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Fabio Ruggiero

Napoli, Italy

fabio (dot) ruggiero (at) unina (dot) it

+39 081 76-83843

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International Journal Papers

  • S. Federico, C. Natale, F. RUGGIERO, M. Selvaggio, M. Costanzo, Uncertainty-aware trajectory planning and nonlinear model predictive control for non-prehensile robotic manipulation, in Machines, 14(7), 768, 2026, DOI: 10.3390/machines14070768. [pdf]
  • F. Pagano, S. Marcellini, M. Selvaggio, V. Lippiello, F. RUGGIERO, Multi-robot nonlinear model predictive control for persistent monitoring, IEEE Transactions on Control Systems Technology, vol. 34, n. 2, pp. 906–918, 2026, DOI: 10.1109/TCST.2025.3648511. [pdf]
  • A. Ollero, A. Suarez, C. Papaioannidis, I. Pitas, J.M. Marredo, V.D. Hoang, E. Ebeid, V. Kratky, M. Saska, C. Hanoune, A. Afifi, A. Franchi, C. Vourtsis, D. Floreano, G. Vasiljevic, S. Bogdan, A. Caballero, F. RUGGIERO, V. Lippiello, C. Matilla, G. Cioffi, D. Scaramuzza, J.R. Martinez de Dios, B.C. Arrue, C. Martin, K. Zurad, C. Gaitan, J. Rodriguez, A. Munoz, A. Viguria, Multi-aerial robotic system for power line inspection and maintenance: Comparative analysis from the AERIAL-CORE final experiments, IEEE Transactions on Field Robotics, vol. 2, pp. 549–573, 2025, DOI: 10.1109/TFR.2025.3586991. [pdf]
  • S. D'Angelo, M. Selvaggio, V. Lippiello, F. RUGGIERO, Semi-autonomous unmanned aerial manipulator teleoperation for push-and-slide inspection using parallel force/vision control, Robotics and Autonomous Systems, vol. 186, 104912, 2025, DOI: 10.1016/j.robot.2024.104912. [pdf]
  • J. Cacace, V. Scognamiglio, F. RUGGIERO, V. Lippiello, Motor fault detection and isolation for multi-rotor UAVs based on external wrench estimation and recurrent deep neural network, Journal of Intelligent and Robotic Systems, 110, 148, 2024, DOI: 10.1007/s10846-024-02176-2. [pdf]
  • E. Franco, P. Arpenti, A. Donaire, F. RUGGIERO, Integral IDA-PBC for underactuated mechanical systems subject to matched and unmatched disturbances, IEEE Control Systems Letters, pp. 568–573, 2024, DOI: 10.1109/LCSYS.2024.3399474. [pdf]
  • M. Selvaggio, R. Moccia, P. Arpenti, R. Caccavale, F. RUGGIERO, J. Cacace, F. Ficuciello, A. Finzi, V. Lippiello, L. Villani, B. Siciliano, Robotics Goes PRISMA, Robotica, (to appear), DOI: 10.1017/S026357472400033X. [pdf]
  • Z. Xie, Y. Wang, X. Luo, P. Arpenti, F. RUGGIERO, B. Siciliano, Three-dimensional variable center of mass height biped walking using a new model and nonlinear model predictive control, Mechanism and Machine Theory, vol. 197, 105651, 2024, DOI: 10.1016/j.mechmachtheory.2024.105651. [pdf]
  • G. D'Ago, M. Selvaggio, A. Suarez, F.J. Ganán, L.R. Buonocore, M. Di Castro, V. Lippiello, A. Ollero, F. RUGGIERO, Modelling and identification methods for simulation of cable-suspended dual-arm robotic systems, Robotics and Autonomous Systems, vol. 175, 104643, 2024, DOI: 10.1016/j.robot.2024.104643. [pdf]
  • S. D'Angelo, A. Corrado, F. RUGGIERO, J. Cacace, V. Lippiello, Stabilization and control on a pipe-rack of a wheeled mobile manipulator with a snake-like arm, Robotics and Autonomous Systems, vol. 171, 104554, 2024, DOI: 10.1016/j.robot.2023.104554. [pdf]
  • M. Selvaggio, A. Garg, F. RUGGIERO, G. Oriolo, B. Siciliano, Non-prehensile object transportation via model predictive non-sliding manipulation control, IEEE Transactions on Control Systems Technology, vol. 31, n. 5, pp. 2231–2244, 2023, DOI: 10.1109/TCST.2023.3277224. [pdf]
