Pubblicazioni

Novel approach to selecting rotor position sensor resolution for variable frequency drives

2025 - IEEE TRANSACTIONS ON POWER ELECTRONICS

Tornello, L. D.; Scelba, G.; De Donato, G.; Capponi, F. G.; Scarcella, G.

Singularity-free trajectory tracking for steerable wheeled mobile robots

2025 - IEEE ROBOTICS AND AUTOMATION LETTERS

Cipriano, M.; Oriolo, G.; Cherubini, A.

Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and Its Application to Soft Robotics

2024 - IEEE TRANSACTIONS ON ROBOTICS

Pustina, Pietro; Santina, Cosimo Della; Boyer, FrÃ©dÃ©ric; De Luca, Alessandro; Renda, Federico

Equilibria, Stability, and Sensitivity for the Aerial Suspended Beam Robotic System Subject to Parameter Uncertainty

2023 - IEEE TRANSACTIONS ON ROBOTICS

Gabellieri, Chiara; Tognon, Marco; Sanalitro, Dario; Franchi, Antonio

Improving Simulation Realism inÂ Developing aÂ Fuzzy Modular Autonomous Driving System forÂ Electric Boats

2023 - Studies in Computational Intelligence

Ferrandino, Emanuele; Capillo, Antonino; DE SANTIS, Enrico; FRATTALE MASCIOLI, Fabio Massimo; Rizzi, Antonello

Impact of closed loop pole placement on the low speed performance of VFDs using low-resolution position sensors

2023 - 2023 IEEE Energy Conversion Congress and Exposition, ECCE 2023

Tornello, L. D.; Scelba, G.; Turrisi, G.; De Donato, G.; Scarcella, G.; Capponi, F. G.

Feedback Regulation of Elastically Decoupled Underactuated Soft Robots

2022 - IEEE ROBOTICS AND AUTOMATION LETTERS

Pustina, Pietro; Della Santina, Cosimo; De Luca, Alessandro

Kinematic Control of Redundant Robots with Online Handling of Variable Generalized Hard Constraints

2022 - IEEE ROBOTICS AND AUTOMATION LETTERS

Kazemipour, Amirhossein; Khatib, MARAM I M; Al Khudir, Khaled; Gaz, CLAUDIO ROBERTO; DE LUCA, Alessandro

P-satI-D Shape Regulation of Soft Robots

2022 - IEEE ROBOTICS AND AUTOMATION LETTERS

Pustina, Pietro; Borja, Pablo; Della Santina, Cosimo; DE LUCA, Alessandro

Safe trajectory tracking using closed-form controllers based on control barrier functions

2022 - 2022 IEEE 61st Conference on Decision and Control (CDC)

Cristofaro, A.; Ferro, M.; Vendittelli, M.

Regulation by Iterative Learning in Continuum Soft Robots

2022 - 2022 I-RIM Conferen

Montagna, Marco; Pustina, Pietro; DE LUCA, Alessandro

A new method to select rotor position sensor resolution in variable speed drives

2022 - 2022 IEEE Energy Conversion Congress and Exposition, ECCE 2022

Tornello, L. D.; Turrisi, G.; Scelba, G.; De Donato, G.; Capponi, F. G.; Scarcella, G.

Performances analysis of non-model-based speed estimation algorithms for motor drives

2022 - 24th European Conference on Power Electronics and Applications, EPE 2022 ECCE Europe

Turrisi, G.; Tornello, L. D.; Scelba, G.; De Donato, G.; Scarcella, G.

Resolution of Rotor Position Measurement: Modelling and Impact on Speed Estimation

2021 - IEEE JOURNAL OF EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS

Scelba, Giacomo; De Donato, Giulio; Elsman, Abdelrahman; Tornello, Luigi Danilo; Scarcella, Giuseppe; Giulii Capponi, Fabio

Motion Control of Redundant Robots with Generalised Inequality Constraints

2021 - 2021 I-RIM Conference

Kazemipour, Amirhossein; Khatib, Maram I M; Al Khudir, Khaled; De Luca, Alessandro

Selection of rotor position sensor resolution for variable frequency drives utilizing fixed-position-based speed estimation

2021 - 2021 IEEE Energy conversion congress and exposition, ECCE 2021 - Proceedings

Tornello, L. D.; Scelba, G.; De Donato, G.; Capponi, F. G.; Scarcella, G.; Harbaugh, M.

A Modular Autonomous Driving System for Electric Boats based on Fuzzy Controllers and Q-Learning

2021 - Proceedings of the 13th International Joint Conference on Computational Intelligence - FCTA

Ferrandino, Emanuele; Capillo, Antonino; DE SANTIS, Enrico; FRATTALE MASCIOLI, Fabio Massimo; Rizzi, Antonello

Optimal tuning of the lateral-dynamics parameters for aerial vehicles with bounded lateral force

2021 - IEEE ROBOTICS AND AUTOMATION LETTERS

Horla, D.; Hamandi, M.; Giernacki, W.; Franchi, A.

Task Priority Matrix Under Hard Joint Constraints

2020 - 2020 I-RIM Conference

Khatib, Maram I M; Al Khudir, Khaled; De Luca, Alessandro

Full-Pose Manipulation Control of a Cable-Suspended Load with Multiple UAVs under Uncertainties

2020 - IEEE ROBOTICS AND AUTOMATION LETTERS

Sanalitro, D.; Savino, H. J.; Tognon, M.; Cortes, J.; Franchi, A.

Stable Torque Optimization for Redundant Robots Using a Short Preview

2019 - IEEE ROBOTICS AND AUTOMATION LETTERS

Al Khudir, Khaled; Halvorsen, Gaute; Lanari, Leonardo; De Luca, Alessandro

A Truly-Redundant Aerial Manipulator System with Application to Push-and-Slide Inspection in Industrial Plants

2019 - IEEE ROBOTICS AND AUTOMATION LETTERS

Tognon, M.; Chavez, H. A. T.; Gasparin, E.; Sable, Q.; Bicego, D.; Mallet, A.; Lany, M.; Santi, G.; Revaz, B.; Cortes, J.; Franchi, A.

Faster Motion on Cartesian Paths Exploiting Robot Redundancy at the Acceleration Level

2018 - IEEE ROBOTICS AND AUTOMATION LETTERS

AL KHUDIR, Khaled; De Luca, Alessandro

Fundamental Actuation Properties of Multirotors: Force-Moment Decoupling and Fail-Safe Robustness

2018 - IEEE TRANSACTIONS ON ROBOTICS

Michieletto, G.; Ryll, M.; Franchi, A.

Control-Aware Motion Planning for Task-Constrained Aerial Manipulation

2018 - IEEE ROBOTICS AND AUTOMATION LETTERS

Tognon, M.; Cataldi, E.; Chavez, H. A. T.; Antonelli, G.; Cortes, J.; Franchi, A.