Publications
38 publications from the Intelligent Systems Lab (ISL) at the University of Rome “Tor Vergata”, on SLAM and sensor fusion, control, multi-robot systems, field robotics and the Distributed Unified Architecture (DUA). Lab members’ names are highlighted.
Autonomous Robotics & Multi-Robot Systems
- 2026Agile Flight Emerges from Multi-Agent Competitive Racing
Vineet Pasumarti, Lorenzo Bianchi, Antonio Loquercio
IEEE ICRA 2026
- 2025Flight Experiment of Indoor Drone Cooperative Mission Operation Assisted by Advanced AI-Based Visual Navigation
Giona Ragnoli, Vittorio Calligaris, Raffaele Quartucci, Roberto Masocco, Alessandro Tenaglia, Lorenzo Bianchi, Simone Mattogno, Daniele Carnevale, Mattia Fonisto, Fausta Mattei, Claudia Conte, Flora Amato, Domenico Accardo
IEEE TechDefense 2025
- 2023A Novel Distributed Architecture for Unmanned Aircraft Systems Based on Robot Operating System 2
Lorenzo Bianchi, Daniele Carnevale, Fabio Del Frate, Roberto Masocco, Simone Mattogno, Fabrizio Romanelli, Alessandro Tenaglia
IET Cyber-Systems and Robotics
- 2023Lavender Autonomous Navigation with Semantic Segmentation at the Edge
Alessandro Navone, Fabrizio Romanelli, Marco Ambrosio, Mauro Martini, Simone Angarano, Marcello Chiaberge
ECML PKDD 2023 Workshops (Springer CCIS)
Localization, SLAM & Sensor Fusion
- 2026Range-Only SLAM: A Multihypotheses Extended Kalman Filter With Modulated Federated Information Sharing
Lorenzo Bianchi, Francesco Martinelli
IEEE Transactions on Control Systems Technology
- 2026A Cooperative Approach to Range-Only SLAM with Undelayed Initialization
Lorenzo Bianchi, Francesco Martinelli
Robotics and Autonomous Systems
- 2025Trajectory Based Observer Design: A Framework for Lightweight Sensor Fusion
Federico Oliva, Tom Shaked, Daniele Carnevale, Amir Degani
Control Engineering Practice
- 2025UAV Localization Using Long-Range Ultra-Wideband Networks
Pierpaolo Loreti, Andrea Crescenzi, Lorenzo Bracciale, Daniele Carnevale, Massimiliano De Luca, Luca Chiaraviglio
IEEE LANMAN 2025
- 2025A Modular Long-Range UWB Testbed with SubGHz Backbone for Multi-Drone Localization Algorithms
Pierpaolo Loreti, Massimiliano De Luca, Andrea Crescenzi, Daniele Carnevale, Lorenzo Bracciale, Luca Chiaraviglio
WIPHAL 2025 (CEUR-WS)
- 2023Resilient Simultaneous Localization and Mapping Fusing Ultra Wide Band Range Measurements and Visual Odometry
Fabrizio Romanelli, Francesco Martinelli, Simone Mattogno
Journal of Intelligent & Robotic Systems
- 2023Synthetic Sensor Measurement Generation With Noise Learning and Multi-Modal Information
Fabrizio Romanelli, Francesco Martinelli
IEEE Access
- 2023Improved GPS Accuracy via Dynamic Filtering of Relative Distances in a Swarm of Nano-Satellites
Andrea Monti, Mario Sassano, Daniele Carnevale
European Journal of Control
- 2023Efficient Visual Sensor Fusion for Autonomous Agents
Lorenzo Bianchi, Daniele Carnevale, Roberto Masocco, Simone Mattogno, Federico Oliva, Fabrizio Romanelli, Alessandro Tenaglia
IEEE ICCAD 2023
- 2023A Decentralized Position Observer for Small-Sat Swarms Exploiting GNSS and Ranging Measurements
Federico Oliva, Francesco Martinelli, Mario Sassano, Daniele Carnevale
IEEE ICCAD 2023
- 2023Robust Simultaneous Localization and Mapping Using Range and Bearing Estimation of Radio Ultra High Frequency Identification Tags
Fabrizio Romanelli, Francesco Martinelli, Emidio Di Giampaolo
IEEE Transactions on Control Systems Technology
- 2023A Resilient Solution to Range-Only SLAM Based on a Decoupled Landmark Range and Bearing Reconstruction
Francesco Martinelli, Simone Mattogno, Fabrizio Romanelli
Robotics and Autonomous Systems
- 2022Exploiting the Orientation of Trilateration UHF RFID Tags in Robot Localization and Mapping
Emidio Di Giampaolo, Francesco Martinelli, Fabrizio Romanelli
IEEE RFID-TA 2022
- 2022Considering Polarization Mismatch in Modeling the RFID Phase Offset Variability for Tag Localization
