Marco Cognetti

41
Documents
Affiliations actuelles
  • Équipe Robotique et InteractionS (LAAS-RIS)
  • Université Toulouse III - Paul Sabatier (UT3)
Identifiants chercheurs

Présentation

I am currently a CPJ (Chaire de Professeur Junior) at LAAS-CNRS and University of Toulouse III - Paul Sabatier.

From September 2020 to December 2022, I was a Lecturer/Assistant Professor at Maynooth University, Ireland.

From January 2020 to August 2020, I was a Postdoctoral researcher at the UBIMCOMP department of the University of Oulu, working with Prof. Steven LaValle in filtering and planning for telepresence.

From February 2017 to November 2019, I was a Postdoctoral researcher at the Centre National de la Recherche Scientifique (CNRS) at Irisa and Inria Rennes, working on the active perception problem under the supervision of Dr. Paolo Robuffo Giordano.

From May 2016 to February 2017, I was a Postdoctoral researcher at the Robotics Lab of Dipartimento di Ingegneria Informatica, Automatica e Gestionale (DIAG), Sapienza – University of Rome, where I worked on safety for humanoid robots under the supervision of Prof. Giuseppe Oriolo.

The main topics of my research are (active) state estimation and shared control/autonomy for mobile robotics. Moreover, I’m interested in the whole-body motion planning and control for humanoid robots. In fact, I faced the problem of task-constrained motion planning for humanoids, i.e. planning the motion of a humanoid robot that must execute a manipulation task, possibly requiring stepping, in environments cluttered by obstacles.

Finally, I also worked in the localization and control of a team of heterogeneous robot. In this research, a team is composed by an aerial vehicle (UAV) and several ground robots (UGVs). The idea is to fuse the supervising role of the UAV and the on-site point of view of the UGVs to accomplish several tasks.

From March 2011 to October 2011 I visited the Max Planck Institute for Biological Cybernetics in Tuebingen under the supervision of Dr. Antonio Franchi.

From January 2015 to July 2015 I visited the Personal Robotics Lab at « The Robotics Institute – Carnegie Mellon University » under the supervision of Prof. Siddhartha Srinivasa.

From October 2012 to May 2016 I was a Ph.D. student at the Robotics Lab of Dipartimento di Ingegneria Informatica, Automatica e Gestionale (DIAG), Sapienza – University of Rome .

Publications

Publications

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Sensitivity-Aware Model Predictive Control for Robots with Parametric Uncertainty

Tommaso Belvedere , Marco Cognetti , Giuseppe Oriolo , Paolo Robuffo Giordano

IEEE Transactions on Robotics, 2025, 41, pp.3039-3058. ⟨10.1109/TRO.2025.3554415⟩

Article dans une revue hal-05021224v1
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Robust Sensitivity-Aware Chance-Constrained MPC for Efficient Handling of Multiple Uncertainty Sources

James Zhu , Thierry Simeon , Marco Cognetti

IEEE Robotics and Automation Letters, 2025, 10 (10), pp.10330 - 10337. ⟨10.1109/LRA.2025.3597863⟩

Article dans une revue hal-05208652v1
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Experimental Validation of Sensitivity-Aware Trajectory Planning for a Redundant Robotic Manipulator Under Payload Uncertainty

Ali Srour , Antonio Franchi , Paolo Robuffo Giordano , Marco Cognetti

IEEE Robotics and Automation Letters, 2025, 10 (2), pp.1561-1568. ⟨10.1109/LRA.2024.3519857⟩

Article dans une revue hal-04816507v1
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A Nonlinear MPC for Physical Human-Aerial Robot Interaction in Collaborative Transportation Tasks

Antonio Gonzalez-Morgado , Jonas Soueidan , Guillermo Heredia , Anibal Ollero , Philippe Fraisse et al.

IEEE Robotics and Automation Letters, 2025, 10 (10), pp.9670 - 9677. ⟨10.1109/LRA.2025.3597854⟩

Article dans une revue hal-05208698v1
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Active Sensing for Data Quality Improvement in Model Learning

Olga Napolitano , Marco Cognetti , Lucia Pallottino , Dimitrios Kanoulas , Paolo Salaris et al.

