The group composed of ActLab and Aurora Lab merges competences of automatic control and operating research to address academic and industrial problems.


The main academic research topics are related to:

  • theoretical problems in automatic control (dynamic inversion, optimal control),
  • control of mechanical systems and virtual mechanical constraints,
  • control and optimization of interconnected distributed systems,
  • global optimization,
  • network and graph-based optimization problems.
  • optimal and real-time trajectory planning for robotic systems
  • collaborative robotics


The main applied research topics are:


  • motion and velocity optimization problems for mobile vehicles (AGV and road vehicles) with special emphasis on the development of fast and efficient algorithm suited to real-time applications,
  • coordination and optimization of multiple AGVs operating in industrial scenarios,
  • statistic learning and optimization methods in industry,
  • anomaly detection and predictive maintenance in industrial plants,
  • collaborative robotics,
  • anesthesia control,
  • optimization of green mobility infrastructures.

Recent Research Projects

Research project in last 5 years:

  • SAFERUN - Secure And Fast rEal-time planneR for aUtoNomous vehicles (EU – FP7)


Privately funded research projects:

  • optimization of palletizing robots,
  • multi-agent path finding in automated warehouses,
  • development and optimization of a planner for the parking maneuver of road vehicles,
  • predictive maintenance and anomaly detection on pharmaceutical production plants.
  • real-time path and velocity planners for AGV
  • laser detection system for rehabilitation exoskeletons
  • sensorless collision detection and management for collaborative robots

Selected publications

  1. Laurini, M., Consolini, L., Locatelli, M., A Graph-Based Algorithm for Optimal Control of Switched Systems: An Application to Car Parking (2021) IEEE Transactions on Automatic Control, 66 (12), pp. 6049-6055.
  2. Consolini, L., Locatelli, M., Minari, A., Piazzi, A., An optimal complexity algorithm for minimum-time velocity planning (2017) Systems and Control Letters, 103, 50-57.
  3. Consolini, L., Morbidi, F., Prattichizzo, D., Tosques, M., Leader-follower formation control of nonholonomic mobile robots with input constraints (2008) Automatica, 44 (5), pp. 1343-1349.
  4. Maggiore, M., Consolini, L., Virtual holonomic constraints for Euler-Lagrange systems (2013) IEEE Transactions on Automatic Control, 58 (4), 1001-1008.
  5. Consolini, L., Maggiore, M., Nielsen, C., Tosques, M., Path following for the PVTOL aircraft (2010) Automatica, 46 (8), 1284-1296.
  6. Consolini, L., Piazzi, A., Generalized bang-bang control for feedforward constrained regulation (2009) Automatica, 45 (10), 2234-2243.
  7. Consolini, L., Locatelli, M., On the complexity of quadratic programming with two quadratic constraints (2017) Mathematical Programming, 164 (1-2), 91-128.
  8. Consolini, L., Costalunga, A., Maggiore, M., A coordinate-free theory of virtual holonomic constraints, (2018) Journal of Geometric Mechanics, 10 (4), 467-502.
  9. Consolini L., Locatelli, M., Minari, A., Nagy, A., Vajk, I., Optimal time-complexity speed planning for robot manipulators, (2019) IEEE Transaction on Robotics, 35(3), pp. 790-797
  10. Liuzzi, G., Locatelli, M., Piccialli, V., Rass, S., Computing mixed strategies equilibria in presence of switching costs by the solution of nonconvex QP problems, (2021) Computational Optimization and Applications, 79, 561-599
  11. Locatelli, M., Convex envelopes of some quadratic functions over the n-dimensional unit simplex, (2015) SIAM Journal on Optimization, 25(1), Pages 589-621
  12. Locatelli, M., Improving upper bounds for the clique number by non-valid inequalities, Mathematical Programming, (2015) 150, 512-525
  13. Consolini, L., Locatelli M., Wang J., Xia Y., Efficient local search procedures for quadratic fractional programming problems, Computational Optimization and Applications, 76, 201–232 (2020)
  14. Locatelli, M., Polyhedral subdivisions and functional forms for the convex envelopes of bilinear, fractional and other bivariate functions over general polytopes,  (2016) Journal of Global Optimization, 66, 629-668
  15. Tagliavini, A., Guarino Lo Bianco, C., eta^3D-splines for the generation of 3D Cartesian paths with third order geometric continuity (2021). Robotics and computer integrated manufacturing, 72 (December), Article number 102203
  16. Guarino Lo Bianco, C., Faroni, M., Beschi, M., Visioli, A., A Predictive Technique for the Real-Time Trajectory Scaling under High-Order Constraints (2022). IEEE/ASME Transactions on mechatronics, Vol. 27, NO.1, pp. 315 - 326
  17. Raineri, M., Monica, R., Guarino Lo Bianco, C., A real-time 3D reconstruction of staircases for rehabilitative exoskeletons (2021). In IEEE Transactions on Medical Robotics and Bionics, Vol. 3, NO. 1, pp. 220-229.
  18. Guarino Lo Bianco, C., Raineri, M.  An experimentally validated technique for the real-time management of wrist singularities in nonredundant anthropomorphic manipulators (2020). In IEEE Transactions on Control Systems Technology, Vol. 28, NO. 4, pp.1611-1620
  19. C., Faroni, M., Beschi, Guarino Lo Bianco, M., Visioli, A.  Predictive Joint Trajectory Scaling for Manipulators with Kinodynamic Constraints (2020). In Control Engineering practice, vol. 95 (February), Article number 104264
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