Marilena Vendittelli Associate Professor Dipartimento di Ingegneria informatica, automatica e gestionale Antonio Ruberti - DIAG member of the Robotics Laboratory Sapienza Università di Roma Via Ariosto 25, 00185 Roma, Italy tel +39 06 77274049 marilena.vendittelli@uniroma1.it Google Scholar profile ORCID: 0000-0002-5348-0525

I received the PhD in Systems Engineering in 1997 from the University of Rome "La Sapienza". From April 1997 to October 1998 I held a post-doctoral position at LAAS-CNRS in Toulouse (France), supported by two Marie Curie Research Training Grants. From 1998 to 2016 I was with DIAG, first as post-doc student and then as Assistant Professor (2001-2016). From 2017 to 2019 I was with the Information Engineering, Electronics and Telecommunications Department as Associate Professor and in 2020 I (re)joined DIAG. During the years, I have been Visiting Scholar at Carnegie Mellon University (2005), the Courant Institute of New York University (2012), the Simons Institute at UC Berkeley (2016).

From January 2010 to December 2013 I served as Associate Editor for the IEEE Transactions on Robotics. I was Registration Chair for ICRA 2007, I was part of the National Organizing Committee of the 18th IFAC World Congress and I continue to serve in the program committee of numerous international conferences, including the IEEE International Conference on Robotics and Automation (ICRA) and the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). I was one of the two General Chairs of I-RIM 3D 2023, the annual scientific event of the Institute of Robotics and Intelligent Machines.

From 2021 to 2023 I was an appointed member of the Scientific Board of the Institut des Sciences de l'Information et de leurs Interactions (CNRS Sciences Informatiques, CNRS-INS2I), a research institute of the French CNRS. I was also part of various PhD committees in Italy and abroad, a member of the Scientific Research Committee for the evaluation of Sapienza research projects (2011-2012), a member of the panels for the evaluation of European projects within the H2020 programme.

My research interests involve both control theory aspects of robotic systems and applications to the medical and service robotics fields.

I currently teach: Medical Robotics (6 CFU, MS in Artificial Intelligence and Robotics, LM in Biomedical Engineering), Automatic Control (6 CFU for the Degree in Electronic Engineering and for the Degree in Communications Engineering), Modeling and Control of Multi-Rotor UAVs (3 CFU), a module of the Elective in Robotics course (12 CFU, MS in Artificial Intelligence and Robotics). I also coordinate the Higher Education course (in italian) "Tecnologie robotiche e digitali in ambito medico: sicurezza e aspetti regolatori".

• G. Cappellini, G. Trappolini, E. Staffetti, A. Cristofaro, M. Vendittelli, "Adaptive Estimation of the Pennes’ Bio-Heat Equation - II: a NN-based implementation for real-time applications," 62nd IEEE Conference on Decision and Control (CDC), Dec. 13-15, 2023, Singapore. 10.1109/CDC49753.2023.10383905
  
• A. Cristofaro, G. Cappellini, E. Staffetti, G. Trappolini, M. Vendittelli, "Adaptive Estimation of the Pennes’ Bio-Heat Equation - I: Observer Design," 62nd IEEE Conference on Decision and Control (CDC), Dec. 13-15, 2023, Singapore. 10.1109/CDC49753.2023.10384113
  
• A. Cristofaro, M. Ferro, F. Galasso, M. Mizzoni, A. Pacciarelli, M. Vendittelli, "Combining 3D Planning and Control Barrier Functions for Safe Motion of Quadrotor UAVs among Obstacles," 9TH International Conference on Control, Decision and Information Technologies (CoDIT), July 3-6, 2023, Rome, Italy. 10.1109/CoDIT58514.2023.10284394
  
• M. Ferro, C. Pacchierotti, S. Rossi and M. Vendittelli, "Deconstructing Haptic Feedback Information in Robot-Assisted Needle Insertion in Soft Tissues," in IEEE Transactions on Haptics, 2023, doi: 10.1109/TOH.2023.3271224.
  
• A. Riccardi, G. P. Furtado, J. Sikorski, M. Vendittelli and S. Misra, "Field Model Identification and Control of a Mobile Electromagnet for Remote Actuation of Soft Robots," in IEEE Robotics and Automation Letters, vol. 8, no. 7, pp. 4092-4098, July 2023, doi: 10.1109/LRA.2023.3280814.
  
• A. Cristofaro, M. Ferro and M. Vendittelli, "Safe trajectory tracking using closed-form controllers based on control barrier functions," 2022 IEEE 61st Conference on Decision and Control (CDC), Cancun, Mexico, 2022, pp. 3329-3334, doi: 10.1109/CDC51059.2022.9992322.
  
• M. Ferro, A. Mirante, F. Ficuciello and M. Vendittelli, "A CoppeliaSim Dynamic Simulator for the Da Vinci Research Kit," in IEEE Robotics and Automation Letters, vol. 8, no. 1, pp. 129-136, Jan. 2023, doi: 10.1109/LRA.2022.3222994.
• M. Ferro, C. Gaz, M. Anzidei and M. Vendittelli, "Online needle-tissue interaction model identification for force feedback enhancement in robot-assisted interventional procedures," in IEEE Transactions on Medical Robotics and Bionics, 2021. doi: 10.1109/TMRB.2021.3118304.
  