IEEE Control Systems Letters, 2024, pp.1-1. ⟨10.1109/LCSYS.2024.3410152⟩

Article dans une revue hal-04226725v2
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Robust Motion Planning with Accuracy Optimization based on Learned Sensitivity Metrics

Simon Wasiela , Marco Cognetti , Paolo Robuffo Giordano , Juan Cortés , Thierry Simeon

IEEE Robotics and Automation Letters, 2024, 9 (11), pp.10113-10120. ⟨10.1109/LRA.2024.3468149⟩

Article dans une revue hal-04636547v1
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Autonomy in Physical Human-Robot Interaction: a Brief Survey

Mario Selvaggio , Marco Cognetti , Stefanos Nikolaidis , Serena Ivaldi , Bruno Siciliano

IEEE Robotics and Automation Letters, 2021, ⟨10.1109/LRA.2021.3100603⟩

Article dans une revue hal-03413654v1
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Perception-Aware Human-Assisted Navigation of Mobile Robots on Persistent Trajectories

Marco Cognetti , Marco Aggravi , Claudio Pacchierotti , Paolo Salaris , Paolo Robuffo Giordano

IEEE Robotics and Automation Letters, 2020, 5 (3), pp.4711-4718. ⟨10.1109/LRA.2020.3003882⟩

Article dans une revue hal-02951947v1
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Online Optimal Perception-Aware Trajectory Generation

Paolo Salaris , Marco Cognetti , Riccardo Spica , Paolo Robuffo Giordano

IEEE Transactions on Robotics, 2019, pp.1-16. ⟨10.1109/TRO.2019.2931137⟩

Article dans une revue hal-02278900v1
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Dynamic Identification of the Franka Emika Panda Robot With Retrieval of Feasible Parameters Using Penalty-Based Optimization

Claudio Gaz , Marco Cognetti , Alexander Oliva , Paolo Robuffo Giordano , Alessandro de Luca

IEEE Robotics and Automation Letters, 2019, 4 (4), pp.4147-4154. ⟨10.1109/LRA.2019.2931248⟩

Article dans une revue hal-02265293v1
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Ground and Aerial Mutual Localization Using Anonymous Relative-Bearing Measurements

Paolo Stegagno , Marco Cognetti , Giuseppe Oriolo , Heinrich H Bülthoff , Antonio Franchi

IEEE Transactions on Robotics, 2016, 32 (5), pp.1133 - 1151. ⟨10.1109/TRO.2016.2593454⟩

Article dans une revue hal-01393702v1

Multi-task Cooperative Control in a Heterogeneous Ground-Air Robot Team

Lorenzo Rosa , Marco Cognetti , Andrea Nicastro , Pol Alvarez , Giuseppe Oriolo

IFAC-PapersOnLine, 2015, 48 (5), pp.53-58. ⟨10.1016/j.ifacol.2015.06.463⟩

Article dans une revue hal-04286991v1
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Two Measurement Scenarios for Anonymous Mutual Localization in Multi-UAV Systems

Marco Cognetti , Paolo Stegagno , Antonio Franchi , Giuseppe Oriolo

IFAC Proceedings Volumes, 2012, 45 (28), pp.13-18. ⟨10.3182/20121003-3-SF-4024.00006⟩

Article dans une revue hal-04287193v1
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Contact-Robust Trajectory Planning via Parametric Sensitivity Analysis for Hybrid Robotic Systems

Tommaso Belvedere , James Zhu , Marco Cognetti , Paolo Robuffo Giordano

ICRA 2026 - IEEE International Conference on Robotics and Automation, Jun 2026, Vienne, Austria

Communication dans un congrès hal-05488973v2
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Robust RL Navigation Via Sensitivity-Aware Observation Augmentation

James Zhu , Thierry Simeon , Marco Cognetti

IEEE IROS 2025 Workshop TARo, Oct 2025, Hangzhou, China

Communication dans un congrès hal-05368565v1
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A Linear Complementarity based MPC for Aerial Physical Interaction

