publications.bib

@INPROCEEDINGS{beber2024passive,
  author={Beber, Luca and Lamon, Edoardo and Nardi, Davide and Fontanelli, Daniele and Saveriano, Matteo and Palopoli, Luigi},
  booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)}, 
  title={A Passive Variable Impedance Control Strategy with Viscoelastic Parameters Estimation of Soft Tissues for Safe Ultrasonography}, 
  year={2024},
  volume={},
  number={},
  pages={1298-1304},
  keywords={Torso;Parameter estimation;Tracking;Telemedicine;Ultrasonography;Safety;Impedance},
  doi={10.1109/ICRA57147.2024.10610167}}

@INPROCEEDINGS{beber2024elasticity,
  author={Beber, Luca and Lamon, Edoardo and Palopoli, Luigi and Fambri, Luca and Saveriano, Matteo and Fontanelli, Daniele},
  booktitle={2024 IEEE International Instrumentation and Measurement Technology Conference (I2MTC)}, 
  title={Elasticity Measurements of Expanded Foams Using a Collaborative Robotic Arm}, 
  year={2024},
  volume={},
  number={},
  pages={1-6},
  keywords={Biomedical equipment;Accuracy;Ultrasonic imaging;Ultrasonic variables measurement;Shape;Force;Estimation},
  doi={10.1109/I2MTC60896.2024.10561214}}

@ARTICLE{beber2025force,
  author={Beber, Luca and Lamon, Edoardo and Moretti, Giacomo and Saveriano, Matteo and Fambri, Luca and Palopoli, Luigi and Fontanelli, Daniele},
  journal={IEEE Transactions on Instrumentation and Measurement}, 
  title={Force-Based Viscosity and Elasticity Measurements for Material Biomechanical Characterization With a Collaborative Robotic Arm}, 
  year={2025},
  volume={74},
  number={},
  pages={1-14},
  keywords={Robots;Springs;Estimation;Force;Viscosity;Robot sensing systems;Elasticity;Ultrasonic imaging;Accuracy;Ultrasonic variables measurement;Biomechanical characterization;dimensionality reduction (DR);viscoelastic estimation},
  doi={10.1109/TIM.2025.3581663}}

@ARTICLE{nardi2026anatomy,
  author={Nardi, Davide and Lamon, Edoardo and Fontanelli, Daniele and Saveriano, Matteo and Palopoli, Luigi},
  journal={IEEE Robotics and Automation Letters}, 
  title={An Anatomy-Aware Shared Control Approach for Assisted Teleoperation of Lung Ultrasound Examinations}, 
  year={2026},
  volume={11},
  number={3},
  pages={2570-2577},
  keywords={Robots;Ribs;Probes;Ultrasonic imaging;Skin;Solid modeling;Computational modeling;Three-dimensional displays;Biological system modeling;Cameras;Medical robots and systems;physical human-robot interaction;telerobotics and teleoperation},
  doi={10.1109/LRA.2026.3653292}}

@INPROCEEDINGS{beber2024towards,
  author={Beber, Luca and Lamon, Edoardo and Moretti, Giacomo and Fontanelli, Daniele and Saveriano, Matteo and Palopoli, Luigi},
  booktitle={2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
  title={Towards Robotised Palpation for Cancer Detection through Online Tissue Viscoelastic Characterisation with a Collaborative Robotic Arm}, 
  year={2024},
  volume={},
  number={},
  pages={2380-2386},
  keywords={Dimensionality reduction;Biological system modeling;Heuristic algorithms;Biological tissues;Estimation;Collaboration;Robot sensing systems;Information filters;End effectors;Kalman filters},
  doi={10.1109/IROS58592.2024.10802582}}

@ARTICLE{merlo2025exploiting,
  author={Merlo, Elena and Lagomarsino, Marta and Lamon, Edoardo and Ajoudani, Arash},
  journal={IEEE Transactions on Robotics}, 
  title={Exploiting Information Theory for Intuitive Robot Programming of Manual Activities}, 
  year={2025},
  volume={41},
  number={},
  pages={1245-1262},
  keywords={Robots;Entropy;Semantics;Programming;Hands;Videos;Trajectory;Motion segmentation;Feature extraction;Sensors;Information theory (IT);learning from demonstration;manipulation planning;semantic scene understanding},
  doi={10.1109/TRO.2025.3530267}}

@ARTICLE{saccon2026automated,
  author={Saccon, Enrico and De Martini, Davide and Saveriano, Matteo and Lamon, Edoardo and Palopoli, Luigi and Roveri, Marco},
  journal={IEEE Robotics and Automation Letters}, 
  title={Automated Generation of MDPs Using Logic Programming and LLMs for Robotic Applications}, 
  year={2026},
  volume={11},
  number={2},
  pages={1770-1777},
  keywords={Robots;Planning;Probabilistic logic;Robot kinematics;Logic programming;Knowledge based systems;Cognition;Uncertainty;Human-robot interaction;Storms;Planning under uncertainty;AI-Based methods;human-robot collaboration},
  doi={10.1109/LRA.2025.3643276}}

