Publications

The list of my publications is reported below.

PhD Thesis

  • [PDF] [DOI] L. Gherardi, “Variability modeling and resolution in component-based robotics systems,” PhD Thesis, 2013.
    [Bibtex]
    @phdthesis{gherardi2013variability,
    title={Variability Modeling and Resolution in Component-based Robotics Systems},
    author={Gherardi, Luca},
    year={2013},
    school={University of Bergamo},
    doi={http://hdl.handle.net/10446/28963}
    }

Conference Papers

2015

  • [PDF] L. Gherardi and N. Hochgeschwender, “RRA: Models and Tools for Robotics Run-time Adaptation,” in 28th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015, Hamburg, Germany, 2015.
    [Bibtex]
    @inproceedings{gherardi2015iros,
    title={{RRA: Models and Tools for Robotics Run-time Adaptation}},
    author={Gherardi, L. and Hochgeschwender, N.},
    booktitle={{28th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015}},
    publisher = {IEEE},
    year={2015},
    month={September 28 - October 2},
    address={Hamburg, Germany},
    isbn={978-1-4799-9993-4},
    }

2014

  • [PDF] [DOI] L. Gherardi, A. Luzzana, and D. Brugali, “Dealing with conflicting requirements in Robot System Engineering: A Laboratory-Based Course,” in 4th International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2014), Bergamo, Italy, 2014.
    [Bibtex]
    @inproceedings{gherardi2014simpar,
    title={{Dealing with conflicting requirements in Robot System Engineering: A Laboratory-Based Course}},
    author={Gherardi, L. and Luzzana, A. and Brugali, D.},
    booktitle={{4th International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2014)}},
    publisher = {Springer},
    year={2014},
    month={October 22},
    address={Bergamo, Italy},
    isbn={978-3-319-11899-4},
    doi={10.1007/978-3-319-11900-7_47}
    }
  • [PDF] [DOI] L. Gherardi, D. Hunziker, and G. Mohanarajah, “A Software Product Line Approach for Configuring Cloud Robotics Applications,” in 7th IEEE International Conference on Cloud Computing (ICRA 2014), Anchorage, AK, USA, 2014.
    [Bibtex]
    @inproceedings{gherardi2014cloud,
    title={{A Software Product Line Approach for Configuring Cloud Robotics Applications}},
    author={Gherardi, L. and Hunziker, D. and Mohanarajah, G.},
    booktitle={{7th IEEE International Conference on Cloud Computing (ICRA 2014)}},
    publisher = {IEEE},
    year={2014},
    month={July 2},
    address={Anchorage, AK, USA},
    isbn={978-1-4799-5063-8},
    doi={10.1109/CLOUD.2014.104}
    }
  • [PDF] [DOI] L. Gherardi and D. Brugali, “Modeling and Reusing Robotic Software Architectures: the HyperFlex toolchain,” in IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, China, 2014.
    [Bibtex]
    @inproceedings{gherardi2014hyperflex,
    title={{Modeling and Reusing Robotic Software Architectures: the HyperFlex toolchain}},
    author={Gherardi, L. and Brugali, D.},
    booktitle={{IEEE International Conference on Robotics and Automation (ICRA 2014)}},
    publisher = {IEEE},
    year={2014},
    month={May 31 - June 5},
    address={Hong Kong, China},
    doi={10.1109/ICRA.2014.6907806},
    isbn={978-1-4799-3684-7}
    }

