Publications

See Google Scholar for a complete list.

Recent Articles under Review

2026

  1. cooperative_localization.png
    ADMM-Based Distributed Kalman-like Observer with Applications to Cooperative Localization
    N. De Carli, N. Bastianello, and D. V. Dimarogonas
    2026
    arXiv PDF Code
  2. multidomain.png
    Marinarium: a New Arena to Bring Maritime Robotics Closer to Shore
    I. Torroba, D. Dörner, V. N. Fernandez-Ayala, and 14 more authors
    2026
    arXiv PDF
  3. stl_gcs.png
    STL-GCS: A Planner-Controller Framework for Signal Temporal Logic via Graphs of Time-varying Convex Sets
    N. De Carli, G. Marchesini, and D. V. Dimarogonas
    2026
    arXiv PDF
  4. brovs.png
    Vision-based Underwater Formation Control With Input Saturations via Barrier Lyapunov Functions
    Nicola De Carli, João Zenário, Victor Nan Fernandez-Ayala, and 1 more author
    2026
    arXiv PDF Video Code
  5. remote_operator.png
    Multi-Agent Transportation of Free-Flyers in Microgravity Via Pushing Interaction Under Human-in-the-Loop Control
    Gregorio Marchesini, Nicola De Carli, Sihyun Cho, and 5 more authors
    2026
    arXiv PDF Video
  6. omrs.png
    Safe Formation Control of Open Multi-Robot Systems with Connectivity-Preserving Reconfiguration
    Pelin Şekercioğlu, Nicola De Carli, and Dimos V. Dimarogonas
    2026
    arXiv PDF Video Code

Journal Papers

2025

  1. cooperative_localization.png
    A Distributed Kalman-like Observer with Dynamic Inversion-Based Correction for Multi-Agent Estimation
    N. De Carli and D. V. Dimarogonas
    IEEE Control Systems Letters, 2025
    PDF Code
  2. source_exp.png
    Distributed Multi-Robot Active-Sensing of a Diffusive Source
    F. Pagano, N. De Carli, E. Restrepo, and 2 more authors
    IEEE Robotics and Automation Letters, 2025
    PDF Video

2024

  1. adaptive_observer.png
    Adaptive observer from body-frame relative position measurements for cooperative localization
    N. De Carli, E. Restrepo, and P. R. Giordano
    IEEE Control Systems Letters, 2024
    PDF

2023

  1. persistent_monitoring.png
    Persistent monitoring of multiple moving targets using high order control barrier functions
    L. Balandi, N. De Carli, and P. R. Giordano
    IEEE Robotics and Automation Letters, 2023
    PDF Video

Conference Papers

2026

  1. validationspaceunderwater.png
    Validation of Space Robotics in Underwater Environments via Disturbance Robustness Equivalency
    J. Verhagen, E. Krantz, C. Sidrane, and 9 more authors
    In 2026 IEEE International Conference on Robotics and Automation (ICRA), 2026
    HTML PDF Code
  2. atmos_docking.jpg
    Demonstration of Space Robot Teleoperation over a Lossy and Delayed Network using ATMOS
    Inkyu Jang, Gregorio Marchesini, Nicola De Carli, and 15 more authors
    In Proceedings of the 23rd IFAC World Congress, 2026
    PDF Video
  3. Flycrane_scheme_image.png
    Perception-Aware Control for Cooperative Cable-Suspended Transportation Under Sensing Constraints
    V. Braglia, N. De Carli, E. Restrepo, and 1 more author
    In 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026
    PDF

2024

  1. Sensing_lims.png
    Distributed control barrier functions for global connectivity maintenance
    N. De Carli, P. Salaris, and P. R. Giordano
    In 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
    PDF Video Code

2023

  1. multi_robot_active_sensing_bearing.png
    Multi-robot active sensing for bearing formations
    N. De Carli, P. Salaris, and P. R. Giordano
    In 2023 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2023
    PDF

2021

  1. perception_aware_path_planning.png
    Online decentralized perception-aware path planning for multi-robot systems
    N. De Carli, P. Salaris, and P. R. Giordano
    In 2021 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2021
    PDF

PhD thesis