Giacomo De Rossi — accepted AI-conference papers

2022

Linear MPC-based Motion Planning for Autonomous Surgery

Marco Minelli, Alessio Sozzi, Giacomo De Rossi, Federica Ferraguti, Saverio Farsoni, Francesco Setti +3

IROS 2022poster

Within the context of Robotic Minimally Invasive Surgery (R-MIS), we propose a novel linear model predictive controller formulation for the coordination of multiple autonomous robotic arms. The controller is synthesized by formulating a linear approximation of non-linear constraints, which allows th…

Cited by 2 Source ↗Scholar ↗

2020

Integrating Model Predictive Control and Dynamic Waypoints Generation for Motion Planning in Surgical Scenario

Marco Minelli, Alessio Sozzi, Giacomo De Rossi, Federica Ferraguti, Francesco Setti, Riccardo Muradore +2

IROS 2020poster

In this paper we present a novel strategy for motion planning of autonomous robotic arms in Robotic Minimally Invasive Surgery (R-MIS). We consider a scenario where several laparoscopic tools must move and coordinate in a shared environment. The motion planner is based on a Model Predictive Controll…

Cited by 15 Source ↗Scholar ↗

2019

Cognitive Robotic Architecture for Semi-Autonomous Execution of Manipulation Tasks in a Surgical Environment

Giacomo De Rossi, Marco Minelli, Alessio Sozzi, Nicola Piccinelli, Federica Ferraguti, Francesco Setti +3

IROS 2019poster

The development of robotic systems with a certain level of autonomy to be used in critical scenarios, such as an operating room, necessarily requires a seamless integration of multiple state-of-the-art technologies. In this paper we propose a cognitive robotic architecture that is able to help an op…

Cited by 30 Source ↗Scholar ↗