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International Journals

  1. B. Scaglioni, L. BASCETTA, M. Baur, G. Ferretti. Closed-form control oriented model of highly flexible manipulators, Applied Mathematical Modelling, USA, Vol. 52, 2017, pp. 174-185.
  2. L. BASCETTA, M. Baur, G. Gruosso. ROBI’: A prototype mobile manipulator for agricultural applications, Electronics, Switzerland, Vol. 6, No. 2, 2017, pp. 1-23
  3. L. BASCETTA, G. Ferretti, B. Scaglioni. Closed form Newton–Euler dynamic model of flexible manipulators, Robotica, United Kingdom, Vol. 35, No. 5, May 2017, pp. 1006-1030.
  4. G. Vitale, A. Bonarini, M. Matteucci, L. BASCETTA. Toward vocational robotics, Robotics and Automation Magazine, USA, Vol. 23, No. 4, December 2016, pp. 2-10.
  5. A. Pappalardo, A. Albakri, C. Liu, L. BASCETTA, E. De Momi, P. Poignet. Hunt-Crossley model based force control for minimally invasive robotic surgery, Biomedical Signal Processing and Control, United Kingdom, Vol. 29, August 2016, pp. 31-43.
  6. M. Ragaglia, A.M. Zanchettin, L. BASCETTA, P. Rocco. Accurate sensorless lead-through programming for lightweight robots in structured environments, Robotics and Computer Integrated Manufacturing, United Kingdom, Vol. 39, June 2016, pp. 9-21.
  7. A.V. Papadopoulos, L. BASCETTA, G. Ferretti. Generation of human walking paths, Autonomous Robots, Germany, Vol. 40, No. 1, January 2016, pp 59-75.
  8. M. Pirotta, M. Restelli, L. BASCETTA. Policy gradient in Lipschitz Markov Decision Processes, Machine Learning, Germany, Vol. 100, No. 2-3, September 2015, pp. 255-283.
  9. G. Buizza Avanzini, N.M. Ceriani, A.M. Zanchettin, P. Rocco, L. BASCETTA. Safety control of industrial robots based on a distributed distance sensor, IEEE Transactions on Control Systems Technology, USA, Vol. 22, No. 6, November 2014, pp. 2127-2140.
  10. A.M. Zanchettin, L. BASCETTA, P. Rocco. Achieving humanlike motion: resolving redundancy for anthropomorphic industrial manipulators, Robotics and Automation Magazine, USA, Vol. 20, No. 4, September 2013, pp. 131-138.
  11. L. BASCETTA, G. Ferretti, G. Magnani, P. Rocco. Walk-through programming for robotic manipulators based on admittance control, Robotica, United Kingdom, Vol. 31, No. 7, October 2013, pp. 1143-1153.
  12. A.M. Zanchettin, L. BASCETTA, P. Rocco. Acceptability of robotic manipulators in shared working environments through human-like redundancy resolution, Applied Ergonomics, United Kingdom, Vol. 44, No. 6, November 2013, pp. 982-989.
  13. L. BASCETTA, P. Rocco, A.M. Zanchettin, G. Magnani. Velocity control of a washing machine: a mechatronic approach, Mechatronics, United Kingdom, Vol. 22, No. 6, September 2012, pp. 778-787.
  14. L. BASCETTA, P. Rocco, G. Magnani. Force ripple compensation in linear motors based on closed loop position dependent identification, IEEE Transactions on Mechatronics, USA, Vol. 15, No. 3, June 2010, pp. 349-359.
  15. L. BASCETTA, G. Magnani, P. Rocco, A.M. Zanchettin. Performance limitation in Field Oriented Control for asynchronous machines with low resolution position sensing, IEEE Transactions on Control Systems Technology, USA, Vol. 18, No. 3, May 2010, pp. 559-573.
  16. L. BASCETTA, P. Rocco. Revising the robust-control design for rigid robot manipulators, IEEE Transactions on Robotics, USA, Vol. 26, No. 1, February 2010, pp. 180-187.
