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Giuseppe Notarstefano

7 accepted papers

2026

Distributed NMPC for Cooperative Aerial Manipulation of Cable-Suspended Loads

Nicola De Carli, Riccardo Belletti, Emanuele Buzzurro, Andrea Testa, Giuseppe Notarstefano, Marco Tognon
ICRA 2026poster

In this paper, we address the problem of cooperative manipulation of a cable-suspended load by a team of aerial robots. Unlike classical approaches that rely on centralized controllers, we propose a Distributed Nonlinear Model Predictive Control (DNMPC) framework in which the UAVs communicate over a…

Cited by 0Source ↗Scholar ↗
2023

A Distributed Online Optimization Strategy for Cooperative Robotic Surveillance

Lorenzo Pichierri, Guido Carnevale, Lorenzo Sforni, Andrea Testa, Giuseppe Notarstefano
ICRA 2023poster

In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of the defending team by means of an online optimization problem inspired by the emerging distributed aggregative framewor…

Cited by 7Source ↗Scholar ↗
2020

Multi-Robot Coordination for Estimation and Coverage of Unknown Spatial Fields

Alessia Benevento, María Santos, Giuseppe Notarstefano, Kamran Paynabar, Matthieu Bloch, Magnus Egerstedt
ICRA 2020poster

We present an algorithm for multi-robot coverage of an initially unknown spatial scalar field characterized by a density function, whereby a team of robots simultaneously estimates and optimizes its coverage of the density function over the domain. The proposed algorithm borrows powerful concepts fr…

Cited by 62Source ↗Scholar ↗
2016

From tracking to robust maneuver regulation: An easy-to-design approach for VTOL aerial robots

Sara Spedicato, Antonio Franchi, Giuseppe Notarstefano
ICRA 2016

In this paper we present a maneuver regulation scheme for Vertical Take-Off and Landing (VTOL) micro aerial vehicles (MAV). Differently from standard trajectory tracking, maneuver regulation has an intrinsic robustness due to the fact that the vehicle is not required to chase a virtual target, but j

Cited by 7Source ↗Scholar ↗