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anytime-asymptotically-optimal-motion-planning-v-rep-

University group project concerning the use of an optimal motion planning algorithm to move a mobile that is assigned a navigation task. The optimal motion planning algorithm chosen is the anytime motion planning based on the RRT*, which is a sampling-based algorithm with an asymptotic optimality property. The simulation environment is V-rep.

cnn-for-image-classification

University individual project concerning the design of a Convolutional Neural Network and the use of Transfer Learning for Image Classification.

implementation-of-artificial-pancreas-for-patients-of-1-diabetes-using-artificial-neural-network-

University project concerning the implementation of an Artificial Pancreas exploiting the potentiality of ANN. To generate the data for training our neural network, a reference controller was used. The reference controller employed was Model Predictive Control. The code has been written in Matlab.

opengl-animation-of-a-dog-

optimization-based-iterative-learning-control-for-trajectory-tracking

University group project concerning the implementation of an iterative learning controller tested on a Cart-Pole system. The code has been implemented in Matlab.

region-controller-iiwa

Development of adaptive control algorithms for the automatic adjustment of the level of assistance to be provided to the patient in rehabilitation on the basis of the interpretation of movement intentions and the progress made in the recovery of motor functions. The platform of interest is Kuka MED Robot.

rehabilitation_robotics