  17. L. BASCETTA, G. Magnani, P. Rocco. Velocity estimation: assessing the performance of non model-based techniques, IEEE Transactions on Control Systems Technology, USA, Vol. 17, No. 2, March 2009, pp. 424-433.
  18. L. BASCETTA, A. Leva. FIR based causal design of 2-d.o.f. controllers for optimal set point tracking, Journal of Process Control, United Kingdom, Vol. 18, No. 5, June 2008, pp. 465-478.
  19. A. Leva, L. BASCETTA. Set point tracking optimisation by causal nonparametric modelling, Automatica, USA, Vol. 43, No. 11, November 2007, pp. 1984-1991.
  20. A. Leva, L. BASCETTA. Designing the feedforward part of 2-d.o.f. industrial controllers for optimal tracking, Control Engineering Practice, The Netherlands, Vol. 15, No. 8, August 2007, pp. 909-921.
  21. A. Leva, L. BASCETTA. On the design of the feedforward compensator in two-degree-of-freedom controllers, Mechatronics, United Kingdom, Vol. 16, No. 9, November 2006, pp. 533-546.
  22. L. BASCETTA, P. Rocco. Two-time scale visual servoing of eye-in-hand flexible manipulators, IEEE Transactions on Robotics, USA, Vol. 22, No. 4, August 2006, pp. 818-830.
  23. A. Leva, L. BASCETTA, F. Schiavo. Model-based Proportional-Integral/Proportional-Integral-Derivative (PI/PID) autotuning with fast relay identification, Industrial & Engineering Chemistry Research, USA, Vol. 45, No. 12, June 2006, pp. 4052-4062.
  24. L. BASCETTA, P. Rocco. End-point vibration sensing of planar flexible manipulators through visual servoing, Mechatronics, United Kingdom, Vol. 16, No. 3-4, April-May 2006, pp. 221-232.
  25. L. BASCETTA, P. Rocco. Modelling flexible manipulators with motors at the joints, Mathematical and Computer Modelling of Dynamical Systems, The Netherlands, Vol. 8, No. 2, June 2002, pp. 157-183.

Conference Proceedings

  1. L. BASCETTA, I. Mendizabal Arrieta, M. Prandini. Flat-RRT*: a sampling-based optimal trajectory planner for differentially flat vehicles with constrained dynamics. 20th IFAC World Congress. Tolouse, France, July 2017, pp. 6965-6970.
  2. E. Ceravolo, M. Gabellone, M. Farina, L. BASCETTA, M. Matteucci. Model Predictive Control of an autonomous wheelchair. 20th IFAC World Congress. Tolouse, France, July 2017, pp. 9821-9826.
  3. F. Cavenago, L. BASCETTA, G. Magnani, A. Rusconi. Ultra-lightweight space arm DELIAN: mechatronic analysis and joint control design. 20th IFAC World Congress. Tolouse, France, July 2017, pp. 6253-6258.
  4. D. Lunni, A. Santamaria, R. Rossi, P. Rocco, L. BASCETTA, J. Andrade-Cetto. Nonlinear model predictive control for aerial manipulation. International Conference on Unmanned Aircraft Systems ICUAS 2017. Miami, USA, June 2017, pp. 87-93.
  5. D. Ruscio, L. BASCETTA, A. Gabrielli, M. Matteucci D. Ariansyah, M. Bordegoni, G. Caruso, L. Mussone. Collection and comparison of driver/passenger physiologic and behavioural data in simulation and on-road driving. IEEE International Conference on Models and Technologies for Intelligent Transportation Systems MT-ITS 2017. Naples, Italy, June 2017, pp. 403-408.
  6. M. Parigi Polverini, R. Rossi, G. Morandi, L. BASCETTA, A.M. Zanchettin, P. Rocco. Performance improvement of implicit integral robot force control through constraint-based optimization. IEEE/RSJ International Conference on Intelligent Robots and Systems IROS 2016. Daejeon, Korea, October 2016, pp. 3368-3373.
