Punith Reddy Vanteddu — accepted AI-conference papers

2026

Robust by Co-Design: CAD-to-Control Evolutionary Optimization of Jet-Powered Humanoids

Punith Reddy Vanteddu, Davide Gorbani, Antonello Paolino, Giuseppe L'Erario, Hosameldin Awadalla Omer Mohamed, Fabio Bergonti +1

RA-L 2026

This letter presents a co-design and optimization framework for improving robustness in an aerial humanoid equipped with variable turbine configurations. The approach integrates CAD-based modeling, domain randomization, and multi-objective evolutionary optimization to jointly explore turbine placeme

Cited by 0 Source ↗Scholar ↗

2024

From CAD to URDF: Co-Design of a Jet-Powered Humanoid Robot Including CAD Geometry

Punith Reddy Vanteddu, Gabriele Nava, Fabio Bergonti, Giuseppe L’Erario, Antonello Paolino, Daniele Pucci

IROS 2024poster

Co-design optimization strategies usually rely on simplified robot models extracted from CAD. While these models are useful for optimizing geometrical and inertial parameters for robot control, they might overlook important details essential for prototyping the optimized mechanical design. For insta…

Cited by 0 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 ↗