Publications 

[P29] Minimum-energy switching geometric filter on lie groups for differential-drive wheeled mobile robots.
              European Journal of Control 80(2024) 101101.
              (with F. Vesentini, D. Rigo, L. Di Persio, and R. Muradore)

[P28] Geometric optimal filtering for an articulated n-trailer vehicle with unknown parameters.
              Int. J. Robust Nonlinear Control. (2024), 1–19.
              (with D. Rigo, and R. Muradore,)

[P27]  Moving energies hide within Noether’s first theorem.
              J. Phys. A 56(2023), Paper No. 165202, 9 pp.
              (with M.C. Nucci)

[P26]  Second-order-optimal filtering on SE(2) × R2 for the Chaplygin sleigh.
              Systems Control Lett. 178(2023), Paper No. 105568, 10 pp.
              (with D. Rigo and R. Muradore)

[P25]  On the dynamics of a heavy symmetric ball that rolls without sliding on a uniformly rotating surface of revolution.
              J. Nonlinear Sci. 32 (2022), Paper No. 84, 45 pp.
              (with M. Dalla Via and F. Fassò)

[P24] Second-order-optimal filter on Lie groups for planar rigid bodies.
              IEEE Trans. Automat. Control 67(2022), 4971–4977.
              (with D. Rigo, C. Segala and R. Muradore,)

[P23] On some aspects of the dynamics of a ball in a rotating surface of revolution and of the kasamawashi art.
              Regul. Chaotic Dyn. 27(2022), 409–423.
              (with F. Fassò)

[P22] First Integrals and Symmetries of Nonholonomic Systems.
              Archive for Rational Mechanics and Analysis, 244, 343–389, (2022).
              (with P. Balseiro)

[P21]  Overcoming some drawbacks of Dynamic Movement Primitives.
              Robotics and Autonomous Systems, 144, 103844, (2021).
              (M. Ginesi and P. Fiorini)

[P20]  Dynamic Movement Primitives: Volumetric Obstacle Avoidance Using Dynamic Potential Functions.
              Journal of Intelligent and Robotic Systems: Theory and Applications, 101(4), 79, (2021).
              (with M. Ginesi, D. Meli, A. Roberti and P. Fiorini)

[P19]  On the Trajectory Generation of the Hydrodynamic Chaplygin Sleigh.
              IEEE Control Systems Letters 4, 9098917, pp. 922-927, (2020).
              (with M. Zoppello)

[P18]  Moving energies as first integrals of non-holonomic systems with affine constraints.
              Nonlinearity, 18755 (2018). 
              (with F. Fassò, and L. García Naranjo)

[P17] A Geometric Characterisation of Certain First Integrals for Nonholonomic Systems with Symmetries. Pre-Print pdf
              SIGMA 12 16-pages, (2016).
              (with P. Balseiro)

[P16] Conservation of `Moving Energy' in Nonholonomic Systems with Affine Constraints. Pre-Print pdf
              J. Non. Sci. 4 519--544, (2016).
              (with F. Fasso`)

[P15]  Conservation of Energy and Momenta in Nonholonomic Systems with Affine Constraints. Pre-Print pdf
                Reg. Chaotic Dyn. 2 449--462, (2015).
                (with F. Fasso`)  

[P14]  The Hamilton--Jacobi equation, integrability and nonholonomic systems. Pre-Print pdf
               J. Geom. Mech. 6 441--449, (2014).
              (with L. Bates and F. Fasso`)  

[P13]  Twisted isotropic realisations of twisted Poisson structures. Pre-Print pdf
              J. Geom. Mech. 2 233--256, (2013).
              (with D. Sepe)

[P12] Esame di Stato 2011, seconda prova scritta per il liceo scientifico di Ordinamento.
              Archimede 4, (2011).

[P11] Weakly Noetherian first integrals and gauge momenta. Pre-Print pdf
             J. Geom. Mech. 4 129--136, (2012).
            (with F. Fasso` and A. Giacobbe)

[P10]  Monodromy and the Bohr--Sommerfeld Geometric Quantization.
              JGSP 20, 97--106 (2010).

[P9]   Hamiltonian Monodromy via geometric quantization and theta functions. Pre-Print pdf
             J. Geom. Phys. 60, 501--512 (2010).
            (with M. Spera).

[P8]   On the number of weakly Noetherian constants of motion of nonholonomic systems. Pre-Print pdf
            J. Geom. Mech., 1 389--416 (2009).
            (with F. Fasso` and A. Giacobbe).

[P7] An elemental overview of the nonholonomic Noether theorem. Pre-Print pdf
           IJGMMP, special issue ``Geometry of integrable systems'', 6, 1343--1355 (2009).
          (with F. Fasso`).

[P6] Gauge Integrals, the Nonholonomic Momentum Equations and the Reaction--Annihilator distribution. Pre-Print pdf
           Rep. Math. Phys. 62, 345--367 (2008).
          (with F. Fasso` and A. Giacobbe)

[P5] The reaction-annihilator distribution and the nonholonomic Noether theorem for lifted actions. Pre-Print pdf
           Regul. Chaotic Dyn. 12, 579--588 (2007).
          (with F. Fasso` and A. Ramos)

[P4] Integrable Almost-symplectic Hamiltonian Systems. Pre-Print pdf
          J. Math. Phys.  48, (2007).
          (with F. Fasso`).

[P3] First integrals in non-holonomic mechanics.
          Ph. D. Thesis, Università di Padova, (2006).

[P2] Periodic flows, Poisson structures and nonholonomic mechanics. Pre-Print pdf
           Regul. Chaotic Dyn. 10, 267--284 (2005).
          (with F. Fasso` and A. Giacobbe).

[P1] Remarks on Geometric Quantum Mechanics.
            J. Geom. Phys. 51, 229--243 (2004).
            (with A. Benvegnu` and M. Spera).