Publications


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Books

B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Robotics: Modelling, Planning and Control, Springer, London, UK, 2009 (see here). Greek translation: Ρομποτική, Fountas, Athens, GR, 2013. Chinese translation: 机器人学 建模、规划与控制, Xi'an Jiaotong University Press, Xi'an, PRC, 2016.
B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Robotica: Modellistica, Pianificazione e Controllo, McGraw-Hill, 2008 (see here).
L. Lanari, G. Oriolo, Controlli Automatici - Esercizi di Sintesi, EUROMA, 1997 (in Italian, downloadable pdf version).


International Journals

M. Cipriano, G. Oriolo, A. Cherubini "Singularity-free trajectory tracking for steerable wheeled mobile robots," IEEE Robotics and Automation Letters, vol. 10, no. 6, pp. 6199-6206, 2025 (pdf) (link). DOI:10.1109/LRA.2025.3564209
T. Belvedere , M. Cognetti, G. Oriolo, P. Robuffo Giordano "Sensitivity-aware Model Predictive Control for robots with parametric uncertainty," IEEE Transactions on Robotics, vol. 41, pp. 3039-3058, 2025 (pdf) (link). DOI:10.1109/TRO.2025.3554415
N. Scianca, F. M. Smaldone, L. Lanari, G. Oriolo, "A feasibility-driven MPC scheme for robust gait generation in humanoids," Robotics and Autonomous Systems, vol. 189, 104957, 2025 (pdf) (link). DOI:10.1016/j.robot.2025.104957
S. G. Tarantos, T. Belvedere, G. Oriolo, "Dynamics-aware navigation among moving obstacles with application to ground and flying robots," Robotics and Autonomous Systems, vol. 172, 104582, 2024 (pdf) (link). DOI:10.1016/j.robot.2023.104582
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
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 
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
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
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, " <b>Feasibility-Driven Step Timing Adaptation for Robust MPC-Based Gait Generation in Humanoid</b> 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 Feasibility-Driven Step Timing Adaptation for Robust MPC-Based Gait Generation in Humanoids
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
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
A. Kheddar, S. Caron, P. Gergondet, A. Comport, A. Tanguy, C. Ott, B. Henze, G. Mesesan, J. Englsberger, M.A. Roa, P-B. Wieber, F. Chaumette, F. Spindler, G. Oriolo, L. Lanari, A. Escande, K. Chappellet, F. Kanehiro, and P. Rabaté, "Humanoid robots in aircraft manufacturing: The Airbus use cases", IEEE Robotics & Automation Magazine, vol. 26, no. 4, pp. 30-45, 2019 (pdf). DOI:10.1109/MRA.2019.2943395. This paper won the IEEE Robotics and Automation Magazine Best Paper Award for 2020.
L. Penco, N. Scianca, V. Modugno, L. Lanari, G. Oriolo, S. Ivaldi, "A multimode teleoperation framework for humanoid loco-manipulation: A demonstration using the iCub robot", IEEE Robotics & Automation Magazine, vol. 26, no. 4, pp. 73-82, 2019 (pdf). DOI:10.1109/MRA.2019.2941245.
A. Karami, H. Sadeghian, M. Keshmiri, G. Oriolo, "Force, orientation and position control in redundant manipulators in prioritized scheme with null space compliance," Control Engineering Practice, vol. 85, pp. 23–33, 2019 (pdf). DOI: 10.1016/j.conengprac.2019.01.003
M. Cefalo, G. Oriolo, "A general framework for task-constrained motion planning with moving obstacles," Robotica, vol. 37, pp. 575-598, 2019 (pdf). DOI: 10.1017/S0263574718001182
A. Karami, H. Sadeghian, M. Keshmiri, G. Oriolo, "Hierarchical tracking task control in redundant manipulators with compliance control in the null-space," Mechatronics, vol. 55, pp. 171-179, 2018 (pdf). DOI: 10.1016/j.mechatronics.2018.09.005
G. Oriolo, M. Cefalo, M. Vendittelli, "Repeatable motion planning for redundant robots over cyclic tasks," IEEE Transactions on Robotics, vol. 33, no. 5, pp. 1170-1183, 2017 (pdf). DOI: 10.1109/TRO.2017.2715348
A. Paolillo, A. Faragasso, G. Oriolo, M. Vendittelli, "Vision-based maze navigation for humanoid robots," Autonomous Robots, vol. 41, no. 2, pp. 293-309, 2017 (pdf). DOI: 10.1007/s10514-015-9533-1
P. Stegagno, M. Cognetti, G. Oriolo, H.H. Bülthoff, A. Franchi, "Ground and aerial mutual localization using anonymous relative-bearing measurements," IEEE Transactions on Robotics, vol. 32, no. 5 , pp. 1133-1151, 2016 (pdf). DOI: 10.1109/TRO.2016.2593454
G. Oriolo, A. Paolillo , L. Rosa, M. Vendittelli, "Humanoid odometric localization integrating kinematic, inertial and visual information," Autonomous Robots, vol. 40, no. 5, pp. 867–879, 2016 (pdf). DOI: 10.1007/s10514-015-9498-0
A. Franchi, P. Stegagno, G. Oriolo, "Decentralized multi-robot encirclement of a 3D target with guaranteed collision avoidance," Autonomous Robots, vol. 40, pp. 245-265, 2016 (pdf). DOI: 10.1007/s10514-015-9450-3
H. Jabbari, G. Oriolo, H. Bolandi, "Output feedback image-based visual servoing control of an underactuated unmanned aerial vehicle," Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, vol. 228, no. 7, pp. 435-448, 2014 (pdf). DOI: 10.1177/0959651814530698
H. Jabbari, G. Oriolo, H. Bolandi, "An adaptive scheme for image-based visual servoing of an underactuated UAV," International Journal of Robotics and Automation, vol. 29, no. 1, pp. 92-104, 2014 (pdf). DOI: 10.2316/Journal.206.2014.1.206-3942
A. Franchi, G. Oriolo, P. Stegagno, "Mutual localization in multi-robot systems using anonymous relative measurements," The International Journal of Robotics Research, vol. 32, no. 11, pp. 1302-1322, 2013 (pdf). DOI: 10.1177/0278364913495425
A. Censi, A. Franchi, A. Marchionni, G. Oriolo, "Simultaneous calibration of odometry and sensor parameters for mobile robots," IEEE Transactions on Robotics, vol. 29, no. 2, pp. 475-492, 2013 (pdf). DOI: 10.1109/TRO.2012.2226380
A. Cherubini, F. Chaumette, G. Oriolo, "Visual servoing for path reaching with nonholonomic robots," Robotica, vol. 29, pp. 1037-1048, 2011 (pdf).
