Publications


Warning: The material that can be downloaded in pdf format from this webpage may be subject to copyright restrictions. Only personal use is allowed.


Books

B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Robotics: Modelling, Planning and Control, Springer, 2009 (see here). Also available in Italian as Robotica: Modellistica, Pianificazione e Controllo, McGraw-Hill, 2008 (see here).
L. Lanari, G. Oriolo, Controlli Automatici - Esercizi di Sintesi, EUROMA, 1997 (in Italian).

International Journals

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).

In humanoid robotic soccer, many factors, both at low-level (e.g., vision and motion control) and at high-level (e.g., behaviors and game strategies), determine the quality of the robot performance. In particular, the speed of individual robots, the precision of the trajectory and the stability of the walking gaits, have a high impact on the success of a team. Consequently, humanoid soccer robots require fine tuning, especially for the basic behaviors. In recent years, machine learning techniques have been used to find optimal parameter sets for various humanoid robot behaviors. However, a drawback of learning techniques is time consumption: a practical learning method for robotic applications must be effective with a small amount of data. In this article, we compare two learning methods for humanoid walking gaits based on the Policy Gradient algorithm. We demonstrate that an extension of the classic Policy Gradient algorithm that takes into account parameter relevance allows for better solutions when only a few experiments are available. The results of our experimental work show the effectiveness of the policy gradient learning method, as well as its higher convergence rate, when the relevance of parameters is taken into account during learning.
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).

We present a decentralized cooperative exploration strategy for a team of mobile robots equipped with range finders. A roadmap of the explored area, with the associate safe region, is built in the form of a Sensor-based Random Graph (SRG). This is expanded by the robots by using a randomized local planner which automatically realizes a trade-off between information gain and navigation cost. The nodes of the SRG represent view configurations that have been visited by at least one robot, and are connected by arcs that represent safe paths. These paths have been actually traveled by the robots or added to the SRG to improve its connectivity. Decentralized cooperation and coordination mechanisms are used so as to guarantee exploration efficiency and avoid conflicts. Simulations and experiments are presented to show the performance of the proposed technique.
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).

Assistive technology is an emerging area, where robotic devices can help individuals with motor disabilities to achieve independence in daily activities. This paper deals with a system that provides remote control of Sony AIBO, a commercial mobile robot, within the assistive project ASPICE. The robot can be controlled by various input devices, including a Brain-Computer Interface. AIBO has been chosen for its friendly-looking aspect, in order to ease interaction with the patients. The development of the project is described by focusing on the design of the robot navigation system. Single step, semi-autonomous and autonomous navigation modes have been realized to provide different levels of control. Automatic collision avoidance is integrated in all cases. Other features of the system, such as the video feedback from the robotic platform to the user, and the use of AIBO as communication aid, are briefly described. The performance of the navigation system is shown by simulations as well as experiments. The system has been clinically validated, in order to obtain a definitive assessment through patient feedback.
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).

In the classical image-based visual servoing framework, error signals are directly computed from image feature parameters, allowing in principle to obtain control schemes that need neither a complete 3D model of the scene, nor a perfect camera calibration. However, when the computation of control signals involves the interaction matrix, the current value of some 3D parameters is required for each considered feature, and typically a rough approximation of this value is used. With reference to the case of a point feature, for which the relevant 3D parameter is the depth Z, we propose a visual servoing approach where Z is observed and made available for servoing. This is achieved by interpreting depth as an unmeasurable state with known dynamics, and by building a nonlinear observer that asymptotically recovers the actual value of Z for the selected feature. A byproduct of our analysis is the rigorous characterization of camera motions that actually allow such observation. Moreover, in the case of a partially uncalibrated camera, it is possible to exploit complementary camera motions in order to preliminarily estimate the focal length without knowing Z. Simulation and experimental results are presented for a mobile robot with an on-board camera in order to illustrate the benefits of integrating the depth observation within classical visual servoing schemes.
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).

