Publications
2025
Elobaid M., Turrisi G., Rapetti L., Romualdi G., Dafarra S., Kawakami T., Chaki T., Yoshiike T., Semini C., Pucci D.
Adaptive Non-Linear Centroidal MPC With Stability Guarantees for Robust Locomotion of Legged Robots
IEEE Robotics and Automation Letters
2025
Andreotti M., Fernandes M., Bratta A., Barasuol V., Semini C.
APF-Based Control with Vortex Fields for Precise Robotic Manipulation in Grapevine Winter Pruning
Conferenza di Robotica e Macchine Intelligenti
Conference Paper
Conference
2025
Fernandes M., Gamba J.D., Pelusi F., Bratta A., Caldwell D., Poni S., Gatti M., Semini C.
Grapevine winter pruning: Merging 2D segmentation and 3D point clouds for pruning point generation
Computers and Electronics in Agriculture, vol. 237
2025
Emre S., Barasuol V., Villa M., Semini C.
Load-Based Variable Transmission Mechanism for Robotic Applications
International Conference on Advanced Robotics
Conference Paper
Conference
2025
Li Z., Jin Y., Ordonez-Apraez D., Semini C., Liu P., Chalvatzaki G.
Morphologically Symmetric Reinforcement Learning for Ambidextrous Bimanual Manipulation
Conference on Robot Learning
2025
Apraez D.O., Turrisi G., Kostic V., Martin M., Agudo A., Moreno-Noguer F., Pontil M., Semini C., Mastalli C.
Morphological symmetries in robotics
International Journal of Robotics Research
2025
Nistico Y., Kim H., Soares J.C.V., Fink G., Park H.-W., Semini C.
Multi-Sensor Fusion for Quadruped Robot State Estimation Using Invariant Filtering and Smoothing
IEEE Robotics and Automation Letters
2025
Nistico Y., Soares J.C.V., Amatucci L., Fink G., Semini C.
MUSE: A Real-Time Multi-Sensor State Estimator for Quadruped Robots
IEEE Robotics and Automation Letters, vol. 10, (no. 5), pp. 4620-4627
2025
Razavi E., Bratta A., Soares J. C. V., Recchiuto C., Semini C.
Online Object-Level Semantic Mapping for Quadrupeds in Real-World Environments
Conferenza di Robotica e Macchine Intelligenti
Conference Paper
Conference
2025
Risiglione M., Abdalla A., Barasuol V., Tien Ly K., Havoutis I., Semini C.
RAKOMO: Reachability-Aware K-Order Markov Path Optimization for Quadrupedal Loco-Manipulation
22nd International Conference on Advanced Robotics
Conference Paper
Conference
2025
Votta R., D'Amore G., Merlo A., Genova A., Capararo C., Pilato G., Crispo C. M., Semini C., Di Clemente M.
Robotic Exploration Near Term Vision of the Italian Space Agency (ASI) in the framework of the Technological Development Program (STEP)
Proceedings of the International Astronautical Congress, IAC
Conference Paper
Conference
2025
Adlerstein M., Soares J.C.V., Bratta A., Semini C.
SANDRO: A Robust Solver with a Splitting Strategy for Point Cloud Registration
Proceedings - IEEE International Conference on Robotics and Automation, pp. 11112-11118
2025
Sanchez-Delgado A., Virgolino Soares J. C., Al Tawil D. O., Li Noce A., Villa M., Barasuol V., Arena P., Semini C.
Towards an Adaptive Locomotion Strategy for Quadruped Rovers: Quantifying When to Slide or Walk on Planetary Slopes
18th Symposium on Advanced Space Technologies in Robotics and Automation
Conference Paper
Conference
2025
Sanchez-Delgado A., Virgolino Soares J. C., Barasuol V., Semini C.
Towards Proprioceptive Terrain Mapping with Quadruped Robots for Exploration in Planetary Permanently Shadowed Regions
International Conference on Space Robotics
Conference Paper
Conference
2024
Amatucci L., Turrisi G., Bratta A., Barasuol V., Semini C.
Accelerating Model Predictive Control for Legged Robots through Distributed Optimization
IEEE International Conference on Intelligent Robots and Systems, pp. 12734-12741