A. Cherubini, F. Giannone, L. Iocchi, M. Lombardo, G. Oriolo, "Policy gradient learning for a humanoid soccer robot," Robotics and Autonomous Systems, vol. 57, pp. 808-818, 2009 (pdf).
A. Franchi, L. Freda, G. Oriolo, M. Vendittelli, "The Sensor-based Random Graph method for cooperative robot exploration," IEEE/ASME Transactions on Mechatronics, vol. 14, no. 2, pp. 163-175, 2009 (pdf).
A. Cherubini, G. Oriolo, F. Macrì, F. Aloise, F. Cincotti, D. Mattia, "A multimode navigation system for an assistive robotics project," Autonomous Robots, vol. 25, pp. 383-404, 2008 (pdf).
A. De Luca, G. Oriolo, P. Robuffo Giordano, "Feature depth observation for image-based visual servoing: Theory and experiments," The International Journal of Robotics Research, vol. 27, no. 10, pp. 1093-1116, 2008 (pdf).
F. Cincotti, D. Mattia, F. Aloise, S. Bufalari, G. Schalk, G. Oriolo, A. Cherubini, M.G. Marciani, F. Babiloni, "Non-invasive brain-computer interface system: Towards its application as assistive technology," Brain Research Bulletin, vol. 75, no. 6, pp. 796-803, 2008 (pdf).
L. Freda, G. Oriolo, "Vision-based interception of a moving target with a nonholonomic mobile robot," Robotics and Autonomous Systems, vol. 55, pp. 419-432, 2007 (pdf).
A. De Luca, G. Oriolo, P. Robuffo Giordano, "Image-based visual servoing schemes for nonholonomic mobile manipulators," Robotica, vol. 25, no. 2, pp. 129-145, 2007 (pdf).
G. L. Mariottini, G. Oriolo, D. Prattichizzo, "Image-based visual servoing for nonholonomic mobile robots using epipolar geometry," IEEE Transactions on Robotics, vol. 23, no. 1, pp. 87-100, 2007 (pdf).
G. Oriolo, M. Vendittelli, "A framework for the stabilization of general nonholonomic systems with an application to the plate-ball mechanism," IEEE Transactions on Robotics, vol. 21, no. 2, pp. 162-175, 2005 (pdf).
M. Vendittelli, G. Oriolo, F. Jean, J.-P. Laumond, "Nonhomogeneous nilpotent approximations for nonholonomic systems with singularities," IEEE Transactions on Automatic Control, vol. 49, no. 2, pp. 261-266, 2004 (pdf).
A. De Luca, S. Iannitti, R. Mattone, G. Oriolo, "Underactuated manipulators: Control properties and techniques," Machine Intelligence & Robotic Control, vol. 4, no. 3, pp. 113-125, 2002 (pdf).
A. De Luca, G. Oriolo, "Trajectory planning and control for planar robots with passive last joint," The International Journal of Robotics Research, vol. 21, no. 5-6, pp. 575-590, 2002 (pdf).
G. Oriolo, A. De Luca, M. Vendittelli, "WMR control via dynamic feedback linearization: Design, implementation and experimental validation," IEEE Transactions on Control Systems Technology, vol. 10, no. 6, pp. 835-852, 2002 (pdf).
A. De Luca, G. Oriolo, "Comments on "Adaptive Variable Structure Set-Point Control of Underactuated Robots"," IEEE Transactions on Automatic Control, vol. 46, no. 5, pp. 809-811, 2001.
P. Lucibello, G. Oriolo, "Robust stabilization by iterative state steering with an application to chained-form systems," Automatica, vol. 37, no. 1, pp. 71-79, 2001 (pdf).
A. De Luca, R. Mattone, G. Oriolo, "Stabilization of an underactuated planar 2R manipulator," International Journal of Robust and Nonlinear Control, vol. 10, pp. 181-198, 2000 (compressed Postscript).
G. Oriolo, S. Panzieri, G. Ulivi, "Learning optimal trajectories for nonholonomic systems," International Journal of Control, vol. 73, no. 10, pp. 980-991, 2000 (pdf).
G. Oriolo, S. Panzieri, G. Ulivi, "An iterative learning controller for nonholonomic mobile robots," The International Journal of Robotics Research, vol. 17, no. 9, pp. 954-970, 1998 (pdf).
G. Oriolo, G.Ulivi, M.Vendittelli, "Real-time map building and navigation for autonomous robots in unknown environments," IEEE Transactions on System, Man, and Cybernetics - Part B: Cybernetics, vol. 28, no. 3, pp. 316-333, 1998 (pdf).
A. De Luca, R. Mattone, G. Oriolo, "Steering a class of redundant mechanisms through end-effector generalized forces," IEEE Transactions on Robotics and Automation, vol. 14, no. 2, pp. 329-335, 1998.
A. De Luca, R.Mattone, G.Oriolo, "Control of redundant robots under end-effector commands: A case study in underactuated systems," Applied Mathematics and Computer Science, vol. 7, no. 2, pp. 225-251, 1997 (compressed Postscript).
G. Oriolo, G. Ulivi, M. Vendittelli, "Fuzzy maps: A new tool for mobile robot perception and planning," Journal of Robotic Systems, vol. 14, no. 3, pp. 179-197, 1997 (compressed Postscript).
A. De Luca, G. Oriolo, "Nonholonomic behavior in redundant robots under kinematic control," IEEE Transactions on Robotics and Automation , vol. 13, no. 5, pp. 776-782, 1997.
G. Oriolo, G. Ulivi, M. Vendittelli "Path planning for mobile robots via skeletons on fuzzy maps," Intelligent Automation and Soft Computing, vol. 2, no. 4, pp. 355-374, 1996.
A. De Luca, G. Oriolo, "Reconfiguration of redundant robots under kinematic inversion," Advanced Robotics, vol. 10, n. 3, pp. 249-263, 1996.
A. De Luca, G. Oriolo, B. Siciliano, "Robot redundancy resolution at the acceleration level," Laboratory Robotics and Automation, vol. 4, no. 2, pp. 97-106, 1992.
A. De Luca, G. Oriolo, "The reduced gradient method for solving redundancy in robot arms," Robotersysteme, vol. 7, no. 2, pp. 117-122, 1991.
A. De Luca, L. Lanari, G. Oriolo, "A sensitivity approach to optimal spline robot trajectories," Automatica, vol. 27, no. 3, pp. 535-539, 1991.