2013

  • [PDF] [DOI] N. Hochgeschwender, L. Gherardi, A. Shakhirmardanov, G. Kraetzschmar, D. Brugali, and H. Bruyninckx, “A Model-based Approach to Software Deployment in Robotics,” in 26th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, 2013.
    [Bibtex]
    @inproceedings{iros2013deployment,
    title={{A Model-based Approach to Software Deployment in Robotics}},
    author={Hochgeschwender, N. and Gherardi, L. and Shakhirmardanov, A. and Kraetzschmar, G. and Brugali, D. and Bruyninckx, H.},
    booktitle={{26th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)}},
    publisher = {IEEE/RJS},
    year={2013},
    month={November 5},
    address={Tokyo, Japan},
    doi={10.1109/IROS.2013.6696915},
    isbn={978-1-4673-6358-7}
    }
  • [PDF] [DOI] H. Bruyninckx, N. Hochgeschwender, L. Gherardi, M. Klotzbücher, G. Kraetzschmare, D. Brugali, A. Shakhimardanov, J. Paulus, M. Reckhaus, H. Garcia, D. Faconti, and P. Soetens, “The BRICS Component Model: A Model-Based Development Paradigm for Complex Robotics Software Systems,” in 28th international Symposium On Applied Computing (SAC 2012), Coimbra, Portugal, 2013, pp. 1758-1764.
    [Bibtex]
    @inproceedings{brics2013component,
    title={{The BRICS Component Model: A Model-Based Development Paradigm for Complex Robotics Software Systems}},
    author={Bruyninckx, H. and Hochgeschwender, N. and Gherardi, L. and Klotzb\"ucher, M. and Kraetzschmare, G. and Brugali, D. and Shakhimardanov, A. and Paulus, J. and Reckhaus, M. and Garcia, H. and Faconti, D. and Soetens, P.},
    booktitle={{28th international Symposium On Applied Computing (SAC 2012)}},
    pages = {1758--1764},
    publisher = {ACM},
    year={2013},
    month={March 21},
    address={Coimbra, Portugal},
    doi={10.1145/2480362.2480693},
    isbn={978-1-4503-1656-9}
    }

2012

  • [PDF] [DOI] D. Brugali, L. Gherardi, A. Biziak, A. Luzzana, and A. Zakharov, “A Reuse-Oriented Development Process for Component-based Robotic Systems,” in 3rd international conference on simulation, modeling and programming for autonomous robots (simpar 2012), Tsukuba, Japan, 2012.
    [Bibtex]
    @inproceedings{brugali2012development,
    title={{A Reuse-Oriented Development Process for Component-based Robotic Systems}},
    author={Brugali, D. and Gherardi, L. and Biziak, A. and Luzzana, A. and Zakharov, A.},
    booktitle={3rd International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2012)},
    year={2012},
    month={November 5-8},
    address={Tsukuba, Japan},
    publisher = {Springer},
    doi={10.1007/978-3-642-34327-8_33},
    isbn={978-3-642-34326-1},
    issn={0302-9743}
    }
  • [PDF] [DOI] L. Gherardi, D. Brugali, and D. Comotti, “A Java vs. C++ Performance Evaluation: a 3D Modeling Benchmark,” in 3rd international conference on simulation, modeling and programming for autonomous robots (simpar 2012), Tsukuba, Japan, 2012.
    [Bibtex]
    @inproceedings{gherardi2012comparison,
    title={{A Java vs. C++ Performance Evaluation: a 3D Modeling Benchmark}},
    author={Gherardi, L. and Brugali, D. and Comotti, D.},
    booktitle={3rd International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2012)},
    year={2012},
    month={November 5-8},
    address={Tsukuba, Japan},
    publisher = {Springer},
    doi={10.1007/978-3-642-34327-8_17},
    isbn = {978-3-642-34326-1},
    issn={0302-9743}
    }
  • [PDF] M. Guarnieri, E. Magri, D. Brugali, and L. Gherardi, “A Domain Specific Language for Modeling Differential Constraints of Mobile Robots,” in 12th international conference on autonomous robot systems and competitions (robotica 2012), Guimaraes, Portugal, 2012.
    [Bibtex]
    @inproceedings{guarnieri2012domain,
    title={{A Domain Specific Language for Modeling Differential Constraints of Mobile Robots}},
    author={Guarnieri, M. and Magri, E. and Brugali, D. and Gherardi, L.},
    booktitle={12th International Conference on Autonomous Robot Systems and Competitions (Robotica 2012)},
    year={2012},
    isbn={978-972-98603-4-8},
    month={April 11},
    address={Guimaraes, Portugal}
    }
  • [PDF] [DOI] D. Brugali, L. Gherardi, E. Riccobene, and P. Scandurra, “Coordinated Execution of Heterogeneous Service-Oriented Components by Abstract State Machines,” in Formal aspects of component software : 8th international symposium, facs 2011: revised selected papers, Oslo, Norway, 2012, pp. 331-349.
    [Bibtex]
    @inproceedings{brugali2012coordinated,
    year={2012},
    isbn={978-3-642-35742-8},
    booktitle={Formal Aspects of Component Software : 8th International Symposium, FACS 2011: revised selected papers},
    volume={7253},
    series={Lecture Notes in Computer Science},
    editor={Arbab, Farhad and \"Olveczky, PeterCsaba},
    doi={10.1007/978-3-642-35743-5_20},
    title={{Coordinated Execution of Heterogeneous Service-Oriented Components by Abstract State Machines}},
    url={http://dx.doi.org/10.1007/978-3-642-35743-5_20},
    publisher={Springer Berlin Heidelberg},
    author={Brugali, Davide and Gherardi, Luca and Riccobene, Elvinia and Scandurra, Patrizia},
    pages={331-349},
    month={September 14-16},
    address={Oslo, Norway}
    }

