56 citations · 111 across the 25 of their papers we have counts for
10 papers · 1 filter
Parabolicity of invariant Surfaces
Andrea Del Prete, Vicent Gimeno i Garcia
We present a clear and practical way to characterize the parabolicity of a complete immersed surface that is invariant with respect to a Killing vector field of the ambient space.
CACTO-SL: Using Sobolev Learning to improve Continuous Actor-Critic with Trajectory Optimization
Elisa Alboni, Gianluigi Grandesso, Gastone Pietro Rosati Papini +2
Trajectory Optimization (TO) and Reinforcement Learning (RL) are powerful and complementary tools to solve optimal control problems. On the one hand, TO can efficiently compute loc…
Efficient Reinforcement Learning for Jumping Monopods
Riccardo Bussola, Michele Focchi, Andrea Del Prete +2
In this work, we consider the complex control problem of making a monopod reach a target with a jump. The monopod can jump in any direction and the terrain underneath its foot can…
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…
Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty
Ahmad Gazar, Majid Khadiv, Andrea Del Prete +1
Trajectory optimization under uncertainties is a challenging problem for robots in contact with the environment. Such uncertainties are inevitable due to estimation errors, control…
Minimal graphs over non-compact domains in 3-manifolds fibered by a Killing vector field
Andrea Del Prete
Let be a connected and orientable Riemannian 3-manifold with a non-singular Killing vector field whose associated one-parameter group of the isometries of …
A duality for prescribed mean curvature graphs in Riemannian and Lorentzian Killing submersions
Andrea Del Prete, Hojoo Lee, José M. Manzano
We develop a conformal duality for spacelike graphs in Riemannian and Lorentzian three-manifolds that admit a Riemannian submersion over a Riemannian surface whose fibers are the i…
The Jenkins-Serrin problem in 3-manifolds with a Killing vector field
Andrea Del Prete, José M. Manzano, Barbara Nelli
We consider a Riemannian submersion from a 3-manifold to a surface , both connected and orientable, whose fibers are the integral curves of a Killing vector field w…
Reactive Landing Controller for Quadruped Robots
Francesco Roscia, Michele Focchi, Andrea Del Prete +2
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops…
VBOC: Learning the Viability Boundary of a Robot Manipulator using Optimal Control
Asia La Rocca, Matteo Saveriano, Andrea Del Prete
Safety is often the most important requirement in robotics applications. Nonetheless, control techniques that can provide safety guarantees are still extremely rare for nonlinear s…