33 citations · 85 across the 7 of their papers we have counts for
9 papers
Contactless actuators and pyramid wavefront sensor, the SPLATT concept for space active optics: an overview of the project and the last laboratory results
Runa Briguglio, Marco Xompero, Marcello Scalera +13
In the last few years the concept of an active space telescope has been greatly developed, to meet demanding requirements with a substantial reduction of tolerances, risks and cost…
Weak energy shaping for stochastic controlled port-Hamiltonian systems
Francesco G. Cordoni, Luca Di Persio, Riccardo Muradore
The present work address the problem of energy shaping for stochastic port-Hamiltonian system. Energy shaping is a powerful technique that allows to systematically find feedback la…
The SARAS Endoscopic Surgeon Action Detection (ESAD) dataset: Challenges and methods
Vivek Singh Bawa, Gurkirt Singh, Francis KapingA +16
For an autonomous robotic system, monitoring surgeon actions and assisting the main surgeon during a procedure can be very challenging. The challenges come from the peculiar struct…
Minimal controllability time for systems with nonlinear drift under a compact convex state constraint
Viktor Bezborodov, Luca Di Persio, Riccardo Muradore
In this paper we estimate the minimal controllability time for a class of non-linear control systems with a bounded convex state constraint. An explicit expression is given for the…
Improving rigid 3D calibration for robotic surgery
Andrea Roberti, Nicola Piccinelli, Daniele Meli +2
Autonomy is the frontier of research in robotic surgery and its aim is to improve the quality of surgical procedures in the next future. One fundamental requirement for autonomy is…
ESAD: Endoscopic Surgeon Action Detection Dataset
Vivek Singh Bawa, Gurkirt Singh, Francis KapingA +8
In this work, we take aim towards increasing the effectiveness of surgical assistant robots. We intended to make assistant robots safer by making them aware about the actions of su…
Stochastic port--Hamiltonian systems
Francesco Cordoni, Luca Di Persio, Riccardo Muradore
In the present work we formally extend the theory of port-Hamiltonian systems to include random perturbations. In particular, suitably choosing the space of flow and effort variabl…
A Formal Approach to Cyber-Physical Attacks
Ruggero Lanotte, Massimo Merro, Riccardo Muradore +1
We apply formal methods to lay and streamline theoretical foundations to reason about Cyber-Physical Systems (CPSs) and cyber-physical attacks. We focus on %a formal treatment of b…
Inertial Parameter Identification Including Friction and Motor Dynamics
Silvio Traversaro, Andrea Del Prete, Riccardo Muradore +2
Identification of inertial parameters is fundamental for the implementation of torque-based control in humanoids. At the same time, good models of friction and actuator dynamics ar…