7 citations · 13 across the 19 of their papers we have counts for
20 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…
CAVERS: Multimodal SLAM Data from a Natural Karstic Cave with Ground Truth Motion Capture
Giacomo Franchini, David Rodríguez-Martínez, Alfonso Martínez-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…
Hybrid Model Predictive Control with Physics-Informed Neural Network for Satellite Attitude Control
Carlo Cena, Mauro Martini, Marcello Chiaberge
Reliable spacecraft attitude control depends on accurate prediction of attitude dynamics, particularly when model-based strategies such as Model Predictive Control (MPC) are employ…
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…
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…
Metrics vs Surveys: An Analysis for Human-Aligned Benchmarking in Social Robot Navigation
Stefano Trepella, Mauro Martini, Noé Pérez-Higueras +4
Social, also called human-aware, navigation is a key challenge for integrating mobile robots into human environments. The evaluation of such systems is complex, as factors such as…
Learning Social Heuristics for Human-Aware Path Planning
Andrea Eirale, Matteo Leonetti, Marcello Chiaberge
Social robotic navigation has been at the center of numerous studies in recent years. Most of the research has focused on driving the robotic agent along obstacle-free trajectories…
Learning Robust Satellite Attitude Dynamics with Physics-Informed Normalising Flow
Carlo Cena, Mauro Martini, Marcello Chiaberge
Attitude control is a fundamental aspect of spacecraft operations. Model Predictive Control (MPC) has emerged as a powerful strategy for these tasks, relying on accurate models of…
Autonomous Robotic Pruning in Orchards and Vineyards: a Review
Alessandro Navone, Mauro Martini, Marcello Chiaberge
Manual pruning is labor intensive and represents up to 25% of annual labor costs in fruit production, notably in apple orchards and vineyards where operational challenges and cost…
Adaptive Robot Localization with Ultra-wideband Novelty Detection
Umberto Albertin, Mauro Martini, Alessandro Navone +1
Ultra-wideband (UWB) technology has shown remarkable potential as a low-cost general solution for robot localization. However, limitations of the UWB signal for precise positioning…
Fault injection analysis of Real NVP normalising flow model for satellite anomaly detection
Gabriele Greco, Carlo Cena, Umberto Albertin +2
Satellites are used for a multitude of applications, including communications, Earth observation, and space science. Neural networks and deep learning-based approaches now represen…
Towards Safer Planetary Exploration: A Hybrid Architecture for Terrain Traversability Analysis in Mars Rovers
Achille Chiuchiarelli, Giacomo Franchini, Francesco Messina +1
The field of autonomous navigation for unmanned ground vehicles (UGVs) is in continuous growth and increasing levels of autonomy have been reached in the last few years. However, t…
Advancing lunar exploration through virtual reality simulations: a framework for future human missions
Giacomo Franchini, Brenno Tuberga, Marcello Chiaberge
In an era marked by renewed interest in lunar exploration and the prospect of establishing a sustainable human presence on the Moon, innovative approaches supporting mission prepar…
Unsupervised Novelty Detection Methods Benchmarking with Wavelet Decomposition
Ariel Priarone, Umberto Albertin, Carlo Cena +2
Novelty detection is a critical task in various engineering fields. Numerous approaches to novelty detection rely on supervised or semi-supervised learning, which requires labelled…
Learning Social Cost Functions for Human-Aware Path Planning
Andrea Eirale, Matteo Leonetti, Marcello Chiaberge
Achieving social acceptance is one of the main goals of Social Robotic Navigation. Despite this topic has received increasing interest in recent years, most of the research has foc…
A Self-Supervised Task for Fault Detection in Satellite Multivariate Time Series
Carlo Cena, Silvia Bucci, Alessandro Balossino +1
In the space sector, due to environmental conditions and restricted accessibility, robust fault detection methods are imperative for ensuring mission success and safeguarding valua…
Physics-Informed Real NVP for Satellite Power System Fault Detection
Carlo Cena, Umberto Albertin, Mauro Martini +2
The unique challenges posed by the space environment, characterized by extreme conditions and limited accessibility, raise the need for robust and reliable techniques to identify a…
Adaptive Social Force Window Planner with Reinforcement Learning
Mauro Martini, Noé Pérez-Higueras, Andrea Ostuni +3
Human-aware navigation is a complex task for mobile robots, requiring an autonomous navigation system capable of achieving efficient path planning together with socially compliant…