Riccardo Fuser , Hai-Nguyen Nguyen , Gian Paolo Incremona , Marcello Farina , Marco Cognetti

2025 International Conference on Unmanned Aircraft Systems (ICUAS 2025), IEEE, May 2025, Charlotte (USA), United States. ⟨10.1109/ICUAS65942.2025.11007833⟩

Communication dans un congrès hal-05034581v1
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Learned Uncertainty Tubes via Recurrent Neural Networks for Planning Robust Robot Motions

Simon Wasiela , Smail Ait Bouhsain , Marco Cognetti , Juan Cortés , Thierry Simeon

27th European Conference on Artificial Intelligence (ECAI), Oct 2024, Santiago de Compostela, Spain

Communication dans un congrès hal-04636454v1
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Considerations for Handover and Co-working with Drones

Jessica Cauchard , Charles Dutau , Gianluca Corsini , Marco Cognetti , Daniel Sidobre et al.

ACM/IEEE International Conference on Human-Robot Interaction (HRI '24), Mar 2024, Boulder (CO), United States. pp.302-306, ⟨10.1145/3610978.3640590⟩

Communication dans un congrès hal-04507806v1
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Transformer-Based Prediction of Human Motions and Contact Forces for Physical Human-Robot Interaction

Alessia Fusco , Valerio Modugno , Dimitrios Kanoulas , Alessandro Rizzo , Marco Cognetti

2024 IEEE International Conference on Robotics and Automation (ICRA), May 2024, Yokohama, France. pp.3161-3167, ⟨10.1109/ICRA57147.2024.10611211⟩

Communication dans un congrès hal-04215765v3
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Experimental Validation of Sensitivity-Aware Trajectory Planning for a Quadrotor UAV Under Parametric Uncertainty

Ali Srour , Salvatore Marcellini , Tommaso Belvedere , Marco Cognetti , Antonio Franchi et al.

ICUAS 2024 - International Conference on Unmanned Aircraft Systems, Jun 2024, Chania Crete, Greece. pp.572-578, ⟨10.1109/ICUAS60882.2024.10556958⟩

Communication dans un congrès hal-04553932v1
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Shared Control Active Perception for Human-Assisted Navigation

Marco Cognetti , Marco Aggravi , Claudio Pacchierotti , Paolo Salaris , Paolo Robuffo Giordano

I-RIM 2020 - 2nd Italian Conference on Robotics and Intelligent Machines, Dec 2020, Online, Italy. pp.1-2

Communication dans un congrès hal-03103583v1
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Sensor-based Whole-Body Planning/Replanning for Humanoid Robots

Paolo Ferrari , Marco Cognetti , Giuseppe Oriolo

2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), Oct 2019, Toronto, Canada. pp.511-517, ⟨10.1109/Humanoids43949.2019.9035017⟩

Communication dans un congrès hal-04286831v1
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Optimal Active Sensing with Process and Measurement Noise

Marco Cognetti , Paolo Salaris , Paolo Robuffo Giordano

ICRA 2018 - IEEE International Conference on Robotics and Automation, May 2018, Brisbane, Australia. pp.2118-2125, ⟨10.1109/ICRA.2018.8460476⟩

Communication dans un congrès hal-01717180v1
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Anytime Whole-Body Planning/Replanning for Humanoid Robots

Paolo Ferrari , Marco Cognetti , Giuseppe Oriolo

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Nov 2018, Beijing, China. pp.1-9

Communication dans un congrès hal-02265289v1

Humanoid whole-body planning for loco-manipulation tasks

Paolo Ferrari , Marco Cognetti , Giuseppe Oriolo

2017 IEEE International Conference on Robotics and Automation (ICRA), May 2017, Singapore, Singapore. pp.4741-4746, ⟨10.1109/ICRA.2017.7989550⟩

Communication dans un congrès hal-04286874v1
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Real-time pursuit-evasion with humanoid robots

Marco Cognetti , Daniele de Simone , Federico Patota , Nicola Scianca , Leonardo Lanari et al.

