- Planning and Control of Humanoid Robots:
- Vision-based navigation of omnidirectional mobile robots
- Intrinsically Stable MPC for Humanoid Gait Generation
- Real-Time Planning and Execution of Evasive Motions for a Humanoid Robot
- Whole-Body Motion Planning for Humanoids based on CoM Movement Primitives
- Task-Oriented Whole-Body Planning for Humanoids
- Vision-Based Trajectory Control for Humanoid Navigation
- Vision-Based Odometric Localization for Humanoids using a Kinematic EKF
- Vision-Based Corridor Navigation for Humanoid Robots
- Motion Planning:
- Sensor-Based Task-Constrained Motion Planning using Model Predictive Control
- Task-Constrained Motion Planning with Moving Obstacles
- Planning Safe Cyclic Motions under Repetitive Task Constraints
- A Control-Based Approach for Task-Constrained Motion Planning
- Medical Robotics:
- Portable dVRK: an augmented V-REP simulator of the da Vinci Research Kit
- A portable da Vinci simulator in virtual reality
- Vision-based suturing needle tracking with Extended Kalman Filter
- Nonholonomic Mobile Manipulators:
- Kinematic Control
- Image-Based Visual Servoing Schemes
- Multi-Robot Systems:
- Mutual Localization with Anonymous Measurements
- Distributed Target Localization and Encirclement
- The MEMONET project (funded by MIUR, PRIN)
- Exploration of Unknown Environments
- Robotic Exploration of Unknown Environments:
- With Mobile Robots: The SRT Method
- With General Robotic Systems: Sensor-based Exploration Trees
- Modeling, planning and control of Unmanned Aerial Vehicles (UAVs)
- Vision-Based Loitering over a Target for a Fixed-Wing UAV
- Physical Human-Robot Interaction:
- SAPHARI project coordinator (funded by EU, FP7 IP)
- PHRIENDS project (funded by EU, FP6 STREP)
- SICURA project (funded by MIUR, PRIN 2007)
- Visual Servoing:
- On-Line 3D structure and Focal Length Estimation
- Following paths with nonholonomic mobile robots
- Comparing appearance-based controllers for nonholonomic navigation from a visual memory