A novel RRT extend function for efficient and smooth mobile robot motion planning. - Luigi Palmieri; Kai Oliver Arras (IROS, 2014)

SPENCER: A Socially Aware Service Robot for Passenger Guidance and Help in Busy Airports. - Rudolph Triebel; Kai Oliver Arras; Rachid Alami 001; Lucas Beyer; Stefan Breuers; Raja Chatila 001; Mohamed Chetouani; Daniel Cremers; Vanessa Evers; Michelangelo Fiore; Hayley Hung; Omar A. Islas Ramírez; et al. (FSR, 2015)

Distance metric learning for RRT-based motion planning with constant-time inference. - Luigi Palmieri; Kai Oliver Arras (ICRA, 2015)

A behavioural approach to obstacle avoidance for mobile manipulators based on distributed sensing. - Luigi Palmieri (CoRR, 2015)

A Fast Randomized Method to Find Homotopy Classes for Socially-Aware Navigation. - Luigi Palmieri; Andrey Rudenko; Kai Oliver Arras (CoRR, 2015)

RRT-based nonholonomic motion planning using any-angle path biasing. - Luigi Palmieri; Sven Koenig; Kai Oliver Arras (ICRA, 2016)

Kinodynamic motion planning on Gaussian mixture fields. - Luigi Palmieri; Tomasz Piotr Kucner; Martin Magnusson 002; Achim J. Lilienthal; Kai Oliver Arras (ICRA, 2017)

Hybrid curvature steer: A novel extend function for sampling-based nonholonomic motion planning in tight environments. - Holger Banzhaf; Luigi Palmieri; Dennis Nienhüser; Thomas Schamm; Steffen Knoop; J. Marius Zöllner (ITSC, 2017)

A Fast Random Walk Approach to Find Diverse Paths for Robot Navigation. - Luigi Palmieri; Andrey Rudenko; Kai Oliver Arras (IEEE Robotics Autom. Lett., 2017)

Gradient-Informed Path Smoothing for Wheeled Mobile Robots. - Eric Heiden; Luigi Palmieri; Sven Koenig; Kai Oliver Arras; Gaurav S. Sukhatme (ICRA, 2018)

Joint Long-Term Prediction of Human Motion Using a Planning-Based Social Force Approach. - Andrey Rudenko; Luigi Palmieri; Kai Oliver Arras (ICRA, 2018)

Human Motion Prediction Under Social Grouping Constraints. - Andrey Rudenko; Luigi Palmieri; Achim J. Lilienthal; Kai Oliver Arras (IROS, 2018)

Down the CLiFF: Flow-Aware Tralatory Planning Under Motion Pattern Uncertainty. - Chittaranjan Srinivas Swaminathan; Tomasz Piotr Kucner; Martin Magnusson 002; Luigi Palmieri; Achim J. Lilienthal (IROS, 2018)

Efficient and smooth motion planning techniques for nonholonomic wheeled robots - Luigi Palmieri (2018)

Informed Information Theoretic Model Predictive Control. - Raphael Kusumoto; Luigi Palmieri; Markus Spies; Akos Csiszar; Kai Oliver Arras (ICRA, 2019)

An NMPC Approach using Convex Inner Approximations for Online Motion Planning with Guaranteed Collision Freedom. - Tobias Schoels; Luigi Palmieri; Kai Oliver Arras; Moritz Diehl (CoRR, 2019)

Dispertio: Optimal Sampling for Safe Deterministic Sampling-Based Motion Planning. - Luigi Palmieri; Leonard Bruns; Michael Meurer; Kai Oliver Arras (CoRR, 2019)

An NMPC Approach using Convex Inner Approximations for Online Motion Planning with Guaranteed Collision Avoidance. - Tobias Schoels; Luigi Palmieri; Kai O. Arras; Moritz Diehl (ICRA, 2020)

CIAO$^ star$: MPC-based Safe Motion Planning in Predictable Dynamic Environments. - Tobias Schoels; Per Rutquist; Luigi Palmieri; Andrea Zanelli; Kai O. Arras; Moritz Diehl (CoRR, 2020)

Experimental Comparison of Global Motion Planning Algorithms for Wheeled Mobile Robots. - Eric Heiden; Luigi Palmieri; Kai Oliver Arras; Gaurav S. Sukhatme; Sven Koenig (CoRR, 2020)

A Feedback Scheme to Reorder a Multi-Agent Execution Schedule by Persistently Optimizing a Switchable Action Dependency Graph. - Alexander Berndt 001; Niels van Duijkeren; Luigi Palmieri; Tamás Keviczky (CoRR, 2020)

Human motion trajectory prediction: a survey. - Andrey Rudenko; Luigi Palmieri; Michael Herman; Kris M. Kitani; Dariu M. Gavrila; Kai O. Arras (Int. J. Robotics Res., 2020)

Dispertio: Optimal Sampling For Safe Deterministic Motion Planning. - Luigi Palmieri; Leonard Bruns; Michael Meurer; Kai O. Arras (IEEE Robotics Autom. Lett., 2020)

Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots - Tomasz Piotr Kucner; Achim J. Lilienthal; Martin Magnusson 002; Luigi Palmieri; Chittaranjan Srinivas Swaminathan (Springer, 2020)

Bench-MR: A Motion Planning Benchmark for Wheeled Mobile Robots. - Eric Heiden; Luigi Palmieri; Leonard Bruns; Kai O. Arras; Gaurav S. Sukhatme; Sven Koenig (IEEE Robotics Autom. Lett., 2021)

Guest Editorial: Introduction to the Special Issue on Long-Term Human Motion Prediction. - Luigi Palmieri; Andrey Rudenko; Jim Mainprice; Marc Hanheide; Alexandre Alahi; Achim J. Lilienthal; Kai O. Arras (IEEE Robotics Autom. Lett., 2021)

Learning Occupancy Priors of Human Motion From Semantic Maps of Urban Environments. - Andrey Rudenko; Luigi Palmieri; Johannes Doellinger; Achim J. Lilienthal; Kai O. Arras (IEEE Robotics Autom. Lett., 2021)

The Atlas Benchmark: an Automated Evaluation Framework for Human Motion Prediction. - Andrey Rudenko; Luigi Palmieri; Wanting Huang; Achim J. Lilienthal; Kai O. Arras (RO-MAN, 2022)

The Magni Human Motion Dataset: Accurate, Complex, Multi-Modal, Natural, Semantically-Rich and Contextualized. - Tim Schreiter; Tiago Rodrigues de Almeida 001; Yufei Zhu; Eduardo Gutiérrez-Maestro; Lucas Morillo-Méndez; Andrey Rudenko; Tomasz Piotr Kucner; Óscar Martínez Mozos; Martin Magnusson 002; Luigi Palmieri; Kai O. Arras; Achim J. Lilienthal (CoRR, 2022)

Predicting Dense and Context-aware Cost Maps for Semantic Robot Navigation. - Yash Goel; Narunas Vaskevicius; Luigi Palmieri; Nived Chebrolu; Cyrill Stachniss (CoRR, 2022)

Benchmarking the utility of maps of dynamics for human-aware motion planning. - Chittaranjan Srinivas Swaminathan; Tomasz Piotr Kucner; Martin Magnusson 002; Luigi Palmieri; Sergi Molina Mellado; Anna Mannucci; Federico Pecora; Achim J. Lilienthal (Frontiers Robotics AI, 2022)

THÖR-Magni: Comparative Analysis of Deep Learning Models for Role-conditioned Human Mtion Prediction. - Tiago Rodrigues de Almeida 001; Andrey Rudenko; Tim Schreiter; Yufei Zhu; Eduardo Gutiérrez-Maestro; Lucas Morillo-Méndez; Tomasz Piotr Kucner; Óscar Martínez Mozos; Martin Magnusson 002; Luigi Palmieri; Kai O. Arras; Achim J. Lilienthal (ICCV (Workshops), 2023)

A Benchmark for Multi-Robot Planning in Realistic, Complex and Cluttered Environments. - Simon Schaefer; Luigi Palmieri; Lukas Heuer; Rüdiger Dillmann; Sven Koenig; Alexander Kleiner (ICRA, 2023)

Exploring the Impact of Disrupted Peer-to-Peer Communications on Fully Decentralized Learning in Disaster Scenarios. - Luigi Palmieri; Chiara Boldrini; Lorenzo Valerio; Andrea Passarella; Marco Conti (ICT-DM, 2023)

Semantically Informed MPC for Context-Aware Robot Exploration. - Yash Goel; Narunas Vaskevicius; Luigi Palmieri; Nived Chebrolu; Kai O. Arras; Cyrill Stachniss (IROS, 2023)

Proactive Model Predictive Control with Multi-Modal Human Motion Prediction in Cluttered Dynamic Environments. - Lukas Heuer; Luigi Palmieri; Andrey Rudenko; Anna Mannucci; Martin Magnusson 002; Kai O. Arras (IROS, 2023)

CLiFF-LHMP: Using Spatial Dynamics Patterns for Long- Term Human Motion Prediction. - Yufei Zhu; Andrey Rudenko; Tomasz Piotr Kucner; Luigi Palmieri; Kai O. Arras; Achim J. Lilienthal; Martin Magnusson 002 (IROS, 2023)

The effect of network topologies on fully decentralized learning: a preliminary investigation. - Luigi Palmieri; Lorenzo Valerio; Chiara Boldrini; Andrea Passarella (NetAISys@MobiSys, 2023)

An Industrial Perspective on Multi-Agent Decision Making for Interoperable Robot Navigation following the VDA5050 Standard. - Niels van Duijkeren; Luigi Palmieri; Ralph Lange; Alexander Kleiner (CoRR, 2023)

Human-Flow-Aware Long-Term Mobile Robot Task Planning Based on Hierarchical Reinforcement Learning. - Yuchen Liu; Luigi Palmieri; Ilche Georgievski; Marco Aiello 001 (IEEE Robotics Autom. Lett., 2023)

