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Federico Vesentini

4 accepted papers

2026

A Shared Control Architecture for Vitreoretinal Surgery With Safety Guarantee Using Control Barrier Functions

Nicola Piccinelli, Federico Vesentini, Marius Briel, Ludwig Haide, Eleonora Tagliabue, Marco Pellegrini +2
RA-L 2026

Control Barrier Functions (CBFs) provide a powerful framework for enforcing real-time safety in control systems and have seen increasing applications in safety-critical domains, such as surgical robotics. In vitreoretinal microsurgery, where precision and tissue protection are crucial, we propose a

Cited by 0Source ↗Scholar ↗
2026

A Shared Control Architecture for Vitreoretinal Surgery with Safety Guarantee Using Control Barrier Functions

Nicola Piccinelli, Federico Vesentini, Marius Briel, Ludwig Haide, Eleonora Tagliabue, Marco Pellegrini +2
ICRA 2026poster

Control Barrier Functions (CBFs) provide a powerful framework for enforcing real-time safety in control systems and have seen increasing applications in safety-critical domains, such as surgical robotics. In vitreoretinal microsurgery, where precision and tissue protection are crucial, we propose a …

Cited by 0Source ↗Scholar ↗
2026

Dynamic Movement Primitives with Control Barrier Functions for Constrained Trajectory Planning

Federico Vesentini, Daniele Meli, Nicola Sansonetto, Luca Di Persio, Riccardo Muradore
ICRA 2026poster

DynamicMovement Primitives (DMPs) form a robust framework for trajectory generation based on imitation learning, aiming to replicate the shape of reference trajectories from demonstrations closely. DMPs have been extensively employed for trajectory planning in robotic systems. However, they cannot s…

Cited by 0Source ↗Scholar ↗
2025

Dynamic Movement Primitives With Control Barrier Functions for Constrained Trajectory Planning

Federico Vesentini, Daniele Meli, Nicola Sansonetto, Luca Di Persio, Riccardo Muradore
RA-L 2025

Dynamic Movement Primitives (DMPs) form a robust framework for trajectory generation based on imitation learning, aiming to replicate the shape of reference trajectories from demonstrations closely. DMPs have been extensively employed for <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:

Cited by 0Source ↗Scholar ↗