Selected builds spanning control, robotics, and autonomy—each pairing rigorous theory with hands-on validation.
This work presents a rigorous analysis of an existing geometric control law specifically developed for generically tilted multirotor (GTM) platforms, as originally proposed by Michieletto et al. [1,2] for vehicles wit...
Sapienza Flight Team launched the Stingray VTOL program to compete in SUAS 2025 with a novel tilt-tricopter platform capable of hovering like a multirotor and cruising like a fixed-wing aircraft. I lead the design of ...
We push Differential Dynamic Programming beyond textbook form to tame under-actuated robots—machines with more freedom than motors. By fusing DDP with Levenberg-Marquardt regularisation, line-search safeguarding, hard...
In this project we tackle CarRacing-v0, OpenAI Gym’s 2-D racetrack, treating each rendered frame as an image-classification task. By converting raw pixels into steering and throttle commands, we train an agent that ma...
Implemented classical and decentralized MPC to schedule optimal charging of a large fleet of plug-in electric vehicles.
Teaming up with three fellow engineers, I spearheaded the creation of a high-fidelity Simulink digital twin of NASA’s historic Ingenuity helicopter—the first aircraft ever to achieve powered flight on another planet (...
ACC on a self-balancing wheeled robot (GRANDLAND)