  7. B. Sakcak, L. BASCETTA, G. Ferretti. Model based detection and 3D localization of planar objects for industrial setups. 14th International Conference On Informatics in Control, Automation and Robotics ICINCO 2016. Lisbon, Portugal, July 2016, pp. 360-367.
  8. G. Bardaro, L. BASCETTA, F. Casella, M. Matteucci. Advancement in Multi-body Physics Modeling for 3D Graphical Robot Simulators. 3rd International Workshop on Modelling and Simulation for Autonomous Systems-Lecture Notes in Computer Science. Rome, Italy, June 2016, pp. 189-195.
  9. M. Ragaglia, M. Prandini, L. BASCETTA. Multi-agent Poli-RRT*: Optimal Constrained RRT-based Planning for Multiple Vehicles with Feedback Linearisable Dynamics. 3rd International Workshop on Modelling and Simulation for Autonomous Systems-Lecture Notes in Computer Science. Rome, Italy, June 2016, pp. 261-270.
  10. B. Sakcak, L. BASCETTA, G. Ferretti. Human-Like Path Planning in the Presence of Landmarks. 3rd International Workshop on Modelling and Simulation for Autonomous Systems-Lecture Notes in Computer Science. Rome, Italy, June 2016, pp. 281-287.
  11. D.A. Cucci, M. Matteucci, L. BASCETTA. Pose Tracking and Sensor Self-Calibration for an All-terrain Autonomous Vehicle. 9th IFAC Symposium on Intelligent Autonomous Vehicles IAV 2016. Messe Leipzig, Germany, June 2016, pp. 25-31.
  12. L. BASCETTA, D.A. Cucci, M. Matteucci. Kinematic trajectory tracking controller for an all-terrain Ackermann steering vehicle. 9th IFAC Symposium on Intelligent Autonomous Vehicles IAV 2016. Messe Leipzig, Germany, June 2016, pp. 13-18.
  13. L. BASCETTA, G. Ferretti, M. Bossi. LFT-based MPC Control of an Autonomous Vehicle. 9th IFAC Symposium on Intelligent Autonomous Vehicles IAV 2016. Messe Leipzig, Germany, June 2016, pp. 7-12.
  14. R. Rossi, L. Fossali, A. Novazzi, L. BASCETTA, P. Rocco. Implicit Force Control for an Industrial Robot based on Stiffness Estimation and Compensation during Motion. IEEE International Conference on Robotics and Automation ICRA 2016. Stockholm, Sweden, Maj 2016, pp. 1138-1145.
  15. G. Manganini, M. Pirotta, M. Restelli, L. BASCETTA. Following Newton direction in Policy Gradient with parameter exploration. International Joint Conference on Neural Networks IJCNN 2015. Killarney, Ireland, July 2015, pp. 1-8.
  16. M. Ragaglia, L. BASCETTA, P. Rocco. Detecting, tracking and predicting human motion inside an industrial robotic cell using a map-based particle filtering strategy. 17th International Conference on Advanced Robotics ICAR 2015. Istanbul, Turkey, July 2015, pp. 1-6.
  17. M. Ragaglia, M. Prandini, L. BASCETTA. Poli-RRT*: optimal RRT-based planning for constrained and feedback linearisable vehicle dynamics. European Control Conference ECC 2015. Linz, Austria, July 2015, pp. 2526-2531.
  18. A.M. Ghalamzan E., L. BASCETTA, M. Restelli, P. Rocco. Estimating a mean-path from a set of 2-D curves. IEEE International Conference on Robotics and Automation ICRA 2015. Seattle, USA, Maj 2015, pp. 2048-2053.
  19. A.M. Ghalamzan E., C. Paxton, G.D. Hager, L. BASCETTA. An incremental approach to learning generalizable robot tasks from human demonstration. IEEE International Conference on Robotics and Automation ICRA 2015. Seattle, USA, Maj 2015, pp. 5616-5621.
