Sitemap

A list of all the posts and pages found on the site. For you robots out there is an XML version available for digesting as well.

Page Not Found

Page not found. Cannot work on this first try…

Jupyter notebook markdown generator

Posts

portfolio

publications

Personalized human-swarm interaction through hand motion

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

Numerical model of the irradiance field surrounding a UV disinfection robot

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

Collision Avoidance in Model Predictive Control using Velocity Damper

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

Optimal Control of Closed Loop Walkers

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

Ludovic De Matteis

Sitemap

Pages

Posts

portfolio

publications

talks

teaching