Pubblicazioni di Oriolo Giuseppe
2023
Tarantos S. G., Oriolo G.
A Dynamics-Aware NMPC Method for Robot Navigation Among Moving Obstacles. Lecture Notes in Networks and Systems 2023: 216-230
Tarantos Spyridon G., Belvedere Tommaso, Oriolo Giuseppe
Dynamics-aware navigation among moving obstacles with application to ground and flying robots. ROBOTICS AND AUTONOMOUS SYSTEMS 2023: -
Cipriano Michele, Maximo Marcos R. O. A., Scianca Nicola, Lanari Leonardo, Oriolo Giuseppe
Feasibility-Aware Plan Adaptation in Humanoid Gait Generation. 2023 IEEE-RAS 22nd International Conference on Humanoid Robots 2023: -8
Cipriano Michele, Ferrari Paolo, Scianca Nicola, Lanari Leonardo, Oriolo Giuseppe
Humanoid motion generation in a world of stairs. ROBOTICS AND AUTONOMOUS SYSTEMS 2023: -
Ferrari Paolo, Rossini Luca, Ruscelli Francesco, Laurenzi Arturo, Oriolo Giuseppe, Tsagarakis Nikos G., Mingo Hoffman Enrico
Multi-contact planning and control for humanoid robots: Design and validation of a complete framework. ROBOTICS AND AUTONOMOUS SYSTEMS 2023: -
Selvaggio Mario, Garg Akash, Ruggiero Fabio, Oriolo Giuseppe, Siciliano Bruno
Non-Prehensile Object Transportation via Model Predictive Non-Sliding Manipulation Control. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 2023: 1-14
2022
Viceconte Paolo Maria, Camoriano Raffaello, Romualdi Giulio, Ferigo Diego, Dafarra Stefano, Traversaro Silvio, Oriolo Giuseppe, Rosasco Lorenzo, Pucci Daniele
ADHERENT: Learning Human-like Trajectory Generators for Whole-body Control of Humanoid Robots. IEEE ROBOTICS AND AUTOMATION LETTERS 2022: 2779-2786
Beglini Manuel, Belvedere Tommaso, Lanari Leonardo, Oriolo Giuseppe
An Intrinsically Stable MPC Approach for Anti-Jackknifing Control of Tractor-Trailer Vehicles. IEEE/ASME TRANSACTIONS ON MECHATRONICS 2022: -
Smaldone Filippo Maria, Scianca Nicola, Lanari Leonardo, Oriolo Giuseppe
From Walking to Running: 3D Humanoid Gait Generation via MPC. FRONTIERS IN ROBOTICS AND AI 2022: -
Habib Andrew S., Smaldone Filippo M., Scianca Nicola, Lanari Leonardo, Oriolo Giuseppe
Handling Non-Convex Constraints in MPC-Based Humanoid Gait Generation. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) 2022: 13167-13173
Turrisi Giulio, Capotondi Marco, Gaz Claudio, Modugno Valerio, Oriolo Giuseppe, De Luca Alessandro
On-Line Learning for Planning and Control of Underactuated Robots With Uncertain Dynamics. IEEE ROBOTICS AND AUTOMATION LETTERS 2022: 358-365
Tarantos Sg, Oriolo G
Real-Time Motion Generation for Mobile Manipulators via NMPC with Balance Constraints. 2022 30th Mediterranean Conference on Control and Automation 2022: 853-860
Vulcano V., Tarantos S. G., Ferrari P., Oriolo G.
Safe Robot Navigation in a Crowd Combining NMPC and Control Barrier Functions. Proceedings of the IEEE Conference on Decision and Control 2022: 3321-3328
Kanneworff Marco, Belvedere Tommaso, Scianca Nicola, Smaldone Filippo M., Lanari Leonardo, Oriolo Giuseppe
Task-Oriented Generation of Stable Motions for Wheeled Inverted Pendulum Robots. 2022 IEEE International Conference on Robotics and Automation 2022: -
2021
Scianca N., Ferrari P., De Simone D., Lanari L., Oriolo G.
