Published in IEEE Robotics and Automation Letters, 2021
Recommended citation: Macchini, M., De Matteïs, L., Schiano, F., & Floreano, D. (2021). Personalized human-swarm interaction through hand motion. IEEE Robotics and Automation Letters, 6(4), 8341-8348. https://arxiv.org/pdf/2103.07731.pdf
Published in Biomedical Physics & Engineering Express, 2022
Recommended citation: De Matteis, L., Cullinan, M. F., & McGinn, C. (2022). Numerical model of the irradiance field surrounding a UV disinfection robot. Biomedical Physics & Engineering Express, 8(5), 055025. https://iopscience.iop.org/article/10.1088/2057-1976/ac7e6e/pdf
Published in IEEE-ICRA - Submitted, in review, 2025
In this paper, we propose a method to include collision avoidance in the control of a manipulator robot based on a velocity damper model. This allows to account for approach velocity and permits collision avoidance for a wider spectrum of applications than classical avoidance methods. We implemented our method on a Panda robot to perform several comparisons. In this paper, I mainly contributed to writing the derivatives of the collision avoidance constraint with respect to the robot state and controls in order to use it in a DDP setting.
Recommended citation: Arthur Haffemayer, Armand Jordana, Ludovic de Matteis, Krzysztof Wojciechowski, Florent Lamiraux, et al.. Collision Avoidance in Model Predictive Control using Velocity Damper. 2024. https://gepettoweb.laas.fr/articles/haffemayer2025.html
Published in IEEE-ICRA - Submitted, in review, 2025
In this paper, we present a method for controlling robots with closed kinematic loops (such as parallel actuation). We propose to use a serial model - for instance based on an underlying main chain - and to use additionnal constraints to account for closures. We demonstrate the advatages of this method by comparing it to a classical simplified model of the robot on several motions (walk, jump, sidewalk, and climbing stairs).
Recommended citation: Ludovic de Matteis, Virgile Batto, Justin Carpentier, Nicolas Mansard. Optimal Control of Walkers with Parallel Actuation. 2024. https://gepettoweb.laas.fr/articles/ldematte_icra2025.html
Competitve Examination, ENS Paris Saclay, Departement of Electrical engineering, 2022
Year 2021-2022
Undergraduate Course, IUT GEII, Université Paul Sabatier, 2023
Fall 2023 (First year PhD)
Postgraduate Course, ISAE Supaero, 2023
Fall 2023 (First year PhD)
Undergraduate Course, IUT GEII, Université Paul Sabatier, 2024
Spring 2024 (First year PhD)
Undergraduate Course, IUT GEII, Université Paul Sabatier, 2024
Fall 2024 (Second year PhD)
Undergraduate Course, IUT GEII, Université Paul Sabatier, 2025
Spring 2025 (Second year PhD)