@INPROCEEDINGS{dorigoni2024fostering,
  author={Dorigoni, Davide and Shamsfakhr, Farhad and Pincheira, Miguel and Vecchio, Massimo and Antonelli, Fabio},
  booktitle={2024 IEEE Sensors Applications Symposium (SAS)}, 
  title={Fostering Precision Agriculture through Affordable 3D LiDAR Deskewing with EKF}, 
  year={2024},
  volume={},
  number={},
  pages={1-6},
  keywords={Point cloud compression;Precision agriculture;Three-dimensional displays;Laser radar;Accuracy;Data models;Sensors;Odometry;UWB;IMU;Extended Kalman Filter;Sensor Fusion. the title;we don't need. if there is space we can add 3D mapping},
  doi={10.1109/SAS60918.2024.10636393}}


@INPROCEEDINGS{dorigoni2021uncertainty,
  author={Dorigoni, Davide and Fontanelli, Daniele},
  booktitle={2021 IEEE International Instrumentation and Measurement Technology Conference (I2MTC)}, 
  title={An Uncertainty-driven Analysis for Delayed Mapping SLAM}, 
  year={2021},
  volume={},
  number={},
  pages={1-6},
  keywords={Uncertainty;Simultaneous localization and mapping;Laser radar;Simulation;Measurement uncertainty;Length measurement;Indoor environment;Delayed Mapping;Extended Kalman Filter;SLAM problem},
  doi={10.1109/I2MTC50364.2021.9459876}}

@inproceedings{saccon2024when,
  title={When Prolog meets generative models: a new approach for managing knowledge and planning in robotic applications},
  author={Saccon, Enrico and Tikna, Ahmet and De Martini, Davide and Lamon, Edoardo and Palopoli, Luigi and Roveri, Marco},
  booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={17065--17071},
  year={2024},
  organization={IEEE}
}

@inproceedings{saccon2023multi,
  title={Multi-Agent Open Framework: Developing a Holistic System to Solve MAPF (Student Abstract)},
  author={Saccon, Enrico},
  booktitle={Proceedings of the International Symposium on Combinatorial Search},
  volume={16},
  number={1},
  pages={198--199},
  year={2023}
}

@inbook{saccon2023comparing,
  title={Comparing Multi-Agent Path Finding Algorithms in a Real Industrial Scenario},
  author={Saccon, Enrico and Palopoli, Luigi and Roveri, Marco},
  booktitle={AIxIA 2022--Advances in Artificial Intelligence: XXIst International Conference of the Italian Association for Artificial Intelligence, AIxIA 2022, Udine, Italy, November 28--December 2, 2022, Proceedings},
  pages={184--197},
  year={2023},
  organization={Springer},
  doi={10.1007/978-3-031-27181-6_13}
}

@article{saccon2021gpus,
  author={Saccon, Enrico and Bevilacqua, Paolo and Fontanelli, Daniele and Frego, Marco and Palopoli, Luigi and Passerone, Roberto},
  journal={2021 IEEE 45th Annual Computers, Software, and Applications Conference (COMPSAC)}, 
  title={{Robot Motion Planning: can GPUs be a Game Changer?}}, 
  year={2021},
  volume={},
  number={},
  pages={21-30},
  doi={10.1109/COMPSAC51774.2021.00015},
}

@article{frego2020iterative,  
  author={Frego, Marco and Bevilacqua, Paolo and Saccon, Enrico and Palopoli, Luigi and Fontanelli, Daniele},  
  journal={IEEE Robotics and Automation Letters},   
  title={{An Iterative Dynamic Programming Approach to the Multipoint Markov-Dubins Problem}},
  year={2020},  
  volume={5},  
  number={2},  
  pages={2483-2490},  
  doi={10.1109/LRA.2020.2972787},
}

@ARTICLE{pastorelli2025fast,
  author={Pastorelli, Patrick and Dagnino, Simone and Saccon, Enrico and Frego, Marco and Palopoli, Luigi},
  journal={IEEE Robotics and Automation Letters}, 
  title={Fast Shortest Path Polyline Smoothing With $G^{1}$ Continuity and Bounded Curvature}, 
  year={2025},
  volume={10},
  number={4},
  pages={3182-3189},
  keywords={Interpolation;Approximation algorithms;Smoothing methods;Computational efficiency;Turning;Planning;Training;Standards;Programming;Motion segmentation;Motion planning;path planning;shortest path problem},
  doi={10.1109/LRA.2025.3540531}}

@ARTICLE{lunardi2024reference,
  author={Lunardi, Gianni and Corbères, Thomas and Mastalli, Carlos and Mansard, Nicolas and Flayols, Thomas and Tonneau, Steve and Prete, Andrea Del},
  journal={IEEE Access}, 
  title={Reference-Free Model Predictive Control for Quadrupedal Locomotion}, 
  year={2024},
  volume={12},
  number={},
  pages={689-698},
  keywords={Costs;Legged locomotion;Trajectory;Dynamics;Collision avoidance;Stability analysis;Predictive control;Quadrupedal robots;Full-body MPC;collision avoidance;DDP},
  doi={10.1109/ACCESS.2023.3345157}}