Book Chapters

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

S. Chiaverini, G. Oriolo, A.A. Maciejewski, "Redundant robots," in Springer Handbook of Robotics - 2nd Edition (B. Siciliano, O. Khatib, Eds.), Springer, chapter 10, pp. 221-242, 2016 (pdf). DOI:1010.1007/978-3-319-32552-1_10
G. Oriolo, "Wheeled robots," in Encyclopedia of Systems and Control, J. Baillieul, T. Samad, Eds., Springer, London, pp. 1-9 (online), 2014 (pdf). ISBN: 978-1-4471-5102-9. DOI: 10.1007/978-1-4471-5102-9_178-1
S. Chiaverini, G. Oriolo, I. Walker, "Kinematically redundant manipulators," in Springer Handbook of Robotics, B. Siciliano, O. Khatib, Eds., Springer, pp. 245-268, 2008 (pdf). More info about this book here.
A. De Luca, G. Oriolo, M. Vendittelli, S. Iannitti "Planning motions for robotic systems subject to differential constraints," in MISTRAL - Methodologies and Integration of Subsystems and Technologies for Anthropic Robots and Locomotion, B. Siciliano, A. De Luca, C. Melchiorri, G. Casalino, Eds., STAR, vol. 10, pp. 1-38, Springer, 2004.
A. De Luca, G. Oriolo, M. Vendittelli, "Control of wheeled mobile robots: An experimental overview," in RAMSETE - Articulated and Mobile Robotics for Services and Technologies, S. Nicosia, B. Siciliano, A. Bicchi, P. Valigi, Eds., LNCIS, vol. 270, pp. 181-226, Springer, 2001 (pdf).
E. Fabrizi, G. Oriolo, G. Ulivi, "Accurate map building via fusion of laser and ultrasonic range measures," in Fuzzy Logic Techniques for Autonomous Vehicle Navigation, D. Driankov, A. Saffiotti, Eds., Studies in Fuzziness and Soft Computing, vol. 61, pp. 257-279, Springer, 2001.
A. De Luca, G. Oriolo, C. Samson, "Feedback control of a nonholonomic car-like robot," in Robot Motion Planning and Control, J.-P. Laumond, Ed., LNCIS, vol. 229, pp. 171-253, Springer, 1998 (compressed Postscript). The whole book in PDF format can be downloaded from here.
G. Oriolo, G. Ulivi, M. Vendittelli, "Fuzzy maps: Managing uncertainty in sensor-based motion planning," in Applications of Fuzzy Logic: Toward High Machine Intelligence Quotient Systems, M. Jamshidi, A. Titli, L. Zadeh, S. Boverie, Eds., pp. 175-199, Prentice-Hall, 1997.
A. De Luca, G. Oriolo, "Modelling and control of nonholonomic mechanical systems," in Kinematics and Dynamics of Multi-Body Systems, J. Angeles, A. Kecskemethy Eds., CISM Courses and Lectures, vol. 360, pp. 277-342, Springer, 1995 (pdf).


International Conferences

G. Gasbarrone, N. Scianca, L. Lanari, G. Oriolo, "A decentralized cooperative transportation scheme for humanoid robots," 2024 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2024), France, Nancy, pp. 381-387, 2024 (pdf) (link). DOI:10.1109/Humanoids58906.2024.10769869
F. D’Orazio, T. Belvedere, S. Tarantos, G. Oriolo, "Maintaining balance of mobile manipulators for safe pick-up tasks," 18th International Conference on Control, Automation, Robotics and Vision (ICARCV 2024), Dubai, UAE, pp. 1207-1212, 2024 (pdf) (link). DOI: 10.1109/ICARCV63323.2024.10821705
T. Belvedere, N. Scianca, L. Lanari, G. Oriolo, "Joint-level IS-MPC: a whole-body MPC with centroidal feasibility for humanoid locomotion", 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), Abu Dhabi, UAE, pp. 11240-11247, 2024 (pdf) (link). DOI:10.1109/IROS58592.2024.10801628
P. Carboni, G. Nardini, E. Santini, G. Gravina, M. Cipriano, F. D'Orazio, T. Belvedere, G. Oriolo, "A vision-based control scheme for safe navigation in a crowd," 17th International Workshop on Human-Friendly Robotics (HFR 2024), Lugano, Switzerland, pp. 73-83, 2024 (pdf) (link). DOI:10.1007/978-3-031-81688-8_6
M. Cipriano, M. R. O. A. Maximo, N. Scianca, L. Lanari, G. Oriolo, "Feasibility-aware plan adaptation in humanoid gait generation," 2023 IEEE-RAS International Conference on Humanoid Robots, Austin, USA, pp. 1-8, 2023 (pdf) (link). DOI:10.1109/Humanoids57100.2023.10375146
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
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. 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
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
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
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
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
P. Ferrari, V. Modugno, N. Scianca, L. Lanari, G. Oriolo, "Recent research on humanoid robots at Sapienza University of Rome," 2019 I-RIM Conference, Rome, Italy (pdf). DOI:10.5281/zenodo.4782655
V. Modugno, G. Oriolo, S. Ivaldi, "A unified framework for optimal motion generation," 2019 I-RIM Conference, Rome, Italy (pdf). DOI:10.5281/zenodo.4810735
M. Capotondi, G. Turrisi, C. Gaz, V. Modugno, G. Oriolo, A. De Luca, "An online learning procedure for feedback linearization control without torque measurements," 3rd Conference on Robot Learning, Osaka, Japan, 2019; in Proc. of Machine Learning Research, vol. 100, pp. 1359-1368, 2020 (pdf). DOI:
F. M. Smaldone, N. Scianca, V. Modugno, L. Lanari, G. Oriolo, "Gait generation using Intrinsically Stable MPC in the presence of persistent disturbances," 19th IEEE-RAS International Conference on Humanoid Robots, Toronto, Canada, pp. 682-687, 2019 (pdf). DOI: 10.1109/Humanoids43949.2019.9035068
P. Ferrari, M. Cognetti, G. Oriolo, "Sensor-based whole-body planning/replanning for humanoid robots," 19th IEEE-RAS International Conference on Humanoid Robots, Toronto, Canada, pp. 535-541, 2019 (pdf). DOI: 10.1109/Humanoids43949.2019.9035017
P. Ferrari, N. Scianca, L. Lanari, G. Oriolo, "An integrated motion planner/controller for humanoid robots on uneven ground," 18th European Control Conference, Napoli, Italy, pp 1598-1603, 2019 (pdf). DOI: 10.23919/ECC.2019.8796196
A. Tanguy, D. De Simone, A. I. Comport, G. Oriolo and A. Kheddar, "Closed-loop MPC with Dense Visual SLAM - Stability through reactive stepping,", 2019 IEEE International Conference on Robotics and Automation, Montreal, Canada, pp. 1397-1403, 2019 (pdf). DOI: 10.1109/ICRA.2019.8794006
P. Ferrari, M. Cognetti, G. Oriolo, "Anytime whole-body planning/replanning for humanoid robots," 2018 IEEE-RAS International Conference on Humanoid Robots, Beijing, China, pp.209-216, 2018 (pdf). DOI: 10.1109/HUMANOIDS.2018.8624935
M. Charbonneau, V. Modugno, F. Nori, G. Oriolo, D. Pucci, S. Ivaldi, "Learning robust task priorities of QP-based whole-body torque controllers," 2018 IEEE-RAS International Conference on Humanoid Robots, Beijing, China, pp. 622-627, 2018 (pdf). DOI: 10.1109/HUMANOIDS.2018.8624995
