Books

[B1] P. Vasseur, F. Morbidi (Eds.), "Omnidirectional Vision: From theory to applications", ISTE - Wiley, to appear in 2022.

Journal papers

[J22] F. Morbidi, L. Devigne, C.S. Teodorescu, B. Fraudet, E. Leblong, T. Carlson, M. Babel, G. Caron, S. Delmas, F. Pasteau, G. Vailland, V. Gouranton, S. Guégan, R. Le Breton, N. Ragot, "Assistive Robotic Technologies for Next-Generation Smart Wheelchairs'', IEEE Robotics & Automation Magazine, accepted on May 12, 2022, to appear.

[J21] F. Morbidi, "Functions of the Laplacian matrix with application to distributed formation control'', IEEE Transactions on Control of Network Systems, accepted on August 29, 2021, to appear.

[J20] J. Caracotte, F. Morbidi, E. Mouaddib, "Photometric stereo with central panoramic cameras'', Computer Vision and Image Understanding, vol. 201, article 103080, December 2020.

[J19] H.-E. Benseddik, F. Morbidi, G. Caron, "PanoraMIS: An Ultra-wide Field of View Image Dataset for Vision-based Robot-Motion Estimation'', The International Journal of Robotics Research, vol. 39, n. 9, pp. 1037-1051, August 2020. [web site]

[J18] F. Morbidi, G. Caron, "Phase Correlation for Dense Visual Compass from Omnidirectional Camera-Robot Images", IEEE Robotics and Automation Letters, vol. 2, n. 2, pp. 688-695, April 2017 (also accepted for presentation at the IEEE International Conference on Robotics and Automation, Singapore, May 29 - June 3, 2017).

[J17] A.N. Staranowicz, G.R. Brown, F. Morbidi, G.L. Mariottini, "Practical and accurate calibration of RGB-D cameras using spheres", Computer Vision and Image Understanding, vol. 137, pp. 102-114, August 2015.

[J16] C. Canudas de Wit, F. Morbidi, L. Léon Ojeda, A.Y. Kibangou, I. Bellicot, P. Bellemain, "Grenoble Traffic Lab : An experimental platform for advanced traffic monitoring and forecasting", IEEE Control Systems Magazine, vol. 35, n. 3, pp. 23-39, June 2015.

[J15] S. Scheggi, F. Morbidi, D. Prattichizzo, "Human-robot formation control via visual and vibrotactile haptic feedback", IEEE Transactions on Haptics, vol. 7, n. 4, pp. 499-511, December 2014.

[J14] F. Morbidi, A.Y. Kibangou, "A Distributed Solution to the Network Reconstruction Problem", Systems & Control Letters, vol. 70, pp. 85-91, August 2014.

[J13] F. Morbidi, "The Deformed Consensus Protocol", Automatica, vol. 49, n. 10, pp. 3049-3055, October 2013.

[J12] F. Morbidi, G.L. Mariottini, "Active Target Tracking and Cooperative Localizationfor Teams of Aerial Vehicles", IEEE Transactions on Control Systems Technology, vol. 21, n. 5, pp. 1694-1707, September 2013.

[J11] G.L. Mariottini, S. Scheggi, F. Morbidi, D. Prattichizzo, "An Accurate and Robust Visual-Compass Algorithm for Robot-mounted Omnidirectional Cameras", Robotics and Autonomous Systems, vol. 60, n. 9, pp. 1179-1190, September 2012.

[J10] G.L. Mariottini, S. Scheggi, F. Morbidi, D. Prattichizzo, "Planar mirrors for image-based robot localization and 3-D reconstruction", Mechatronics, Special Issue on Visual Servoing, vol. 22, n. 4, pp. 398-409, June 2012.

[J9] L. Consolini, F. Morbidi, D. Prattichizzo, M. Tosques, "On a Class of Hierarchical Formations of Unicycles and Their Internal Dynamics", IEEE Transactions on Automatic Control, vol. 57, n. 4, pp. 847-859, April 2012.

