• The paper "Humanoid robots in aircraft manufacturing: The Airbus use cases", by A. Kheddar, G. Oriolo, L. Lanari et al, published in the IEEE Robotics & Automation Magazine in 2019, has won the IEEE Robotics and Automation Magazine Best Paper Award for 2020.
• Current and recent editorial activities: Program Chair for I-RIM 3D 2020, Associate Editor for Humanoids 2022, Editorial Board member for the Springer Encyclopedia of Robotics (Section Editor for "Mobile Ground Robots"), Editor for the International Journal of Humanoid Robotics.
• Since February 2018, I am the Coordinator of the Sapienza Ph.D. Program in Automatic Control, Bioengineering and Operations Research.
  
• I am one of the 2017 IEEE Fellows, for "contributions to motion planning and control methods in complex robotic systems".
  
• The paper "Random walks in swarm robotics: An experiment with Kilobots," by C. Dimidov, G. Oriolo, V. Trianni, has won the Best Paper Award at the 10th International Conference on Swarm Intelligence (ANTS 2016).

I received the Ph.D. in Control Engineering in 1992 from Sapienza University of Rome. In 1994 I joined the Department of Computer, Control and Management Engineering (DIAG) of the same university, where I am currently a Full Professor of Automatic Control and Robotics. I am also the director of the DIAG Robotics Lab. I have held teaching positions at various italian universities, including the University of Siena, of Cassino and of Roma Tre, and I have been Visiting Scholar at the University of California at Santa Barbara. I am a Fellow of the IEEE.

I have been Associate Editor (2001-2005) and Senior Editor (2009 to 2014) of the IEEE Transactions on Robotics. I have served on the Program Committee of several international conferences, including the European Control Conference, the IEEE International Conference on Robotics and Automation (ICRA), the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), the IEEE-RAS International Conference on Humanoid Robots, Robotics: Science and Systems (RSS), and many others. I have also been Organization Chair for the 2007 IEEE International Conference on Robotics and Automation which took place in Rome. From 2007 to 2011 I have been on the Conference Editorial Board of the IEEE Robotics and Automation Society. In 2008 and 2009 I have served as Area Chair for the RSS conference series. From 2014 to 2016 I have been Editor of the Conference Paper Review Board of the IROS Conference series.

My research interests are in control and robotics, and in particular: humanoid robots; UAVs; nonholonomic mobile robots; visual motion control; multi-robot systems; sensor-based map building, localization and navigation; remote control and laboratories; motion planning in the presence of obstacles; learning control in robotic systems; planning and control for kinematically redundant robots; assistive robotics. In these areas I have published 2 books and over 230 papers in international journals and conferences. A description of some recent research is here.

• M. Cipriano, P. Ferrari, N. Scianca, L. Lanari, G. Oriolo, "Humanoid motion generation in a world of stairs," Robotics and Autonomous Systems, vol. 168, 104495, 2023 (pdf) (link). DOI:10.1016/j.robot.2023.104495
  
• M. Selvaggio, A. Garg, F. Ruggiero, G. Oriolo, B. Siciliano, "Non-prehensile object transportation via model predictive non-sliding manipulation control," IEEE Transactions on Control Systems Technology, vol. 31, no. 5, pp. 2231-2244, 2023 (pdf) (link). DOI:10.1109/TCST.2023.3277224
  
• P. Ferrari, L. Rossini, F. Ruscelli, A. Laurenzi, G. Oriolo, N. G. Tsagarakis, E. Mingo Hoffman, "Multi-contact planning and control for humanoid robots: Design and validation of a complete framework," Robotics and Autonomous Systems, vol. 166, 104448, 2023 (pdf) (link). DOI:10.1016/j.robot.2023.104448
  
• V. Vulcano, S. G. Tarantos, P. Ferrari, G. Oriolo, "Safe robot navigation in a crowd combining NMPC and control barrier functions", 2022 61st IEEE Conference on Decision and Control (CDC 2022), Cancún, Mexico, pp. 3321-3328, 2022 (pdf). DOI:10.1109/CDC51059.2022.9993397
  
• A. S. Habib, F. M. Smaldone, N. Scianca, L. Lanari, G. Oriolo, "Handling non-convex constraints in MPC-based humanoid gait generation", 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Kyoto, Japan, pp. 13167-13173, 2022 (pdf). DOI:10.1109/IROS47612.2022.9981419
• F. M. Smaldone, N. Scianca, L. Lanari, G. Oriolo, "From walking to running: 3D humanoid gait generation via MPC," Frontiers in Robotics and AI, vol. 9, pp. 1-18, 2022 (pdf). DOI:10.3389/frobt.2022.876613 
• S. G. Tarantos, G. Oriolo, "Real-time motion generation for mobile manipulators via NMPC with balance constraints", 30th Mediterranean Conference on Control and Automation (MED 22), Athens, Greece, pp. 853-860, 2022 (pdf). DOI:10.1109/MED54222.2022.9837159
  