M. Cefalo, E. Magrini, G. Oriolo, "Sensor-based task-constrained motion planning using Model Predictive Control," 12th IFAC Symposium on Robot Control, Budapest, Hungary; in IFAC-PapersOnLine, vol. 51, no. 22, pp. 220-225, 2018 (pdf). DOI: 10.1016/j.ifacol.2018.11.545
A. Zamparelli, N. Scianca, L. Lanari, G. Oriolo, "Humanoid gait generation on uneven ground using intrinsically stable MPC," 12th IFAC Symposium on Robot Control, Budapest, Hungary; in IFAC-PapersOnLine, vol. 51, no. 22, pp. 393-398, 2018 (pdf). DOI: 10.1016/j.ifacol.2018.11.574
N. Scianca, V. Modugno, L. Lanari, G. Oriolo, "Gait generation via intrinsically stable MPC for a multi-mass humanoid model," 2017 IEEE-RAS International Conference on Humanoid Robots, Birmingham, UK, pp. 547-552, 2017 (pdf). DOI: 10.1109/HUMANOIDS.2017.8246926
A. Aboudonia, N. Scianca, D. De Simone, L. Lanari, G. Oriolo, "Humanoid gait generation for walk-to locomotion using single-stage MPC," 2017 IEEE-RAS International Conference on Humanoid Robots, Birmingham, UK, pp. 178-183, 2017 (pdf). DOI: 10.1109/HUMANOIDS.2017.8239554
V. Modugno, G. Nava, D. Pucci, F. Nori, G. Oriolo, S. Ivaldi, "Safe trajectory optimization for whole-body motion of humanoids," 2017 IEEE-RAS International Conference on Humanoid Robots, Birmingham, UK, pp. 763-770, 2017 (pdf). DOI: 10.1109/HUMANOIDS.2017.8246958
D. De Simone, N. Scianca, P. Ferrari, L. Lanari, G. Oriolo, "MPC-based humanoid pursuit-evasion in the presence of obstacles," 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada, pp. 5245-5250, 2017 (pdf). DOI: 10.1109/IROS.2017.8206415
M. Cognetti, D. De Simone, F. Patota, N. Scianca, L. Lanari, G. Oriolo, "Real-time pursuit-evasion with humanoid robots," 2017 IEEE International Conference on Robotics and Automation, Singapore, pp. 4090-4095, 2017 (pdf). DOI:10.1109/ICRA.2017.7989470
P. Ferrari, M. Cognetti, G. Oriolo, "Humanoid whole-body planning for loco-manipulation tasks," 2017 IEEE International Conference on Robotics and Automation, Singapore, pp. 4741-4746, 2017 (pdf). DOI:10.1109/ICRA.2017.7989550
M. Cefalo, E. Magrini, G. Oriolo, "Parallel collision check for sensor based real-time motion planning," 2017 IEEE International Conference on Robotics and Automation, Singapore, pp. 1936-1943, 2017 (pdf). DOI:10.1109/ICRA.2017.7989225
N. Scianca, M. Cognetti, D. De Simone, L. Lanari, G. Oriolo, "Intrinsically stable MPC for humanoid gait generation," 2016 IEEE-RAS International Conference on Humanoid Robots, Cancun, Mexico, pp. 601-606, 2016 (pdf). DOI: 10.1109/HUMANOIDS.2016.7803336
V. Modugno, U. Chervet, G. Oriolo, S. Ivaldi, "Learning soft task priorities for safe control of humanoid robots with constrained stochastic optimization," 2016 IEEE-RAS International Conference on Humanoid Robots, Cancun, Mexico, pp. 101-108, 2016 (pdf). DOI: 10.1109/HUMANOIDS.2016.7803261
C. Dimidov, G. Oriolo, V. Trianni, "Random walks in swarm robotics: An experiment with Kilobots," 10th International Conference on Swarm Intelligence (ANTS 2016), Brussels, Belgium, 2016 (pdf). DOI: 10.1007/978-3-319-44427-7_16. This paper won the ANTS 2016 Best Paper Award.
M. Cognetti, D. De Simone, L. Lanari, G. Oriolo, "Real-time planning and execution of evasive motions for a humanoid robot," 2016 IEEE International Conference on Robotics and Automation, Stockholm, Sweden, pp. 4200-4206, 2016 (pdf). DOI: 10.1109/ICRA.2016.7487614
M. Cognetti, V. Fioretti, G. Oriolo, "Whole-body planning for humanoids along deformable tasks," 2016 IEEE International Conference on Robotics and Automation, Stockholm, Sweden,  pp. 1615-1620, 2016 (pdf). DOI: 10.1109/ICRA.2016.7487301
V. Modugno, G. Neumann, E. Rueckert, G. Oriolo, J. Peters, S. Ivaldi, "Learning soft task priorities for control of redundant robots," 2016 IEEE International Conference on Robotics and Automation, Stockholm, Sweden, pp. 221-226, 2016 (pdf). DOI: 10.1109/ICRA.2016.7487137
M. Cognetti, P. Mohammadi, G. Oriolo, "Whole-body motion planning for humanoids based on CoM movement primitives," 2015 IEEE-RAS International Conference on Humanoid Robots, Seoul, South Korea, pp. 1090-1095, 2015 (pdf). DOI: 10.1109/HUMANOIDS.2015.7363504
L. Rosa, M. Cognetti, A. Nicastro, P. Alvarez, G. Oriolo, "Multi-task cooperative control in a heterogeneous ground-air robot team," 3rd IFAC Workshop on Multivehicle Systems, Genova, IT, pp. 53-58, 2015 (pdf). DOI: 10.1016/j.ifacol.2015.06.463
M. Cefalo, G. Oriolo, "Task-constrained motion planning for underactuated robots," 2015 IEEE International Conference on Robotics and Automation, Seattle, WA, pp. 2965-2970, 2015 (pdf). DOI: 10.1109/ICRA.2015.7139605
M. Cognetti, P. Mohammadi, G. Oriolo, M. Vendittelli, "Task-oriented whole-body planning for humanoids based on hybrid motion generation," 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, pp. 4071-4076, 2014 (pdf). DOI: 10.1109/IROS.2014.6943135
M. Cognetti, G. Oriolo, P. Peliti, L. Rosa, P. Stegagno, "Cooperative control of a heterogeneous multi-robot system based on relative localization," 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, pp. 350-356, 2014 (pdf). DOI: 10.1109/IROS.2014.6942583
M. Cefalo, G. Oriolo, "Dynamically feasible task-constrained motion planning with moving obstacles," 2014 IEEE International Conference on Robotics and Automation, Hong Kong, China, pp. 2045-2050, 2014 (pdf). DOI: 10.1109/ICRA.2014.6907130
M. Gagliardi, G. Oriolo, H.H. Bülthoff, A. Franchi, “Image-based road network clearing without localization and without maps using a team of UAVs,” 2014 European Control Conference, Strasbourg, France, pp. 1902-1908, 2014 (pdf). DOI: 10.1109/ECC.2014.6862560
M. Cefalo, G. Oriolo, M. Vendittelli, "Task-constrained motion planning with moving obstacles," 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, pp. 5758-5763, 2013 (pdf). DOI: 10.1109/IROS.2013.6697190
N. Shariari, S. Fantasia, F. Flacco, G. Oriolo, "Robotic visual servoing of moving targets," 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, pp. 77-82, 2013 (pdf). DOI: 10.1109/IROS.2013.6696335
G. Oriolo, A. Paolillo, L. Rosa, M. Vendittelli, "Vision-based trajectory control for humanoid navigation," 2013 IEEE-RAS International Conference on Humanoid Robots, Atlanta, GA, pp. 118-123, 2013 (pdf).