[J8] F. Morbidi, F. Bullo, D. Prattichizzo, "Visibility maintenance via controlled invariance for leader-follower vehicle formations", Automatica, vol. 47, n. 5, pp. 1060-1067, May 2011.

[J7] F. Chinello, S. Scheggi, F. Morbidi, D. Prattichizzo, "The KUKA Control Toolbox: motion control of KUKA robot manipulators with MATLAB", IEEE Robotics & Automation Magazine, vol. 18, n. 4, pp. 69-79, December 2011.

[J6] F. Morbidi, G.L. Mariottini, D. Prattichizzo, "Observer design via Immersion and Invariance for vision-based leader-follower formation control", Automatica, vol. 46, n. 1, pp. 148-154, January 2010.

[J5] G.L. Mariottini, F. Morbidi, D. Prattichizzo, N. Vander Valk, N. Michael, G.J. Pappas, K. Daniilidis, "Vision-based Localization for Leader-Follower Formation Control", IEEE Transactions on Robotics, vol. 25, n. 6, pp. 1431-1438, December 2009.

[J4] L. Consolini, F. Morbidi, D. Prattichizzo, M. Tosques, "Stabilization of a hierarchical formation of unicycle robots with velocity and curvature constraints", IEEE Transactions on Robotics, vol. 25, n. 5, pp. 1176-1184, October 2009.

[J3] F. Morbidi, A. Garulli, D. Prattichizzo, C. Rizzo, S. Rossi, "Application of Kalman filter to remove TMS-induced artifacts from EEG recordings", IEEE Transactions on Control Systems Technology, vol. 16, n. 6, pp. 1360-1366, November 2008.

[J2] L. Consolini, F. Morbidi, D. Prattichizzo, M. Tosques, "Leader-Follower Formation Control of Nonholonomic Mobile Robots with Input Constraints", Automatica, vol. 44, n. 5, pp. 1343-1349, May 2008.

[J1] F. Morbidi, A. Garulli, D. Prattichizzo, C. Rizzo, P. Manganotti, S. Rossi, "Off-line removal of TMS-induced artifacts on human electroencephalography by Kalman filter", Journal of Neuroscience Methods, vol. 162, pp. 293-302, May 2007.

Book chapters

[BC4] A. Staranowicz, G.R. Brown, F. Morbidi, G.L. Mariottini, "Easy-to-Use and Accurate Calibration of RGB-D Cameras from Spheres", in Proc. 6th Pacific-Rim Symposium on Image and Video Technology, R. Klette, M. Rivera, S. Satoh, Eds., Lecture Notes in Computer Science, Springer-Verlag, Volume 8333, pp. 265-278, 2014.

[BC3] G.L. Mariottini, S. Scheggi, F. Morbidi, D. Prattichizzo, "Catadioptric Stereo with Planar Mirrors: Multiple-View Geometry and Camera Localization", in Visual Servoing via Advanced Numerical Methods, G. Chesi and K. Hashimoto, Eds., Lecture Notes in Computer Science, Springer-Verlag, pp. 3-22, 2010.

[BC2] G.L. Mariottini, S. Scheggi, F. Morbidi, D. Prattichizzo, "A Robust Uncalibrated Visual Compass Algorithm from Paracatadioptric Line Images", in Proc. First Workshop on Omnidirectional Robot Vision, E. Menegatti and T. Pajdla, Eds., Lecture Notes in Computer Science, Springer-Verlag, pp. 242-255, November 2008.

[BC1] F. Morbidi, D. Prattichizzo, "Sliding mode formation tracking control of a tractor and trailer-car system", in Robotics: Science and Systems III, Wolfram Burgard, Oliver Brock and Cyrill Stachniss Editors, MIT press, Cambridge MA, pp. 113-120, March 2008.

