Here is a list of my projects.

MSc Thesis

Nonlinear Model Predictive Control for Multi-rotor Aerial Vehicles under Visual-perceptive Constraints


My affiliations:

  • Polytechnic University of Milan, Piazza Leonardo da Vinci 32, 20133 Milan, Italy.

  • LAAS-CNRS, 7 avenue du Colonel Roche, 31400 Toulouse, France.

PhD in robotics


  • MdC. Daniel Sidobre, Université Paul Sabatier, Toulouse, France and LAAS-CNRS, Toulouse, France.

  • Prof. Antonio Franchi, University of Twente, Enschede, The Netherlands and the Sapienza University of Rome, Rome, Italy.

My affiliations:

  • LAAS-CNRS, 7 avenue du Colonel Roche, 31400 Toulouse, France.

  • Université Toulouse III - Paul Sabatier, 118 route de Narbonne, 31400 Toulouse, France.


Gazebo plugins

Dynamixel motors

I developed a Gazebo plugin to control a sequence of Dynamixel motors connected to the same bus (daisy-chain connection).

This plugin is named dxsim-gazebo and it requires the library libdynamixel.

More information are available in the project named dynamixel.

Human controller

This plugin is meant to control a human model within the Gazebo simulator.

It is composed of a GenOM3 component and associated plugin. It allows controlling the model human by means of a joypad device, by means of the component joystick-genom3 or by calling external activities like set_vel or goto.

Soon it will be released.


This plugin is meant to emulate a gripper within the Gazebo simulator.

Soon it will be released.

I worked several years with MATLAB and Simulink, as they are quite popular development environments in the robotics community.

Here, you can find a list of the projects involving their use.

All the source code of the different projects can be found at matlab.

MATLAB utilities

This project is library composed of a set of utility functions for MATLAB.

It includes mostly some helpful functions for robotics, like attitude representations and conversions, forward kinematics, etc …​

Most of the functions come with a related documentation, which can be called within the MATLAB Command Window by

help <function_name>

An example is

help euler2RotMat

More details are available in the project mat-utils.

MATAMviz : a MATLAB visualizer for Aerial Manipulators

This is a MATLAB-based visualizer for aerial manipulators (AMs), i.e. for multi-rotor aerial vehicles (MRAVs) equipped with robotic manipulators. It is meant to work also with MRAVs not equipped with any manipulator, as they can be considered a degenerative case of an AM.

It allows to visualize in a 3D graphical scene simulations of an AM, starting from the state of its base and the joints of its robotic arm.

More details are available in the project matamviz.


Autonomous systems

Poly-articulated robotic systems

Aerial robotics

Multi-rotor aerial vehicles (MRAVs)

Aerial manipulators (AMs)

Modelling and control

Control algorithms

Embedded software development

Robotic simulations

Real-world experiments