About me

I am a PostDoc researcher at the Rainbow Team at IRISA/Inria Rennes, France.

My research work revolves around the development of algorithms for robust planning and control of complex robots (multi-joint, multi-robot, hybrid, …).

I was previously a PhD student at the DIAG Robotics Lab, where I worked on optimization-based controllers for Robotics Systems ranging from Wheeled Mobile Robots to Humanoids. I was mainly interested in Model Predictive Control for Unstable and Underactuated Robots using stability conditions based on Stable Inversion.

Publications

A summary of my recent research work can be found here.

  • T. Belvedere, N. Scianca, L. Lanari, and G. Oriolo, “Joint-Level IS-MPC: a Whole-Body MPC with Centroidal Feasibility for Humanoid Locomotion”, in 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.
  • F. D’Orazio, T. Belvedere, S. G. Tarantos, and G. Oriolo, “Maintaining Balance of Mobile Manipulators for Safe Pick-Up Tasks,” in 2024 18th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2024.
  • A. Srour, S. Marcellini, T. Belvedere, M. Cognetti, A. Franchi, and P. Robuffo Giordano, “Experimental Validation of Sensitivity-Aware Trajectory Planning for a Quadrotor UAV Under Parametric Uncertainty”, in 2024 International Conference on Unmanned Aircraft Systems (ICUAS), Best Paper Award, 2024. DOI:10.1109/ICUAS60882.2024.10556958.
  • S. G. Tarantos, T. Belvedere, and G. Oriolo, “Dynamics-aware navigation among moving obstacles with application to ground and flying robots,” Robotics and Autonomous Systems, vol. 172, p. 104 582, 2024. DOI: 10.1016/j.robot.2023.104582.
  • M. Beglini, T. Belvedere, L. Lanari, and G. Oriolo, “An Intrinsically Stable MPC Approach for Anti-Jackknifing Control of Tractor-Trailer Vehicles”, IEEE/ASME Transactions on Mechatronics, vol. 27, no. 6, pp. 4417–4428, Dec. 2022. (pdf). DOI:10.1109/TMECH.2022.3154295.
  • M. Kanneworff, T. Belvedere, N. Scianca, F. M. Smaldone, L. Lanari, and G. Oriolo, “Task-Oriented Generation of Stable Motions for Wheeled Inverted Pendulum Robots”, in 2022 International Conference on Robotics and Automation (ICRA), May 2022, pp. 214–220. DOI:10.1109/ICRA46639.2022.9812317.
  • P. D. Giamberardino, B. Bazzana, T. Belvedere, and D. Iacoviello, “An optimal control approach to public investments for unemployment reduction” in 2019 23rd International Conference on System Theory, Control and Computing (ICSTCC), 2019, pp. 744–749. doi: DOI:10.1109/ICSTCC.2019.8885645.

Teaching

I have provided teaching assistance to the courses

  • Underactuated Robots, 2022/2023 (Prof. Leonardo Lanari)
  • Applicazioni dell’Automatica - Introduzione alla Robotica Mobile, 2020/2021, in Italian (Prof. Giuseppe Oriolo)

by giving lectures on Humanoid Robot dynamics, Optimization-based Planning and Control, and Model Predictive Control.

I have also supervised several Final Projects for the course on Autonomous and Mobile Robotics (Prof. Giuseppe Oriolo) and co-supervised many bachelor and master level theses with Prof. Giuseppe Oriolo.

Contacts

Centre National de la Recherche Scientifique (CNRS)
Rainbow Team, Irisa and Inria Bretagne Atlantique
Campus Universitaire de Beaulieu
35042 Rennes cedex, France

email: tommaso.belvedere@irisa.fr
orcid: 0000-0001-5128-1576