Davide De Benedittis

Publications - Hierarchical QP

  • 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 —

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

    Hierarchical QP Quadrupeds

    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}}

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

    D De Benedittis, M Garabini, L Pallottino
    IEEE Robotics and Automation Letters —

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

    Multi-Robots Hierarchical QP

    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}}

  • 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 —

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

    Hierarchical QP

    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}}