2026

Conference papers

Tommaso Belvedere, James Zhu, Marco Cognetti, Paolo Robuffo Giordano. Contact-Robust Trajectory Planning via Parametric Sensitivity Analysis for Hybrid Robotic Systems. ICRA 2026 - IEEE International Conference on Robotics and Automation, Jun 2026, Vienne, Austria. ⟨hal-05488973v2⟩

@softwareversion

Simon Wasiela, Smail AIT BOUHSAIN, Marco Cognetti, Juan Cortés, Thierry Simeon. Closed-loop sensitivity-based planning. 2026, ⟨swh:1:dir:7a725f8afadb5a60cac9fd9dbdee92cbe14f906b;origin=https://hal.archives-ouvertes.fr/hal-05666619;visit=swh:1:snp:af3d0179b7979d4b5938fa4d5ddb0676f8652519;anchor=swh:1:rel:9d52cea74818f8f8e7db3c76b12b5c7ffb9e510e;path=/⟩. ⟨hal-05666619⟩

Preprints, Working Papers, ...

Antonio Marino, Valerio Modugno, Marco Cognetti. Stable Transformer-Actor-Critic Model Predictive Control: A Contraction Analysis Approach. 2026. ⟨hal-05660214v2⟩

2025

Journal articles

Tommaso Belvedere, Marco Cognetti, Giuseppe Oriolo, Paolo Robuffo Giordano. Sensitivity-Aware Model Predictive Control for Robots with Parametric Uncertainty. IEEE Transactions on Robotics, 2025, 41, pp.3039-3058. ⟨10.1109/TRO.2025.3554415⟩. ⟨hal-05021224⟩

James Zhu, Thierry Simeon, Marco Cognetti. Robust Sensitivity-Aware Chance-Constrained MPC for Efficient Handling of Multiple Uncertainty Sources. IEEE Robotics and Automation Letters, 2025, 10 (10), pp.10330 - 10337. ⟨10.1109/LRA.2025.3597863⟩. ⟨hal-05208652⟩

Antonio Gonzalez-Morgado, Jonas Soueidan, Guillermo Heredia, Anibal Ollero, Philippe Fraisse, et al.. A Nonlinear MPC for Physical Human-Aerial Robot Interaction in Collaborative Transportation Tasks. IEEE Robotics and Automation Letters, 2025, 10 (10), pp.9670 - 9677. ⟨10.1109/LRA.2025.3597854⟩. ⟨hal-05208698⟩

Ali Srour, Antonio Franchi, Paolo Robuffo Giordano, Marco Cognetti. Experimental Validation of Sensitivity-Aware Trajectory Planning for a Redundant Robotic Manipulator Under Payload Uncertainty. IEEE Robotics and Automation Letters, 2025, 10 (2), pp.1561-1568. ⟨10.1109/LRA.2024.3519857⟩. ⟨hal-04816507⟩

Conference papers

James Zhu, Thierry Simeon, Marco Cognetti. Robust RL Navigation Via Sensitivity-Aware Observation Augmentation. IEEE IROS 2025 Workshop TARo, Oct 2025, Hangzhou, China. ⟨hal-05368565⟩

Riccardo Fuser, Hai-Nguyen Nguyen, Gian Paolo Incremona, Marcello Farina, Marco Cognetti. A Linear Complementarity based MPC for Aerial Physical Interaction. 2025 International Conference on Unmanned Aircraft Systems (ICUAS 2025), IEEE, May 2025, Charlotte (USA), United States. ⟨10.1109/ICUAS65942.2025.11007833⟩. ⟨hal-05034581⟩

2024

Journal articles

Olga Napolitano, Marco Cognetti, Lucia Pallottino, Dimitrios Kanoulas, Paolo Salaris, et al.. Active Sensing for Data Quality Improvement in Model Learning. IEEE Control Systems Letters, 2024, pp.1-1. ⟨10.1109/LCSYS.2024.3410152⟩. ⟨hal-04226725v2⟩