• L. Saiella, A. Cristofaro, M. Ferro, M. Vendittelli, "Fault-tolerant formation control of a team of quadrotors with a suspended payload," 2021 International Conference on Unmanned Aircraft Systems (ICUAS), 2021. DOI: 10.1109/ICUAS51884.2021.9476749
  
• V. Magdanz, J. Vivaldi, S. Mohanty, A. Klingner, M. Vendittelli, J. Simmchen, S. Misra, I.S.M. Khalil "Impact of Segmented Magnetization on the Flagellar Propulsion of Sperm‐Templated Microrobots," Advanced Science, 2021.
  
• Marilena Vendittelli, Andrea Cristofaro, Jean-Paul Laumond, Bud Mishra, "Decidability in Robot Manipulation Planning," Autonomous Robots, Special Issue on Topological Methods in Robotics, 2020.
  
• C. H. Heunis, V. Belfiore, M. Vendittelli, S. Misra, "Reconstructing Endovascular Catheter Interaction Forces in 3D using Multicore Optical Shape Sensors," 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019.
  
• G. A. Fontanelli, M. Selvaggio, M. Ferro, F. Ficuciello, M. Vendittelli, B. Siciliano, "Portable dVRK: an augmented V-REP simulator of the da Vinci Research Kit," in Acta Polytechnica Hungarica, vol. 16, no. 8, pp. 79-98, 2019.
  
• M. Ferro, A. Paolillo, A. Cherubini and M. Vendittelli, "Vision-Based Navigation of Omnidirectional Mobile Robots," in IEEE Robotics and Automation Letters, vol. 4, no. 3, pp. 2691-2698, 2019. DOI: 10.1109/LRA.2019.2913077
• Marilena Vendittelli, Jean-Paul Laumond, Bud Mishra, "Decidability in Robot Manipulation Planning," 2018.  https://arxiv.org/abs/1811.03581
  
• G. A. Fontanelli, M. Selvaggio, M. Ferro, F. Ficuciello, M. Vendittelli, B. Siciliano, "A V-REP Simulator for the da Vinci Research Kit Robotic Platform," IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB), 2018. DOI: 10.1109/BIOROB.2018.8487187
  
• N. Cacciotti, A. Cifonelli, C. Gaz, V. Paduano, A.V. Russo, M. Vendittelli, "Enhancing Force Feedback in Teleoperated Needle Insertion Through On-Line Identification of the Needle-Tissue Interaction Parameters," IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB), 2018. DOI: 10.1109/BIOROB.2018.8487952
  
• A. Paolillo, P. Gergondet, A. Cherubini, M. Vendittelli, A. Kheddar, "Autonomous car driving by a humanoid robot," Journal of Field Robotics, vol. 35, no. 2, pp. 169-186, 2017 [on-line since 19 June 2017]. DOI: 10.1002/rob.21731
• G.Oriolo, M. Cefalo, M. Vendittelli, "Repeatable Motion Planning for Redundant Robots over Cyclic Tasks," IEEE Transactions on Robotics, vol. 33, no. 5, pp. 1170-1183, 2017 DOI: 10.1109/TRO.2017.2715348
  
• M. Ferro, A. Paolillo, A. Cherubini, M. Vendittelli, "Omnidirectional humanoid navigation in cluttered environments based on optical flow information," 2016 IEEE-RAS International Conference on Humanoid Robots, 2016. DOI: 10.1109/HUMANOIDS.2016.7803257
  
• T. Mattioli, M. Vendittelli, "Interaction force reconstruction for humanoid robots," IEEE Robotics and Automation Letters, vol. 2, no. 1, pp. 282-289, 2017 [on-line since 18 Aug 2016]. DOI: 10.1109/LRA.2016.2601345
• A. Paolillo, A. Faragasso, G. Oriolo, M. Vendittelli, "Vision-based maze navigation for humanoid robots," Autonomous Robots, vol. 41, no. 2, pp. 293–309, 2017 [on-line since 27 Jan 2016] DOI: 10.1007/s10514-015-9498-0
  
• G. Oriolo, A. Paolillo , L. Rosa, M. Vendittelli, "Humanoid odometric localization integrating kinematic, inertial and visual information," Autonomous Robots, vol. 40, no. 5, pp. 867–879, 2016. DOI: 10.1007/s10514-015-9498-0
• M. Vendittelli, J.-P. Laumond, B. Mishra, "Decidability of robot manipulation planning: three disks in the plane," Algorithmic Foundations of Robotics XI, Springer Tracts in Advanced Robotics, vol. 107, pp. 641-657, 2015. DOI: 10.1007/978-3-319-16595-0_37
  
• A. Paolillo, A. Cherubini, F. Keith, A. Kheddar, and M. Vendittelli, “Toward autonomous car driving by a humanoid robot: A sensor-based framework,” 2014 IEEE-RAS International Conference on Humanoid Robots, 2014. DOI: 10.1109/HUMANOIDS.2014.7041400
  
• M. Cognetti, P. Mohammadi, G. Oriolo, M. Vendittelli, "Task-oriented whole-body planning for humanoids based on hybrid motion generation," 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014. DOI: 10.1109/IROS.2014.6943135
  
• M. Bellaccini, A. Paolillo, L. Lanari, M. Vendittelli, "Manual guidance of humanoid robots without force sensors: preliminary experiments with NAO," 2014 IEEE International Conference on Robotics and Automation, 2014. DOI: 10.1109/ICRA.2014.6907003
  

My research interests are in the area of robot motion planning and control, with particular emphasis on nonholonomic and redundant systems, navigation and perception for mobile robots, multi-robot exploration. Recently I started playing with humanoid robots too. For a detailed description of the most recent research activities visit the Robotics Laboratory research page. Selected videos from experiments are available at the laboratory YouTube channel.

Elective in Robotics

Fondamenti di Automatica

Second semester

Medical Robotics