Fabio Bergonti — accepted AI-conference papers

2026

Robust by Co-Design: CAD-to-Control Evolutionary Optimization of Jet-Powered Humanoids

Punith Reddy Vanteddu, Davide Gorbani, Antonello Paolino, Giuseppe L'Erario, Hosameldin Awadalla Omer Mohamed, Fabio Bergonti +1

RA-L 2026

This letter presents a co-design and optimization framework for improving robustness in an aerial humanoid equipped with variable turbine configurations. The approach integrates CAD-based modeling, domain randomization, and multi-objective evolutionary optimization to jointly explore turbine placeme

Cited by 0 Source ↗Scholar ↗

2024

Co-Design Optimisation of Morphing Topology and Control of Winged Drones

Fabio Bergonti, Gabriele Nava, Valentin Wüest, Antonello Paolino, Giuseppe L’Erario, Daniele Pucci +1

ICRA 2024poster

The design and control of winged aircraft and drones is an iterative process aimed at identifying a compromise of mission-specific costs and constraints. When agility is required, shape-shifting (morphing) drones represent an efficient solution. However, morphing drones require the addition of actua…

Cited by 14 Source ↗code ↗Scholar ↗

2024

From CAD to URDF: Co-Design of a Jet-Powered Humanoid Robot Including CAD Geometry

Punith Reddy Vanteddu, Gabriele Nava, Fabio Bergonti, Giuseppe L’Erario, Antonello Paolino, Daniele Pucci

IROS 2024poster

Co-design optimization strategies usually rely on simplified robot models extracted from CAD. While these models are useful for optimizing geometrical and inertial parameters for robot control, they might overlook important details essential for prototyping the optimized mechanical design. For insta…

Cited by 0 Source ↗Scholar ↗

2022

Centroidal Aerodynamic Modeling and Control of Flying Multibody Robots

Tong Hui, Antonello Paolino, Gabriele Nava, Giuseppe L'Erario, Fabio Di Natale, Fabio Bergonti +2

ICRA 2022poster

This paper presents a modeling and control frame-work for multibody flying robots subject to non-negligible aero-dynamic forces acting on the centroidal dynamics. First, aero-dynamic forces are calculated during robot flight in different operating conditions by means of Computational Fluid Dynamics…

Cited by 7 Source ↗Scholar ↗

2022

Momentum-Based Extended Kalman Filter for Thrust Estimation on Flying Multibody Robots

Hosameldin Awadalla Omer Mohamed, Gabriele Nava, Giuseppe L'Erario, Silvio Traversaro, Fabio Bergonti, Luca Fiorio +3

RA-L 2022

Effective control design of flying vehicles requires a reliable estimation of the propellers’ thrust forces to secure a successful flight. Direct measurements of thrust forces, however, are seldom available in practice and on-line thrust estimation usually follows from the application of fusion algo

Cited by 25 Source ↗Scholar ↗

2022

Nonlinear Model Identification and Observer Design for Thrust Estimation of Small-scale Turbojet Engines

Affaf Junaid Ahamad Momin, Gabriele Nava, Giuseppe L'Erario, Hosameldin Awadalla Omer Mohamed, Fabio Bergonti, Punith Reddy Vanteddu +2

ICRA 2022poster

Jet-powered vertical takeoff and landing (VTOL) drones require precise thrust estimation to ensure adequate stability margins and robust maneuvering. Small-scale turbojets have become good candidates for powering heavy aerial drones. However, due to limited instrumentation available in these turboje…

Cited by 8 Source ↗Scholar ↗

2020

Modeling, Identification and Control of Model Jet Engines for Jet Powered Robotics

Giuseppe L'Erario, Luca Fiorio, Gabriele Nava, Fabio Bergonti, Hosameldin Awadalla Omer Mohamed, Emilio Benenati +2

RA-L 2020

The paper contributes towards the modeling, identification, and control of model jet engines. We propose a nonlinear, second order model in order to capture the model jet engines governing dynamics. The model structure is identified by applying sparse identification of nonlinear dynamics, and then t

Cited by 25 Source ↗Scholar ↗

2019

Torque and velocity controllers to perform jumps with a humanoid robot: theory and implementation on the iCub robot

Fabio Bergonti, Luca Fiorio, Daniele Pucci

ICRA 2019poster

Jumping can be an effective way of locomotion to overcome small terrain gaps or obstacles. In this paper we propose two different approaches to perform jumps with a humanoid robot. Specifically, starting from a pre-defined CoM trajectory we develop the theory for a velocity controller and for a torq…

Cited by 5 Source ↗Scholar ↗