  • V. Morlando, J. Cacace, F. RUGGIERO, Online feet potential fields for quadruped robots navigation in harsh terrains, Robotics, 12(3), 86, 2023, DOI: 10.3390/robotics12030086. [pdf]
  • R. Subburaman, M. Selvaggio, F. RUGGIERO, A non-prehensile object transportation framework with adaptive tilting based on quadratic programming, IEEE Robotics and Automation Letters, vol. 8, n. 6, pp. 3581–3588, 2023, DOI: 10.1109/LRA.2023.3268594. [pdf]
  • J. Cacace, L. Giampetraglia, F. RUGGIERO, V. Lippiello, A novel gripper prototype for helical bird diverter manipulation, Drones, vol. 7, n. 1, 60, 2023, DOI: 10.3390/drones7010060. [pdf]
  • S.M. Orozco Sotos, F. RUGGIERO, V. Lippiello, Globally attractive hyperbolic control for the robust flight of an actively tilting quadrotor, Drones, vol. 6, n. 12, 373, 2022, DOI: 10.3390/drones6120373. [pdf]
  • S.M. Orozco Sotos, J. Cacace, F. RUGGIERO, V. Lippiello, Active disturbance rejection control for the robust flight of a passively tilted hexarotor, Drones, vol. 6, n. 9, 258, 2022, DOI: 10.3390/drones6090258. [pdf]
  • Y. Farid, B. Siciliano, F. RUGGIERO, Review and descriptive investigation of the connection between bipedal locomotion and non-prehensile manipulation, Annual Reviews in Control, vol. 53, pp. 51-69, 2022, DOI: 10.1016/j.arcontrol.2022.04.009. [pdf]
  • Y. Farid, F. RUGGIERO, Finite-time extended state observer and fractional-order sliding mode controller for impulsive hybrid port-Hamiltonian systems with input delay and actuators saturation: Application to ball-juggler robots, Mechanism and Machine Theory, vol. 167, 104577, 2022, DOI: 10.1016/j.mechmachtheory.2021.104577. [pdf]
  • Y. Farid, F. RUGGIERO, Finite-time disturbance reconstruction and robust fractional-order controller design for hybrid port-Hamiltonian dynamics of biped robots, Robotics and Autonomous Systems, vol. 144, 103836, 2021, DOI: 10.1016/j.robot.2021.103836. [pdf]
  • V. Morlando, A. Teimoorzadeh, F. RUGGIERO, Whole-body control with disturbance rejection through a momentum-based observer for quadruped robots, Mechanism and Machine Theory, vol. 164, 104412, 2021, DOI: 10.1016/j.mechmachtheory.2021.104412. [pdf]
  • M. Selvaggio, J. Cacace, C. Pacchierotti, F. RUGGIERO, P. Robuffo Giordano, A shared-control teleoperation architecture for nonprehensile object transportation, IEEE Transactions on Robotics, vol. 38, n. 1, pp. 569-583, 2022, DOI: 10.1109/TRO.2021.3086773. [pdf] Finalist for the “Fabrizio Flacco” Young Author Best Paper Award 2021.
  • P. Arpenti, F. RUGGIERO, V. Lippiello, A constructive methodology for the IDA-PBC of underactuated 2-DoF mechanical systems with explicit solution of PDEs, International Journal of Control, Automation and Systems, vol. 20, pp. 283-297, 2022, DOI: 10.1007/s12555-020-0839-1. [pdf]
  • S. Zhao, F. RUGGIERO, G.A. Fontanelli, V. Lippiello, Z. Zhu, B. Siciliano, Nonlinear model predictive control for the stabilization of a wheeled unmanned aerial vehicle on a pipe, IEEE Robotics and Automation Letters, vol. 4, n. 4, pp. 4314-4321, 2019, DOI: 10.1109/LRA.2019.2931821. [pdf]
  • D. Serra, F. RUGGIERO, A. Donaire, L.R. Buonocore, V. Lippiello, B. Siciliano, Control of nonprehensile planar rolling manipulation: A passivity-based approach, IEEE Transactions on Robotics, vol. 35, n. 2, pp. 317-329, 2019, DOI: 10.1109/TRO.2018.2887356. [pdf]
  • F. RUGGIERO, A. Petit, D. Serra, A.C. Satici, J. Cacace, A. Donaire, F. Ficuciello, L.R. Buonocore, G.A. Fontanelli, V. Lippiello, L. Villani, B. Siciliano, Nonprehensile manipulation of deformable objects: Achievements and perspectives from the RoDyMan project, IEEE Robotics & Automation Magazine, vol. 25, pp. 83-92, 2018, DOI: 10.1109/MRA.2017.2781306. [pdf]
