Publications
Publication list. Generated by jekyll-scholar.
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Cumulative Publications
Journal Articles
2024
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Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments2024
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Open Source Dual-Purpose Acrobot and Pendubot Platform: Benchmarking Control Algorithms for Underactuated Robotics2024
2023
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AcroMonk: A Minimalist Underactuated Brachiating Robot2023
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Post-Capture Detumble Trajectory Stabilization for Robotic Active Debris Removal2023
2022
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Momentum Based Classification for Robotic Active Debris Removal2022
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Torque-Limited Simple Pendulum: A Toolkit for Gettingfamiliar with Control Algorithms in Underactuated Robotics2022
Conference Papers
2025
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Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal WalkingIn IEEE International Conference on Robotics and Automation (ICRA), 2025
2024
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A Small Body Open-Source Dataset for Image Processing AlgorithmsIn Proceedings of the 2024 CEAS EuroGNC Conference, 2024
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Gait Analysis and Control of Rimless Wheel Rovers for Planetary ExplorationIn International Conference on Space Robotics (iSpaRo), 2024
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Region of Attraction Estimation for Free-Floating Systems under Time-Varying LQR ControlIn Proceedings of the 2024 CEAS EuroGNC Conference, 2024
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Attitude Control of the Hydrobatic Intervention AUV Cuttlefish Using Incremental Nonlinear Dynamic InversionIn IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
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Mixed Integer Model Predictive Control for a Free-Floating Platform with Binary and Continuous ActuationIn Proceedings of the CEAS EuroGNC Conference, 2024
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Reinforcement Learning for Athletic Intelligence: Lessons from the 1st “AI Olympics with RealAIGym” CompetitionIn Proceedings of the Thirty-ThirdInternational Joint Conference on Artificial Intelligence, 2024
2023
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PerSim: Perception for Planetary Prospection and Internal SimulationIn 17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 2023
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AUV Trajectory Optimization with Hydrodynamic Forces for Icy Moon ExplorationIn 17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 2023
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Linear Model Predictive Control for a Planar Free-Floating Platform: A Comparison of Binary Input Constraint FormulationsIn 17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 2023
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LQR For Free-Floating Robots: Theory and ExperimentsIn 17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 2023
2022
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Robot Dance Generation with Music Based Trajectory OptimizationIn IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
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Trajectory Optimization and Following for a Three Degrees of Freedom Overactuated Floating PlatformIn IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
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Finding and Following Optimal Trajectories for an Overactuated Floating Robotic PlatformIn 16th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 2022
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Sequential Controller Compositiosn for Robotic Active Debris RemovalIn 2nd Stardust Conference, 2022
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Towards Sequential Controller Composition for Robotic Active Debris RemovalIn 6th CNES Space Debris Modeling & Remediation Workshop, 2022
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Quaternion Based LQR for Free-Floating Robots without GravityIn 6th CEAS Conference on Guidance, Navigation and Control (EuroGNC), 2022
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RealAIGym: Education and Research Platform for Studying Athletic IntelligenceIn Proceedings of Robotics Science and Systems Workshop Mind the Gap: Opportunities and Challenges in the Transition Between Research and Industry, 2022
2021
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Region of Attraction Estimation for Robotic SpacecraftIn Space Traffic Management and Resilient Space Environment Workshop, 2021
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Stabilization of Post-Capture Detumble Trajectories for Controller Composition.In Space Traffic Management and Resilient Space Environment Workshop, 2021
2020
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Underwater Demonstrator for Autonomous In-Orbit Assembly of Large StructuresIn International Symposium on Artificial Intelligence, Robotics and Automation in Space, (iSAIRAS), 2020
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Survey of Landing Methods on Small Bodies: Benefits of Robotics Manipulators to the FieldIn International Symposium on Artificial Intelligence, Robotics and Automation in Space, (iSAIRAS), 2020
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Momentum Based Classification for Robotic Active Debris RemovalIn 71th International Astronautical Congress (IAC), 2020
2018
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An Open-Source Tool for Automatic Thermal Conductor Generation for the Athena X-IFU InstrumentIn European Space Thermal Engineering Workshop, 2018
2017
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Uncertainty Estimation in Vision-based Space to Ground Teleoperation.In 14th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 2017
2015
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Design and Development of an Earth Based Experimental Setup for Testing Algorithms on Space RobotsIn Proceedings of the 2015 Conference on Advances In Robotics - AIR ’15, 2015