  20. E.L. D'Amelio, L. BASCETTA, D.A. Cucci, M. Matteucci, G. Bardaro. A Modelica simulator to support the development of the control system of an autonomous All-Terrain mobile robot. Vienna Conference on Mathematical Modelling. Vienna, Austria, February 2015, pp. 274-279.
  21. S. Parisi, M. Pirotta, N. Smacchia, L. BASCETTA, M. Restelli. Policy gradient approaches for multi-objective sequential decision making: a comparison. IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning (ADPRL). Orlando, USA, December 2014, pp. 1-8.
  22. M. Ragaglia, L. BASCETTA, P. Rocco, A. M. Zanchettin. Towards Safe Human-Robot Interaction: evaluating in real-time the severity of possible collisions in industrial scenarios. 7th International Workshop on Human-Friendly Robotics. Pontedera, Italy, October 2014.
  23. G. Bardaro, D.A. Cucci, L. BASCETTA, M. Matteucci. A simulation based architecture for the development of an autonomous all terrain vehicle. Simulation, Modeling, and Programming for Autonomous Robots (Lecture Notes in Computer Science). Bergamo, Italy, Vol. 8810, October 2014, pp. 74-85.
  24. Rossi, L. BASCETTA, P. Rocco. Implicit force control for an industrial robot with flexible joints and flexible links. IEEE/RSJ International Conference on Intelligent Robots and Systems IROS 2014. Chicago, USA, September 2014, pp. 4742-4749.
  25. M. Ragaglia, L. BASCETTA, P. Rocco. Multiple Camera Human Detection and Tracking inside a Robotic Cell – An Approach based on Image Warping, Computer Vision, K-d Trees and Particle Filtering. 11th International Conference On Informatics in Control, Automation and Robotics ICINCO 2014. Vienna, Austria, September 2014, pp. 374-381
  26. A.V. Papadopoulos, L. BASCETTA, G. Ferretti. A comparative evaluation of human motion planning policies. 19th IFAC World Congress. Cape Town, South Africa, August 2014, pp. 12299-12304.
  27. S. Parisi, M. Pirotta, N. Smacchia, L. BASCETTA, M. Restelli. Policy gradient approaches for multi-objective sequential decision making. IEEE International Joint Conference on Neural Networks IJCNN 2014. Bejing, China. July 2014, pp. 2323-2330.
  28. M. Ragaglia, L. BASCETTA, P. Rocco, A.M. Zanchettin. Integration of perception, control and injury knowledge for safe human-robot interaction. IEEE International Conference on Robotics and Automation ICRA 2014. Hong Kong, China, June 2014, pp. 1196-1202.
  29. L. BASCETTA, G. Ferretti, F. Fossati, G. Magnani, A. Rusconi, B. Scaglioni. Modelling, identification and control of a flexible lightweight robot for space applications. IAA Conference on Dynamics and Control of Space Systems DyCoSS 2014. Rome, Italy, March 2014, pp. 961-976.
  30. M. Pirotta, M. Restelli, L. BASCETTA. Adaptive step-size for policy gradient methods. Neural Information Processing Systems Foundation conference NIPS 2013. Lake Tahoe, USA, December 2013.
  31. G. Buizza Avanzini, N.M. Ceriani, A.M. Zanchettin, L. BASCETTA, P. Rocco. A distributed proximity sensor for safe human-robot interaction. 6th International Workshop on Human-Friendly Robotics HFR2013. Rome, Italy, September 2013.
  32. N.M. Ceriani, G. Buizza Avanzini, A.M. Zanchettin, L. BASCETTA, P. Rocco. Optimal placement of spots in distributed proximity sensors for safe human-robot interaction. IEEE International Conference on Robotics and Automation ICRA 2013. Karlsruhe, Germany, May 2013, pp. 5838-5843.
  33. G. Magnani, P. Rocco, L. BASCETTA, A. Rusconi. On the use of torque disturbance observers in 2-mass systems with application to a robotic joint. IEEE International Conference on Mechatronics ICM 2013. Vicenza, Italy, February 2013, pp. 798-803.
