These are the Canopies publications:

  • Merging Global and Local Planners: Real-Time Replanning Algorithm of Redundant Robots Within a Task-Priority Framework. P. D. Lillo, D. D. Vito and G. Antonelli, "," in IEEE Transactions on Automation Science and Engineering, 2022, doi: 10.1109/TASE.2022.3178266



  • On the Undesired Equilibria Induced by Control Barrier Function Based Quadratic Programs. Tan, Xiao, and Dimos V. Dimarogonas. IEEE Transactions on Automatic Control, Submitted, 2021. (



  • A ROS Package for Human-In-the-Loop Planning and Control under Linear Temporal Logic Tasks. Baran, Robin, Xiao Tan, Peter Varnai, Pian Yu, Sofie Ahlberg, Meng Guo, Wenceslao Shaw Cortez, and Dimos V. Dimarogonas. In 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), pp. 2182-2187. IEEE, 2021. (




  • 2-D Directed Formation Control Based on Bipolar Coordinates. Mehdifar, Farhad, Charalampos P. Bechlioulis, Julien M. Hendrickx, and Dimos V. Dimarogonas.  arXiv preprint arXiv:2108.00916 (2021). (





  • DLO@Scale: A Large-scale Meta Dataset for Learning Non-rigid Object Pushing Dynamics, Robert Gieselmann, Alberta Longhini, Alfredo Reichlin, Danica Kragic, Florian T. Pokorny, Thirty-fifth Conference on Neural Information Processing Systems, NeurIPS 2021,


  • A Preliminary Study on Virtual Reality Tools in Human-Robot Interaction. Sara Kaszuba, Francesco Leotta, Daniele Nardi. Salento AVR conference. The article is also available as a chapter of the Springer book that You can find at this link:


  • A Data-Driven Approach for Contact Detection, Classification and Reaction in Physical Human-Robot Collaboration, Lippi Martina , Gillini Giuseppe, Marino, Alessandro, Arrichiello Filippo, 2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 3597-3603, May 30 - June 5, 2021, Xi'an, China 


  • A Control Barrier Function Approach to Human-multi-robot Safe Interaction, Lippi Martina, Marino Alessandro, 2021 29th Mediterranean Conference on Control and Automation (MED), pp. 604-609, 22-25 June, 2021, Bari, Italy


  • A Mixed-Integer Linear Programming Formulation for Human,Multi-Robot Task Allocation, Lippi Martina, Marino Alessandro, 30th IEEE International Conference on Robot and Human Interactive Communication (ROMAN), 8-12 August, 2021, Waterloo, Canada


  • Human Multi-Robot Physical Interaction: a Distributed Framework, Lippi Martina, Marino Alessandro. Journal of Intelligent & Robotic Systems volume 101, 35, 2021


  • Attention deep learning based model for predicting the 3D Human Body Pose using the Robot Human Handover Phases
    Laplaza Javier, Pumarola Albert, Moreno-Noguer Francesc and  Sanfeliu Alberto. 30th IEEE International Conference on Robot and Human Interactive Communication. August 8-12, 2021.