• Our paper "A vision-based control scheme for safe navigation in a crowd", by P. Carboni, G. Nardini, E. Santini, G. Gravina, M. Cipriano, F. D'Orazio, T. Belvedere, G. Oriolo, has won the Best Paper Award at the 17th International Workshop on Human-Friendly Robotics (HFR 2024).


• The paper "Humanoid robots in aircraft manufacturing: The Airbus use cases", by A. Kheddar, G. Oriolo, L. Lanari et al, published in the IEEE Robotics & Automation Magazine, has won the IEEE Robotics and Automation Magazine Best Paper Award for 2020.

I received the Ph.D. in Control Engineering in 1992 from Sapienza University of Rome. In 1994 I joined the Department of Computer, Control and Management Engineering (DIAG) of the same university, where I am currently a Full Professor of Automatic Control and Robotics. I am also the director of the DIAG Robotics Lab. I have held teaching positions at various italian universities, including the University of Siena, of Cassino and of Roma Tre, and I have been Visiting Scholar at the University of California at Santa Barbara. I am a Fellow of the IEEE.

I have been Associate Editor (2001-2005) and Senior Editor (2009 to 2014) of the IEEE Transactions on Robotics. I have served on the Program Committee of several international conferences, including the European Control Conference, the IEEE International Conference on Robotics and Automation (ICRA), the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), the IEEE-RAS International Conference on Humanoid Robots, Robotics: Science and Systems (RSS), and many others. I have also been Organization Chair for the 2007 IEEE International Conference on Robotics and Automation which took place in Rome. From 2007 to 2011 I have been on the Conference Editorial Board of the IEEE Robotics and Automation Society. In 2008 and 2009 I have served as Area Chair for the RSS conference series. From 2014 to 2016 I have been Editor of the Conference Paper Review Board of the IROS Conference series.

My research interests are in control and robotics, and in particular: humanoid robots; mobile robots; UAVs; visual motion control; multi-robot systems; sensor-based map building, localization and navigation; remote control and laboratories; motion planning; learning control; kinematically redundant robots; assistive robotics. In these areas I have published 2 books and over 230 papers in international journals and conferences. A description of some recent research is here.

• G. Gasbarrone, N. Scianca, L. Lanari, G. Oriolo, "A decentralized cooperative transportation scheme for humanoid robots," 2024 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2024), France, Nancy, 2024 (pdf).


• F. D’Orazio, T. Belvedere, S. Tarantos, G. Oriolo, "Maintaining balance of mobile manipulators for safe pick-up tasks," 18th International Conference on Control, Automation, Robotics and Vision (ICARCV 2024), Dubai, UAE, 2024 (pdf).

• T. Belvedere, N. Scianca, L. Lanari, G. Oriolo, "Joint-level IS-MPC: a whole-body MPC with centroidal feasibility for humanoid locomotion", 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), Abu Dhabi, UAE, 2024 (pdf).
  


• P. Carboni, G. Nardini, E. Santini, G. Gravina, M. Cipriano, F. D'Orazio, T. Belvedere, G. Oriolo, "A vision-based control scheme for safe navigation in a crowd," 17th International Workshop on Human-Friendly Robotics (HFR 2024), Lugano, Switzerland, 2024 (pdf).


• S. G. Tarantos, T. Belvedere, G. Oriolo, "Dynamics-aware navigation among moving obstacles with application to ground and flying robots," Robotics and Autonomous Systems, vol. 172, 104582, 2024 (pdf) (link). DOI:10.1016/j.robot.2023.104582

• M. Cipriano, M. R. O. A. Maximo, N. Scianca, L. Lanari, G. Oriolo, "Feasibility-aware plan adaptation in humanoid gait generation," 2023 IEEE-RAS International Conference on Humanoid Robots, Austin, USA, 2023 (pdf). DOI:10.1109/Humanoids57100.2023.10375146

• M. Cipriano, P. Ferrari, N. Scianca, L. Lanari, G. Oriolo, "Humanoid motion generation in a world of stairs," Robotics and Autonomous Systems, vol. 168, 104495, 2023 (pdf) (link). DOI:10.1016/j.robot.2023.104495

• M. Selvaggio, A. Garg, F. Ruggiero, G. Oriolo, B. Siciliano, "Non-prehensile object transportation via model predictive non-sliding manipulation control," IEEE Transactions on Control Systems Technology, vol. 31, no. 5, pp. 2231-2244, 2023 (pdf) (link). DOI:10.1109/TCST.2023.3277224

• P. Ferrari, L. Rossini, F. Ruscelli, A. Laurenzi, G. Oriolo, N. G. Tsagarakis, E. Mingo Hoffman, "Multi-contact planning and control for humanoid robots: Design and validation of a complete framework," Robotics and Autonomous Systems, vol. 166, 104448, 2023 (pdf) (link). DOI:10.1016/j.robot.2023.104448

