Matteo Mastellaro
Papers
2
Total Citations
16
H-Index
2
About
Matteo Mastellaro is a robotics researcher whose work centers on decentralized multi-agent systems and cooperative manipulation, with a particular focus on robust control strategies that eliminate the need for force or torque sensors. His most-cited paper (2017, 14 citations) introduces a pioneering quaternion-based task-space control protocol for the collaborative manipulation of a single object by N robotic agents. This methodology is fully decentralized, meaning each agent relies solely on its own dynamic and kinematic parameters and the object’s properties, without requiring online communication or force feedback—a significant advancement for scalable and resilient robotic teams. Mastellaro’s contributions address critical challenges in multi-robot coordination, offering a framework that enhances robustness and reduces hardware complexity. His work is particularly relevant for applications in manufacturing, logistics, and search-and-rescue, where multiple robots must handle objects safely and efficiently. By leveraging quaternion mathematics to avoid singularities and simplify orientation control, Mastellaro has provided a practical and theoretically sound solution that continues to influence research in cooperative robotics and decentralized control systems.
Research Focus
Key Achievements
Top Papers
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