The quality of life of people suffering from severe motor disabilities can benefit from the use of current assistive technology capable of ameliorating communication, house-environment management and mobility, according to the user’s residual motor abilities. Brain–computer interfaces (BCIs) are systems that can translate brain activity into signals that control external devices. Thus they can represent the only technology for severely paralyzed patients to increase or maintain their communication and control options. Here we report on a pilot study in which a system was implemented and validated to allow disabled persons to improve or recover their mobility (directly or by emulation) and communication within the surrounding environment. The system is based on a software controller that offers to the user a communication interface that is matched with the individual’s residual motor abilities. Patients (n = 14) with severe motor disabilities due to progressive neurodegenerative disorders were trained to use the system prototype under a rehabilitation program carried out in a house-like furnished space. All users utilized regular assistive control options (e.g., microswitches or head trackers). In addition, four subjects learned to operate the system by means of a non-invasive EEG-based BCI. This system was controlled by the subjects’ voluntary modulations of EEG sensorimotor rhythms recorded on the scalp; this skill was learnt even though the subjects have not had control over their limbs for a long time. We conclude that such a prototype system, which integrates several different assistive technologies including a BCI system, can potentially facilitate the translation from pre-clinical demonstrations to a clinical useful BCI.
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 novel vision-based scheme is presented for driving a nonholonomic mobile robot to intercept a moving target. The proposed method has a two-level structure. On the lower level, the pan-tilt platform carrying the on-board camera is controlled so as to keep the target as close as possible to the center of the image plane. On the higher level, the relative position of the target is retrieved from its image coordinates and the camera pan-tilt angles through simple geometry, and used to compute a control law which drives the robot to the target. Various possible choices are discussed for the high-level robot controller, and the associated stability properties are rigorously analyzed. The proposed visual interception method is validated through simulations as well as experiments on the mobile robot MagellanPro.
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).

We consider the task-oriented modeling of the differential kinematics of nonholonomic mobile manipulators (NMMs). A suitable NMM Jacobian is defined that relates the available input commands to the time derivative of the task variables, and can be used to formulate and solve kinematic control problems. When the NMM is redundant with respect to the given task, we provide an extension of two well-known redundancy resolution methods for fixed-base manipulators (Projected Gradient and Task Priority) and introduce a novel technique (Task Sequencing) aimed at improving performance, e.g., avoiding singularities. The proposed methods are applied then to the specific case of  image-based visual servoing, where the NMM image Jacobian combines the interaction matrix and the kinematic model of the mobile manipulator. Comparative numerical results are presented for two case studies.
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).

We present an image-based visual servoing strategy for driving a nonholonomic mobile robot equipped with a pinhole camera toward a desired configuration. The proposed approach, which exploits the epipolar geometry defined by the current and desired camera views, does not need any knowledge of the 3-D scene geometry. The control scheme is divided in two steps. In the first, using an approximate input-output linearizing feedback, the epipoles are zeroed so as to align the robot with the goal. Feature points are then used in the second translational step to reach the desired configuration. Asymptotic convergence to the desired configuration is proven, both in the calibrated and partially calibrated case. Simulation and experimental results show the effectiveness of the proposed control scheme.
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).

We present a framework for the stabilization of nonholonomic systems that do not possess special properties such as flatness or exact nilpotentizability. Our approach makes use of two tools: an iterative control scheme and a nilpotent approximation of the system dynamics. The latter is used to compute an approximate steering control which, repeatedly applied to the system, guarantees asymptotic stability with exponential convergence to any desired set-point, under appropriate conditions. For illustration, we apply the proposed strategy to design a stabilizing controller for the plate-ball manipulation system, a canonical example of non-flat nonholonomic mechanism. The theoretical performance and robustness of the algorithm are confirmed by simulations, both in the nominal case and in the presence of a perturbation on the ball radius.
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).

Nilpotent approximations are a useful tool for analyzing and controlling systems whose tangent linearization does not preserve controllability, such as nonholonomic mechanisms.  However, conventional homogeneous approximations exhibit a drawback: in the neighborhood of singular points (where the system growth vector is not constant) the vector fields of the approximate dynamics do not vary continuously with the approximation point.  The geometric counterpart of this situation is that the sub-Riemannian distance estimate provided by the classical Ball-Box Theorem is not uniform at singular points. With reference to a specific family of driftless systems, we show how to build a nonhomogeneous nilpotent approximation whose vector fields vary continuously around  singular points. It is also proven that the privileged coordinates associated to such an  approximation provide a uniform estimate of the distance.
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.
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).

We present a method for trajectory planning and control of planar robots with a passive rotational last joint. These underactuated mechanical systems, which are subject to nonholonomic second-order constraints, are shown to be fully linearized and input-output decoupled by means of a nonlinear dynamic feedback. This objective is achieved in a unified framework, both in the presence or absence of gravity. The linearizing output is the position of the center of percussion of the last link. Based on this result, one can plan smooth trajectories joining in finite time any initial and desired final state of the robot; in particular, transfers between inverted equilibria and swing-up maneuvers under gravity are easily obtained. We also address the problem of avoiding the singularity induced by the dynamic linearization procedure through a careful choice of output trajectories. A byproduct of the proposed method is the straightforward design of exponentially stable tracking controllers for the generated trajectories. Simulation results are reported for a 3R robot moving in a horizontal and vertical plane. Possible extensions of the approach and its relationships with the differential flatness technique are briefly discussed.
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).