2017 IEEE International Conference on Robotics and Automation (ICRA), May 2017, Singapore, Singapore. pp.4090-4095, ⟨10.1109/ICRA.2017.7989470⟩

Communication dans un congrès hal-04286855v1

Real-time planning and execution of evasive motions for a humanoid robot

Marco Cognetti , Daniele de Simone , Leonardo Lanari , Giuseppe Oriolo

2016 IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden. pp.4200-4206, ⟨10.1109/ICRA.2016.7487614⟩

Communication dans un congrès hal-04286936v1
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Whole-body planning for humanoids along deformable tasks

Marco Cognetti , Valentino Fioretti , Giuseppe Oriolo

2016 IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden. pp.1615-1620, ⟨10.1109/ICRA.2016.7487301⟩

Communication dans un congrès hal-04286930v1
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Rearrangement planning using object-centric and robot-centric action spaces

Jennifer E King , Marco Cognetti , Siddhartha S Srinivasa

2016 IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden. pp.3940-3947, ⟨10.1109/ICRA.2016.7487583⟩

Communication dans un congrès hal-04286919v1

Intrinsically stable MPC for humanoid gait generation

Nicola Scianca , Marco Cognetti , Daniele de Simone , Leonardo Lanari , Giuseppe Oriolo

2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Nov 2016, Cancun, Mexico. pp.601-606, ⟨10.1109/HUMANOIDS.2016.7803336⟩

Communication dans un congrès hal-04286902v1

Whole-body motion planning for humanoids based on CoM movement primitives

Marco Cognetti , Pouya Mohammadi , Giuseppe Oriolo

2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), Nov 2015, Seoul, South Korea. pp.1090-1095, ⟨10.1109/HUMANOIDS.2015.7363504⟩

Communication dans un congrès hal-04286983v1

Task-oriented whole-body planning for humanoids based on hybrid motion generation

Marco Cognetti , Pouya Mohammadi , Giuseppe Oriolo , Marilena Vendittelli

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Sep 2014, Chicago, United States. pp.4071-4076, ⟨10.1109/IROS.2014.6943135⟩

Communication dans un congrès hal-04287146v1

Cooperative control of a heterogeneous multi-robot system based on relative localization

Marco Cognetti , Giuseppe Oriolo , Pietro Peliti , Lorenzo Rosa , Paolo Stegagno

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Sep 2014, Chicago, United States. pp.350-356, ⟨10.1109/IROS.2014.6942583⟩

Communication dans un congrès hal-04287143v1

Relative localization and identification in a heterogeneous multi-robot system

Paolo Stegagno , Marco Cognetti , Lorenzo Rosa , Pietro Peliti , Giuseppe Oriolo

2013 IEEE International Conference on Robotics and Automation (ICRA), May 2013, Karlsruhe, Germany. pp.1857-1864, ⟨10.1109/ICRA.2013.6630822⟩

Communication dans un congrès hal-04287148v1
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3-D Mutual Localization with Anonymous Bearing Measurements

Marco Cognetti , Paolo Stegagno , Antonio Franchi , Giuseppe Oriolo , Heinrich Bulthoff

2012 IEEE International Conference on Robotics and Automation (ICRA), May 2012, St Paul, United States. pp.791-798, ⟨10.1109/ICRA.2012.6225288⟩

Communication dans un congrès hal-04287169v1
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Mutual Localization using Anonymous Bearing Measurements

P. Stegagno , M. Cognetti , A. Franchi , G. Oriolo

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), Sep 2011, San Francisco, United States. pp.469-474, ⟨10.1109/IROS.2011.6094635⟩

Communication dans un congrès hal-04287197v1
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Locomotion and Telepresence in Virtual and Real Worlds

Alessandro Spada , Marco Cognetti , Alessandro de Luca

Springer Proceedings in Advanced Robotics. Locomotion and Telepresence in Virtual and Real Worlds, pp.85-98, 2019, ⟨10.1007/978-3-319-89327-3_7⟩

Chapitre d'ouvrage hal-02265284v1