VBOC: Learning the Viability Boundary of a Robot Manipulator Using Optimal Control. - Asia La Rocca; Matteo Saveriano; Andrea Del Prete (IEEE Robotics Autom. Lett., 2023)

Receding-Constraint Model Predictive Control using a Learned Approximate Control-Invariant Set. - Gianni Lunardi; Asia La Rocca; Matteo Saveriano; Andrea Del Prete (ICRA, 2024)