The subject of this paper is the motion control problem of wheeled mobile robots (WMRs) in environments without obstacles. With reference to the popular unicycle kinematics, it is shown that dynamic feedback linearization is an efficient design tool leading to a solution simultaneously valid for both trajectory tracking and set-point regulation problems. The implementation of this approach on the laboratory prototype SuperMARIO, a two-wheel differentially-driven mobile robot, is described in detail. To assess the quality of the proposed controller, we compare its performance with that of several existing control techniques in a number of experiments. The obtained results provide useful guidelines for WMR control designers.
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).

An approach is presented for the robust stabilization of nonlinear systems. The proposed strategy can be adopted whenever it is possible to compute a control law that steers the state in finite time from any initial condition to a point closer to the desired equilibrium. Under suitable assumptions, such control law can be applied in an iterative fashion, obtaining uniform asymptotic stability of the equilibrium point, with exponential rate of convergence. Small non-persistent perturbations are rejected, while persistent perturbations induce limited errors. In order to show the usefulness of the presented theoretical developments, the approach is applied to chained-form systems and, for illustration, simulations results are given for the robust stabilization of a unicycle.
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).

We describe a technique for the stabilization of a 2R robot moving in the horizontal plane with a single actuator at the base, an interesting example of underactuated mechanical system that is not smoothly stabilizable. The proposed method is based on a recently introduced iterative steering paradigm, which prescribes the repeated application of an error contracting open-loop control law. In order to compute efficiently such a law, the dynamic equations of the robot are transformed via partial feedback linearization and nilpotent approximation. Simulation and experimental results are presented for a laboratory prototype.
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).

Many advanced robotic systems are subject to nonholonomic constraints, e.g., wheeled mobile robots, space manipulators and multifingered robot hands. Steering these mechanisms between configurations in the presence of perturbations is a difficult problem. In fact, the divide et impera strategy (first plan a trajectory, then track it by feedback) has a fundamental drawback in this case: due to the peculiar control properties of nonholonomic systems, smooth feedback cannot provide tracking of the whole trajectory. As a result, it would be necessary to give up either accuracy in the final positioning or predictability of the actual motion. We pursue here a different approach which does not rely on a separation between planning and control. Based on the learning control paradigm, a robust steering scheme is devised for systems which can be put in chained form, a canonical structure for nonholonomic systems. By overparameterizing the control law, other performance goals can be met, typically expressed as cost functions to be minimized along the trajectory. As a case study, we consider the generation of robust optimal trajectories for a car-like mobile robot, with criteria such as total length, maximum steering angle, distance from workspace obstacles, or error with respect to an off-line planned trajectory.
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 (compressed Postscript).

We present an iterative learning controller that applies to nonholonomic mobile robots as well as to other systems which can be put in chained form. The learning algorithm exploites the fact that chained-form systems are linear under piecewise-constant inputs. The proposed control scheme requires the execution of a small number of experiments in order to drive the system to the desired state in finite time, with nice convergence and robustness properties with respect to modeling inaccuracies as well as disturbances. To overcome the necessity of exact system re-initialization at each iteration, the basic method is modified so as to obtain a cyclic controller, in which the system is cyclically steered among an arbitrary sequence of states. As a case study, a car-like mobile robot is considered. Both simulation and experimental results are reported in order to show the performance of the method.
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).

An algorithmic method is presented for the problem of autonomous robot motion in completely unknown environments. Our approach is based on the alternate execution of two fundamental processes: map building and navigation. In the former, range measures are collected through the robot exteroceptive sensors and processed in order to build a local representation of the surrounding area. This representation is then integrated in the global map so far reconstructed by filtering out insufficient or conflicting information. In the navigation phase, an A*-based planner generates a local path from the current robot position to the goal, that is safe inside the visited area and proposes directions for further exploration. The robot follows the path up to the boundary of the visited area, terminating its motion if unexpected obstacles are encountered. The most peculiar aspects of our method are (i) the use of fuzzy logic to build an environment map that is very efficiently computed and modified, and (ii) the iterative application of A*, that is a complete planning algorithm taking full advantage local information. Experimental results of the implementation on a NOMAD 200 mobile robot show that the proposed method provides real-time performance both in static and moderately dynamic environments.
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.

Edited Books

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
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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