Francesco Braghin — accepted AI-conference papers

2026

Homotopy-Guided Potential Games for Congestion-Aware Navigation

Mohammed Irshadh Ismaaeel Sathyamangalam Imran, Lasse Peters, Michael Khayyat, Stefano Arrigoni, Francesco Braghin, Laura Ferranti

RA-L 2026

We address the multi-agent motion planning problem where interactions, collisions, and congestion co-exist. Conventional game-theoretic planners capture interactions among agents but often converge to conservative, congested equilibria. Homotopy planners, on the other hand, can explore topologically

Cited by 0 Source ↗Scholar ↗

2025

Robot-Mediated gesture-based memory game for older adult psychophysical stimulation

Luca Pozzi, Francesco Braghin, Marta Gandolla

IROS 2025

The rapid growth of the aging population in developed countries makes healthcare an important social challenge. In this context, service robots can play a key role. This work presents a software application for a service robot (TIAGo, PAL Robotics) implementing a motor-cognitive game. The activity c

Cited by 0 Source ↗Scholar ↗

2024

Integrating Computer Vision in Exosuits for Adaptive Support and Reduced Muscle Strain in Industrial Environments

Francesco Missiroli, Pietro Mazzoni, Nicola Lotti, Enrica Tricomi, Francesco Braghin, Loris Roveda +1

RA-L 2024

Exosuits are wearable technologies that improve physical capabilities and mobility providing support during various activities. Although primarily intended for medical rehabilitation, there is growing interest in utilizing exosuits in industrial environments to prevent work-related musculoskeletal d

Cited by 14 Source ↗Scholar ↗

2024

ZAPP! Zonotope Agreement of Prediction and Planning for Continuous-Time Collision Avoidance with Discrete-Time Dynamics

Luca Paparusso, Shreyas Kousik, Edward Schmerling, Francesco Braghin, Marco Pavone

ICRA 2024poster

The past few years have seen immense progress on two fronts that are critical to safe, widespread mobile robot deployment: predicting uncertain motion of multiple agents, and planning robot motion under uncertainty. However, the numerical methods required on each front have resulted in a mismatch of…

Cited by 2 Source ↗Scholar ↗

2023

Learning Human Motion Intention for pHRI Assistive Control

Paolo Franceschi, Fabio Bertini, Francesco Braghin, Loris Roveda, Nicola Pedrocchi, Manuel Beschi

IROS 2023poster

This work addresses human intention identification during physical Human-Robot Interaction (pHRI) tasks to include this information in an assistive controller. To this purpose, human intention is defined as the desired trajectory that the human wants to follow over a finite rolling prediction horizo…

Cited by 5 Source ↗Scholar ↗

2023

Q-Learning-Based Model Predictive Variable Impedance Control for Physical Human-Robot Collaboration (Extended Abstract)

Loris Roveda, Andrea Testa, Asad Ali Shahid, Francesco Braghin, Dario Piga

IJCAI 2023poster

Physical human-robot collaboration is increasingly required in many contexts. To implement an effective collaboration, the robot should be able to recognize the human’s intentions and guarantee safe and adaptive behavior along the intended motion directions. The robot-control strategies with such at…

Cited by 54 Source ↗PDF ↗Scholar ↗

2023

Trajectory Learning by Therapists' Demonstrations for an Upper Limb Rehabilitation Exoskeleton

Beatrice Luciani, Loris Roveda, Francesco Braghin, Alessandra Pedrocchi, Marta Gandolla

RA-L 2023

In this work, we propose a method for trajectory implementation based on the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Learning by Demonstrations</i> approach to deal with trajectory planning issues in upper-limb rehabilitation exoskeletons. Cu

Cited by 15 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 ↗

2016

Optimal Impedance Force-Tracking Control Design With Impact Formulation for Interaction Tasks

Loris Roveda, Niccolo Iannacci, Federico Vicentini, Nicola Pedrocchi, Francesco Braghin, Lorenzo Molinari Tosatti

RA-L 2016

The letter presents a force-tracking impedance controller granting a free-overshoots contact force (mandatory performance for many critical interaction tasks such as polishing) for partially unknown interacting environments (such as leather or hard-fragile materials). As in many applications, the ro

Cited by 114 Source ↗Scholar ↗

2015

Impedance shaping controller for robotic applications involving interacting compliant environments and compliant robot bases

Loris Roveda, Federico Vicentini, Nicola Pedrocchi, Francesco Braghin, Lorenzo Molinari Tosatti

ICRA 2015poster

The impedance shaping control with robot base dynamics compensation is presented in this paper. The method has been conceived to avoid force overshoots in applications where the coupled dynamics of the global system (compliant robot base - controlled robot - interacting compliant environment) affect…

Cited by 14 Source ↗Scholar ↗