Gabriele Lini

University of Parma, Scuola Internazionale Superiore di Studi Avanzati

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About

Gabriele Lini is a researcher whose work centers on the optimization of robotic motion, with a particular focus on minimum-time trajectory planning and control for autonomous systems. His most significant contributions lie in developing algebraic and constrained methods for velocity planning, addressing the critical challenge of moving robots from point A to point B in the shortest possible time while respecting physical limits like velocity, acceleration, and jerk. His seminal 2009 paper, "Minimum-time constrained velocity planning" (11 citations), introduced a novel approach for handling generic initial and final boundary conditions, a problem directly relevant to autonomous navigation. Lini further refined this work with an "Algebraic solution to minimum-time velocity planning" (2013, 10 citations), offering a more efficient computational framework. Beyond planning, he has explored hybrid control schemes for wheeled mobile robots, as seen in his 2010 work on "Recursive convex replanning for the trajectory tracking of wheeled mobile robots" (2 citations), which combines feedforward inverse control with periodic state feedback. Through these contributions, Lini has advanced the practical implementation of time-optimal motion in robotics, providing foundational tools for engineers designing faster, more precise autonomous vehicles.