  34. A. Barcellini, L. BASCETTA, M. Raymo, P. Rocco, A.M. Zanchettin, A. Robertsson. Integrating an anti-collision system based on laser Time-Of-Flight sensor in an industrial robot controller. IFAC Symposium on Robot Control SYROCO 2012. Dubrovnik, Croatia, September 2012, pp. 664-669.
  35. L. BASCETTA, G. Ferretti, P. Rocco, H. Ardö, H. Bruyninckx, E. Demeester, E. Di Lello. Towards safe human-robot interaction in robotic cells: an approach based on visual tracking and intention estimation. IEEE/RSJ International Conference on Intelligent Robots and Systems IROS 2011. San Francisco, USA, September 2011, pp. 2971-2978.
  36. A.M. Zanchettin, P. Rocco, L. BASCETTA, I. Symeonidis, S. Peldschus. Kinematic analysis and synthesis of the human arm motion during a manipulation task. IEEE International Conference on Robotics and Automation ICRA 2011. Shanghai, China, May 2011, pp. 2692-2697.
  37. L. BASCETTA, G. Magnani, P. Rocco, R. Migliorini, M. Pelagatti. Anti-collision systems for robotic applications based on laser Time-Of-Flight sensors. IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM 2010. Montreal, Canada, July 2010, pp. 278-284.
  38. A.M. Zanchettin, P. Rocco, L. BASCETTA, I. Symeonidis, S. Peldschus. Kinematic motion analysis of the human arm during a manipulation task. 41st International Symposium on Robotics ISR 2010. Monaco, Germany, June 2010, pp. 1-6.
  39. L. BASCETTA, G. Magnani, P. Rocco, A.M. Zanchettin. Design and implementation of the low-level control system of an All-Terrain Mobile Robot. 14th International Conference on Advanced Robotics ICAR 2009. Monaco, Germany, June 2009, pp. 1-6.
  40. L. BASCETTA, G. Magnani, P. Rocco, S. Frattesi. Mechatronic analysis of the velocity control of a washing machine. IEEE International Conference on Mechatronics ICM 2009. Malaga, Spain, April 2009, pp. 1-6.
  41. L. BASCETTA, A. Leva. Nonparametric decoupling of MIMO systems. IEEE Conference on Computer-Aided Control Systems. San Antonio, Texas, USA, September 2008, pp. 1073-1078.
  42. L. BASCETTA, G. Magnani, P. Rocco. Force ripple compensation in linear motors with application to a parallel kinematic machine. IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM 2007. Zurich, Swiss, September 2007, Session Actuators, pp. 1-6.
  43. L. BASCETTA, G. Magnani, P. Rocco. Velocity estimation: assessing the performance of non model-based techniques. IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM 2007. Zurich, Swiss, September 2007, Session Sensing II, pp. 1-6.
  44. A. Leva, L. BASCETTA. On the use of model-based PID tuning rules with nonparametric process models. European Control Conference ECC 2007. Kos, Greece, July 2007, pp. 5833-5838.
  45. L. BASCETTA, A. Leva. Simultaneous optimisation of set point tracking and decoupling in autotuning multivariable regulators. American Control Conference ACC 2007. New York City, USA, July 2007, pp. 645-650.
  46. A. Leva, L. BASCETTA. Model-based autotuning for industrial SISO regulators accommodating for free-structure process models. American Control Conference ACC 2007. New York City, USA, July 2007, pp. 5565-5570.
  47. L. BASCETTA, P. Rocco. Revising the robust control design for rigid robot manipulators. IEEE International Conference on Robotics and Automation ICRA 2007. Roma, Italy, April 2007, pp. 4478-4483.
  48. L. BASCETTA, P. Rocco. Digital pole placement control of multi-mode flexible arms, International Congress ANIPLA 2006. Rome, Italy, November 2006, Session T1.1: Robot control, pp. 1-6.