Conference papers

[C41] F. Morbidi, D. Pisarski, "Practical and Accurate Generation of Energy-Optimal Trajectories for a Planar Quadrotor", in Proc. IEEE International Conference on Robotics and Automation, Xi'an, China, pp. 355-361, May 30 - June 5, 2021. Matlab code, Video presentation (18.3 MB)

[C40] S. Delmas, F. Morbidi, G. Caron, J. Albrand, M. Jeanne-Rose, L. Devigne, M. Babel, "SpheriCol: A Driving Assistance System for Power Wheelchairs Based on Spherical Vision and Range Measurements", in Proc. IEEE/SICE International Symposium on System Integration, Iwaki, Japan, pp. 505-510, January 11-14, 2021. Video presentation (49 MB)

[C39] D. Adlakha, A. Habed, F. Morbidi, C. Demonceaux, M. de Mathelin, "Stratified Autocalibration of Cameras with Euclidean Image Plane", in Proc. 31st British Machine Vision Conference, Manchester, UK, paper 26, September 7-11, 2020. Supplementary material, Videos

[C38] G. Hardouin, J. Moras, F. Morbidi, J. Marzat, E. Mouaddib, "Next-Best-View planning for surface reconstruction of large-scale 3D environments with multiple UAVs", in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, USA, pp. 1567-1574, October 25-29, 2020.

[C37] J. Caracotte, F. Morbidi, E. Mouaddib, "Photometric Stereo with Twin-Fisheye Cameras", in Proc. 25th International Conference on Pattern Recognition, Milan, Italy, pp. 5270-5277, January 10-15, 2021.

[C36] G. Hardouin, F. Morbidi, J. Moras, J. Marzat, E. Mouaddib, "Surface-driven Next-Best-View planning for exploration of large-scale 3D environments", in Proc. 21st IFAC World Congress, Berlin, Germany, pp. 15501-15507, 12-17 July 2020.

[C35] F. Morbidi, "Subspace Projectors for State-Constrained Multi-Robot Consensus", in Proc. IEEE International Conference on Robotics and Automation, Paris, France, pp. 7705-7711, May 31 - June 4, 2020. Extended version (tech. report), Video presentation (19 MB)

[C34] D. Adlakha, A. Habed, F. Morbidi, C. Demonceaux, M. de Mathelin, "QUARCH: A New Quasi-Affine Reconstruction Stratum from Vague Relative Camera Orientation Knowledge", in Proc. 17th International Conference on Computer Vision, Seoul, Republic of Korea, pp. 1082-1090, October 29 - November 1, 2019.

[C33] F. Morbidi, E. Bretagne, "A New Characterization of Mobility for Distance-Bearing Formations of Unicycle Robots", in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, pp. 4833-4839, October 1-5, 2018. Video

[C32] F. Morbidi, D. Bicego, M. Ryll, A. Franchi, "Energy-Efficient Trajectory Generation for a Hexarotor with Dual-Tilting Propellers", in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, pp. 6226-6232, October 1-5, 2018.

[C31] G. Caron, F. Morbidi, "Spherical Visual Gyroscope for Autonomous Robots using the Mixture of Photometric Potentials", in Proc. IEEE International Conference on Robotics and Automation, Brisbane, Australia, pp. 820-827, May 21-25, 2018, Spotlight Video.

[C30] F. Morbidi, R. Cano, D. Lara, "Minimum-Energy Path Generation for a Quadrotor UAV", in Proc. IEEE International Conference on Robotics and Automation, Stockholm, Sweden, pp. 1492-1498, May 16-21, 2016.

[C29] F. Morbidi, L. León Ojeda, C. Canudas de Wit, I. Bellicot, "A New Robust Approach for Highway Traffic Density Estimation", in Proc. European Control Conference, invited session "Traffic Control and Estimation: New Trends and Opportunities", Strasbourg, France, pp. 2576-2580, June 24-27, 2014.

