Lorenzo Caracciolo

Papers

Total Citations

247

H-Index

About

Lorenzo Caracciolo is a leading figure in mobile robotics, with his most influential work centered on the trajectory tracking control of wheeled mobile robots operating in challenging, real-world environments. His seminal 2003 paper, cited over 247 times, tackles the critical problem of controlling a four-wheel differentially driven robot on outdoor terrain by explicitly accounting for wheel skidding—a factor often neglected in idealized models. By designing a model-based nonlinear controller using dynamic feedback linearization, Caracciolo provided a robust solution that bridges the gap between theoretical control and practical deployment. This foundational contribution has had a lasting impact on the fields of autonomous navigation and field robotics, influencing subsequent research in traction control and off-road mobility. His work is essential reading for students and engineers seeking to understand how to maintain precision and stability in robots operating on uneven or slippery surfaces, cementing his reputation as a key innovator in the practical application of nonlinear control theory to mobile systems.