  49. A. Leva, L. BASCETTA. Improving the antiwindup properties of autotuning PID regulators, IEEE International Conference on Control Applications CCA 2006. Munich, Germany, October 2006, pp. 1849-1854.
  50. A. Leva, L. BASCETTA. Servo tracking optimisation with the Base Functions approach, IEEE International Conference on Control Applications CCA 2006. Munich, Germany, October 2006, pp. 1025-1030.
  51. L. BASCETTA, P. Rocco. Issues in the experimental implementation of the fast time scale controller for a flexible arm, 8th International IFAC Symposium on Robot Control SYROCO 2006. Bologna, Italy, September 2006, Session ThA-1.1: Modeling and Identification of Robotic Systems I, pp. 1-6.
  52. A. Leva, L. BASCETTA. FIR-based optimised design of the set point path in 2-d.o.f. digital regulators, 4th International IFAC Symposium on Mechatronic Systems. Heidelberg, Germany, September 2006, Session C3: Digital Filtering and Embedded Control, pp. 1-6.
  53. A. Leva, L. BASCETTA. Causal design methodology for optimal tracking in 2-d.o.f. industrial controllers, 44th IEEE Conference on Decision and Control and European Control Conference CDC-ECC 2005. Seville, Spain, December 2005, pp. 2368-2373.
  54. A. Leva, L. BASCETTA. Nonparametric identification for the causal optimization of set point tracking, 44th IEEE Conference on Decision and Control and European Control Conference CDC-ECC 2005. Seville, Spain, December 2005, pp. 2374-2379.
  55. L. BASCETTA, P. Rocco. Visual control of robotic manipulators: designing a simplified stabilizing controller, 16th IFAC World Congress. Prague, Czech Republic, July 2005, Session slot We-A04-TO: Robot Sensors and Control/Area 4.3: Robotics, pp. 1-6.
  56. L. BASCETTA, P. Rocco. Exploiting visual servoing to damp the vibrations of a planar flexible manipulator, 3rd IFAC Symposium on Mechatronic Systems. Sidney, Australia, September 2004, pp. 541-546.
  57. L. BASCETTA, P. Rocco. Tip position control of flexible manipulators through visual servoing, 6th Cranfield Conference on Dynamics and Control of Systems and Structures in Space. Riomaggiore, Italy, July 2004, pp. 673-682.
  58. L. BASCETTA, P. Rocco. Task space visual servoing of eye-in-hand flexible manipulators, IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM 2003. Kobe, Japan, July 2003, Vol. 2, pp. 1442-1448.
  59. L. BASCETTA, G. Bodini, F. Casella, C. Maffezzoni. Leak location in water distribution networks based on dynamic tests and parametric identification, European Control Conference ECC 2003. Cambridge, United Kingdom, September 2003, Technical session 1: Fault diagnosis 1, pp. 1-6.
  60. L. BASCETTA, F. Bernasconi, A. Locatelli, P. Rocco. Efficient models for flexible manipulators with motors at the joints, 15th IFAC World Congress. Barcelona, Spain, July 2002, Session slot T-Tu-M04: Flexible and Nonlinear Robots/Area code 1d: Robotics, pp. 1-6.
  61. L. BASCETTA, A. Locatelli, P. Rocco. Computationally efficient Newton-Euler models for flexible manipulators with motors at the joints, 3rd World Conference on Structural Control. Como, Italy, April 2002, Vol. 2, pp. 599-604.
  62. F. Bernelli Zazzera, M. Romano, G. Sala, L. BASCETTA, A. Locatelli, G. Magnani, P. Rocco, N. Schiavoni, P. Pennacchi, C. Rottenbacher, S. Gallone, R. Scattolini, F. Casciati, L. Faravelli, L. Frosini, G. Mimmi, P. Rossi, A. Ruggimenti, G. Torelli. Multiobjective onboard experiment for advanced researches on robotics, control systems and materials behaviour, Microgravity and space station utilization. Torino, Italy, Maj 2001, pp. 15-17.