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Riccardo Muradore

14 accepted papers

2026

A Shared Control Architecture for Vitreoretinal Surgery With Safety Guarantee Using Control Barrier Functions

Nicola Piccinelli, Federico Vesentini, Marius Briel, Ludwig Haide, Eleonora Tagliabue, Marco Pellegrini +2
RA-L 2026

Control Barrier Functions (CBFs) provide a powerful framework for enforcing real-time safety in control systems and have seen increasing applications in safety-critical domains, such as surgical robotics. In vitreoretinal microsurgery, where precision and tissue protection are crucial, we propose a

Cited by 0Source ↗Scholar ↗
2026

A Shared Control Architecture for Vitreoretinal Surgery with Safety Guarantee Using Control Barrier Functions

Nicola Piccinelli, Federico Vesentini, Marius Briel, Ludwig Haide, Eleonora Tagliabue, Marco Pellegrini +2
ICRA 2026poster

Control Barrier Functions (CBFs) provide a powerful framework for enforcing real-time safety in control systems and have seen increasing applications in safety-critical domains, such as surgical robotics. In vitreoretinal microsurgery, where precision and tissue protection are crucial, we propose a …

Cited by 0Source ↗Scholar ↗
2026

Dynamic Movement Primitives with Control Barrier Functions for Constrained Trajectory Planning

Federico Vesentini, Daniele Meli, Nicola Sansonetto, Luca Di Persio, Riccardo Muradore
ICRA 2026poster

DynamicMovement Primitives (DMPs) form a robust framework for trajectory generation based on imitation learning, aiming to replicate the shape of reference trajectories from demonstrations closely. DMPs have been extensively employed for trajectory planning in robotic systems. However, they cannot s…

Cited by 0Source ↗Scholar ↗
2025

Dynamic Movement Primitives With Control Barrier Functions for Constrained Trajectory Planning

Federico Vesentini, Daniele Meli, Nicola Sansonetto, Luca Di Persio, Riccardo Muradore
RA-L 2025

Dynamic Movement Primitives (DMPs) form a robust framework for trajectory generation based on imitation learning, aiming to replicate the shape of reference trajectories from demonstrations closely. DMPs have been extensively employed for <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:

Cited by 0Source ↗Scholar ↗
2024

DEAR: Disentangled Environment and Agent Representations for Reinforcement Learning without Reconstruction

Ameya Pore, Riccardo Muradore, Diego Dall’Alba
IROS 2024poster

Reinforcement Learning (RL) algorithms can learn robotic control tasks from visual observations, but they often require a large amount of data, especially when the visual scene is complex and unstructured. In this paper, we explore how the agent’s knowledge of its shape can improve the sample effici…

Cited by 1Source ↗code ↗Scholar ↗
2024

Path Re-Planning with Stochastic Obstacle Modeling: A Monte Carlo Tree Search Approach

Francesco Trotti, Alessandro Farinelli, Riccardo Muradore
IROS 2024poster

Path re-planning and repairing are key topics for robust planning and navigation in open dynamic environments, finding applications in various domains such as fleet control of Unmanned Ground Vehicles (UGVs) in warehouses. The use of UGVs in open and dynamic environments requires flexible cooperatio…

Cited by 1Source ↗Scholar ↗
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 2Source ↗Scholar ↗
2021

An Optimized Two-Layer Approach for Efficient and Robustly Stable Bilateral Teleoperation

Filippo Loschi, Nicola Piccinelli, Diego Dall’Alba, Riccardo Muradore, Paolo Fiorini, Cristian Secchi
ICRA 2021poster

In this paper, we propose a novel bilateral teleoperation architecture that allows to optimally render the remote interaction force at the local side while guaranteeing a robustly stable behaviour. Stability is guaranteed by ensuring a proper energy exchange between the local and the remote sides. D…

Cited by 8Source ↗Scholar ↗
2020

A Passivity-Based Bilateral Teleoperation Architecture using Distributed Nonlinear Model Predictive Control

Nicola Piccinelli, Riccardo Muradore
IROS 2020poster

Bilateral teleoperation systems allow the telepresence of an operator while working remotely. Such ability becomes crucial when dealing with critical environments like space, nuclear plants, rescue, and surgery. The main properties of a teleoperation system are the stability and the transparency whi…

Cited by 15Source ↗Scholar ↗
2020

Global/local motion planning based on Dynamic Trajectory Reconfiguration and Dynamical Systems for Autonomous Surgical Robots

Narcís Sayols, Alessio Sozzi, Nicola Piccinelli, Albert Hernansanz, Alicia Casals, Marcello Bonfè +1
ICRA 2020poster

This paper addresses the generation of collision-free trajectories for the autonomous execution of assistive tasks in Robotic Minimally Invasive Surgery (R-MIS). The proposed approach takes into account geometric constraints related to the desired task, like for example the direction to approach the…

Cited by 8Source ↗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 15Source ↗Scholar ↗
2019

An energy-shared two-layer approach for multi-master-multi-slave bilateral teleoperation systems

Marco Minelli, Federica Ferraguti, Nicola Piccinelli, Riccardo Muradore, Cristian Secchi
ICRA 2019poster

In this paper, a two-layer architecture for the bilateral teleoperation of multi-arms systems with communication delay is presented. We extend the single-master-single-slave two layer approach proposed in [1] by connecting multiple robots to a single energy tank. This allows to minimize the conserva…

Cited by 40Source ↗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 30Source ↗Scholar ↗
2019

Tele-Echography using a Two-Layer Teleoperation Algorithm with Energy Scaling

Enrico Sartori, Carlo Tadiello, Cristian Secchi, Riccardo Muradore
ICRA 2019poster

Performing ultrasound procedures from a remote site is a challenging task since both a stable behavior, for the safety of the patient, and a high-level of usability, to exploit the sonographer's expertise, need to be guaranteed. Furthermore, a teleoperation system that provides such requirements has…

Cited by 24Source ↗Scholar ↗