Publications

• 

  Keep It Cool: Optimal Control of Robotic Systems Under Temperature Constraints

  D De Benedittis, F Angelini, R Incerpi, L Pallottino, M Garabini

  IEEE Transactions on Control Systems Technology — 20 Aug 2026

  Hierarchical quadratic programming and MPC that fold motor driver temperature dynamics into the system model to prevent overheating.

  Hierarchical QP

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  Citation

  @article{debenedittis2026keep,
   author={De Benedittis, Davide and Angelini, Franco and Incerpi, Riccardo and Pallottino, Lucia and Garabini, Manolo},
   journal={IEEE Transactions on Control Systems Technology}, 
   title={Keep It Cool: Optimal Control of Robotic Systems Under Temperature Constraints}, 
   year={2026},
   volume={},
   number={},
   pages={1-13},
   doi={10.1109/TCST.2026.3721130}}

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• 

  Botany Meets Robotics in Alpine Scree Monitoring

  D De Benedittis, G Di Lorenzo, F Angelini, B Valle, …, M Garabini

  IEEE Transactions on Field Robotics — 13 Nov 2025

  Autonomous monitoring framework for alpine screes using a quadrupedal robot equipped with cameras.

  Quadrupeds

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  Citation

  @article{debenedittis2025botany,
   author={De Benedittis, Davide and Di Lorenzo, Giovanni and Angelini, Franco and Valle, Barbara and Borgatti, Marina Serena and Remagnino, Paolo and Caccianiga, Marco and Garabini, Manolo},
   journal={IEEE Transactions on Field Robotics}, 
   title={Botany Meets Robotics in Alpine Scree Monitoring}, 
   year={2025},
   volume={2},
   number={},
   pages={920-936},
   doi={10.1109/TFR.2025.3632773}}

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• 

  Managing Conflicting Tasks in Heterogeneous Multi-Robot Systems Through Hierarchical Optimization

  D De Benedittis, M Garabini, L Pallottino

  IEEE Robotics and Automation Letters — Apr 2025

  Leverage hierarchical optimization (or hierarchical quadratic programming) for multi-robot coordination and guaranteed prioritized task execution.

  Multi-RobotsHierarchical QP

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  Citation

  @article{debenedittis2025managing,
   author={De Benedittis, Davide and Garabini, Manolo and Pallottino, Lucia},
   journal={IEEE Robotics and Automation Letters},
   title={Managing Conflicting Tasks in Heterogeneous Multi-Robot Systems Through Hierarchical Optimization}, 
   year={2025},
   volume={10},
   number={6},
   pages={5305-5312},
   doi={10.1109/LRA.2025.3559843}}

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• 

  Soft Bilinear Inverted Pendulum: a Model to Enable Locomotion with Soft Contacts

  D De Benedittis, F Angelini, M Garabini

  IEEE Transactions on Systems, Man, and Cybernetics: Systems — 4 Dec 2024

  Model-based two-control-blocks architecture (motion planner and tracking controller) for quadrupedal locomotion in the presence of soft contacts.

  Hierarchical QPQuadrupeds

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  Citation

  @article{debenedittis2025soft,
   author={De Benedittis, Davide and Angelini, Franco and Garabini, Manolo},
   journal={IEEE Transactions on Systems, Man, and Cybernetics: Systems}, 
   title={Soft Bilinear Inverted Pendulum: A Model to Enable Locomotion With Soft Contacts}, 
   year={2025},
   volume={55},
   number={2},
   pages={1478-1491},
   doi={10.1109/TSMC.2024.3504342}}

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• 

  Articulated Soft Robots: A Feasibility Driven Control Approach

  D De Benedittis, SP Chhatoi, M Pierallini, F Angelini, …, M Garabini

  Italian Conference on Robotics and Intelligent Machines — 24 Oct 2024

  Efficient DDP-based trajectory optimization of articulated soft robots.

  Soft Robots

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  Citation

  @inproceedings{de_benedittis2024articulated,
   author={De Benedittis, Davide and Chhatoi, Saroj Prasad and Pierallini, Michele and Angelini, Franco and Mastalli, Carlos and Garabini, Manolo},
   booktitle={Sixth Italian Conference on Robotics and Intelligent Machines (I-RIM 3D)},
   title={Articulated Soft Robots: A Feasibility Driven Control Approach},
   month=oct,
   year=2024,
   publisher={Zenodo},
   doi={10.5281/zenodo.14731033},
   url={https://doi.org/10.5281/zenodo.14731033}}

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Other Publications

@article{dilorenzo2025robotic,
 author={Di Lorenzo, Giovanni and Angelini, Franco and Pierallini, Michele and Tolomei, Simone and De Benedittis, Davide and Denaro, Agnese and Rivieccio, Giovanni and Caria, Maria Carmela and Bonini, Federica and Grassi, Anna and de Simone, Leopoldo and Fanfarillo, Emanuele and Fiaschi, Tiberio and Maccherini, Simona and Valle, Barbara and Borgatti, Marina Serena and Bagella, Simonetta and Gigante, Daniela and Angiolini, Claudia and Caccianiga, Marco and Garabini, Manolo},
 journal={Scientific Data}, 
 title={Robotic monitoring of European habitats: a labeled dataset for plant detection in Annex I habitats of Italy}, 
 year={2025},
 volume={12},
 number={1},
 pages={822},
 doi={10.1038/s41597-025-05182-7}}

@article{rodriguezcianca2025reproducible,
 author={Rodriguez-Cianca, David and Sendin, Paulino and Alfonso, Giuseppe and De Benedittis, Davide and Tolomei, Simone and Angelini, Franco and Garabini, Manolo and Torricelli, Diego},
 journal={IEEE Robotics \& Automation Magazine}, 
 title={A Reproducible Benchmarking Methodology to Assess Robotic Locomotion Over Irregular Terrains: A Practical and Scalable Approach}, 
 year={2025},
 volume={},
 number={},
 pages={2-12},
 doi={10.1109/MRA.2025.3631570}}