  • F. RUGGIERO, V. Lippiello, A. Ollero, Aerial manipulation: A literature review, IEEE Robotics and Automation Letters, vol. 3, n. 3, pp. 1957-1964, 2018, DOI: 10.1109/LRA.2018.2808541. [pdf]
  • V. Lippiello, G.A. Fontanelli, F. RUGGIERO, Image-based visual-impedance control of a dual-arm aerial manipulator, IEEE Robotics and Automation Letters, vol. 3, n. 3, pp. 1856-1863, 2018, DOI: 10.1109/LRA.2018.2806091. [pdf] Presented also at the 2018 IEEE International Conference on Robotics and Automation.
  • F. RUGGIERO, V. Lippiello, B. Siciliano, Nonprehensile dynamic manipulation: A survey, IEEE Robotics and Automation Letters, vol. 3, n. 3, pp. 1711-1718, 2018, DOI: 10.1109/LRA.2018.2801939. [pdf]
  • A. Gutiérrez-Giles, F. RUGGIERO, V. Lippiello, B. Siciliano, Nonprehensile manipulation of an underactuated mechanical system with second order nonholonomic constraints: The robotic hula-hoop, IEEE Robotics and Automation Letters, vol. 3, n. 2, pp. 1136-1143, 2018, DOI: 10.1109/LRA.2018.2792403. [pdf]
  • F. Vigoriti, F. RUGGIERO, V. Lippiello, L. Villani, Control of redundant robot arms with null-space compliance and singularity-free orientation representation, Robotics and Autonomous Systems, vol. 100, pp. 186-193, 2018, DOI: 10.1016/j.robot.2017.11.007. [pdf]
  • A. Donaire, F. RUGGIERO, V. Lippiello, B. Siciliano, Passivity-based control for a rolling-balancing system: The nonprehensile disk-on-disk, IEEE Transactions on Control Systems Technology, vol. 25, n. 6, pp. 2135-2142, 2017, DOI: 10.1109/TCST.2016.2637719. [pdf]
  • V. Lippiello, F. RUGGIERO, B. Siciliano, The effects of shapes in input-state linearization for stabilization of nonprehensile planar rolling dynamic manipulation, IEEE Robotics and Automation Letters, vol. 1, n. 1, pp. 492-499, 2016, DOI: 10.1109/LRA.2016.2519147. [pdf] Presented also at the 2016 IEEE International Conference on Robotics and Automation.
  • F. RUGGIERO, J. Cacace, H. Sadeghian, V. Lippiello, Passivity-based control of VTOL-UAVs with a momentum-based estimator of external wrench and unknown dynamics, Robotics and Autonomous Systems, vol. 72, pp. 139-151, 2015, DOI: 10.1016/j.robot.2015.05.006. [pdf]
  • P. Cigliano, V. Lippiello, F. RUGGIERO, B. Siciliano, Robotic ball catching with an eye-in-hand single-camera system, IEEE Transactions on Control Systems Technology, vol. 23, n. 5, pp. 1657-1671, 2015, DOI: 10.1109/TCST.2014.2380175. [pdf]
  • F. Caccavale, V. Lippiello, G. Muscio, F. Pierri, F. RUGGIERO, L. Villani, Grasp planning and parallel control of a redundant dual-arm/hand manipulation system, Robotica, vol. 31, n. 7, pp. 1169-1194, 2013, DOI: 10.1017/S0263574713000647. [pdf]
  • V. Lippiello, F. RUGGIERO, B. Siciliano, 3D monocular robotic ball catching, Robotics and Autonomous Systems, vol. 61, n. 12, pp. 1615-1625, 2013, DOI: 10.1016/j.robot.2013.06.008. [pdf]
  • J.-C. Ryu, F. RUGGIERO, K. Lynch, Control of nonprehensile rolling manipulation: Balancing a disk on a disk, IEEE Transactions on Robotics, vol. 29, n. 5, pp. 1152-1161, 2013, DOI: 10.1109/TRO.2013.2262775. [pdf]
  • V. Lippiello, F. RUGGIERO, B. Siciliano, L. Villani, Visual grasp planning for unknown objects using a multi-fingered robotic hand, IEEE/ASME Transactions on Mechatronics, vol. 18, n. 3, pp. 1050-1059, 2013, DOI: 10.1109/TMECH.2012.2195500. [pdf] 2015 I-RAS Young Author Best Paper Award.