Marco Faroni

Marco Faroni

Robotics researcher

Real-time trajectory scaling for optimal path following

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Selected publications:

  • C. Guarino Lo Bianco, M. Faroni, M. Beschi, and A. Visioli, “A predictive technique for the real-time trajectory scaling under high-order constraints,” IEEE/ASME Transactions on Mechatronics, pp. 1–11, 2022. [PDF] [video]

  • M. Faroni, M. Beschi, N. Pedrocchi, and A. Visioli, “Predictive inverse kinematics for redundant manipulators with task scaling and kinematic constraints,” IEEE Transactions on Robotics, vol. 35, no. 1, pp. 278–285, 2019. [PDF]

  • M. Faroni, M. Beschi, C. Guarino Lo Bianco, and A. Visioli, “Predictive joint trajectory scaling for manipulators with kinodynamic constraints,” Control Engineering Practice, vol. 95, p. 104264, 2020. [PDF]

  • M. Faroni, M. Beschi, A. Visioli, and N. Pedrocchi, “A real-time trajectory planning method for enhanced path-tracking performance of serial manipulators,” Mechanism and Machine Theory, vol. 156, p. 104152, 2021. [PDF] [video]