15 papers
Navigating the Crowd: Non-linear MPC with Social Forces Dynamics for Human-Aware Robot Navigation
Stefano Trepella, Andrea Ostuni, Mauro Martini +5
Safe and socially compliant navigation remains a fundamental challenge for autonomous robots operating in human-populated environments. Beyond collision avoidance, robots must anti…
MPC for underactuated spacecraft control with a Lyapunov supervised physics-informed neural network correction layer
Amirhossein Ayanmanesh Motlaghmofrad, Carlo Cena, Mauro Martini +1
Underactuated spacecraft faces controllability limitations and heightened sensitivity to environmental disturbances, complicating attitude maneuvering and stabilization. Due to the…
Low Cost, High Efficiency: LiDAR Place Recognition in Vineyards with Matryoshka Representation Learning
Judith Vilella-Cantos, Mauro Martini, Marcello Chiaberge +2
Localization in agricultural environments is challenging due to their unstructured nature and lack of distinctive landmarks. Although agricultural settings have been studied in the…
CAVERS: Multimodal SLAM Data from a Natural Karstic Cave with Ground Truth Motion Capture
Giacomo Franchini, David RodrÃguez-MartÃnez, Alfonso MartÃnez-Petersen +2
Autonomous robots operating in natural karstic caves face perception and navigation challenges that are qualitatively distinct from those encountered in mines or tunnels: irregular…
VinePT-Map: Pole-Trunk Semantic Mapping for Resilient Autonomous Robotics in Vineyards
Giorgio Audrito, Mauro Martini, Alessandro Navone +2
Reliable long-term deployment of autonomous robots in agricultural environments remains challenging due to perceptual aliasing, seasonal variability, and the dynamic nature of crop…
TEMPO-VINE: A Multi-Temporal Sensor Fusion Dataset for Localization and Mapping in Vineyards
Mauro Martini, Marco Ambrosio, Judith Vilella-Cantos +2
In recent years, precision agriculture has been introducing groundbreaking innovations in the field, with a strong focus on automation. However, research studies in robotics and au…