PhD student at the Human-Robot Interfaces and Physical Interaction (HRII) laboratory of the Istituto Italiano di Tecnologia (IIT).Keywords: advanced robotics, control, human-robot interaction.

– Development of a Model Predictive Control (MPC) logic using Adaptive and Time-Varying MPC features, with Kalman filtering techniques, for the online computation of the nonlinear system dynamics along the future time horizon.– Control of a redundant robotic manipulator using robot's Inverse Kinematics in a QP minimization problem .– ROS framework for simulation (Rviz, Gazebo, MoveIt) and robot control.– GPU parallelization and deployment of the MPC on the Nvidia Jetson TX2 Developer Kit board for reduced computational time.– Teleoperation of a ROS TurtleBot2 mobile robot to test the real-time robot-robot interaction and obstacle avoidance of the MPC.

Modeling and control of a multibody robotic system, aimed at the realization of an orbiting space-based observatory with large aperture and reconfigurable structure. Topics covered: Model Predictive Control (MPC), path planning, Kalman filtering and optimal estimation, Sequential Convex Programming (SCP), stochastic control algorithms (e.g. Optimal Transport), confinement of a cloud of passive orbiting granular media using stochastic control logics. Tools: Matlab, Python, DARTS.