An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion. - Abdelrahman Abdalla; Michele Focchi; Romeo Orsolino; Claudio Semini (IEEE Trans. Robotics, 2023)

RAKOMO: Reachability-Aware K-Order Markov Path Optimization for Quadrupedal Loco-Manipulation. - Mattia Risiglione; Abdelrahman Abdalla; Victor Barasuol; Kim Tien Ly; Ioannis Havoutis; Claudio Semini (CoRR, 2025)