All Stories

  1. A feasibility-driven MPC scheme for robust gait generation in humanoids

    Article • Robotics and Autonomous Systems, July 2025, Elsevier

    Giuseppe Oriolo

  2. Humanoid Motion Generation in Complex 3D Environments

    Article • Robotics, June 2025, MDPI AG

    Giuseppe Oriolo

  3. Singularity-Free Trajectory Tracking for Steerable Wheeled Mobile Robots

    Article • IEEE Robotics and Automation Letters, June 2025, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  4. Humanoid Motion Generation in Complex 3D Environments

    Article • May 2025, MDPI AG

    Giuseppe Oriolo

  5. Sensitivity-Aware Model Predictive Control for Robots With Parametric Uncertainty

    Article • IEEE Transactions on Robotics, January 2025, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  6. Cooperative Manipulation

    Article • January 2025, Springer Science + Business Media

    Giuseppe Oriolo

  7. Differential Kinematics and Statics

    Article • January 2025, Springer Science + Business Media

    Giuseppe Oriolo

  8. Dynamics

    Article • January 2025, Springer Science + Business Media

    Giuseppe Oriolo

  9. Force Control

    Article • January 2025, Springer Science + Business Media

    Giuseppe Oriolo

  10. Foundations of Robotics

    Article • January 2025, Springer Science + Business Media

    Giuseppe Oriolo

  11. Introduction

    Article • January 2025, Springer Science + Business Media

    Giuseppe Oriolo

  12. Kinematics

    Article • January 2025, Springer Science + Business Media

    Giuseppe Oriolo

  13. Manipulators with Elastic Joints

    Article • January 2025, Springer Science + Business Media

    Giuseppe Oriolo

  14. Motion Control

    Article • January 2025, Springer Science + Business Media

    Giuseppe Oriolo

  15. Motion Planning

    Article • January 2025, Springer Science + Business Media

    Giuseppe Oriolo

  16. Trajectory Planning

    Article • January 2025, Springer Science + Business Media

    Giuseppe Oriolo

  17. Visual Control 

    Article • January 2025, Springer Science + Business Media

    Giuseppe Oriolo

  18. Wheeled Mobile Robots

    Article • January 2025, Springer Science + Business Media

    Giuseppe Oriolo

  19. Dynamics-aware navigation among moving obstacles with application to ground and flying robots

    Article • Robotics and Autonomous Systems, February 2024, Elsevier

    Giuseppe Oriolo

  20. Humanoid motion generation in a world of stairs

    Article • Robotics and Autonomous Systems, October 2023, Elsevier

    Giuseppe Oriolo

  21. Non-Prehensile Object Transportation via Model Predictive Non-Sliding Manipulation Control

    Article • IEEE Transactions on Control Systems Technology, September 2023, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  22. Multi-contact planning and control for humanoid robots: Design and validation of a complete framework

    Article • Robotics and Autonomous Systems, August 2023, Elsevier

    Giuseppe Oriolo

  23. A Dynamics-Aware NMPC Method for Robot Navigation Among Moving Obstacles

    Article • January 2023, Springer Science + Business Media

    Giuseppe Oriolo

  24. Safe Robot Navigation in a Crowd Combining NMPC and Control Barrier Functions

    Article • December 2022, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  25. An Intrinsically Stable MPC Approach for Anti-Jackknifing Control of Tractor-Trailer Vehicles

    Article • IEEE/ASME Transactions on Mechatronics, December 2022, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  26. Handling Non-Convex Constraints in MPC-Based Humanoid Gait Generation

    Article • October 2022, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  27. From Walking to Running: 3D Humanoid Gait Generation via MPC

    Article • Frontiers in Robotics and AI, August 2022, Frontiers

    Giuseppe Oriolo

  28. Real-Time Motion Generation for Mobile Manipulators via NMPC with Balance Constraints

    Article • June 2022, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  29. Task-Oriented Generation of Stable Motions for Wheeled Inverted Pendulum Robots

