Aurelio Piazzi
Papers
15
Total Citations
684
H-Index
9
About
Aurelio Piazzi is a leading figure in robotic motion planning, renowned for his pioneering work in trajectory optimization and smooth path generation. His research centers on developing mathematically rigorous methods to produce robot motions that are both efficient and human-like, with a particular focus on minimizing jerk—the rate of change of acceleration. His most influential contribution, the 2000 paper "Global minimum-jerk trajectory planning of robot manipulators," has garnered 369 citations and introduced a novel interval-analysis approach to find globally optimal, smooth joint trajectories, which reduce robot vibration and improve tracking. Piazzi further advanced the field by inventing η³-splines and G³-splines, path primitives that enable continuous-acceleration motion for wheeled mobile robots, as detailed in his highly cited 2007 work (116 citations). These contributions have been instrumental in bridging the gap between theoretical optimal control and practical autonomous navigation. His work on dynamic path inversion and minimum-time velocity planning (with algebraic solutions) has also been widely recognized, cementing his reputation as a key innovator in making robotic motion safer, smoother, and more efficient.
Research Focus
Key Achievements
Top Papers
- 1Global minimum-jerk trajectory planning of robot manipulators369 citations · 2000
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- 5G <sup>3</sup> -splines for the path planning of wheeled mobile robots24 citations · 2003
- 6A global optimization approach to trajectory planning for industrial robots19 citations · 2002
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- 8Minimum-time constrained velocity planning11 citations · 2009
- 9Algebraic solution to minimum-time velocity planning10 citations · 2013
- 10Smooth control of a wheeled omnidirectional robot8 citations · 2004