A. Faragasso, G. Oriolo, A. Paolillo, M. Vendittelli, "Vision-based corridor navigation for humanoid robots," 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, pp. 3190-3195, 2013 (pdf). DOI 10.1109/ICRA.2013.6631112
M. Cefalo, G. Oriolo, M. Vendittelli, "Planning safe cyclic motions under repetitive task constraints," 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, pp. 3807-3812, 2013 (pdf). DOI: 10.1109/ICRA.2013.6631112
N. Aghakhani, M. Geravand, N. Shahriari, M. Vendittelli, G. Oriolo, "Task control with Remote Center of Motion constraint for minimally invasive robotic surgery," 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, pp. 5807-5812, 2013 (pdf). DOI: 10.1109/ICRA.2013.6631412
A. Leccese, A. Gasparri, A. Priolo, G. Oriolo, G. Ulivi, "A swarm aggregation algorithm based on local interaction with actuator saturations and integrated obstacle avoidance," 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, pp. 1865-1870, 2013 (pdf). DOI: 10.1109/ICRA.2013.6630823
P. Stegagno, M. Cognetti, L. Rosa, P. Peliti, G. Oriolo, "Relative localization and identification in a heterogeneous multi-robot system," 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, pp. 1857-1864, 2013 (pdf). DOI: 10.1109/ICRA.2013.6630822
G. Oriolo, A. Paolillo, L. Rosa, M. Vendittelli, "Vision-based odometric localization for humanoids using a kinematic EKF," 2012 IEEE-RAS International Conference on Humanoid Robots, Osaka, Japan, pp. 153-158, 2012 (pdf).
H. Jabbari Asl, G. Oriolo, H. Bolandi, "Dynamic IBVS control of an underactuated UAV," 2012 IEEE International Conference on Robotics and Biomimetics. Guangzhou, China, 2012, pp. 1158-1163 (pdf).
M. Cognetti, P. Stegagno, A. Franchi, G. Oriolo, "Two measurement scenarios for anonymous mutual localization in multi-UAV systems," 2nd IFAC Workshop on Multivehicle Systems, Espoo, Finland, 2012, pp. 13-20 (pdf).
P. Peliti, L. Rosa, G. Oriolo, M. Vendittelli, "Vision-based loitering over a target for a fixed-wing UAV," 10th IFAC Symposium on Robot Control, Dubrovnik, Croatia, pp. 51-57, 2012 (pdf).
R. Spica, A. Franchi, G. Oriolo, H. H. Bülthoff, P. Robuffo Giordano, "Aerial grasping of a moving target with a quadrotor UAV," 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Portugal, pp. 4985-4992, 2012 (pdf).
A. Gasparri, G. Oriolo, A. Priolo, G. Ulivi, "A swarm aggregation algorithm based on local interaction for multi-robot systems with actuator saturations," 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Portugal, pp. 539-544, 2012 (pdf).
M. Cognetti, P. Stegagno, A. Franchi, G. Oriolo, H. H. Bülthoff, "3-D mutual localization with anonymous bearing measurements," 2012 IEEE International Conference on Robotics and Automation, Saint Paul, MN, pp. 791-798, 2012 (pdf).
P. Stegagno, M. Cognetti, A. Franchi, G. Oriolo, "Mutual localization using anonymous bearing measurements," 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, pp. 469-474, 2011 (pdf).
A. Franchi, G. Oriolo, P. Stegagno, "Probabilistic mutual localization in multi-agent systems from anonymous position measures," 49th IEEE Conference on Decision and Control, Atlanta, GA pp. 6534-6540, 2010 (pdf).
A. Franchi, P. Stegagno, M. Di Rocco, G. Oriolo, "Distributed target localization and encirclement with a multi-robot system," 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, 2010 (pdf)
A. Franchi, G. Oriolo, P. Stegagno, "On the Solvability of the Mutual Localization Problem with Anonymous Position Measures," 2010 IEEE International Conference on Robotics and Automation, Anchorage, AK, pp. 3193-3199, 2010 (pdf).
A. De Luca, G. Oriolo, P. Robuffo Giordano, "Kinematic Control of Nonholonomic Mobile Manipulators in the Presence of Steering Wheels," 2010 IEEE International Conference on Robotics and Automation, Anchorage, AK, pp. 1792-1798, 2010 (pdf).
A. Franchi, G. Oriolo, P. Stegagno, "Mutual Localization in a Multi-Robot System with Anonymous Relative Position Measures," 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, pp. 3974-3980, 2009 (pdf).
G. Oriolo, M. Vendittelli, "A control-based approach to task-constrained motion planning," 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, pp. 297-302, 2009 (pdf).
L. Freda, G. Oriolo, F. Vecchioli, "An Exploration Method for General Robotic Systems Equipped with Multiple Sensors," 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, pp. 5076-5082, 2009 (pdf).
