Dr Marco Cognetti

    Electronic Engineering, Hamilton Institute

    Assistant Professor

    BioScience & Engineering
    E3.05
    (+353 1 7083482)

    Biography

    Links
    Google Scholar: my citations
    ORCID: 0000-0003-4996-5914
    Scopus Author ID: 54792819500

    Bio
    I am a Lecturer at the Department of Electronic Engineering at Maynooth University from September 2020. 

    From January 2020 to August 2020, I was a Postdoctoral researcher at the UBICOMP department of the University of Oulu, Finland, working with Prof. Steven LaValle.

    From February 2017 to November 2019, I was a Postdoctoral researcher at the Centre National de la Recherche Scientifique (CNRS) at Irisa and Inria Rennes, working with Dr. Paolo Robuffo Giordano.

    From May 2016 to February 2017, I was a Postdoctoral researcher at the Robotics Lab of Dipartimento di Ingegneria Informatica, Automatica e Gestionale (DIAG),  Sapienza – University of Rome, working with Prof. Giuseppe Oriolo.

    From March 2011 to October 2011, I visited the Max Planck Institute for Biological Cybernetics in Tuebingen under the supervision of Dr. Antonio Franchi.

    From January 2015 to July 2015, I visited the Personal Robotics Lab at « The Robotics Institute – Carnegie Mellon University » under the supervision of Prof. Siddhartha Srinivasa.

    From October 2012 to May 2016, I was a Ph.D. student at the Robotics Lab of Dipartimento di Ingegneria Informatica, Automatica e Gestionale (DIAG), Sapienza – University of Rome under the supervision of Prof. Giuseppe Oriolo.

    Research Interests

    Links
    Google Scholar: my citations
    ORCID: 0000-0003-4996-5914
    Scopus Author ID: 54792819500

    Research activities
    My main research topics are:
    • (Active) state estimation.
    • Shared autonomy / Human-robot interaction.
    • Localization and control of a team of heterogeneous robot. For example, a team may be composed by an aerial vehicle (UAV) and several ground robots (UGVs). The idea is to fuse the supervising role of the UAV and the on-site point of view of the UGVs to accomplish several tasks.
    • Motion planning.
    Moreover, I worked on:
    • Whole-body motion planning and control for humanoid robots. 
    • Identification of the dynamic model of the Franka Emika Panda robot.
    • (Physics-based) Rearrangement planning.
    From a robotic platforms point of view, I worked with aerial (UAV, quadrotors), ground (wheeled), and humanoid robots, as well as manipulators.

    Peer Reviewed Journals

      Year Publication
    2021 'Autonomy in Physical Human-Robot Interaction: A Brief Survey'
    Selvaggio, Mario and Cognetti, Marco and Nikolaidis, Stefanos and Ivaldi, Serena and Siciliano, Bruno (2021) 'Autonomy in Physical Human-Robot Interaction: A Brief Survey'. IEEE Robotics and Automation Letters, 6 (4):7989-7996 [DOI] [Details]
    2020 'Perception-Aware Human-Assisted Navigation of Mobile Robots on Persistent Trajectories'
    Cognetti, Marco and Aggravi, Marco and Pacchierotti, Claudio and Salaris, Paolo and Giordano, Paolo Robuffo (2020) 'Perception-Aware Human-Assisted Navigation of Mobile Robots on Persistent Trajectories'. IEEE Robotics and Automation Letters, 5 (3):4711-4718 [DOI] [Details]
    2019 'Dynamic Identification of the Franka Emika Panda Robot With Retrieval of Feasible Parameters Using Penalty-Based Optimization'
    Gaz, Claudio and Cognetti, Marco and Oliva, Alexander and Robuffo Giordano, Paolo and De Luca, Alessandro (2019) 'Dynamic Identification of the Franka Emika Panda Robot With Retrieval of Feasible Parameters Using Penalty-Based Optimization'. IEEE Robotics and Automation Letters, 4 (4):4147-4154 [DOI] [Details]
    2019 'Online Optimal Perception-Aware Trajectory Generation'
    Salaris, Paolo and Cognetti, Marco and Spica, Riccardo and Giordano, Paolo Robuffo (2019) 'Online Optimal Perception-Aware Trajectory Generation'. IEEE Transactions on Robotics, 35 (6):1307-1322 [DOI] [Details]
    2016 'Ground and Aerial Mutual Localization Using Anonymous Relative-Bearing Measurements'
    P. Stegagno and M. Cognetti and G. Oriolo and H. H. B\"ulthoff and A. Franchi (2016) 'Ground and Aerial Mutual Localization Using Anonymous Relative-Bearing Measurements'. IEEE Transactions on Robotics, 32 (5):1133-1151 [DOI] [Details]
    2015 'Multi-task Cooperative Control in a Heterogeneous Ground-Air Robot Team'
    Rosa, Lorenzo and Cognetti, Marco and Nicastro, Andrea and Alvarez, Pol and Oriolo, Giuseppe (2015) 'Multi-task Cooperative Control in a Heterogeneous Ground-Air Robot Team'. IFAC-PapersOnLine, 48 (5):53-58 [Details]
    2012 'Two measurement scenarios for anonymous mutual localization in multi-UAV systems'
    Cognetti, Marco and Stegagno, Paolo and Franchi, Antonio and Oriolo, Giuseppe (2012) 'Two measurement scenarios for anonymous mutual localization in multi-UAV systems'. IFAC Proceedings Volumes, 45 (28):13-18 [Details]

