
Marco Cognetti
- Équipe Robotique et InteractionS (LAAS-RIS)
- Université Toulouse III - Paul Sabatier (UT3)
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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A Linear Complementarity based MPC for Aerial Physical Interaction2025 International Conference on Unmanned Aircraft Systems (ICUAS 2025), IEEE, May 2025, Charlotte (USA), United States
Communication dans un congrès
hal-05034581
v1
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Learned Uncertainty Tubes via Recurrent Neural Networks for Planning Robust Robot Motions27th European Conference on Artificial Intelligence (ECAI), Oct 2024, Santiago de Compostela, Spain
Communication dans un congrès
hal-04636454
v1
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Considerations for Handover and Co-working with DronesACM/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-04507806
v1
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Transformer-Based Prediction of Human Motions and Contact Forces for Physical Human-Robot Interaction2024 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-04215765
v3
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Experimental Validation of Sensitivity-Aware Trajectory Planning for a Quadrotor UAV Under Parametric UncertaintyICUAS 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-04553932
v1
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Shared Control Active Perception for Human-Assisted NavigationI-RIM 2020 - 2nd Italian Conference on Robotics and Intelligent Machines, Dec 2020, Online, Italy. pp.1-2
Communication dans un congrès
hal-03103583
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Sensor-based Whole-Body Planning/Replanning for Humanoid Robots2019 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-04286831
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Optimal Active Sensing with Process and Measurement NoiseICRA 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-01717180
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Anytime Whole-Body Planning/Replanning for Humanoid Robots2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Nov 2018, Beijing, China. pp.1-9
Communication dans un congrès
hal-02265289
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Real-time pursuit-evasion with humanoid robots2017 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-04286855
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Humanoid whole-body planning for loco-manipulation tasks2017 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-04286874
v1
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Intrinsically stable MPC for humanoid gait generation2016 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-04286902
v1
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Real-time planning and execution of evasive motions for a humanoid robot2016 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-04286936
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Whole-body planning for humanoids along deformable tasks2016 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-04286930
v1
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Rearrangement planning using object-centric and robot-centric action spaces2016 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-04286919
v1
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Whole-body motion planning for humanoids based on CoM movement primitives2015 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-04286983
v1
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Cooperative control of a heterogeneous multi-robot system based on relative localization2014 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-04287143
v1
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Task-oriented whole-body planning for humanoids based on hybrid motion generation2014 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-04287146
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Relative localization and identification in a heterogeneous multi-robot system2013 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-04287148
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3-D Mutual Localization with Anonymous Bearing Measurements2012 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-04287169
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Mutual Localization using Anonymous Bearing Measurements2011 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-04287197
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Locomotion and Telepresence in Virtual and Real WorldsSpringer 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-02265284
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Dynamic Identification of the Franka Emika Panda Robot with Retrieval of Feasible Parameters Using Penalty-Based Optimization2019, pp.1-9
Autre publication scientifique
hal-02265294
v1
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Note on learning sensitivity metrics for a quadrotor2024
Pré-publication, Document de travail
hal-04642304
v1
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Learned Sensitivity Metrics for Robust and Accurate Motion Planning2023
Pré-publication, Document de travail
hal-04027078
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