Publications

Journals

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Beyond the Apex: Online Minimum-time Velocity Planning on Three-Dimensional Paths with Variable Friction
M. Piazza, A. Langmann, F. Biral, J. Betz, M. Piccinini
IEEE Robotics and Automation Letters, 2026
DOI
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Real-Time Velocity Profile Optimization for Time-Optimal Maneuvering With Generic Acceleration Constraints
M. Piazza, M. Piccinini, S. Taddei, F. Biral, E. Bertolazzi
IEEE Robotics and Automation Letters, vol. 11, no. 2, pp. 1674-1681, 2026
DOI
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Bootstrapped Neural Models for Predicting Self-Driving Vehicle Collisions With Quantified Confidence: Offline and Online Applications
A. Cherubini, G. P. Rosati Papini, A. Plebe, M. Piazza, M. Da Lio
IEEE Transactions on Intelligent Vehicles, 2024
DOI
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A Non-Smooth Numerical Optimization Approach to the Three-Point Dubins Problem (3PDP)
M. Piazza, E. Bertolazzi, M. Frego
Algorithms, vol. 17, no. 8, p. 350, 2024
DOI
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A Physics-Driven Artificial Agent for Online Time-Optimal Vehicle Motion Planning and Control
M. Piccinini, S. Taddei, M. Larcher, M. Piazza, F. Biral
IEEE Access, vol. 11, pp. 46344-46372, 2023
DOI

Conferences

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Trajectory Planning and Control near the Limits: an Open Experimental Benchmark on the RoboRacer Platform
M. Piccinini, P. Zambiasi, A. Mungiello, M. Piazza, F. Jahncke, J. Betz
IEEE ITSC conference, 2026
arXiv
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Corner Classification for Driver Style Identification
G. Corradini, M. Piazza, D. Stocco, F. Biral
AVEC 2026 conference, 2026
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Fast GGV-Compliant Sampling-Based Planning for Vehicles
M. Piazza, F. Faccini, G. Defrancesco, G. Corradini, G. P. Rosati Papini, F. Biral
AVEC 2026 conference, 2026
AVEC 2026
Modular Motion Planner for Autonomous Vehicles in Structured and Unstructured Scenarios
S. Ciuffoletti, M. Piazza, G. P. Rosati Papini, F. Biral
AVEC 2026 conference, 2026
German Robotics Conf.
FBGA: a Forward-Backward Method for Online Time-Optimal Velocity Planning with Generic Acceleration Constraints
M. Piazza, M. Piccinini, S. Taddei, F. Biral, E. Bertolazzi
Proceedings of the 2nd German Robotics Conference, Cologne, Germany, 2026 (Extended abstract)
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MPTree: A Sampling-based Vehicle Motion Planner for Real-time Obstacle Avoidance
M. Piazza, M. Piccinini, S. Taddei, F. Biral
IFAC-PapersOnLine, vol. 58, no. 10, pp. 146-153, 2024
DOI
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Impacts of ggv Constraints Formulations on Online Minimum-Time Vehicle Trajectory Planning
M. Piccinini, S. Taddei, M. Piazza, F. Biral
IFAC-PapersOnLine, vol. 58, no. 10, pp. 87-93, 2024
DOI

Workshops

ICRA 2026 Workshop
Towards a Fully Differentiable Framework for Autonomous Driving Based on Model-Structured Neural Networks
S. Ciuffoletti, G. Defrancesco, G. Scialla, M. Piazza, S. Taddei, G. P. Rosati Papini
IEEE ICRA 2026 Workshop on Autonomous Driving, Wien, Austria, 2026
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FBGA: Fast and Flexible Velocity Planning for Time-Optimal Maneuvers
M. Piazza, M. Piccinini, S. Taddei, F. Biral, E. Bertolazzi
ICRA Workshop on Frontiers of Optimization for Robotics, 2nd Edition, 2026
ICRA 2026
Nnodely - Neuralize Your Model
G. P. Rosati Papini, A. Plebe, M. Sharifzadeh, M. Piazza, et al.
IEEE ICRA 2026, Wien, Austria, 2026 (Late breaking results)
Code

Supervised theses

MS theses in Mechatronics Engineering, University of Trento, that I supervised.

  • 2026 - Sabrina Ciuffoletti, Modular Optimization-Based Motion Planner for Autonomous Agents: Application on Autonomous Vehicles in Structured and Unstructured Environments. Supervisors: Gastone Pietro Rosati Papini, Mattia Piazza.
  • 2025 - Mattia Pettene, Development of a Motion Primitive based Planner for Autonomous Driving Applications. Supervisors: Francesco Biral, Mattia Piazza.
  • 2024 - Annachiara D'Aquilio, Optimal Trajectory Planning for Kernels of CNC Machine Tools. Supervisors: Enrico Bertolazzi, Paolo Bosetti, Mattia Piazza.
  • 2023 - Marco Grano, Design and Optimization of a Speed Controller for Cooperative Adaptive Cruise Control (C-ACC). Supervisors: Francesco Biral, Mattia Piazza, Juan Pablo Salmoiraghi.
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