Emidio Di Giampaolo, Francesco Martinelli, Fabrizio Romanelli
IEEE RFID-TA 2022
- 2021A SLAM Algorithm Based on Range and Bearing Estimation of Passive UHF-RFID Tags
Francesco Martinelli, Fabrizio Romanelli
IEEE RFID-TA 2021
Field Robotics & Autonomous Measurement
- 2026Toward Autonomous UGV-Based Radio-Frequency Measurement Campaigns: Tutorial and Application
Martina Callea, Roberto Masocco, Alexandru Cretu, Giorgio Manca, Alessandro Tenaglia, Simone Mattogno, Luca Chiaraviglio, Daniele Franci, Settimio Pavoncello, Giuseppe Marsico, Daniele Carnevale
IEEE Access
- 2026Bibliometric Analysis on Control Architectures for Robotics in Agriculture
Simone Figorilli, Simona Violino, Simone Vasta, Federico Pallottino, Giorgio Manca, Lorenzo Bianchi, Corrado Costa
Robotics (MDPI)
- 2025Autonomous Quadruped Robot for 5G Spectrum Coverage Measurements
Martina Callea, Roberto Masocco, Luca Chiaraviglio, Alessandro Tenaglia, Alexandru Cretu, Simone Mattogno, Daniele Carnevale
I-RIM 3D 2025
Control Theory, Hybrid Systems & Optimization
- 2026Enhancing the Performance of Kalman Filters via Monte Carlo Approaches and Riemannian-Manifold Covariance Estimation
Giorgio Manca, Mario Sassano, Sergio Galeani, Daniele Carnevale
IEEE MED 2026
- 2026A Periodic Output Feedback Stabilization Scheme with Non-Simultaneous Sensing and Actuation
Giorgio Manca, Mario Sassano, Luca Zaccarian
ACC 2026
- 2025A Sensitivity Approach to Periodic Control Allocation in Nonlinear Systems
Shima Akbari, Sergio Galeani, Giorgio Manca, Mario Sassano
IEEE CDC 2025
- 2025Dynamic Control Allocation for Nonlinear Systems via a Sensitivity Approach
Shima Akbari, Sergio Galeani, Giorgio Manca, Mario Sassano
IEEE Control Systems Letters
- 2024Spline-Based Input Allocation on an Overactuated Tilting and Twisting Unmanned Aerial Vehicle
Shima Akbari, Giorgio Manca, Sergio Galeani, Mario Sassano
IEEE CoDIT 2024
- 2024Lyapunov-Based Performance Oriented Switching Strategies for Linear Systems
Simone Mattogno, Matteo Vulcano, Fabrizio Schiano, Domenico Cappello, Daniele Carnevale
CRITIS 2024 (Springer LNCS)
- 2023A Trajectory Based Optimization Approach for Hybrid Observer Design
Federico Oliva, Simone Mattogno, Alessandro Tenaglia, Roberto Masocco, Francesco Martinelli, Daniele Carnevale
IEEE CDC 2023
- 2023A Trajectory-Based Stochastic Approach to Symbolic Control
Alessandro Tenaglia, Corrado Possieri, Daniele Carnevale
IEEE CDC 2023
- 2023A Robust Optimization Approach for Dynamic Input Allocation
Alessandro Tenaglia, Federico Oliva, Mario Sassano, Sergio Galeani, Daniele Carnevale
IFAC-PapersOnLine
- 2023Real-time Battery State of Charge and Parameters Estimation through Multi-Rate Moving Horizon Estimator
Tushar Desai, Federico Oliva, Riccardo M.G. Ferrari, Daniele Carnevale
IFAC-PapersOnLine
- 2020BlockNet: A New Flexible Control Architecture
Luca Calacci, Daniele Carnevale, Donato Abruzzese
IEEE MED 2020
Exoskeletons, RFID & Motion Estimation
- 2024Close Motion Estimation of UHF-RFID Tagged Objects Based on Electromagnetic Coupling
Lorenzo Bianchi, Emidio Di Giampaolo, Francesco Martinelli, Fabrizio Romanelli
IEEE Journal of Radio Frequency Identification
- 2023Exploiting the Electromagnetic Coupling to Estimate the Close Motion of UHF-RFID Tagged Objects
Emidio Di Giampaolo, Francesco Martinelli, Fabrizio Romanelli
IEEE RFID-TA 2023
- 2022Modeling and Control Design of a Rehabilitation Exoskeleton on Actuated Wheels
Andrea Monti, Corrado Possieri, Mario Sassano, Daniele Carnevale
European Control Conference 2022
DUA: Distributed Unified Architecture
- 2025A Containerized Distributed Control Architecture for Heterogeneous Swarm: A PRIN DOCEAT Contribution
Roberto Masocco, Alessandro Tenaglia, Simone Mattogno, Lorenzo Bianchi, Giorgio Manca, Alexandru Cretu, Daniele Carnevale, Federico Oliva
AUTOMATICA.IT 2025 · Extended abstract
- 2025A Unified Software Architecture for Distributed Autonomous Systems
Roberto Masocco
PhD thesis · University of Rome “Tor Vergata”