Planning and Control of Humanoid Robots: 

Vision-Based Odometric Localization for Humanoids using a Kinematic EKF

Vision-Based Corridor Navigation for Humanoid Robots

Motion Planning: 

Planning Safe Cyclic Motions under Repetitive Task Constraints

A Control-Based Approach for Task-Constrained Motion Planning

Nonholonomic Mobile Manipulators: 

Kinematic Control

Image-Based Visual Servoing Schemes

Multi-Robot Systems: 

Mutual Localization with Anonymous Measurements

Distributed Target Localization and Encirclement

The MEMONET project (funded by MIUR, PRIN)

Exploration of Unknown Environments

Robotic Exploration of Unknown Environments: 

With Mobile Robots: The SRT Method

With General Robotic Systems: Sensor-based Exploration Trees

Modeling, planning and control of Unmanned Aerial Vehicles (UAVs)

Vision-Based Loitering over a Target for a Fixed-Wing UAV

Modeling and Control of an Autonomous Paraglider

Physical Human-Robot Interaction: 

The SICURA project (funded by MIUR, PRIN)

The PHRIENDS project (funded by EU, STREP)

Visual Servoing: 

On-Line 3D structure and Focal Length Estimation

Following paths with nonholonomic mobile robots

Comparing appearance-based controllers for nonholonomic navigation from a visual memory