A. Cherubini, F. Chaumette, M. Colafrancesco, L. Freda, G. Oriolo, "Comparing appearance-based controllers for nonholonomic navigation from a visual memory," ICRA 2009 Workshop on Safe Navigation in Open and Dynamic Environments: Application to Autonomous Vehicles, Kobe, J, 2009 (pdf).
A. Cherubini, F. Chaumette, G. Oriolo, "An image-based visual servoing scheme for following paths with nonholonomic mobile robots," 10th International Conference on Control, Automation, Robotics and Vision, Hanoi, Vietnam, pp. 108-113, 2008 (pdf).
A. Cherubini, F. Chaumette, G. Oriolo, "A position-based visual servoing scheme for following paths with nonholonomic mobile robots," 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France, pp. 2157-2164, 2008 (pdf).
L. Freda, G. Oriolo, F. Vecchioli, "Sensor-based Exploration for General Robotic Systems," 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France, pp. 1648-1654, 2008 (pdf).
A. Franchi, L. Freda, L. Marchionni, G. Oriolo, M. Vendittelli, "Decentralized cooperative exploration: Implementation and experiments," 10th International Conference on Intelligent Autonomous Systems, July 2008, Baden Baden, Germany (no pdf yet).
P. Robuffo Giordano, A. De Luca, G. Oriolo, "3D structure identification from image moments," 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, pp. 93-100, 2008 (pdf).
A. De Luca, G. Oriolo, P. Robuffo Giordano, "Visual servoing with exploitation of redundancy: An experimental study," 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, pp. 2231-2237, 2008 (pdf).
A. Censi, D. Calisi, A. De Luca, G. Oriolo, "A Bayesian framework for optimal motion planning with uncertainty," 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, pp. 1798-1805, 2008 (pdf).
A. Censi, L. Marchionni, G. Oriolo, "Simultaneous maximum-likelihood calibration of robot and sensor parameters," 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, pp. 2098-2103, 2008 (pdf).
A. Franchi, L. Freda, G. Oriolo, M. Vendittelli, "A decentralized strategy for cooperative robot exploration," 1st International Conference on Robot Communication and Coordination, Athens, Greece, 2007 (pdf).
A. Cherubini, G. Oriolo, F. Macrì, F. Aloise, F. Cincotti, D. Mattia, "A vision-based path planner/follower for an assistive robotics project," 1st International Workshop on Robot Vision (in conjunction with VISAPP 2007), Barcelona, SP, pp. 77-86, 2007 (pdf).
F. Cincotti, F. Aloise, S. Bufalari, G. Schalk, G. Oriolo, A. Cherubini, F. Davide, F. Babiloni, M. G. Marciani, D. Mattia, "Non-invasive Brain-Computer Interface system to operate assistive devices," 29th IEEE International Conference of the Engineering in Medicine and Biology Society, Lyon, F, 2007.
A. Franchi, L. Freda, G. Oriolo, M. Vendittelli, "A randomized strategy for cooperative robot exploration," 2007 IEEE International Conference on Robotics and Automation, Roma, Italy, pp. 768-774, 2007 (pdf).
A. Cherubini, G. Oriolo, F. Macrì, F. Aloise, F. Babiloni, F. Cincotti, D. Mattia, "Development of a multimode navigation system for an assistive robotics project," 2007 IEEE International Conference on Robotics and Automation, Roma, Italy, pp. 2336-2342, 2007 (pdf).
A. De Luca, G. Oriolo, P. Robuffo Giordano, "On-line estimation of feature depth for image-based visual servoing schemes," 2007 IEEE International Conference on Robotics and Automation, Roma, Italy, pp. 2823-2828, 2007 (pdf).
L. Freda, F. Loiudice, G. Oriolo, "A randomized method for integrated exploration," 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, PRC, pp. 2457-2464, 2006 (pdf).
M. Cefalo, L. Lanari, G. Oriolo, "Energy-based control of the Butterfly robot," 8th International IFAC Symposium on Robot Control, Bologna, I, 2006 (pdf).
A. Turli, G. Oriolo, S. Panzieri, "Increasing the connectivity of probabilistic roadmaps via genetic post-processing," 8th International IFAC Symposium on Robot Control, Bologna, I, 2006 (pdf).
A. De Luca, G. Oriolo, P. Robuffo Giordano, "Kinematic modeling and redundancy resolution for nonholonomic mobile manipulators," 2006 IEEE International Conference on Robotics and Automation, Orlando, FL, 2006 (pdf).
G. L. Mariottini, G. Oriolo, D. Prattichizzo, "Image-based visual servoing for nonholonomic mobile robots with central catadioptric camera," 2006 IEEE International Conference on Robotics and Automation, Orlando, FL, 2006.
F. Cincotti, F. Aloise, F. Babiloni, M. G. Marciani, D. Morelli, S. Paolucci, G. Oriolo, A. Cherubini, S. Bruscino, F. Sciarra, F. Mangiola, A. Melpignano, F. Davide, D. Mattia, "Brain-operated assistive devices: The ASPICE project", 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Pisa, I, 2006.     
F. Aloise, F. Cincotti, F. Babiloni, M. G. Marciani, D. Morelli, S. Paolucci, G. Oriolo, A. Cherubini, F. Sciarra, F. Mangiola, A. Melpignano, F. Davide, D. Mattia, "ASPICE: an interface system for independent life", 4th International Conference On Smart Homes and Health Telematics, Belfast, Northern Ireland, UK, 2006.      
F. Aloise, F. Cincotti, F. Babiloni, M. G. Marciani, D. Morelli, S. Paolucci, G. Oriolo, A. Cherubini, F. Sciarra, F. Mangiola, A. Melpignano, F. Davide, D. Mattia, "The ASPICE project: Inclusive design for the motor disabled", 8th International Working Conference on Advanced Visual Interfaces, Venezia, I, 2006.      
F. Jean, G. Oriolo, M. Vendittelli, "A globally convergent steering algorithm for regular nonholonomic systems," 44th IEEE Conference on Decision and Control, Seville, SP, pp. 7514-7519, 2005 (pdf).
F. Capparella, L. Freda, M. Malagnino, G. Oriolo, "Visual servoing of a wheeled mobile robot for intercepting a moving object," 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, CND, pp. 2021-2027, 2005 (pdf).
L. Freda, G. Oriolo, "Frontier-based probabilistic strategies for sensor-based exploration," 2005 IEEE International Conference on Robotics and Automation, Barcelona, SP, pp. 3892-3898, 2005 (pdf).
G. Oriolo, C. Mongillo, "Motion planning for mobile manipulators along given end-effector paths," 2005 IEEE International Conference on Robotics and Automation, Barcelona, SP, pp. 2166-2172, 2005 (pdf).