• S. G. Tarantos, G. Oriolo, "A dynamics-aware NMPC method for robot navigation among moving obstacles", 17th International Conference on Intelligent Autonomous Systems (IAS-17), Zagreb, Croatia, 2022 (pdf). DOI:10.1007/978-3-031-22216-0_15
  
• M. Beglini, T. Belvedere, L. Lanari, G. Oriolo, "An intrinsically stable MPC approach for anti-jackknifing control of tractor-trailer vehicles", IEEE/ASME Transactions on Mechatronics, vol. 27, no. 6, pp. 4417-4428, 2022 (pdf). DOI:10.1109/LRA.2022.3141658
• M. Kanneworff, T. Belvedere, N. Scianca, F. M. Smaldone, L. Lanari, G. Oriolo, "Task-oriented generation of stable motions for wheeled inverted pendulum robots", 2022 IEEE International Conference on Robotics and Automation, Philadelphia, USA, pp. 214-220, 2022 (pdf). DOI:10.1109/ICRA46639.2022.9812317
  
• P. M. Viceconte, R. Camoriano, G. Romualdi, D. Ferigo, S. Dafarra, S. Traversaro, G. Oriolo, L. Rosasco, D. Pucci, "ADHERENT: Learning human-like trajectory generators for whole-body control of humanoid robots", IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 2779-2786, 2022 (pdf). DOI:10.1109/LRA.2022.3141658
  
• G. Turrisi, M. Capotondi, C. Gaz, V. Modugno, G. Oriolo, A. De Luca, "On-line learning for planning and control of underactuated robots with uncertain dynamics", IEEE Robotics and Automation Letters, vol. 7, no. 1, pp. 358-365, 2022 (pdf). DOI:10.1109/LRA.2021.3126899
• F. M. Smaldone, N. Scianca, L. Lanari, G. Oriolo, "MPC-based gait generation for humanoids: from walking to running", 2021 I-RIM Conference, Rome, Italy (pdf). DOI: 10.5281/zenodo.5900605
  
• B. Barros Carlos, A. Franchi, G. Oriolo, "Towards safe human-quadrotor interaction: mixed-initiative control via real-time NMPC", IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 7611-7618, 2021 (pdf). DOI:10.1109/LRA.2021.3096502
• N. Scianca, P. Ferrari, D. De Simone, L. Lanari, G. Oriolo, "A behavior-based framework for safe deployment of humanoid robots", Autonomous Robots, vol. 45, no. 4, pp. 435-456, 2021 (pdf). DOI:10.1007/s10514-021-09978-5
• F. Cursi, V. Modugno, L. Lanari, G. Oriolo, P. Kormushev, "Bayesian neural network modeling and hierarchical MPC for a tendon-driven surgical robot with uncertainty minimization", IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2642-2649, 2021 (pdf). DOI:10.1109/LRA.2021.3062339
• F. M. Smaldone, N. Scianca, L. Lanari, G. Oriolo, " Feasibility-driven step timing adaptation for robust MPC-based gait generation in humanoids", IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 1582-1589, 2021 (pdf). DOI:10.1109/LRA.2021.3059627
• F. M. Smaldone, N. Scianca, L. Lanari, G. Oriolo, "Robust MPC-based gait generation in humanoids", 2020 I-RIM Conference, Rome, Italy (pdf). DOI:10.5281/zenodo.4781064
• M. Capotondi, G. Turrisi, C. Gaz, V. Modugno, G. Oriolo, A. De Luca, "Learning feedback linearization control without torque measurements", 2020 I-RIM Conference, Rome, Italy (pdf). DOI:10.5281/zenodo.4781489
• B. Barros Carlos, T. Sartor, A. Zanelli, G. Frison, W. Burgard, M. Diehl, G Oriolo, "An efficient real-time NMPC for quadrotor position control under communication time-delay", 16th International Conference on Control, Automation, Robotics and Vision, Shenzhen, China, pp. 982-989, 2020 (pdf). DOI:10.1109/ICARCV50220.2020.9305513
  
• M. Cefalo, P. Ferrari, G. Oriolo, "An opportunistic strategy for motion planning in the presence of soft task constraints", IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 6294-6301, 2020 (pdf). DOI:10.1109/LRA.2020.3013893
  