Simon Wasiela, Marco Cognetti, Paolo Robuffo Giordano, Juan Cortés, Thierry Simeon. Robust Motion Planning with Accuracy Optimization based on Learned Sensitivity Metrics. IEEE Robotics and Automation Letters, 2024, 9 (11), pp.10113-10120. ⟨10.1109/LRA.2024.3468149⟩. ⟨hal-04636547⟩

Conference papers

Alessia Fusco, Valerio Modugno, Dimitrios Kanoulas, Alessandro Rizzo, Marco Cognetti. Transformer-Based Prediction of Human Motions and Contact Forces for Physical Human-Robot Interaction. 2024 IEEE International Conference on Robotics and Automation (ICRA), May 2024, Yokohama, France. pp.3161-3167, ⟨10.1109/ICRA57147.2024.10611211⟩. ⟨hal-04215765v3⟩

Jessica Cauchard, Charles Dutau, Gianluca Corsini, Marco Cognetti, Daniel Sidobre, et al.. Considerations for Handover and Co-working with Drones. ACM/IEEE International Conference on Human-Robot Interaction (HRI '24), Mar 2024, Boulder (CO), United States. pp.302-306, ⟨10.1145/3610978.3640590⟩. ⟨hal-04507806⟩

Simon Wasiela, Smail Ait Bouhsain, Marco Cognetti, Juan Cortés, Thierry Simeon. Learned Uncertainty Tubes via Recurrent Neural Networks for Planning Robust Robot Motions. 27th European Conference on Artificial Intelligence (ECAI), Oct 2024, Santiago de Compostela, Spain. ⟨hal-04636454⟩

Ali Srour, Salvatore Marcellini, Tommaso Belvedere, Marco Cognetti, Antonio Franchi, et al.. Experimental Validation of Sensitivity-Aware Trajectory Planning for a Quadrotor UAV Under Parametric Uncertainty. ICUAS 2024 - International Conference on Unmanned Aircraft Systems, Jun 2024, Chania Crete, Greece. pp.572-578, ⟨10.1109/ICUAS60882.2024.10556958⟩. ⟨hal-04553932⟩

Other documents

Simon Wasiela, Marco Cognetti, Paolo Robuffo Giordano, Juan Cortés, Thierry Simeon. Robust Motion Planning and Accuracy Optimization based on Learned Sensitivity Metric (Video). 2024. ⟨hal-04642257⟩

@softwareversion

Simon Wasiela, Smail AIT BOUHSAIN, Juan Cortés, Marco Cognetti, Thierry Simeon. Code for Learned Uncertainty Tubes via Recurrent Neural Networks for Planning Robust Robot Motions. 2024, ⟨swh:1:dir:0469b28807ee5a8b7cf506b2bca3f3860457fe55;origin=https://hal.archives-ouvertes.fr/hal-05666545;visit=swh:1:snp:813ba5d185a905060e6c32bc2c185cf7ba7f24cc;anchor=swh:1:rel:7ae7d42ccb1821c8791d752cc3902f5585fbfb02;path=/⟩. ⟨hal-05666545⟩

Preprints, Working Papers, ...

Simon Wasiela, Smail Ait Bouhsain, Marco Cognetti, Juan Cortés, Thierry Simeon. Note on learning sensitivity metrics for a quadrotor. 2024. ⟨hal-04642304⟩

2023

Preprints, Working Papers, ...

Simon Wasiela, Marco Cognetti, Paolo Robuffo Giordano, Juan Cortés, Thierry Simeon. Learned Sensitivity Metrics for Robust and Accurate Motion Planning. 2023. ⟨hal-04027078⟩

2016

Journal articles

Paolo Stegagno, Marco Cognetti, Giuseppe Oriolo, Heinrich H Bülthoff, Antonio Franchi. Ground and Aerial Mutual Localization Using Anonymous Relative-Bearing Measurements. IEEE Transactions on Robotics, 2016, 32 (5), pp.1133 - 1151. ⟨10.1109/TRO.2016.2593454⟩. ⟨hal-01393702⟩