• V. Vulcano, S. G. Tarantos, P. Ferrari, G. Oriolo, "Safe robot navigation in a crowd combining NMPC and control barrier functions", 2022 61st IEEE Conference on Decision and Control (CDC 2022), Cancún, Mexico, pp. 3321-3328, 2022 (pdf). DOI:10.1109/CDC51059.2022.9993397

• A. S. Habib, F. M. Smaldone, N. Scianca, L. Lanari, G. Oriolo, "Handling non-convex constraints in MPC-based humanoid gait generation", 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Kyoto, Japan, pp. 13167-13173, 2022 (pdf). DOI:10.1109/IROS47612.2022.9981419

• F. M. Smaldone, N. Scianca, L. Lanari, G. Oriolo, "From walking to running: 3D humanoid gait generation via MPC," Frontiers in Robotics and AI, vol. 9, pp. 1-18, 2022 (pdf). DOI:10.3389/frobt.2022.876613 
  

• S. G. Tarantos, G. Oriolo, "Real-time motion generation for mobile manipulators via NMPC with balance constraints", 30th Mediterranean Conference on Control and Automation (MED 22), Athens, Greece, pp. 853-860, 2022 (pdf). DOI:10.1109/MED54222.2022.9837159
  

• S. G. Tarantos, G. Oriolo, "A dynamics-aware NMPC method for robot navigation among moving obstacles", 17th International Conference on Intelligent Autonomous Systems (IAS-17), Zagreb, Croatia, 2022 (pdf). DOI:10.1007/978-3-031-22216-0_15

• M. Beglini, T. Belvedere, L. Lanari, G. Oriolo, "An intrinsically stable MPC approach for anti-jackknifing control of tractor-trailer vehicles", IEEE/ASME Transactions on Mechatronics, vol. 27, no. 6, pp. 4417-4428, 2022 (pdf). DOI:10.1109/LRA.2022.3141658

• M. Kanneworff, T. Belvedere, N. Scianca, F. M. Smaldone, L. Lanari, G. Oriolo, "Task-oriented generation of stable motions for wheeled inverted pendulum robots", 2022 IEEE International Conference on Robotics and Automation, Philadelphia, USA, pp. 214-220, 2022 (pdf). DOI:10.1109/ICRA46639.2022.9812317

• P. M. Viceconte, R. Camoriano, G. Romualdi, D. Ferigo, S. Dafarra, S. Traversaro, G. Oriolo, L. Rosasco, D. Pucci, "ADHERENT: Learning human-like trajectory generators for whole-body control of humanoid robots", IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 2779-2786, 2022 (pdf). DOI:10.1109/LRA.2022.3141658
  

• G. Turrisi, M. Capotondi, C. Gaz, V. Modugno, G. Oriolo, A. De Luca, "On-line learning for planning and control of underactuated robots with uncertain dynamics", IEEE Robotics and Automation Letters, vol. 7, no. 1, pp. 358-365, 2022 (pdf). DOI:10.1109/LRA.2021.3126899

• Sistemi di Controllo (ex Controlli Automatici, 9 crediti, Laurea in Ingegneria Informatica e Automatica)
  
• Autonomous and Mobile Robotics (6 credits, Master in Artificial Intelligence and Robotics, Master in Control Engineering)
• Applicazioni dell'Automatica: Introduction to Mobile Robotics (1 credito, Laurea in Ingegneria Informatica e Automatica)
• Argomenti di tesi/Thesis topics
• Information about the Master in Control Engineering
• Information about the Master in Artificial Intelligence and Robotics

Old courses

• Underactuated Robots (up to 2022, 3 credits, Master in Artificial Intelligence and Robotics, Master in Control Engineering)
• Fondamenti di Automatica (up to 2018, 9 credits, Laurea in Ingegneria Elettronica; 6 credits, Laurea in Ingegneria delle Comunicazioni)
• Elective in Robotics (up to 2011, Master in Artificial Intelligence and Robotics; also Laurea Magistrale in Ingegneria dei Sistemi, Laurea Magistrale in Ingegneria Elettronica)
• 2010 SIDRA Doctoral School on Robotics
• Controlli Automatici (Ingegneria Elettronica, vecchio ordinamento)
• Controlli Automatici I modulo (Laurea in Ingegneria Elettronica, ordinamento 509)
• Controlli Automatici II modulo (Laurea/Laurea Specialistica in Ingegneria Elettronica, ordinamento 509)
• Multi-Robot Systems (3 credits, Master in Artificial Intelligence and Robotics, Master in Control Engineering)
• Control of Autonomous Multi-Agent Systems (6 credits, Master in Control Engineering)
• Sistemi Adattativi (Laurea Specialistica in Ingegneria dei Sistemi e Laurea Specialistica in Ingegneria Elettronica, ordinamento 509)
• Control of Nonholonomic Systems (Corso di Dottorato in Ingegneria dei Sistemi)
• Complementi di Controlli Automatici (Università di Roma Tre)