[C28] F. Morbidi, "The Second-order Parametric Consensus Protocol", in Proc. European Control Conference, Strasbourg, France, pp. 202-207, June 24-27, 2014. Extended version (August 2014)

[C27] S. Scheggi, M. Aggravi, F. Morbidi, D. Prattichizzo, "Cooperative human-robot haptic navigation", in Proc. IEEE International Conference on Robotics and Automation, Hong Kong, China, pp. 2693-2698, May 31 - June 5, 2014.

[C26] S. Scheggi, F. Morbidi, D. Prattichizzo, "Uncalibrated Visual Compass from Omnidirectional Line Images with Application to Attitude MAV Estimation", in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, pp. 1602-1607, November 3-7, 2013.

[C25] U. Gürcüoglu, G.A. Puerto-Souza, F. Morbidi, G.L. Mariottini, "Hierarchical Control of a Team of Quadrotors for Cooperative Active Target Tracking", in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, pp. 5730-5735, November 3-7, 2013.

[C24] F. Morbidi, P. Colaneri, T. Stanger, "Decentralized optimal control of a vehicle platoon with guaranteed string stability", in Proc. European Control Conference, Zurich, Switzerland, pp. 3494-3499, July 17-19, 2013.

[C23] F. Morbidi, "On the control of the algebraic connectivity and clustering of a network of mobile agents", in Proc. European Control Conference, Zurich, Switzerland, pp. 2801-2806, July 17-19, 2013.

[C22] F. Morbidi, "On the Properties of the Deformed Consensus Protocol", in Proc. 51st IEEE Conference on Decision and Control, Maui, Hawaii, USA, pp. 812-817, December 10-13, 2012.

[C21] F. Morbidi, G.L. Mariottini,"On Active Target Tracking and Cooperative Localization for Multiple Aerial Vehicles", in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (invited session on "Aerial Robotics"), pp. 2229-2234, San Francisco, CA, USA, September 25-30, 2011.

[C20] F. Morbidi, C. Ray, G.L. Mariottini, "Cooperative active target tracking for heterogeneous robots with application to gait monitoring", in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3608-3613, San Francisco, CA, USA, September 25-30, 2011.

[C19] F. Morbidi, R.A. Freeman, K.M. Lynch, "Estimation and Control of UAV Swarms for Distributed Monitoring Tasks", in Proc. American Control Conference, pp. 1069-1075, San Francisco, CA, USA, June 29-July 1, 2011.

[C18] L. Consolini, F. Morbidi, D. Prattichizzo, M. Tosques, "On the internal dynamics of formations of unicycle robots", in Proc. 49th IEEE Conference on Decision and Control, pp. 5462-5467, Atlanta, GA, USA, December 15-17, 2010.

[C17] F. Morbidi, A. Giannitrapani, D. Prattichizzo, "Maintaining connectivity among multiple agents in cyclic pursuit: a geometric approach", in Proc. 49th IEEE Conference on Decision and Control, pp. 7461-7466, Atlanta, GA, USA, December 15-17, 2010.

[C16] G. Marro, F. Morbidi, L. Ntogramatzidis, D. Prattichizzo, "Geometric Control Theory for Linear Systems: a Tutorial", in Proc. 19th International Symposium on Mathematical Theory of Networks and Systems, pp. 1579-1590, Budapest, Hungary, July 5-9, 2010. Slides of the mini-course.

[C15] L. Consolini, F. Morbidi, D. Prattichizzo, M. Tosques, "Non-rigid Formations of Nonholonomic Robots", in Proc. IEEE International Conference on Robotics and Automation, pp. 4976-4981, Anchorage, AK, USA, May 3-8, 2010.

[C14] F. Chinello, S. Scheggi, F. Morbidi, D. Prattichizzo, "KCT: a MATLAB toolbox for motion control of KUKA robot manipulators", in Proc. IEEE International Conference on Robotics and Automation, pp. 4603-4608, Anchorage, AK, USA, May 3-8, 2010.