@article{bertollo2025hybrid,
  title = {Hybrid Lyapunov-based feedback stabilization of bipedal locomotion based on reference spreading},
  journal = {Automatica},
  volume = {174},
  pages = {112106},
  year = {2025},
  issn = {0005-1098},
  doi = {https://doi.org/10.1016/j.automatica.2024.112106},
  url = {https://www.sciencedirect.com/science/article/pii/S0005109824005995},
  author = {Riccardo Bertollo and Gianni Lunardi and Andrea {Del Prete} and Luca Zaccarian},
  keywords = {Hybrid dynamical systems, Bipedal locomotion, Reference spreading, Convex optimization},
  abstract = {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 the need for pre-defined footstep timings. Using a concept similar to reference spreading, we define nontrivial tracking error coordinates induced by our hybrid model. These coordinates enjoy desirable linear flow dynamics and rather elegant jump dynamics perturbed by a suitable extended class K∞ function of the position error. We stabilize this hybrid error dynamics using a saturated feedback controller, selecting its gains by solving a convex optimization problem. We prove local asymptotic stability of the tracking error and provide a certified estimate of the basin of attraction, comparing it with a numerical estimate obtained from the integration of the closed-loop dynamics. Simulations on a full-body model of a real robot show the practical applicability of the proposed framework and its advantages with respect to a standard model predictive control formulation.}
}

@INPROCEEDINGS{lunardi2024receding,
  author={Lunardi, Gianni and La Rocca, Asia and Saveriano, Matteo and Del Prete, Andrea},
  booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)}, 
  title={Receding-Constraint Model Predictive Control using a Learned Approximate Control-Invariant Set}, 
  year={2024},
  volume={},
  number={},
  pages={11626-11632},
  keywords={Uncertainty;Reinforcement learning;Predictive models;Manipulators;Prediction algorithms;Safety;Task analysis},
  doi={10.1109/ICRA57147.2024.10611467}}

@article{falqueto2024humanising,
   title = {Humanising robot-assisted navigation},
   author = {Placido, Falqueto and Alessandro, Antonucci and Luigi, Palopoli and Daniele, Fontanelli},
   journal = {Intelligent Service Robotics},
   volume = {17},
   number = {2},
   pages = {155--165},
   year = {2024},
   doi = {10.1007/s11370-023-00495-1}
}

@INPROCEEDINGS{falqueto2024learning,
  author={Falqueto, Placido and Sanfeliu, Alberto and Palopoli, Luigi and Fontanelli, Daniele},
  booktitle={2024 IEEE 48th Annual Computers, Software, and Applications Conference (COMPSAC)}, 
  title={Learning Priors of Human Motion With Vision Transformers}, 
  year={2024},
  volume={},
  number={},
  pages={382-389},
  keywords={Computer vision;Accuracy;Navigation;Urban areas;Computer architecture;Transformers;Trajectory;vision transformers;human motion prediction;semantic scene understanding;masked autoencoders;occupancy priors},
  doi={10.1109/COMPSAC61105.2024.00060}}

@INPROCEEDINGS{dallevedove2024passivity,
  author={Dalle Vedove, Matteo and Lamon, Edoardo and Fontanelli, Daniele and Palopoli, Luigi and Saveriano, Matteo},
  booktitle={2024 IEEE 20th International Conference on Automation Science and Engineering (CASE)}, 
  title={A Passivity-Based Variable Impedance Controller for Incremental Learning of Periodic Interactive Tasks}, 
  year={2024},
  volume={},
  number={},
  pages={2604-2609},
  keywords={Surface impedance;Incremental learning;Tracking;Education;End effectors;Safety;Impedance;Usability;Robots;Oscillators},
  doi={10.1109/CASE59546.2024.10711399}}

@INPROCEEDINGS{dallevedove2025meshdmp,
  author={Dalle Vedove, Matteo and Abu-Dakka, Fares J. and Palopoli, Luigi and Fontanelli, Daniele and Saveriano, Matteo},
  booktitle={2025 IEEE International Conference on Robotics and Automation (ICRA)}, 
  title={MeshDMP: Motion Planning on Discrete Manifolds Using Dynamic Movement Primitives}, 
  year={2025},
  volume={},
  number={},
  pages={895-901},
  keywords={Manifolds;Geometry;Automation;Differential operators;Service robots;Dynamics;Trajectory;Automobiles;Manipulator dynamics;Surface treatment},
  doi={10.1109/ICRA55743.2025.11128556}}

@inproceedings{daddato2025shaping,
  title={Shaping Opinion Dynamics for Driving Navigation in Shared Human-Robot Spaces},
  author={d’Addato, Giulia and Palopoli, Luigi and Fontanelli, Daniele},
  booktitle={2025 IEEE 64th Conference on Decision and Control (CDC)},
  pages={7349--7354},
  year={2025},
  organization={IEEE}
}