Publications

Selected research papers, conference proceedings, and thesis work.

Journal

Optimization-Based Reference Generator for Nonlinear Model Predictive Control of Legged Robots

A. Bratta, M. Focchi, N. Rathod, C. Semini
Robotics, vol. 12(1), art. no. 6, 2023.

Model Predictive Control with Environment Adaptation for Legged Locomotion

N. Rathod, A. Bratta, M. Focchi, M. Zanon, O. Villarreal, C. Semini, A. Bemporad
IEEE Access, vol. 9, pp. 145710-145727, 2021.

Modelling and predictive control of a solar cooling plant with flexible configuration

N. Rathod, A. La Bella , G. Puleo, R. Scattolini , A. Rossetti , C. Sandroni
Journal of Process Control, 76, 74–86, 2019.

Conference

Towards a Nonlinear Model Predictive Control for Quadrupedal Locomotion on Rough Terrain

A. Bratta, N. Rathod, M. Zanon, O. Villarreal, A. Bemporad, C. Semini, M. Focchi
Italian Institute of Robotics and Intelligent Machines (I-RIM) Conference, 3rd edition, Rome, Italy, 2021.

Thesis

Model Predictive Control for Legged Robots

Niraj Rathod
IMT Institute for Advanced Studies Lucca, 2023.

Modelling, simulation and predictive control of the medium temperature Solar Cooling Plant

Niraj Rathod
Scuola di Ingegneria Industriale e dell’Informazione, Politecnico di Milano, 2017.

Design and development of the Variable Area Flowmeter

Niraj Rathod
Instrumentation and Control Department, College of Engineering Pune, 2011.

Workshop

Real-time MPC with Mobility-enhanced Feature for Legged Locomotion

N. Rathod, A. Bratta, M. Focchi, M. Zanon, O. Villarreal, C. Semini, A. Bemporad
Towards Real-World Deployment of Legged Robots, ICRA, Xi’an China, 2021.

Optimal control based re-planning for Quadruped robots

N. Rathod, M. Focchi, M. Zanon, A. Bemporad
Numerical Optimization for Online Multi-Contact Planning and Control, Robotics: Science and Systems, Freiburg, Germany, 2019.

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