Books
[B1] P. Vasseur, F. Morbidi (Editors), "Omnidirectional Vision: From Theory to Applications", ISTE - Wiley, Series: SCIENCES - Sensors and Image Processing, December 2023.
Journal papers
[J25] D. Rodrigues Da Costa, P. Vasseur, F. Morbidi, "Gyrevento: Event-based Omnidirectional Visual Gyroscope in a Manhattan World'', IEEE Robotics and Automation Letters, accepted on December 16, 2024, to appear (also accepted for presentation at the IEEE/RSJ International Conference on Intelligent Robots and Systems, Hangzhou, China, October 19-25, 2025).
[J24] G. Hardouin, J. Moras, F. Morbidi, J. Marzat, E. Mouaddib, "A Multi-Robot System for 3D Surface Reconstruction with Centralized and Distributed Architectures'', IEEE Transactions on Robotics, vol. 39, n. 4, pp. 2623-2638, August 2023.
[J23] S. Delmas, F. Morbidi, G. Caron, M. Babel, F. Pasteau, "SpheriCol: A Driving Assistant for Power Wheelchairs based on Spherical Vision'', IEEE Transactions on Medical Robotics and Bionics, vol. 5, n. 2, pp. 387-400, May 2023. Video (YouTube)
[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: Codesign and Modularity to Improve Users' Quality of Life'', IEEE Robotics & Automation Magazine, vol. 30, n. 1, pp. 24-35, March 2023 (also accepted for presentation at the IEEE International Conference on Robotics and Automation, London, May 29 - June 2, 2023). The March 2023 issue on Homecare Robots received the APEX 2024 Awards of Excellence in the Writing/Topic for Health and Medical Writing. Video presentation (13.2 MB)
[J21] F. Morbidi, "Functions of the Laplacian matrix with application to distributed formation control'', IEEE Transactions on Control of Network Systems, vol. 9, n. 3, pp. 1459-1467, September 2022.
[J20] J. Caracotte, F. Morbidi, E. Mouaddib, "Photometric stereo with central panoramic cameras'', Computer Vision and Image Understanding, vol. 201, article 103080, December 2020 [web site].
[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. [Front cover of June 2015 issue].
[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 Localization for 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. Videos
[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. Videos
[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
[C42] A. El Moudni, F. Morbidi, S. Kramm, R. Boutteau, "An Event-based Stereo 3D Mapping and Tracking Pipeline for Autonomous Vehicles", in Proc. 26th IEEE International Conference on Intelligent Transportation Systems, Workshop "Beyond Traditional Sensing for Intelligent Transportation", Bilbao, Spain, pp. 5962-5968, September 24-28, 2023.
[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 [web site].
[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 (technical 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. Presentation
[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.
HDR thesis
[T] F. Morbidi, "Cooperative Multi-robot Systems: From Perception to Action", University of Picardie Jules Verne, January 31, 2024, Presentation (.pdf), Video (.mov)
PhD 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)