    Article • May 2022, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  30. ADHERENT: Learning Human-like Trajectory Generators for Whole-body Control of Humanoid Robots

    Article • IEEE Robotics and Automation Letters, April 2022, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  31. On-Line Learning for Planning and Control of Underactuated Robots With Uncertain Dynamics

    Article • IEEE Robotics and Automation Letters, January 2022, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  32. Towards Safe Human-Quadrotor Interaction: Mixed-Initiative Control via Real-Time NMPC

    Article • IEEE Robotics and Automation Letters, October 2021, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  33. Bayesian Neural Network Modeling and Hierarchical MPC for a Tendon-Driven Surgical Robot With Uncertainty Minimization

    Article • IEEE Robotics and Automation Letters, April 2021, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  34. Feasibility-Driven Step Timing Adaptation for Robust MPC-Based Gait Generation in Humanoids

    Article • IEEE Robotics and Automation Letters, April 2021, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  35. A behavior-based framework for safe deployment of humanoid robots

    Article • Autonomous Robots, March 2021, Springer Science + Business Media

    Giuseppe Oriolo

  36. An Efficient Real-Time NMPC for Quadrotor Position Control under Communication Time-Delay

    Article • December 2020, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  37. An Opportunistic Strategy for Motion Planning in the Presence of Soft Task Constraints

    Article • IEEE Robotics and Automation Letters, October 2020, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  38. Communication-based and Communication-less approaches for Robust Cooperative Planning in Construction with a Team of UAVs

    Article • September 2020, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  39. MPC for Humanoid Gait Generation: Stability and Feasibility

    Article • IEEE Transactions on Robotics, August 2020, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  40. Anti-Jackknifing Control of Tractor-Trailer Vehicles via Intrinsically Stable MPC

    Article • May 2020, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  41. ZMP Constraint Restriction for Robust Gait Generation in Humanoids

    Article • May 2020, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  42. Enforcing Constraints over Learned Policies via Nonlinear MPC: Application to the Pendubot

    Article • IFAC-PapersOnLine, January 2020, Elsevier

    Giuseppe Oriolo

  43. Least Conservative Linearized Constraint Formulation for Real-Time Motion Generation

    Article • IFAC-PapersOnLine, January 2020, Elsevier

    Giuseppe Oriolo

  44. A Multimode Teleoperation Framework for Humanoid Loco-Manipulation: An Application for the iCub Robot

    Article • IEEE Robotics & Automation Magazine, December 2019, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  45. Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases

    Article • IEEE Robotics & Automation Magazine, December 2019, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  46. Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances

    Article • October 2019, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  47. Sensor-based Whole-Body Planning/Replanning for Humanoid Robots

    Article • October 2019, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  48. An Integrated Motion Planner/Controller for Humanoid Robots on Uneven Ground

    Article • June 2019, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  49. Closed-loop MPC with Dense Visual SLAM - Stability through Reactive Stepping

    Article • May 2019, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  50. Force, orientation and position control in redundant manipulators in prioritized scheme with null space compliance

    Article • Control Engineering Practice, April 2019, Elsevier

    Giuseppe Oriolo

  51. Anytime Whole-Body Planning/Replanning for Humanoid Robots

    Article • November 2018, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  52. Hierarchical tracking task control in redundant manipulators with compliance control in the null-space

    Article • Mechatronics, November 2018, Elsevier

    Giuseppe Oriolo

  53. Learning Robust Task Priorities of QP-Based Whole-Body Torque-Controllers

    Article • November 2018, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  54. A general framework for task-constrained motion planning with moving obstacles

