Publications

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. Video available here

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. Video available here

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
Presentation

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.