publications

2026

1. Front. Robot. AI

   Crowd navigation in a multi-room environment: A model predictive control framework for mobile robots

   Giovanbattista Gravina, Francesco D’Orazio, Michele Cipriano, and 2 more authors

   Frontiers in Robotics and AI, May 2026

   DOI
2. arXiv

   Domain-specific Hardware Acceleration for Model Predictive Path Integral Control

   Erwan Tanguy-Legac, Tommaso Belvedere, Gianluca Corsini, and 2 more authors

   2026
3. RA-L

   From pixels to touch: Direct tactile servoing with learned photometric normalization

   Lluis Prior Sancho, Tommaso Belvedere, and Marco Tognon

   IEEE Robotics and Automation Letters, 2026

   DOI Website
4. RA-L

   Feedback-MPPI: Fast Sampling-Based MPC via Rollout Differentiation – Adios Low-Level Controllers

   Tommaso Belvedere, Michael Ziegltrum, Giulio Turrisi, and 1 more author

   IEEE Robotics and Automation Letters, 2026

   DOI Website
5. ICRA

   Contact-Robust Trajectory Planning via Parametric Sensitivity Analysis for Hybrid Robotic Systems

   Tommaso Belvedere, J. Zhu, Marco Cognetti, and 1 more author

   In 2026 IEEE International Conference on Robotics and Automation (ICRA), 2026

   PDF

2025

1. RA-L

   On the Computation of Sensitivity Tubes

   Andrea Pupa, Tommaso Belvedere, Cristian Secchi, and 1 more author

   IEEE Robotics and Automation Letters, 2025

   DOI
2. T-RO

   Sensitivity-Aware Model Predictive Control for Robots with Parametric Uncertainty

   Tommaso Belvedere, Marco Cognetti, Giuseppe Oriolo, and 1 more author

   IEEE Transactions on Robotics, 2025

   Best Paper Award, IEEE RAS TC on Optimization for Robotics DOI Video

   Winner of the Best Paper Award of the IEEE RAS Technical Committee on Optimization for Robotics, 2026.

3. ARERA

   BC-MPPI: A Probabilistic Constraint Layer for Safe Model-Predictive Path-Integral Control

   Ochidinma Ezeji, Michael Ziegltrum, Giulio Turrisi, and 2 more authors

   In Agents and Robots for Reliable Engineered Autonomy, 2025

   DOI
4. ERF

   Planning Under Uncertainties with Closed-Loop Sensitivity: Recent Results and Perspectives

   Tommaso Belvedere, Amr Afifi, S. Wasiela, and 1 more author

   In European Robotics Forum 2025, 2025

   DOI
5. HFR

   A Vision-Based Control Scheme for Safe Navigation in a Crowd

   Paola Carboni, Giulia Nardini, Elisa Santini, and 5 more authors

   In Human-Friendly Robotics 2024, 2025

   Best Paper Award, HFR 2024 DOI Video

   Winner of the Best Paper Award at Human-Friendly Robotics 2024.

2024

1. RA-L

   Safe and Robust Planning for Uncertain Robots: A Closed-Loop State Sensitivity Approach

   Amr Afifi, Tommaso Belvedere, Andrea Pupa, and 2 more authors

   IEEE Robotics and Automation Letters, 2024

   DOI
2. RAS

   Dynamics-Aware Navigation Among Moving Obstacles with Application to Ground and Flying Robots

   Spyridon G. Tarantos, Tommaso Belvedere, and Giuseppe Oriolo

   Robotics and Autonomous Systems, 2024

   DOI
3. IROS

   Joint-Level IS-MPC: A Whole-Body MPC with Centroidal Feasibility for Humanoid Locomotion

   Tommaso Belvedere, Nicola Scianca, Leonardo Lanari, and 1 more author

   In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

   DOI
4. ICARCV

   Maintaining Balance of Mobile Manipulators for Safe Pick-Up Tasks

   Francesco D’Orazio, Tommaso Belvedere, Spyridon G. Tarantos, and 1 more author

   In 2024 18th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2024

   DOI
5. ICUAS

   Experimental Validation of Sensitivity-Aware Trajectory Planning for a Quadrotor UAV Under Parametric Uncertainty

   A. Srour, S. Marcellini, Tommaso Belvedere, and 3 more authors

   In 2024 International Conference on Unmanned Aircraft Systems (ICUAS), 2024

   Best Paper Award, ICUAS 2024 DOI

   Winner of the Best Paper Award at ICUAS 2024.

2022

1. T-MECH

   An Intrinsically Stable MPC Approach for Anti-Jackknifing Control of Tractor-Trailer Vehicles

   Manuel Beglini, Tommaso Belvedere, Leonardo Lanari, and 1 more author

   IEEE/ASME Transactions on Mechatronics, 2022

   DOI
2. ICRA

   Task-Oriented Generation of Stable Motions for Wheeled Inverted Pendulum Robots

   Marc Kanneworff, Tommaso Belvedere, Nicola Scianca, and 3 more authors

   In 2022 IEEE International Conference on Robotics and Automation (ICRA), 2022

   DOI

2019

1. ICSTCC

   An Optimal Control Approach to Public Investments for Unemployment Reduction

   Paolo Di Giamberardino, Barbara Bazzana, Tommaso Belvedere, and 1 more author

   In 2019 23rd International Conference on System Theory, Control and Computing (ICSTCC), 2019

   DOI