    Article • Robotica, October 2018, Cambridge University Press

    Giuseppe Oriolo

  55. Humanoid Gait Generation on Uneven Ground using Intrinsically Stable MPC

    Article • IFAC-PapersOnLine, January 2018, Elsevier

    Giuseppe Oriolo

  56. Sensor-Based Task-Constrained Motion Planning using Model Predictive Control

    Article • IFAC-PapersOnLine, January 2018, Elsevier

    Giuseppe Oriolo

  57. Gait generation via intrinsically stable MPC for a multi-mass humanoid model

    Article • November 2017, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  58. Humanoid gait generation for walk-to locomotion using single-stage MPC

    Article • November 2017, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  59. Safe trajectory optimization for whole-body motion of humanoids

    Article • November 2017, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  60. Repeatable Motion Planning for Redundant Robots Over Cyclic Tasks

    Article • IEEE Transactions on Robotics, October 2017, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  61. MPC-based humanoid pursuit-evasion in the presence of obstacles

    Article • September 2017, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  62. Humanoid whole-body planning for loco-manipulation tasks

    Article • May 2017, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  63. Parallel collision check for sensor based real-time motion planning

    Article • May 2017, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  64. Real-time pursuit-evasion with humanoid robots

    Article • May 2017, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  65. Intrinsically stable MPC for humanoid gait generation

    Article • November 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  66. Learning soft task priorities for safe control of humanoid robots with constrained stochastic optimization

    Article • November 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  67. Ground and Aerial Mutual Localization Using Anonymous Relative-Bearing Measurements

    Article • IEEE Transactions on Robotics, October 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  68. Learning soft task priorities for control of redundant robots

    Article • May 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  69. Real-time planning and execution of evasive motions for a humanoid robot

    Article • May 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  70. Whole-body planning for humanoids along deformable tasks

    Article • May 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  71. Vision-based maze navigation for humanoid robots

    Article • Autonomous Robots, January 2016, Springer Science + Business Media

    Giuseppe Oriolo

  72. Random Walks in Swarm Robotics: An Experiment with Kilobots

    Article • January 2016, Springer Science + Business Media

    Giuseppe Oriolo

  73. Redundant Robots

    Article • January 2016, Springer Science + Business Media

    Giuseppe Oriolo

  74. Whole-body motion planning for humanoids based on CoM movement primitives

    Article • November 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  75. Humanoid odometric localization integrating kinematic, inertial and visual information

    Article • Autonomous Robots, September 2015, Springer Science + Business Media

    Giuseppe Oriolo

  76. Decentralized multi-robot encirclement of a 3D target with guaranteed collision avoidance

    Article • Autonomous Robots, July 2015, Springer Science + Business Media

    Giuseppe Oriolo

  77. Task-constrained motion planning for underactuated robots

    Article • May 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  78. Multi-task Cooperative Control in a Heterogeneous Ground-Air Robot Team

    Article • IFAC-PapersOnLine, January 2015, Elsevier

    Giuseppe Oriolo

  79. Cooperative control of a heterogeneous multi-robot system based on relative localization

    Article • September 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  80. Task-oriented whole-body planning for humanoids based on hybrid motion generation

    Article • September 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  81. Image-based road network clearing without localization and without maps using a team of UAVs

    Article • June 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  82. Output feedback image-based visual servoing control of an underactuated unmanned aerial vehicle

    Article • Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering, May 2014, SAGE Publications

    Giuseppe Oriolo

  83. Dynamically feasible task-constrained motion planning with moving obstacles

    Article • May 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  84. AN ADAPTIVE SCHEME FOR IMAGE-BASED VISUAL SERVOING OF AN UNDERACTUATED UAV

    Article • International Journal of Robotics and Automation, January 2014, ACTA Press

    Giuseppe Oriolo

  85. Robotic visual servoing of moving targets

    Article • November 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  86. Task-constrained motion planning with moving obstacles

    Article • November 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  87. Vision-based trajectory control for humanoid navigation

    Article • October 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  88. Mutual localization in multi-robot systems using anonymous relative measurements

