Francesco Pierri — 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…

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2025

Can I Introduce My Boyfriend to My Grandmother? Evaluating Large Language Models Capabilities on Iranian Social Norm Classification

Hamidreza Saffari, Mohammadamin Shafiei, Donya Rooein, Francesco Pierri, Debora Nozza

NAACL 2025findings

Creating globally inclusive AI systems demands datasets reflecting diverse social norms. Iran, with its unique cultural blend, offers an ideal case study, with Farsi adding linguistic complexity. In this work, we introduce the Iranian Social Norms (ISN) dataset, a novel collection of 1,699 Iranian s…

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2025

Conspiracy Theories and Where to Find Them on TikTok

Francesco Corso, Francesco Pierri, Gianmarco De Francisci Morales

ACL 2025long

TikTok has skyrocketed in popularity over recent years, especially among younger audiences. However, there are public concerns about the potential of this platform to promote and amplify harmful content. This study presents the first systematic analysis of conspiracy theories on TikTok. By leveragin…

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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

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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…

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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…

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2017

Distributed cooperative object parameter estimation and manipulation without explicit communication

Alessandro Marino, Giuseppe Muscio, Francesco Pierri

ICRA 2017poster

The paper presents a two stages distributed algorithm for cooperative manipulating an unknown object rigidly grasped by mobile manipulators, in the absence of both a central unit and any explicit information exchange among robots. In the first stage, robots cooperatively estimate the object kinemati…

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2016

Discrete-time distributed state feedback control for multi-robot systems

Alessandro Marino, Francesco Pierri

ICRA 2016

In this paper, a general framework to control in a distributed way a system composed by multiple robots is proposed. Each robot is characterized by a discrete-time linear dynamics, and the whole system is controlled via a linear static feedback law with a feed-forward term. Usually, this form of the

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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 ↗

2015

Discrete-time distributed control and fault diagnosis for a class of linear systems

Alessandro Marino, Francesco Pierri

IROS 2015poster

This paper presents a solution to the problem of decentralized control, fault detection and isolation for teams of cooperative autonomous mobile vehicles. The strategy is carried out in the discrete time domain. A local observer is used by each agent to estimate the overall state of the team. This e…

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