Survey of maps of dynamics for mobile robots. - Tomasz Piotr Kucner; Martin Magnusson 002; Sariah Mghames; Luigi Palmieri; Francesco Verdoja; Chittaranjan Srinivas Swaminathan; Tomás Krajník; Erik Schaffernicht; Nicola Bellotto; Marc Hanheide; Achim J. Lilienthal (Int. J. Robotics Res., 2023)

Benchmarking Multi-Robot Coordination in Realistic, Unstructured Human-Shared Environments. - Lukas Heuer; Luigi Palmieri; Anna Mannucci; Sven Koenig; Martin Magnusson 002 (ICRA, 2024)

The Surprising Ineffectiveness of Pre-Trained Visual Representations for Model-Based Reinforcement Learning. - Moritz Schneider; Robert Krug 002; Narunas Vaskevicius; Luigi Palmieri; Joschka Boedecker (NeurIPS, 2024)

Impact of network topology on the performance of Decentralized Federated Learning. - Luigi Palmieri; Chiara Boldrini; Lorenzo Valerio; Andrea Passarella; Marco Conti (Comput. Networks, 2024)

DELTA: Decomposed Efficient Long-Term Robot Task Planning using Large Language Models. - Yuchen Liu; Luigi Palmieri; Sebastian Koch; Ilche Georgievski; Marco Aiello 001 (CoRR, 2024)

Towards Human Awareness in Robot Task Planning with Large Language Models. - Yuchen Liu; Luigi Palmieri; Sebastian Koch; Ilche Georgievski; Marco Aiello 001 (CoRR, 2024)

Towards Using Fast Embedded Model Predictive Control for Human-Aware Predictive Robot Navigation. - Till Hielscher; Lukas Heuer; Frederik Wulle; Luigi Palmieri (CoRR, 2024)

Fast Online Learning of CLiFF-maps in Changing Environments. - Yufei Zhu; Andrey Rudenko; Luigi Palmieri; Lukas Heuer; Achim J. Lilienthal; Martin Magnusson 002 (CoRR, 2024)

GraphEQA: Using 3D Semantic Scene Graphs for Real-time Embodied Question Answering. - Saumya Saxena; Blake Buchanan; Chris Paxton 001; Bingqing Chen; Narunas Vaskevicius; Luigi Palmieri; Jonathan Francis; Oliver Kroemer (CoRR, 2024)

Receding Horizon Re-Ordering of Multi-Agent Execution Schedules. - Alexander Berndt 001; Niels van Duijkeren; Luigi Palmieri; Alexander Kleiner; Tamás Keviczky (IEEE Trans. Robotics, 2024)

The ILIAD Safety Stack: Human-Aware Infrastructure-Free Navigation of Industrial Mobile Robots. - Sergi Molina Mellado; Anna Mannucci; Martin Magnusson 002; Daniel Adolfsson; Henrik Andreasson; Mazin Hamad; Saeed Abdolshah; Ravi Teja Chadalavada; Luigi Palmieri; Timm Linder; Chittaranjan Srinivas Swaminathan; Tomasz Piotr Kucner; et al. (IEEE Robotics Autom. Mag., 2024)

Efficient Context-Aware Model Predictive Control for Human-Aware Navigation. - Elisa Stefanini; Luigi Palmieri; Andrey Rudenko; Till Hielscher; Timm Linder; Lucia Pallottino (IEEE Robotics Autom. Lett., 2024)

THÖR-MAGNI Act: Actions for Human Motion Modeling in Robot-Shared Industrial Spaces. - Tiago Rodrigues de Almeida 001; Tim Schreiter; Andrey Rudenko; Luigi Palmieri; Johannes A. Stork; Achim J. Lilienthal (HRI, 2025)

Robustness of decentralised learning to nodes and data disruption. - Luigi Palmieri; Chiara Boldrini; Lorenzo Valerio; Andrea Passarella; Marco Conti; János Kertész (Comput. Commun., 2025)

THÖR-MAGNI: A large-scale indoor motion capture recording of human movement and robot interaction. - Tim Schreiter; Tiago Rodrigues de Almeida 001; Yufei Zhu; Eduardo Gutiérrez-Maestro; Lucas Morillo-Méndez; Andrey Rudenko; Luigi Palmieri; Tomasz Piotr Kucner; Martin Magnusson 002; Achim J. Lilienthal (Int. J. Robotics Res., 2025)

Context-Aware Human Behavior Prediction Using Multimodal Large Language Models: Challenges and Insights. - Yuchen Liu; Lino Lerch; Luigi Palmieri; Andrey Rudenko; Sebastian Koch; Timo Ropinski; Marco Aiello 001 (CoRR, 2025)

AGENTS-LLM: Augmentative GENeration of Challenging Traffic Scenarios with an Agentic LLM Framework. - Yu Yao; Salil Bhatnagar; Markus Mazzola; Vasileios Belagiannis; Igor Gilitschenski; Luigi Palmieri; Simon Razniewski; Marcel Hallgarten (CoRR, 2025)