L. Freda, G. Oriolo, M. Vendittelli, "Probabilistic strategies for sensor-based exploration," 9th International Symposium on Robotics with Applications, Sevilla, SP, 2004.
G. L. Mariottini, G. Oriolo, D. Prattichizzo, "Epipole-based visual servoing for nonholonomic mobile robots," 2004 IEEE International Conference on Robotics and Automation, New Orleans, LA, pp. 497-503, 2004.
G. Oriolo, M. Vendittelli, L. Freda, G. Troso, "The SRT method: Randomized strategies for exploration," 2004 IEEE International Conference on Robotics and Automation, New Orleans, LA, pp. 4688-4694, 2004 (pdf).
M. Cefalo, L. Lanari, G. Oriolo, M. Vendittelli, "The REAL Lab: Remote experiments for active learning," XLI AICA Annual Congress, Trento, IT, 2003.
G. Oriolo, M. Vendittelli, A. Marigo, A. Bicchi, "From nominal to robust planning: The plate-ball manipulation system," 2003 IEEE International Conference on Robotics and Automation, Taipei, TW, 2003 (pdf).
G. Oriolo, M. Ottavi, M. Vendittelli, "Probabilistic motion planning for redundant robots along given end-effector paths," 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, CH, pp. 1657-1662, 2002 (pdf).
A. De Luca, G. Oriolo, L. Paone, P. Robuffo Giordano, M. Vendittelli, "Visual-based planning and control for nonholonomic mobile robots," 10th IEEE Mediterranean Conference on Control and Automation, Lisbon, PT, 2002.
T. Sartini, M. Vendittelli, G. Oriolo, "A resolution-adaptive strategy for probabilistic motion planning," 9th International Symposium on Robotics with Applications, Orlando, FL, 2002.
F. Zonfrilli, G. Oriolo, D. Nardi, "A Biped Locomotion Strategy for the Quadruped Robot Sony ERS-210," 2002 IEEE International Conference on Robotics and Automation, Washington, DC, 2002.
A. De Luca, G. Oriolo, L. Paone, P. Robuffo Giordano, "Experiments in Visual Feedback Control of a Wheeled Mobile Robot," 2002 IEEE International Conference on Robotics and Automation, Washington, DC, 2002.
G. Oriolo, M. Vendittelli, "Robust stabilization of the plate-ball manipulation system," 2001 IEEE International Conference on Robotics and Automation, Seoul, KR, pp. 91-96, 2001 (pdf).
F. M. Antoniali, G. Oriolo, "Robot localization in nonsmooth environments: Experiments with a new filtering technique," 2001 IEEE International Conference on Robotics and Automation, Seoul, pp. 1591-1596, KR, 2001 (pdf).
A. De Luca, S. Iannitti, G. Oriolo, "Stabilization of a PR planar underactuated robot," 2001 IEEE International Conference on Robotics and Automation, Seoul, KR, pp. 2090-2095, 2001.
A. De Luca, S. Iannitti, R. Mattone, G. Oriolo, "Control problems in underactuated manipulators," 2001 IEEE/ASME International Conference on Advanced Mechatronics, Como, I, 2001.
E. Fabrizi, G. Oriolo, S. Panzieri, G. Ulivi, "Mobile robot localization via fusion of ultrasonic and inertial sensor data," 8th International Symposium on Robotics with Applications, Maui, USA, 2000.
A. De Luca, G. Oriolo, "Motion planning under gravity for underactuated three-link robots," 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, J, pp. 139-144, 2000 (pdf).
A. De Luca, G. Oriolo, M. Vendittelli, "Stabilization of the unicycle via dynamic feedback linearization," 6th IFAC Symposium on Robot Control, Vienna, A, pp.397-402, 2000.
A. Bettini, A. De Luca, G. Oriolo, "An experimental comparison of redundancy resolution schemes," 6th IFAC Symposium on Robot Control, Vienna, A, pp. 351-356, 2000.
F. M. Antoniali, G. Oriolo, "Localization of mobile robots in environments with non-smooth geometry," 6th IFAC Symposium on Robot Control, Vienna, A, pp. 337-344, 2000.
M. Vendittelli, G. Oriolo, "Stabilization of the general two-trailer system," 2000 IEEE International Conference on Robotics and Automation, San Francisco, USA, pp. 1817-1823, 2000 (compressed Postscript).
A. De Luca, G. Oriolo, "Motion planning and trajectory control of an underactuated three-link robot via dynamic feedback linearization," 2000 IEEE International Conference on Robotics and Automation, San Francisco, USA, pp. 2789-2795, 2000 (compressed Postscript).
M. Vendittelli, G. Oriolo, J.P. Laumond, "Steering nonholonomic systems via nilpotent approximations: The general two-trailer system," 1999 IEEE International Conference on Robotics and Automation, Detroit, USA, pp. 823-829, 1999 (compressed Postscript).
G. Oriolo, S. Panzieri, G. Ulivi, "Learning optimal trajectories for nonholonomic systems," Iterative Learning Control Workshop and Roundtable, Tampa, USA, pp. 3-4, 1998.
E. Fabrizi, G. Oriolo, S. Panzieri, G. Ulivi, "Enhanced uncertainty modeling for robot localization," 7th Int. Symp. on Robotics with Application (ISORA'98), Anchorage, AL, 1998.
A. De Luca, G. Oriolo, "Stabilization of the Acrobot via iterative state steering," 1998 IEEE International Conference on Robotics and Automation, Leuven, B, pp. 3581-3587, 1998.
M. Vendittelli, J.P. Laumond, G. Oriolo, "Nilpotent approximation of nonholonomic systems with singularities: A case study," 4th IFAC Symposium on Nonlinear Control Systems Design, Enschede, NL, pp. 777-782, 1998.
P. Lucibello, G. Oriolo, "Robust stabilization of the angular velocity for an underactuated rigid spacecraft," 4th IFAC Symposium on Nonlinear Control Systems Design, Enschede, NL, pp. 714-719, 1998.
E. Fabrizi, G. Oriolo, S. Panzieri, G. Ulivi,, "A KF-based localization algorithm for nonholonomic mobile robots," 6th IEEE Mediterranean Conference on Control and Automation, Alghero, I, 1998.
A. De Luca, R. Mattone, G. Oriolo, "Stabilization of underactuated robots: Theory and experiments for a planar 2R manipulator," 1997 IEEE International Conference on Robotics and Automation, Albuquerque, NM, pp. 3274-3280, 1997.
F. Gambino, G. Oriolo, G. Ulivi, "A comparison of three uncertainty calculus techniques for ultrasonic map building," 1996 SPIE International Symposium on Aerospace/Defense Sensing and Control-Applications of Fuzzy Logic Technology III, Orlando, USA, pp. 249-260, 1996 (compressed Postscript).
