1 citations · 1 across the 5 of their papers we have counts for
5 papers
Towards safe and optimal flight: Viability Kernel MPC for Fully Actuated Multirotor
Massimiliano Bertoni, Alberto Piccina, Gianni Lunardi +4
Industrial aerial robotics demands safety guarantees for navigation in unstructured environments while optimizing performance and computational efficiency. This paper presents a me…
How Robot Dogs See the Unseeable: Improving Visual Interpretability via Peering for Exploratory Robots
Oliver Bimber, Karl Dietrich von Ellenrieder, Michael Haller +6
In vegetated environments, such as forests, exploratory robots play a vital role in navigating complex, cluttered environments where human access is limited and traditional equipme…
Parallel-Constraint Model Predictive Control: Exploiting Parallel Computation for Improving Safety
Elias Fontanari, Gianni Lunardi, Matteo Saveriano +1
Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint pos…
Hybrid Lyapunov-based feedback stabilization of bipedal locomotion based on reference spreading
Riccardo Bertollo, Gianni Lunardi, Andrea Del Prete +1
We propose a hybrid formulation of the linear inverted pendulum model for bipedal locomotion, where the foot switches are triggered based on the center of mass position, removing t…
Receding-Constraint Model Predictive Control using a Learned Approximate Control-Invariant Set
Gianni Lunardi, Asia La Rocca, Matteo Saveriano +1
In recent years, advanced model-based and data-driven control methods are unlocking the potential of complex robotics systems, and we can expect this trend to continue at an expone…