About me

I am a PostDoc researcher at the Rainbow Team at IRISA/Inria Rennes, France, since June 2024.

My research focuses on developing methodologies to make robots move efficiently, safely, and robustly, with particular emphasis on optimization-based methods such as Model Predictive Control. My work spans multiple robotic platforms including wheeled, legged, and aerial robots. Currently, I am mainly interested in tackling the problem of robustifying robot actions againts model uncertainties, and in the use of sampling-based MPC algorithms.

In 2025 I have been a Visiting Researcher at the DRAGON Lab of the University of Tokyo.

I was previously a PhD student at the DIAG Robotics Lab, where I worked on the use of Model Predictive Control for Unstable and Underactuated Robots using stability conditions based on Stable Inversion.

News

Publications

Journals

  • T. Belvedere, M. Ziegltrum, G. Turrisi, and V. Modugno, “Feedback-MPPI: Fast Sampling-Based MPC via Rollout Differentiation – Adios Low-Level Controllers”, IEEE Robotics and Automation Letters, vol. 11, no. 1, pp. 1–8, 2026. DOI:10.1109/LRA.2025.3630871. Project page
  • A. Pupa, T. Belvedere, C. Secchi, and P. Robuffo Giordano, “On the Computation of Sensitivity Tubes”, IEEE Robotics and Automation Letters, vol. 10, no. 9, pp. 8802–8809, 2025. DOI:10.1109/LRA.2025.3587562
  • T. Belvedere, M. Cognetti, G. Oriolo, and P. Robuffo Giordano, “Sensitivity-Aware Model Predictive Control for Robots with Parametric Uncertainty”, IEEE Transactions on Robotics, vol. 41, pp. 3039–3058, 2025. DOI:10.1109/TRO.2025.3554415
  • A. Afifi, T. Belvedere, A. Pupa, P. Robuffo Giordano, and A. Franchi, “Safe and Robust Planning for Uncertain Robots: A Closed-Loop State Sensitivity Approach”, IEEE Robotics and Automation Letters, vol. 9, no. 11, pp. 9962–9969, 2024. DOI:10.1109/LRA.2024.3468088
  • 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. 104582, 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, 2022. DOI:10.1109/TMECH.2022.3154295

Conference Proceedings

  • O. Ezeji, M. Ziegltrum, G. Turrisi, T. Belvedere, and V. Modugno, “BC-MPPI: A Probabilistic Constraint Layer for Safe Model-Predictive Path-Integral Control”, Agents and Robots for Reliable Engineered Autonomy, Springer, pp. 131–143, 2025. DOI:10.1007/978-3-032-08049-3_8
  • T. Belvedere, A. Afifi, S. Wasiela, and A. Pupa, “Planning Under Uncertainties with Closed-Loop Sensitivity: Recent Results and Perspectives”, European Robotics Forum 2025, Springer, pp. 55–60, 2025. DOI:10.1007/978-3-031-89471-8_9
  • T. Belvedere, N. Scianca, L. Lanari, and G. Oriolo, “Joint-Level IS-MPC: A Whole-Body MPC with Centroidal Feasibility for Humanoid Locomotion”, 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 11240–11247, 2024. DOI:10.1109/IROS58592.2024.10801628
  • P. Carboni, G. Nardini, E. Santini, et al., “A Vision-Based Control Scheme for Safe Navigation in a Crowd”, Human-Friendly Robotics 2024, Best Paper Award, Springer, pp. 73–83, 2025. DOI:10.1007/978-3-031-81688-8_6
  • F. D’Orazio, T. Belvedere, S. G. Tarantos, and G. Oriolo, “Maintaining Balance of Mobile Manipulators for Safe Pick-Up Tasks”, 2024 18th International Conference on Control, Automation, Robotics and Vision (ICARCV), pp. 1207–1212, 2024. DOI:10.1109/ICARCV63323.2024.10821705
  • 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”, 2024 International Conference on Unmanned Aircraft Systems (ICUAS), Best Paper Award, 2024. DOI:10.1109/ICUAS60882.2024.10556958
  • 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”, 2022 IEEE International Conference on Robotics and Automation (ICRA), pp. 214–220, 2022. DOI:10.1109/ICRA46639.2022.9812317
  • P. Di Giamberardino, B. Bazzana, T. Belvedere, and D. Iacoviello, “An Optimal Control Approach to Public Investments for Unemployment Reduction”, 2019 23rd International Conference on System Theory, Control and Computing (ICSTCC), 2019. DOI:10.1109/ICSTCC.2019.8885645

Professional Service

Associate Editor

  • IEEE Robotics and Automation Letters (RA-L), Jan. 2026 – present
  • IEEE ICRA 2025, 2026
  • IEEE/RSJ IROS 2025

Workshop Organization

Teaching

See the teaching page for details on courses and supervision.

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