G. Oriolo, S. Panzieri, G. Ulivi, "An iterative learning controller for nonholonomic robots," 1996 IEEE International Conference on Robotics and Automation, Minneapolis, USA, pp. 2676-2681, 1996.
A. Bemporad, A. De Luca, G. Oriolo, "Local incremental planning for a car-like robot navigating among obstacles," 1996 IEEE International Conference on Robotics and Automation, Minneapolis, USA, pp. 1205-1211, 1996 (compressed Postscript).
A. De Luca, R. Mattone, G. Oriolo, "Dynamic mobility of redundant robots using end-effector commands," 1996 IEEE International Conference on Robotics and Automation, Minneapolis, USA, pp. 1760-1767, 1996.
G. Oriolo, S. Panzieri, G. Ulivi, "Finite-dimensional optimal learning control: Application to a flexible link," 4th IEEE Mediterranean Symposium on New Directions in Control and Automation, Maleme, GR, pp. 687-692, 1996.
G. Oriolo, S. Panzieri, G. Ulivi, "Cyclic learning control for chained-form systems with application to the car-like robot," 13th IFAC World Congress, San Francisco, USA, vol. A, pp. 187-192, 1996.
E. Ferretti, G. Oriolo, S. Panzieri, G. Ulivi, "Learning nice robust trajectories for a car-like robot," 4th International Symposium on Intelligent Robotic Systems (SIRS'96), Lisbon, PT, pp.123-130, 1996.
P. Lucibello, G. Oriolo, "Stabilization via iterative state steering with application to chained-form systems," 35th IEEE Conf. on Decision and Control, Kobe, J, pp. 1455-1460, 1996 (compressed Postscript).
A. De Luca, R. Mattone, G. Oriolo, "Control of underactuated mechanical systems: Application to the planar 2R robot," 35th IEEE Conf. on Decision and Control, Kobe, J, pp. 2614-2619, 1996.
G. Oriolo, G. Ulivi, M. Vendittelli, "On-line map building and navigation for autonomous mobile robots", 1995 IEEE International Conference on Robotics and Automation, Nagoya, J, pp. 2900-2906, 1995.
G. Oriolo, G. Ulivi, M. Vendittelli, "Path planning via skeletons on grey-level maps", 3rd Mediterranean Symposium on New Directions in Control and Automation, Limassol, CY, vol. 2, pp. 307-314, 1995.
G. Fortarezza, G. Oriolo, G. Ulivi, M. Vendittelli, "A mobile robot localization method for incremental map building and navigation", 3rd International Symposium on Intelligent Robotic Systems (SIRS'95), Pisa, I, pp. 57-65, 1995.
A. De Luca, G. Oriolo, "Local incremental planning for nonholonomic mobile robots," 1994 IEEE International Conference on Robotics and Automation, San Diego, USA, pp. 104-110, 1994 (compressed Postscript).
G. Oriolo, "Stabilization of self-motions in redundant robots", 1994 IEEE International Conference on Robotics and Automation, San Diego, USA, pp. 704-710, 1994.
G. Oriolo, G. Ulivi, M. Vendittelli, "Potential-based motion planning on fuzzy maps", 2nd European Congress on Intelligent Techniques and Soft Computing (EUFIT'94), Aachen, D, pp. 731-735, 1994.
G. Oriolo, G. Ulivi, M. Vendittelli, "Motion planning with uncertainty: Navigation on fuzzy maps", 4th IFAC Symposium on Robot Control (SYROCO'94), Capri, I, pp. 71-78, 1994.
A. De Luca, G. Oriolo, "Nonholonomy in redundant robots under kinematic inversion," 4th IFAC Symposium on Robot Control (SYROCO'94), Capri, I, pp. 179-184,1994.
G. Oriolo, "The self-motion stabilization problem in redundant manipulators," 1993 International Symposium on Intelligent Robotics (ISIR'93), Bangalore, IND, pp. 259-268, 1993.
A. De Luca, L. Lanari, G. Oriolo, "Control of redundant robots on cyclic trajectories," 1992 IEEE International Conference on Robotics and Automation, Nice, F, pp. 500-506, 1992.
G. Oriolo, "The reactive vortex fields method for robot motion planning with uncertainty," 36th ANIPLA Annual Conference, Genova, I, pp. 584-597, 1992.
C. De Medio, G. Oriolo, "Robot obstacle avoidance using vortex fields," 2nd International Workshop on Advances in Robot Kinematics, Linz, A, 1990. Also in Advances in Robot Kinematics, S. Stifter and J. Lenarcic (Eds.), Springer-Verlag, Wien, pp. 227-235, 1991 (pdf - low quality!).
A. De Luca, G. Oriolo, "Issues in acceleration resolution of robot redundancy," 3rd IFAC Symposium on Robot Control (SYROCO'91), Vienna, A, pp. 665-670, 1991.
G. Oriolo, Y. Nakamura, "Free-joint manipulators: motion control under second-order nonholonomic constraints," 1991 IEEE/RSJ International Workshop on Intelligent Robots and Systems (IROS'91), Osaka, J, pp. 1248-1253, 1991.
G. Oriolo, Y. Nakamura, "Nonholonomic motion of underactuated kinematic chains," 9th Annual Conference of Japan Robotics Society, Tsukuba, J, pp. 801-804, 1991.
G. Oriolo, Y. Nakamura, "Control of mechanical systems with second-order nonholonomic constraints: Underactuated manipulators", 30th Conference on Decision and Control, Brighton, UK, pp. 2398-2403, 1991 (compressed Postscript).
A. De Luca, G. Oriolo, "The reduced gradient method for solving redundancy in robot arms," 11th IFAC World Congress, Tallinn, USSR, vol. 9, pp. 143-148, 1990.
A. De Luca, G. Oriolo, "Kinematic resolution of redundancy via joint-space decomposition," 8th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators (Ro.Man.Sy.'90), Krakow, PL, pp. 64-71, 1990.
A. De Luca, G. Oriolo, "Efficient dynamic resolution of robot redundancy," 1990 American Control Conference, S. Diego, USA, pp. 221-227, 1990.
C. De Medio, F. Nicolo', G. Oriolo, "Robot motion planning using vortex fields," Joint Conference on New Trends in Systems Theory, Genova, I, pp. 237-244, 1990.
A. De Luca, L. Lanari, G. Oriolo, F. Nicolò, "A sensitivity approach to optimal spline robot trajectories," 2nd IFAC Symposium on Robot Control (SYROCO'88), Karlsruhe, D, pp. 505-510, 1988.
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