[C13] G. Marro, F. Morbidi, D. Prattichizzo, "A Geometric Solution to the Cheap Spectral Factorization Problem", in Proc. European Control Conference, pp. 814-819, Budapest, Hungary, August 23-26, 2009.

[C12] F. Morbidi, G. Ripaccioli, D. Prattichizzo, "On Connectivity Maintenance in Linear Cyclic Pursuit", in Proc. IEEE InternationalConference on Robotics and Automation, pp. 363-368, Kobe, Japan, May 12-17, 2009.

[C11] F. Morbidi and D. Prattichizzo, "Range estimation from a moving camera: an Immersion and Invariance approach", in Proc. IEEE International Conference on Robotics and Automation, pp. 2810-2815, Kobe, Japan, May 12-17, 2009.

[C10] G.L. Mariottini, S. Scheggi, F. Morbidi, D. Prattichizzo, "Planar Catadioptric Stereo: Single and Multi-View Geometry for Calibration and Localization", in Proc. IEEE International Conference on Robotics and Automation, pp. 1510-1515, Kobe, Japan, May 12-17, 2009.

[C9] F. Morbidi, F. Bullo, D. Prattichizzo, "On leader-follower visibility maintenance via controlled invariance for Dubins-like vehicles", in Proc. 47th IEEE Conference on Decision and Control, pp. 1821-1826, Cancun, Mexico, December 9-11, 2008.

[C8] F. Morbidi, G.L. Mariottini, D. Prattichizzo, "Vision-based range estimation via Immersion and Invariance for robot formation control", in Proc. IEEE International Conference on Robotics and Automation, pp. 504-509, Pasadena, CA, USA, May 19-23, 2008.

[C7] L. Consolini, F. Morbidi, D. Prattichizzo, M. Tosques, "Steering hierarchical formations of unicycle robots", in Proc. 46th IEEE Conference on Decision and Control, pp. 1410-1415, New Orleans, LA, USA, December 12-14, 2007.

[C6] G. Marro, F. Morbidi, D. Prattichizzo, "H2-Pseudo Optimal Model Following: A Geometric Approach", in Proc. 3rd IFAC Symposium on System, Structure and Control, Foz do Iguaçu, Brazil, October 17-19, 2007.

[C5] F. Morbidi, L. Consolini, D. Prattichizzo, M. Tosques, "Leader-Follower Formation Control as a Disturbance Decoupling Problem", in Proc. European Control Conference, pp. 1492-1497, Kos, Greece, July 2-5, 2007.

[C4] F. Morbidi, A. Garulli, D. Prattichizzo, C. Rizzo, S. Rossi, "A Kalman filter approach to remove TMS-induced artifacts from EEG recordings", in Proc. European Control Conference, pp. 2201-2206, Kos, Greece, July 2-5, 2007.

[C3] L. Consolini, F. Morbidi, D. Prattichizzo, M. Tosques, "A Geometric Characterization of Leader-Follower Formation Control", in Proc. IEEE International Conference on Robotics and Automation, pp. 2397-2402, Rome, April 10-14, 2007.

[C2] G.L. Mariottini, F. Morbidi, D. Prattichizzo, G.J. Pappas, K. Daniilidis, "Leader-Follower Formations: Uncalibrated Vision-Based Localization and Control", in Proc. IEEE International Conference on Robotics and Automation, pp. 2403-2408, Rome, April 10-14, 2007.

[C1] L. Consolini, F. Morbidi, D. Prattichizzo, M. Tosques, "On the Control of a Leader-Follower Formation of Nonholonomic Mobile Robots", in Proc. 45th IEEE Conference on Decision and Control, pp. 5992-5997, San Diego, CA, USA, December 13-15, 2006.

Ph.D. thesis

[T] F. Morbidi, "Leader-Follower Formation Control and Visibility Maintenance of Nonholonomic Mobile Robots", Department of Information Engineering, University of Siena, March 27, 2009 Presentation (.pdf), Video (.m4v)