    Article • The International Journal of Robotics Research, September 2013, SAGE Publications

    Giuseppe Oriolo

  89. A swarm aggregation algorithm based on local interaction with actuator saturations and integrated obstacle avoidance

    Article • May 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  90. Planning safe cyclic motions under repetitive task constraints

    Article • May 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  91. Relative localization and identification in a heterogeneous multi-robot system

    Article • May 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  92. Task control with remote center of motion constraint for minimally invasive robotic surgery

    Article • May 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  93. Vision-based corridor navigation for humanoid robots

    Article • May 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  94. Simultaneous Calibration of Odometry and Sensor Parameters for Mobile Robots

    Article • IEEE Transactions on Robotics, April 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  95. Dynamic IBVS control of an underactuated UAV

    Article • December 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  96. Vision-based Odometric Localization for humanoids using a kinematic EKF

    Article • November 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  97. Aerial grasping of a moving target with a quadrotor UAV

    Article • October 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  98. A swarm aggregation algorithm based on local interaction for multi-robot systems with actuator saturations

    Article • October 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  99. 3-D mutual localization with anonymous bearing measurements

    Article • May 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  100. Two Measurement Scenarios for Anonymous Mutual Localization in Multi-UAV Systems

    Article • IFAC Proceedings Volumes, January 2012, Elsevier

    Giuseppe Oriolo

  101. Vision-Based Loitering Over a Target for a Fixed-Wing UAV

    Article • IFAC Proceedings Volumes, January 2012, Elsevier

    Giuseppe Oriolo

  102. Mutual localization using anonymous bearing measurements

    Article • September 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  103. Visual servoing for path reaching with nonholonomic robots

    Article • Robotica, April 2011, Cambridge University Press

    Giuseppe Oriolo

  104. Probabilistic mutual localization in multi-agent systems from anonymous position measures

    Article • December 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  105. Kinematic control of nonholonomic mobile manipulators in the presence of steering wheels

    Article • May 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  106. On the solvability of the Mutual Localization problem with Anonymous Position Measures

    Article • May 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  107. A control-based approach to task-constrained motion planning

    Article • October 2009, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  108. An exploration method for general robotic systems equipped with multiple sensors

    Article • October 2009, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  109. Mutual localization in a multi-robot system with anonymous relative position measures

    Article • October 2009, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  110. Policy gradient learning for a humanoid soccer robot

    Article • Robotics and Autonomous Systems, July 2009, Elsevier

    Giuseppe Oriolo, Dr. Mauro Lombardo

  111. The Sensor-based Random Graph Method for Cooperative Robot Exploration

    Article • IEEE/ASME Transactions on Mechatronics, April 2009, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  112. An Image-based Visual Servoing Scheme for Following Paths with Nonholonomic Mobile Robots

    Article • December 2008, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  113. Feature Depth Observation for Image-based Visual Servoing: Theory and Experiments

    Article • The International Journal of Robotics Research, October 2008, SAGE Publications

    Giuseppe Oriolo

  114. A position-based visual servoing scheme for following paths with nonholonomic mobile robots

    Article • September 2008, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  115. Sensor-based Exploration for General Robotic Systems

    Article • September 2008, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  116. A multimode navigation system for an assistive robotics project

    Article • Autonomous Robots, August 2008, Springer Science + Business Media

    Giuseppe Oriolo

  117. 3D Structure Identification from Image Moments

    Article • May 2008, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  118. A Bayesian framework for optimal motion planning with uncertainty

    Article • May 2008, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  119. Simultaneous maximum-likelihood calibration of odometry and sensor parameters

    Article • May 2008, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  120. Visual Servoing with Exploitation of Redundancy: An Experimental Study

    Article • May 2008, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  121. Non-invasive brain–computer interface system: Towards its application as assistive technology