2011

  • [PDF] [DOI] D. Brugali, L. Gherardi, M. Klotzbücher, and H. Bruyninckx, “Service Component Architectures in Robotics: The SCA-Orocos Integration,” in Leveraging applications of formal methods, verification, and validation (isola 2011), Vienna, Austria, 2011, pp. 46-60.
    [Bibtex]
    @inproceedings{brugali2011service,
    month={Ocrober 18-19},
    year={2011},
    address={Vienna, Austria},
    isbn={978-3-642-34780-1},
    booktitle={Leveraging Applications of Formal Methods, Verification, and Validation (ISoLA 2011)},
    series={Communications in Computer and Information Science},
    editor={H\"ahnle, Reiner and Knoop, Jens and Margaria, Tiziana and Schreiner, Dietmar and Steffen, Bernhard},
    doi={10.1007/978-3-642-34781-8_4},
    title={{Service Component Architectures in Robotics: The SCA-Orocos Integration}},
    url={http://dx.doi.org/10.1007/978-3-642-34781-8_4},
    publisher={Springer Berlin Heidelberg},
    author={Brugali, Davide and Gherardi, Luca and Klotzb\"ucher, Markus and Bruyninckx, Herman},
    pages={46-60}
    }
  • [PDF] D. Brugali, L. Gherardi, E. Riccobene, and P. Scandurra, “A Formal Framework for Coordinated Simulation of Heterogeneous Service-Oriented Applications,” in Formal aspects of component software : 8th international symposium, facs 2011, Oslo, Norway, 2011.
    [Bibtex]
    @inproceedings{brugali2011formal,
    month={September 14-16},
    year={2011},
    address={Oslo, Norway},
    isbn={82-7368-372-9},
    booktitle={Formal aspects of component software : 8th International Symposium, FACS 2011},
    title={{A Formal Framework for Coordinated Simulation of Heterogeneous Service-Oriented Applications}},
    author={Brugali, D. and Gherardi, L. and Riccobene, E. and Scandurra, P.}
    }
  • [PDF] L. Gherardi and D. Brugali, “An Eclipse-based Feature Models Toolchain,” in 6th Italian Workshop on Eclipse Technologies (EclipseIT 2011), Milano, Italy, 2011.
    [Bibtex]
    @inproceedings{gherardi2011eclipse,
    month={September 22-23},
    year={2011},
    address={Milano, Italy},
    isbn={978-88-904388-2-0},
    booktitle={{6th Italian Workshop on Eclipse Technologies (EclipseIT 2011)}},
    title={{An Eclipse-based Feature Models Toolchain}},
    author={Gherardi, L. and Brugali, D.}
    }

2010

  • [PDF] [DOI] D. Brugali, W. Nowak, L. Gherardi, A. Zakharov, and E. Prassler, “Component-based refactoring of motion planning libraries,” in 24th ieee/rsj international conference on intelligent robots and systems (iros 2011), Taipei, Taiwan, 2010, pp. 4042-4049.
    [Bibtex]
    @inproceedings{brugali2010component,
    title={{Component-based refactoring of motion planning libraries}},
    author={Brugali, D. and Nowak, W. and Gherardi, L. and Zakharov, A. and Prassler, E.},
    booktitle={24th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)},
    pages={4042-4049},
    year={2010},
    organization={IEEE},
    issn={2153-0858},
    doi={10.1109/IROS.2010.5650630},
    month={October 18-22},
    address={Taipei, Taiwan},
    isbn={978-1-4244-6674-0}
    }

