Fabrizio Caccavale — accepted AI-conference papers

2026

Decentralized Admittance Control for a Multi–manipulator System: Theory and Experiments

Graziano Carriero, Monica Sileo, Sebastiano Fregnan, Francesco Pierri, Fabrizio Caccavale, Yiannis Karayiannidis

ICRA 2026poster

This paper presents a decentralized control framework for cooperative object transportation with multiple robotic manipulators. In particular two admittance schemes are designed in order to regulate external contact wrenches and internal interaction wrenches without a central unit or all-to-all comm…

Cited by 0 Scholar ↗

2025

Decentralized admittance control for a multi-manipulator system: implementation and analysis

Graziano Carriero, Monica Sileo, Sebastiano Fregnan, Marko Guberina, Francesco Pierri, Fabrizio Caccavale +1

IROS 2025

A decentralized strategy for object transportation is presented, assuming that the object is grasped by a team of N cooperative manipulators. The proposed strategy consists of two steps. First, each robot estimates the wrenches applied to the object by all the others robots, even without all-to-all

Cited by 0 Source ↗Scholar ↗

2020

Experiments on whole-body control of a dual-arm mobile robot with the Set-Based Task-Priority Inverse Kinematics algorithm

Paolo Di Lillo, Francesco Pierri, Fabrizio Caccavale, Gianluca Antonelli

IROS 2020poster

In this paper an experimental study of set-based task-priority kinematic control for a dual-arm mobile robot is developed. The control strategy for the coordination of the two manipulators and the mobile base relies on the definition of a set of elementary tasks to be properly handled depending on t…

Cited by 4 Source ↗Scholar ↗

2020

Peg-in-Hole Using 3D Workpiece Reconstruction and CNN-based Hole Detection

Michelangelo Nigro, Monica Sileo, Francesco Pierri, Katia Genovese, Domenico D. Bloisi, Fabrizio Caccavale

IROS 2020poster

This paper presents a method to cope with autonomous assembly tasks in the presence of uncertainties. To this aim, a Peg-in-Hole operation is considered, where the target workpiece position is unknown and the peg-hole clearance is small. Deep learning based hole detection and 3D surface reconstructi…

Cited by 34 Source ↗Scholar ↗

2017

6D physical interaction with a fully actuated aerial robot

Markus Ryll, Giuseppe Muscio, Francesco Pierri, Elisabetta Cataldi, Gianluca Antonelli, Fabrizio Caccavale +1

ICRA 2017poster

This paper presents the design, control, and experimental validation of a novel fully-actuated aerial robot for physically interactive tasks, named Tilt-Hex. We show how the Tilt-Hex, a tilted-propeller hexarotor is able to control the full pose (position and orientation independently) using a geome…

Cited by 214 Source ↗Scholar ↗

2016

Experiments on coordinated motion of aerial robotic manipulators

Giuseppe Muscio, Francesco Pierri, Miguel Angel Trujillo, Elisabetta Cataldi, Gerardo Giglio, Gianluca Antonelli +4

ICRA 2016

In this paper a three layer control architecture for multiple aerial robotic manipulators is presented. The top layer, on the basis of the desired mission, determines the end-effector desired trajectory for each manipulator, while the middle layer is in charge of computing the motion references in o

Cited by 28 Source ↗Scholar ↗