    Conference Publications

      Year Publication
    2019 Sensor-based Whole-Body Planning/Replanning for Humanoid Robots
    Ferrari, Paolo and Cognetti, Marco and Oriolo, Giuseppe (2019) Sensor-based Whole-Body Planning/Replanning for Humanoid Robots 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids) , pp.511-517 [Details]
    2019 Locomotion and Telepresence in Virtual and Real Worlds
    Spada, Alessandro and Cognetti, Marco and De Luca, Alessandro (2019) Locomotion and Telepresence in Virtual and Real Worlds . In: Ficuciello, Fanny and Ruggiero, Fabio and Finzi, Alberto eds. Human Friendly Robotics Cham, , pp.85-98 [Details]
    2018 Optimal Active Sensing with Process and Measurement Noise
    Cognetti, Marco and Salaris, Paolo and Robuffo Giordano, Paolo (2018) Optimal Active Sensing with Process and Measurement Noise 2018 IEEE International Conference on Robotics and Automation (ICRA) , pp.2118-2125 [Details]
    2018 Anytime Whole-Body Planning/Replanning for Humanoid Robots
    Ferrari, Paolo and Cognetti, Marco and Oriolo, Giuseppe (2018) Anytime Whole-Body Planning/Replanning for Humanoid Robots 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) , pp.1-9 [Details]
    2017 Real-Time Pursuit-Evasion with Humanoid Robots
    M. Cognetti and D. De Simone and F. Patota and N. Scianca and L. Lanari and G. Oriolo (2017) Real-Time Pursuit-Evasion with Humanoid Robots 2017 IEEE International Conference on Robotics and Automation (ICRA) , pp.4090-4095 [Details]
    2017 Humanoid whole-body planning for loco-manipulation tasks
    Ferrari, Paolo and Cognetti, Marco and Oriolo, Giuseppe (2017) Humanoid whole-body planning for loco-manipulation tasks 2017 IEEE International Conference on Robotics and Automation (ICRA) , pp.4741-4746 [Details]
    2016 Intrinsically stable MPC for humanoid gait generation
    N. Scianca and M. Cognetti and D. De Simone and L. Lanari and G. Oriolo (2016) Intrinsically stable MPC for humanoid gait generation 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids) , pp.601-606 [Details]
    2016 Rearrangement planning using object-centric and robot-centric action spaces
    J. E. King and M. Cognetti and S. S. Srinivasa (2016) Rearrangement planning using object-centric and robot-centric action spaces 2016 IEEE International Conference on Robotics and Automation (ICRA) , pp.3940-3947 [Details]
    2016 Whole-body planning for humanoids along deformable tasks
    M. Cognetti and V. Fioretti and G. Oriolo (2016) Whole-body planning for humanoids along deformable tasks 2016 IEEE International Conference on Robotics and Automation (ICRA) , pp.1615-1620 [Details]
    2016 Real-time planning and execution of evasive motions for a humanoid robot
    M. Cognetti and D. De Simone and L. Lanari and G. Oriolo (2016) Real-time planning and execution of evasive motions for a humanoid robot 2016 IEEE International Conference on Robotics and Automation (ICRA) , pp.4200-4206 [Details]
    2015 Whole-body motion planning for humanoids based on CoM movement primitives
    M. Cognetti and P. Mohammadi and G. Oriolo (2015) Whole-body motion planning for humanoids based on CoM movement primitives Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on , pp.1090-1095 [Details]
    2014 Task-oriented whole-body planning for humanoids based on hybrid motion generation
    M. Cognetti and P. Mohammadi and G. Oriolo and M. Vendittelli (2014) Task-oriented whole-body planning for humanoids based on hybrid motion generation 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems , pp.4071-4076 [Details]
    2014 Cooperative control of a heterogeneous multi-robot system based on relative localization
    M. Cognetti and G. Oriolo and P. Peliti and L. Rosa and P. Stegagno (2014) Cooperative control of a heterogeneous multi-robot system based on relative localization 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems , pp.350-356 [Details]
    2013 Relative localization and identification in a heterogeneous multi-robot system
    P. Stegagno and M. Cognetti and L. Rosa and P. Peliti and G. Oriolo (2013) Relative localization and identification in a heterogeneous multi-robot system Robotics and Automation (ICRA), 2013 IEEE International Conference on , pp.1857-1864 [Details]
    2012 3-D mutual localization with anonymous bearing measurements
    M. Cognetti and P. Stegagno and A. Franchi and G. Oriolo and H. H. B\"ulthoff (2012) 3-D mutual localization with anonymous bearing measurements Robotics and Automation (ICRA), 2012 IEEE International Conference on , pp.791-798 [Details]
    2011 Mutual localization using anonymous bearing measurements
    P. Stegagno and M. Cognetti and A. Franchi and G. Oriolo (2011) Mutual localization using anonymous bearing measurements 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems , pp.469-474 [Details]

    Teaching Interests

    I am the lecturer for the following modules for Maynooth University
    In the past, I was the lecturer for the following module at Maynooth University