    Article • Brain Research Bulletin, April 2008, Elsevier

    Giuseppe Oriolo

  122. Decentralized cooperative exploration: Implementation and experiments

    Article • January 2008, IOS Press

    Giuseppe Oriolo

  123. Non-Invasive Brain-Computer Interface System to Operate Assistive Devices

    Article • August 2007, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  124. Vision-based interception of a moving target with a nonholonomic mobile robot

    Article • Robotics and Autonomous Systems, June 2007, Elsevier

    Giuseppe Oriolo

  125. A Randomized Strategy for Cooperative Robot Exploration

    Article • April 2007, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  126. Development of a multimode navigation system for an assistive robotics project

    Article • April 2007, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  127. On-Line Estimation of Feature Depth for Image-Based Visual Servoing Schemes

    Article • April 2007, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  128. Image-based visual servoing schemes for nonholonomic mobile manipulators

    Article • Robotica, March 2007, Cambridge University Press

    Giuseppe Oriolo

  129. Image-Based Visual Servoing for Nonholonomic Mobile Robots Using Epipolar Geometry

    Article • IEEE Transactions on Robotics, February 2007, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  130. A Randomized Method for Integrated Exploration

    Article • October 2006, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  131. The ASPICE project

    Article • January 2006, ACM (Association for Computing Machinery)

    Giuseppe Oriolo

  132. A framework for the stabilization of general nonholonomic systems with an application to the plate-ball mechanism

    Article • IEEE Transactions on Robotics, April 2005, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  133. Visual servoing of a wheeled mobile robot for intercepting a moving object

    Article • January 2005, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  134. Nonhomogeneous Nilpotent Approximations for Nonholonomic Systems With Singularities

    Article • IEEE Transactions on Automatic Control, February 2004, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  135. WMR control via dynamic feedback linearization: design, implementation, and experimental validation

    Article • IEEE Transactions on Control Systems Technology, November 2002, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  136. Comments on "Adaptive variable structure set-point control of underactuated robots"

    Article • IEEE Transactions on Automatic Control, May 2001, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  137. Robust stabilization via iterative state steering with an application to chained-form systems

    Article • Automatica, January 2001, Elsevier

    Giuseppe Oriolo

  138. Learning optimal trajectories for non-holonomic systems

    Article • International Journal of Control, January 2000, Taylor & Francis

    Giuseppe Oriolo

  139. Real-time map building and navigation for autonomous robots in unknown environments

    Article • IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics), June 1998, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  140. Steering a class of redundant mechanisms through end-effector generalized forces

    Article • IEEE Transactions on Robotics and Automation, April 1998, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  141. Nonholonomic behavior in redundant robots under kinematic control

    Article • IEEE Transactions on Robotics and Automation, January 1997, Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  142. Path Planning for Mobile Robots via Skeletons on Fuzzy Maps

    Article • Intelligent Automation & Soft Computing, January 1996, Computers, Materials and Continua (Tech Science Press)

    Giuseppe Oriolo

  143. Reconfiguration of redundant robots under kinematic inversion

    Article • Advanced Robotics, January 1995, Taylor & Francis

    Giuseppe Oriolo

  144. A sensitivity approach to optimal spline robot trajectories

    Article • Automatica, May 1991, Elsevier

    Giuseppe Oriolo

  145. Brain-Operated Assistive Devices: the ASPICE Project

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  146. Image-based visual servoing for nonholonomic mobile robots with central catadioptric camera

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  147. Kinematic modeling and redundancy resolution for nonholonomic mobile manipulators

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  148. A globally convergent steering algorithm for regular nonholonomic systems

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  149. Frontier-Based Probabilistic Strategies for Sensor-Based Exploration

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  150. Motion Planning for Mobile Manipulators along Given End-effector Paths

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  151. Robot localization in nonsmooth environments: experiments with a new filtering technique

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  152. Robust stabilization of the plate-ball manipulation system

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo

  153. Motion planning under gravity for underactuated three-link robots

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Giuseppe Oriolo