A behavior-based framework for safe deployment of humanoid robots. AUTONOMOUS ROBOTS 2021: -
Cursi Francesco, Modugno Valerio, Lanari Leonardo, Oriolo Giuseppe, Kormushev Petar
Bayesian Neural Network Modeling and Hierarchical MPC for a Tendon-Driven Surgical Robot with Uncertainty Minimization. IEEE ROBOTICS AND AUTOMATION LETTERS 2021: -
Smaldone Filippo Maria, Scianca Nicola, Lanari Leonardo, Oriolo Giuseppe
Feasibility-Driven Step Timing Adaptation for Robust MPC-Based Gait Generation in Humanoids. IEEE ROBOTICS AND AUTOMATION LETTERS 2021: 1582-1589
Smaldone Filippo M., Scianca Nicola, Lanari Leonardo, Oriolo Giuseppe
MPC-based gait generation for humanoids: From walking to running. 2021 I-RIM Conference 2021: 129-130
Barros Carlos B., Franchi A., Oriolo G.
Towards Safe Human-Quadrotor Interaction: Mixed-Initiative Control via Real-Time NMPC. IEEE ROBOTICS AND AUTOMATION LETTERS 2021: 7611-7618
2020
Cefalo M., Ferrari P., Oriolo G.
An Opportunistic Strategy for Motion Planning in the Presence of Soft Task Constraints. IEEE ROBOTICS AND AUTOMATION LETTERS 2020: 6294-6301
Beglini M., Lanari L., Oriolo G.
Anti-Jackknifing Control of Tractor-Trailer Vehicles via Intrinsically Stable MPC. 2020 IEEE International Conference on Robotics and Automation (ICRA) 2020: 8806-8812
Umili Elena, Tognon Marco, Sanalitro Dario, Oriolo Giuseppe, Franchi Antonio
Communication-based and Communication-less approaches for Robust Cooperative Planning in Construction with a Team of UAVs. Proceedings of the International Conference on Unmanned Aircraft Systems (ICUAS), 2020 2020: 279-288
Turrisi Giulio, Barros Carlos Barbara, Cefalo Massimo, Modugno Valerio, Lanari Leonardo, Oriolo Giuseppe
Enforcing Constraints over Learned Policies via Nonlinear MPC: Application to the Pendubot. IFAC-PapersOnLine 2020: 9502-9507
Capotondi Marco, Turrisi Giulio, Gaz Claudio Roberto, Modugno Valerio, Oriolo Giuseppe, De Luca Alessandro
Learning Feedback Linearization Control Without Torque Measurements. 2020 I-RIM Conference 2020: -
Scianca Nicola, De Simone Daniele, Lanari Leonardo, Oriolo Giuseppe
MPC for Humanoid Gait Generation: Stability and Feasibility. IEEE TRANSACTIONS ON ROBOTICS 2020: 1171-1188
Smaldone Filippo M., Scianca Nicola, Lanari Leonardo, Oriolo Giuseppe
Robust MPC-Based Gait Generation in Humanoids. Proceedings of I-RIM 2020 2020: -
ORIOLO Giuseppe
Wheeled robots. Encyclopedia of Systems and Control, 2nd Edition 2020: 1-8
Smaldone F. M., Scianca N., Modugno V., Lanari L., Oriolo G.
ZMP Constraint Restriction for Robust Gait Generation in Humanoids. Proceedings - IEEE International Conference on Robotics and Automation 2020: 8739-8745
2019
Penco Luigi, Scianca Nicola, Modugno Valerio, Lanari Leonardo, Oriolo Giuseppe, Ivaldi Serena
A Multimode Teleoperation Framework for Humanoid Loco-Manipulation: A Demonstration Using the iCub Robot. IEEE ROBOTICS AND AUTOMATION MAGAZINE 2019: 73-82
Ferrari P., Scianca N., Lanari L., Oriolo G.
An integrated motion planner/controller for humanoid robots on uneven ground. 2019 18th European Control Conference (ECC 2019) 2019: 1598-1603
Capotondi Marco, Turrisi Giulio, Gaz Claudio Roberto, Modugno Valerio, Oriolo Giuseppe, De Luca Alessandro
An online learning procedure for feedback linearization control without torque measurements. Proceedings of 2019 Conference on Robot Learning 2019: 1359-1368
Tanguy A., De Simone D., Comport A. I., Oriolo G., Kheddar A.
Closed-loop MPC with Dense Visual SLAM - Stability through reactive stepping. 2019 IEEE International Conference on Robotics and Automation 2019: 1397-1403
Karami A., Sadeghian H., Keshmiri M., Oriolo G.
Force, orientation and position control in redundant manipulators in prioritized scheme with null space compliance. CONTROL ENGINEERING PRACTICE 2019: 23-33
Smaldone F. M., Scianca N., Modugno V., Lanari L., Oriolo G.
Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances. 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids) 2019: 651-656
Kheddar Abderrahmane, Caron Stéphane, Gergondet Pierre, Comport Andrew, Tanguy Arnaud, Ott Christian, Henze Bernd, Mesesan George, Englsberger Johannes, Roa Máximo A., Wieber Pierre-Brice, Chaumette François, Spindler Fabien, Oriolo Giuseppe, Lanari Leonardo, Escande Adrien, Chappellet Kevin, Kanehiro Fumio, Patrice Rabaté And
Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases. IEEE ROBOTICS AND AUTOMATION MAGAZINE 2019: 30-45
2018
Karami Abbas, Sadeghian Hamid, Keshmiri Mehid, Oriolo Giuseppe
Hierarchical tracking task control in redundant manipulators with compliance control in the null-space. MECHATRONICS 2018: 171-179
Zamparelli Alessio, Scianca Nicola, Lanari Leonardo, Oriolo Giuseppe
Humanoid Gait Generation on Uneven Ground using Intrinsically Stable MPC. 12th IFAC Symposium on Robot Control SYROCO 2018 2018: 393-398
Charbonneau Marie, Modugno Valerio, Nori Francesco, Oriolo Giuseppe, Pucci Daniele, Ivaldi Serena
Learning Robust Task Priorities of QP-Based Whole-Body Torque-Controllers. 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) 2018: 622-627
Cefalo Massimo, Magrini Emanuele, Oriolo Giuseppe
Sensor-Based Task-Constrained Motion Planning using Model Predictive Control. 12th IFAC Symposium on Robot Control SYROCO 2018 2018: 220-225
2017
Scianca Nicola, Modugno Valerio, Lanari Leonardo, Oriolo Giuseppe
Gait generation via intrinsically stable MPC for a multi-mass humanoid model. 2017 IEEE-RAS 17th international conference on humanoid robotics (Humanoids 2017): Birmingham, United Kingdom 15 – 17 November 2017 2017: 547-552
Aboudonia Ahmed Osama Hamed, Scianca Nicola, De Simone Daniele, Lanari Leonardo, Oriolo Giuseppe
Humanoid gait generation for walk-to locomotion using single-stage MPC. 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids 2017) 2017: 178-183
De Simone Daniele, Scianca Nicola, Ferrari Paolo, Lanari Leonardo, Oriolo Giuseppe
MPC-based humanoid pursuit-evasion in the presence of obstacles. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017: 5245-5250
Cefalo Massimo, Magrini Emanuele, Oriolo Giuseppe
Parallel collision check for sensor based real-time motion planning. 2017 IEEE International Conference on Robotics and Automation (ICRA 2017) 2017: 1936-1943
Cognetti Marco, De Simone Daniele, Patota Federico, Scianca Nicola, Lanari Leonardo, Oriolo Giuseppe
Real-time pursuit-evasion with humanoid robots. 2017 IEEE International Conference on Robotics and Automation (ICRA) 2017: 4090-4095
Modugno Valerio, Nava Gabriele, Pucci Daniele, Nori Francesco, Oriolo Giuseppe, Ivaldi Serena
Safe trajectory optimization for whole-body motion of humanoids. 2017 IEEE-RAS 17th international conference on humanoid robotics (Humanoids 2017): Birmingham, United Kingdom 15 – 17 November 2017 2017: 763-770
2016
Dimidov Cristina, Oriolo Giuseppe, Trianni Vito
ANTS 2016 Best Paper Award. C. Dimidov, G. Oriolo, V. Trianni, "Random walks in swarm robotics: An experiment with Kilobots," 10th International Conference on Swarm Intelligence (ANTS 2016), Brussels, Belgium, 2016 2016: -
Dimidov Cristina, Oriolo Giuseppe, Trianni Vito
Best Paper Award, 10th International Conference on Swarm Intelligence (ANTS 2016). Random walks in swarm robotics: An experiment with Kilobots 2016: -
Franchi Antonio, Stegagno Paolo, Oriolo Giuseppe
Decentralized multi-robot encirclement of a 3D target with guaranteed collision avoidance. AUTONOMOUS ROBOTS 2016: 245-265
Stegagno Paolo, Cognetti Marco, Oriolo Giuseppe, Bulthoff Heinrich H., Franchi Antonio
Ground and Aerial Mutual Localization Using Anonymous Relative-Bearing Measurements. IEEE TRANSACTIONS ON ROBOTICS 2016: 1133-1151