Southern Tyrrhenian Sea) have been investigated by using magnetic, bathymetric and gravimetric data. A new velocity model of opening of the Marsili basin has been proposed, highlighting the transition from the horizontal spreading of the back-arc to the vertical accretion of the Marsili seamount. Introducing gravity data, Marsili's internal structure has been modeled and a huge portion of the volcano with low density and vanishing magnetization has been detected. Forward modeling of Palinuro Volcanic Complex showed as Palinuro represents the shallowest evidence of a deep tectonic discontinuity and the possible transition domain between the oceanic crust of Marsili Basin and the continental crust related to the Appenninic chain.

Nonlinear Control Strategies for Cooperative Control of Multi-Robot Systems

This thesis deals with distributed control strategies for cooperative control of multi-robot systems. Specifically, distributed coordination strategies are presented for groups of mobile robots. The formation control problem is initially solved exploiting artificial potential fields. The purpose of the presented formation control algorithm is to drive a group of mobile robots to create a completely arbitrarily shaped formation. Robots are initially controlled to create a regular polygon formation. A bijective coordinate transformation is then exploited to extend the scope of this strategy, to obtain arbitrarily shaped formations. For this purpose, artificial potential fields are specifically designed, and robots are driven to follow their negative gradient. Artificial potential fields are then subsequently exploited to solve the coordinated path tracking problem, thus making the robots autonomously spread along predefined paths, and move along them in a coordinated way. Formation control problem is then solved exploiting a consensus based approach. Specifically, weighted graphs are used both to define the desired formation, and to implement collision avoidance. As expected for consensus based algorithms, this control strategy is experimentally shown to be robust to the presence of communication delays. The global connectivity maintenance issue is then considered. Specifically, an estimation procedure is introduced to allow each agent to compute its own estimate of the algebraic connectivity of the communication graph, in a distributed manner. This estimate is then exploited to develop a gradient based control strategy that ensures that the communication graph remains connected, as the system evolves. The proposed control strategy is developed initially for single-integrator kinematic agents, and is then extended to Lagrangian dynamical systems.