Dipartimento di Ingegneria Informatica, Automatica e Gestionale (DIAG)
Sapienza Università di Roma
room A211, via Ariosto 25, 00185 Roma, Italy
+39 06 7727 4051
oriolo [at] diag [dot] uniroma1 [dot] it
Google Scholar: my citations; ResearcherID: F-3846-2011; Scopus Author ID: 7003629456; ORCID: 0000-0001-6153-9278
- I am one of the 2017 IEEE Fellows, for "contributions to motion planning and control methods in complex robotic systems".
- The paper "Random walks in swarm robotics: An experiment with
Kilobots," by C. Dimidov, G. Oriolo,
V. Trianni, has won the Best Paper Award at the 10th International Conference on Swarm Intelligence (ANTS
- Current editorial activities: Editorial Board member for the Springer Encyclopedia of Robotics (Section Editor for "Mobile Ground Robots"), PC member for RSS 2017, IPC Co-chair for the 9th IFAC Symposium on Intelligent Vehicles, Editor of the IROS 2016 Conference Paper Review Board, Associate Editor for the 2016 IEEE-RAS International Conference on Humanoid Robots.
- The 4-year EU-funded project COMANOID (RIA H2020-ICT-2014-1, 645097) - Multi-contact Collaborative Humanoids in Aircraft Manufacturing
(2015-2018) has started on January 1, 2015. In addition to Sapienza
University, partners include AIRBUS, CNRS (France), INRIA (France) and
DLR (Germany). I am the Principal Investigator of the Sapienza
University research unit.
I received the Ph.D. in Control Engineering in 1992 from Sapienza University of Rome. In 1994 I joined the Department of Computer, Control and Management Engineering
(DIAG) of the same university, where I am currently a Full Professor of
Automatic Control and Robotics. I am also the coordinator of the DIAG Robotics Lab.
I have held teaching positions at various italian universities,
including the University of Siena, of Cassino and of Roma Tre, and I
have been Visiting Scholar at the University of California at Santa
Barbara. I am a Fellow of the IEEE.
I have been Associate Editor (2001-2005) and Senior Editor (2009 to 2014) of the IEEE Transactions on Robotics.
I have served on the Program Committee of several international
conferences, including the European Control Conference, the IEEE
International Conference on Robotics and Automation (ICRA), the
IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS), the IEEE-RAS International Conference on Humanoid Robots,
Robotics: Science and Systems (RSS), and many others. I have also been Organization Chair for the
2007 IEEE International
Conference on Robotics and Automation which took place in Rome. From
2007 to 2011 I have been on the Conference Editorial Board of the IEEE
Robotics and Automation Society. In 2008 and 2009 I have served as Area
Chair for the RSS conference series. From 2014 to 2016 I have been
Editor of the Conference Paper Review Board of the IROS Conference
My research interests
are in control and robotics, and in particular: humanoid robots; UAVs;
nonholonomic mobile robots; visual motion control; multi-robot systems;
sensor-based map building, localization and navigation; remote control
and laboratories; motion planning in the presence of obstacles;
learning control in robotic systems; planning and control for
kinematically redundant robots; assistive robotics. In these areas
I have published 2 books and over 180 papers in international journals
and conferences. A description of some recent research is here.
Recent publications (a complete list of publications is here)
- A. Paolillo, A. Faragasso, G. Oriolo, M. Vendittelli,
"Vision-based maze navigation for humanoid robots," Autonomous Robots, vol. 41, no. 2, pp. 293-309 (pdf), 2017. DOI: 10.1007/s10514-015-9533-1
- 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. 101-108, 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
- 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
- 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.
- 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:10.1007/978-3-319-32552-1
- 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
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
- 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, no. 2, pp. 245-265, 2016 (pdf). DOI: 10.1007/s10514-015-9450-3
- M. Cognetti, P.
Mohammadi, G. Oriolo, "Whole-body
motion planning for humanoids based on CoM movement primitives," 2015
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, Italy, 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
- G. Oriolo, "Wheeled robots," in Encyclopedia of Systems
and Control (J. Baillieul, T. Samad, Eds.), Springer, London, pp. 1548-1554, 2014 (pdf - on-line version). DOI: 10.1007/978-1-4471-5058-9_178 (on-line since Apr 2014, DOI: 10.1007/978-1-4471-5102-9_178-1)
- 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. 350-376, 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
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
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
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