2026

Communications dans un congrès

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⟩

Pré-publications, documents de travail

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

2025

Articles dans une revue

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⟩

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⟩

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⟩

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⟩

Communications dans un congrès

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⟩

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⟩

2024

Articles dans une revue

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⟩

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⟩

Communications dans un congrès

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⟩

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⟩

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⟩

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⟩

Autres 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⟩

Pré-publications, documents de travail

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

2023

Pré-publications, documents de travail

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

2021

Articles dans une revue

Mario Selvaggio, Marco Cognetti, Stefanos Nikolaidis, Serena Ivaldi, Bruno Siciliano. Autonomy in Physical Human-Robot Interaction: a Brief Survey. IEEE Robotics and Automation Letters, 2021, ⟨10.1109/LRA.2021.3100603⟩. ⟨hal-03413654⟩

2020

Articles dans une revue

Marco Cognetti, Marco Aggravi, Claudio Pacchierotti, Paolo Salaris, Paolo Robuffo Giordano. Perception-Aware Human-Assisted Navigation of Mobile Robots on Persistent Trajectories. IEEE Robotics and Automation Letters, 2020, 5 (3), pp.4711-4718. ⟨10.1109/LRA.2020.3003882⟩. ⟨hal-02951947⟩

Communications dans un congrès

Marco Cognetti, Marco Aggravi, Claudio Pacchierotti, Paolo Salaris, Paolo Robuffo Giordano. Shared Control Active Perception for Human-Assisted Navigation. I-RIM 2020 - 2nd Italian Conference on Robotics and Intelligent Machines, Dec 2020, Online, Italy. pp.1-2. ⟨hal-03103583⟩

2019

Articles dans une revue

Claudio Gaz, Marco Cognetti, Alexander Oliva, Paolo Robuffo Giordano, Alessandro de Luca. Dynamic Identification of the Franka Emika Panda Robot With Retrieval of Feasible Parameters Using Penalty-Based Optimization. IEEE Robotics and Automation Letters, 2019, 4 (4), pp.4147-4154. ⟨10.1109/LRA.2019.2931248⟩. ⟨hal-02265293⟩

Paolo Salaris, Marco Cognetti, Riccardo Spica, Paolo Robuffo Giordano. Online Optimal Perception-Aware Trajectory Generation. IEEE Transactions on Robotics, 2019, pp.1-16. ⟨10.1109/TRO.2019.2931137⟩. ⟨hal-02278900⟩

Chapitres d’ouvrages

Alessandro Spada, Marco Cognetti, Alessandro de Luca. Locomotion and Telepresence in Virtual and Real Worlds. Springer Proceedings in Advanced Robotics. Locomotion and Telepresence in Virtual and Real Worlds, pp.85-98, 2019, ⟨10.1007/978-3-319-89327-3_7⟩. ⟨hal-02265284⟩

Communications dans un congrès

Paolo Ferrari, Marco Cognetti, Giuseppe Oriolo. Sensor-based Whole-Body Planning/Replanning for Humanoid Robots. 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), Oct 2019, Toronto, Canada. pp.511-517, ⟨10.1109/Humanoids43949.2019.9035017⟩. ⟨hal-04286831⟩

Autres documents

Claudio Gaz, Marco Cognetti, Alexander Oliva, Paolo Robuffo Giordano, Alessandro de Luca. Dynamic Identification of the Franka Emika Panda Robot with Retrieval of Feasible Parameters Using Penalty-Based Optimization. 2019, pp.1-9. ⟨hal-02265294⟩

2018

Communications dans un congrès

Paolo Ferrari, Marco Cognetti, Giuseppe Oriolo. Anytime Whole-Body Planning/Replanning for Humanoid Robots. 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Nov 2018, Beijing, China. pp.1-9. ⟨hal-02265289⟩

Marco Cognetti, Paolo Salaris, Paolo Robuffo Giordano. Optimal Active Sensing with Process and Measurement Noise. ICRA 2018 - IEEE International Conference on Robotics and Automation, May 2018, Brisbane, Australia. pp.2118-2125, ⟨10.1109/ICRA.2018.8460476⟩. ⟨hal-01717180⟩

2017

Communications dans un congrès

Paolo Ferrari, Marco Cognetti, Giuseppe Oriolo. Humanoid whole-body planning for loco-manipulation tasks. 2017 IEEE International Conference on Robotics and Automation (ICRA), May 2017, Singapore, Singapore. pp.4741-4746, ⟨10.1109/ICRA.2017.7989550⟩. ⟨hal-04286874⟩

Marco Cognetti, Daniele de Simone, Federico Patota, Nicola Scianca, Leonardo Lanari, et al.. Real-time pursuit-evasion with humanoid robots. 2017 IEEE International Conference on Robotics and Automation (ICRA), May 2017, Singapore, Singapore. pp.4090-4095, ⟨10.1109/ICRA.2017.7989470⟩. ⟨hal-04286855⟩

2016

Articles dans une revue

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⟩

Communications dans un congrès

Nicola Scianca, Marco Cognetti, Daniele de Simone, Leonardo Lanari, Giuseppe Oriolo. Intrinsically stable MPC for humanoid gait generation. 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Nov 2016, Cancun, Mexico. pp.601-606, ⟨10.1109/HUMANOIDS.2016.7803336⟩. ⟨hal-04286902⟩

Jennifer E King, Marco Cognetti, Siddhartha S Srinivasa. Rearrangement planning using object-centric and robot-centric action spaces. 2016 IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden. pp.3940-3947, ⟨10.1109/ICRA.2016.7487583⟩. ⟨hal-04286919⟩

Marco Cognetti, Daniele de Simone, Leonardo Lanari, Giuseppe Oriolo. Real-time planning and execution of evasive motions for a humanoid robot. 2016 IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden. pp.4200-4206, ⟨10.1109/ICRA.2016.7487614⟩. ⟨hal-04286936⟩

Marco Cognetti, Valentino Fioretti, Giuseppe Oriolo. Whole-body planning for humanoids along deformable tasks. 2016 IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden. pp.1615-1620, ⟨10.1109/ICRA.2016.7487301⟩. ⟨hal-04286930⟩