• E. Umili, M. Tognon, D. Sanalitro, G. Oriolo, A. Franchi, "Communication-based and communication-less approaches for robust cooperative planning in construction with a team of UAVs", 2020 Int. Conf. on Unmanned Aircraft Systems, Athens, Greece, pp. 279-288, 2020 (pdf). DOI: 10.1109/ICUAS48674.2020.9214044
  
• G. Turrisi, B. Barros Carlos, M. Cefalo, V. Modugno, L. Lanari, G. Oriolo, "Enforcing constraints over learned policies via nonlinear MPC: Application to the Pendubot", 2020 IFAC World Congress, Berlin, Germany; in IFAC-PapersOnLine, vol. 53, no. 2, pp. 9502-9507, 2020 (pdf). DOI:10.1016/j.ifacol.2020.12.2426
• B. Barros Carlos, T. Sartor, A. Zanelli, M. Diehl, G. Oriolo, "Least conservative linearized constraint formulation for real-time motion generation", 2020 IFAC World Congress, Berlin, Germany; in IFAC-PapersOnLine, vol. 53, no. 2, pp. 9384-9390, 2020 (pdf). DOI:10.1016/j.ifacol.2020.12.2407
  
• G. Oriolo, "Wheeled robots", in Encyclopedia of Systems and Control - 2nd Edition, J. Baillieul, T. Samad, Eds., Springer, London, pp. 1-8 (online), 2020 (pdf). ISBN: 978-1-4471-5102-9. DOI: 10.1007/978-1-4471-5102-9_178-2
• F. M. Smaldone, N. Scianca, V. Modugno, L. Lanari, G Oriolo, "ZMP constraint restriction for robust gait generation in humanoids", 2020 IEEE International Conference on Robotics and Automation, Paris, France, pp. 8739-8745, 2020 (pdf). DOI: 10.1109/ICRA40945.2020.9197171
  
• M. Beglini, L. Lanari, G. Oriolo, "Anti-jackknifing control of tractor-trailer vehicles via Intrinsically Stable MPC", 2020 IEEE International Conference on Robotics and Automation, Paris, France, pp. 8806-8811, 2020 (pdf). DOI: 10.1109/ICRA40945.2020.9197012
  
• N. Scianca, D. De Simone, L. Lanari, G. Oriolo, "MPC for humanoid gait generation: Stability and feasibility", IEEE Transactions on Robotics, vol. 36, no. 4, pp. 1171-1188, 2020 (pdf). DOI:10.1109/TRO.2019.2958483

• Controlli Automatici (9 crediti, Laurea in Ingegneria Informatica e Automatica)
  
• Autonomous and Mobile Robotics (6 credits, Master in Artificial Intelligence and Robotics, Master in Control Engineering)
• Applicazioni dell'Automatica: Introduction to Mobile Robotics (1 credito, Laurea in Ingegneria Informatica e Automatica)
• Argomenti di tesi/Thesis topics
• Information about the Master in Control Engineering
• Information about the Master in Artificial Intelligence and Robotics

Old courses

• Underactuated Robots (up to 2021/2022, 3 credits, Master in Artificial Intelligence and Robotics, Master in Control Engineering)
• Fondamenti di Automatica (up to 2017/2018, 9 credits, Laurea in Ingegneria Elettronica; 6 credits, Laurea in Ingegneria delle Comunicazioni)
• Elective in Robotics (up to 2010/2011, Master in Artificial Intelligence and Robotics; also Laurea Magistrale in Ingegneria dei Sistemi, Laurea Magistrale in Ingegneria Elettronica)
• 2010 SIDRA Doctoral School on Robotics
• Controlli Automatici (Ingegneria Elettronica, vecchio ordinamento)
• Controlli Automatici I modulo (Laurea in Ingegneria Elettronica, ordinamento 509)
• Controlli Automatici II modulo (Laurea/Laurea Specialistica in Ingegneria Elettronica, ordinamento 509)
• Multi-Robot Systems (3 credits, Master in Artificial Intelligence and Robotics, Master in Control Engineering)
• Control of Autonomous Multi-Agent Systems (6 credits, Master in Control Engineering)
• Sistemi Adattativi (Laurea Specialistica in Ingegneria dei Sistemi e Laurea Specialistica in Ingegneria Elettronica, ordinamento 509)
• Control of Nonholonomic Systems (Corso di Dottorato in Ingegneria dei Sistemi)
• Complementi di Controlli Automatici (Università di Roma Tre)