A component-based software architecture for control and simulation of robotic manipulators. - Federica Ferraguti; Nicola Golinelli; Cristian Secchi; Nicola Preda; Marcello Bonfè (ETFA, 2013)

A two-layer approach for shared control in semi-autonomous robotic surgery. - Federica Ferraguti; Nicola Preda; Giacomo De Rossi; Marcello Bonfè; Riccardo Muradore; Paolo Fiorini; Cristian Secchi (ECC, 2015)

Bilateral teleoperation of a dual arms surgical robot with passive virtual fixtures generation. - Federica Ferraguti; Nicola Preda; Marcello Bonfè; Cristian Secchi (IROS, 2015)

Motion planning for a multi-arm surgical robot using both sampling-based algorithms and motion primitives. - Nicola Preda; Auralius Manurung; Olivier Lambercy; Roger Gassert; Marcello Bonfè (IROS, 2015)

An Energy Tank-Based Interactive Control Architecture for Autonomous and Teleoperated Robotic Surgery. - Federica Ferraguti; Nicola Preda; Auralius Manurung; Marcello Bonfè; Olivier Lambercy; Roger Gassert; Riccardo Muradore; Paolo Fiorini; Cristian Secchi (IEEE Trans. Robotics, 2015)

A Cognitive Robot Control Architecture for Autonomous Execution of Surgical Tasks. - Nicola Preda; Federica Ferraguti; Giacomo De Rossi; Cristian Secchi; Riccardo Muradore; Paolo Fiorini; Marcello Bonfè (J. Medical Robotics Res., 2016)