Tag: Paolo Stegagno’s Research

On the Observability of Visual-Place-Recognition-Based Localization in Mobile Robots

Our latest paper has been accepted for presentation at ECC 2026. In this paper we study the observability properties of visual-place-recognition (VPR)-based localization systems for mobile robots. In our setup, the environment is split into discrete cells and the robot’s camera, through a VPR module, provides a discrete place label together with probabilistic distribution over […]

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Small Fault Detection of Discrete-Time Nonlinear Uncertain Systems

This article investigates the problem of small fault detection (sFD) for discrete-time nonlinear systems with uncertain dynamics. The faults are considered to be “small” in the sense that the system trajectories in the faulty mode always remain close to those in the normal mode, and the magnitude of fault can be smaller than that of […]

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A Low-cost Spectral Camera for Online Vegetation and Water Identification

In general, each material reflects a different percentage of electro-magnetic (EM) radiation in each wavelength. By plotting those values with respect to the wavelength, it is possible to obtain what is called the “reflectance” of the inspected material. The reflectance is unique for each material and constitutes what can be considered a sort of spectral […]

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