Workshop Papers

2011

  • [PDF] D. Brugali, L. Gherardi, and P. Scandurra, “A robotics coordination case study,” in Sdir vi – whorkshop on software development and integration in robotics, ieee/ras international conference on robotics and automation (icra 2011), Shangai, China, 2011.
    [Bibtex]
    @inproceedings{gherardi2011coordination,
    title={A Robotics Coordination Case Study},
    author={Brugali, D. and Gherardi, L. and Scandurra, P.},
    booktitle={SDIR VI - Whorkshop on Software Development and Integration in Robotics, IEEE/RAS International Conference on Robotics and Automation (ICRA 2011)},
    year={2011},
    month={May 9},
    address={Shangai, China}
    }

Workshop Talks

2012

  • [PDF] L. Gherardi, A. Luzzana, and D. Brugali, “Feature Models for Robotics Applications Configuration,” in Workshop on Models and Languages in Robotics for Academia and Industry, European Robotics Forum (ERF 2012), Odense, Denmark, 2012.
    [Bibtex]
    @inproceedings{gherardi2012erf,
    title={{Feature Models for Robotics Applications Configuration}},
    author={Gherardi, L. and Luzzana, A. and Brugali, D.},
    booktitle={{Workshop on Models and Languages in Robotics for Academia and Industry, European Robotics Forum (ERF 2012)}},
    year={2012},
    month={March 7},
    address={Odense, Denmark}
    }

2011

  • [PDF] D. Vanthienen, T. De Laet, W. Decré, R. Smits, M. Klotzbuecher, K. Buys, S. Bellens, L. Gherardi, H. Bruyninckx, and J. De Schutter, “iTaSC as a unified framework for task specification, control and coordination, demonstrated on the PR2,” in PR2 workshop, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, CA, USA, 2011.
    [Bibtex]
    @inproceedings{vanthienen2011itask,
    title={{iTaSC as a unified framework for task specification, control and coordination, demonstrated on the PR2}},
    author={Vanthienen, D. and De Laet, T. and Decré, W. and Smits, R. and Klotzbuecher, M. and Buys, K. and Bellens, S. and Gherardi, L. and Bruyninckx, H. and De Schutter, J.},
    booktitle={{PR2 workshop, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)}},
    year={2011},
    month={September 30},
    address={San Francisco, CA, USA}
    }

2010

  • [PDF] D. Brugali and Gherardi, “Component-Based Robotics Models and Systems,” in SDIR V – Tutorial on Component-Based Robotics Engineering, IEEE/RAS International Conference on Robotics and Automation (ICRA 2010), Anchorage, AK, USA, 2010.
    [Bibtex]
    @inproceedings{gherardi2011icra,
    title={{Component-Based Robotics Models and Systems}},
    author={Brugali, D. and Gherardi},
    booktitle={{SDIR V - Tutorial on Component-Based Robotics Engineering, IEEE/RAS International Conference on Robotics and Automation (ICRA 2010)}},
    year={2010},
    month={May 7},
    address={Anchorage, AK, USA}
    }

Posters

2015

  • [PDF] [DOI] L. Gherardi and N. Hochgeschwender, “Poster: Model-based Run-time Variability Resolution for Robotic Applications,” in 37th International Conference on Software Engineering (ICSE 2015), Florence, Italy, 2015.
    [Bibtex]
    @inproceedings{gherardi2015icse,
    title={{Poster: Model-based Run-time Variability Resolution for Robotic Applications}},
    author={Gherardi, L. and Hochgeschwender, N.},
    booktitle={{37th International Conference on Software Engineering (ICSE 2015)}},
    publisher = {ACM},
    year={2015},
    month={May 16-24},
    address={Florence, Italy},
    doi={10.1109/ICSE.2015.269},
    isbn={978-1-4799-1934-5}
    }