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Francesco Biral

Full Professor

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Francesco Biral received the master’s degree in mechanical engineering from the University of Padova, Italy, and the Ph.D. degree in mechanism and machine theory from the University of Brescia, Italy, in 2000 for his work on minimum lap time of racing vehicles with the use of optimal control. He is currently an Associate Professor with the Department of Industrial Engineering at the University of Trento. His research interests include symbolic and numerical multi-body dynamics and optimization, constrained optimal control, mainly in the field of vehicle dynamics with special focus on intelligent vehicles and optimal maneuver for racing vehicles. He has 15 years experience in the development and validation of ADAS and AD functions, both for cars and PTWs, gained in several European and industrial funded research projects.

Education

PhD in Mechanical Engineering | University of Padua | 2000 MSc in Mechanical Engineering | University of Padua | 1997


Group Publications

Real-time Optimal Control of an Autonomous RC Car with Minimum-Time Maneuvers and a Novel Kineto-Dynamical Model

Real-time Optimal Control of an Autonomous RC Car with Minimum-Time Maneuvers and a Novel Kineto-Dynamical Model
Edoardo Pagot, Mattia Piccinini, Francesco Biral
IROS Workshop, pp. 2390-2396 (2020)
DOI | CITE

Real-time Autonomous Parking in Unstructured Scenarios with an Indirect Optimal Control Approach

Real-time Autonomous Parking in Unstructured Scenarios with an Indirect Optimal Control Approach
Edoardo Pagot, Mattia Piccinini, Alice Plebe, Enrico Bertolazzi, Francesco Biral
IROS Workshop (2022)
CITE

Robust and Sample-Efficient Estimation of Vehicle Lateral Velocity Using Neural Networks With Explainable Structure Informed by Kinematic Principles

Robust and Sample-Efficient Estimation of Vehicle Lateral Velocity Using Neural Networks With Explainable Structure Informed by Kinematic Principles
Mauro Da Lio, Mattia Piccinini, Francesco Biral
IEEE Transactions on Intelligent Transportation Systems, vol. 24, no. 12, pp. 13670-13684 (2023)
DOI | CITE

Fast Planning and Tracking of Complex Autonomous Parking Maneuvers With Optimal Control and Pseudo-Neural Networks

Fast Planning and Tracking of Complex Autonomous Parking Maneuvers With Optimal Control and Pseudo-Neural Networks
Edoardo Pagot, Mattia Piccinini, Enrico Bertolazzi, Francesco Biral
IEEE Access, Volume 11, pp. 124163-124180 (2023)
DOI | CITE

A Physics-Driven Artificial Agent for Online Time-Optimal Vehicle Motion Planning and Control

A Physics-Driven Artificial Agent for Online Time-Optimal Vehicle Motion Planning and Control
Mattia Piccinini, Sebastiano Taddei, Matteo Larcher, Mattia Piazza, Francesco Biral
IEEE Access, Volume 11, pp. 46344-46372 (2023)
DOI | CITE

Motion Primitive Tree Planner MPTree

Motion Primitive Tree Planner MPTree
Mattia Piazza, Mattia Piccinini, Francesco Biral, Mauro Da Lio
Industrial Engineering Day, University of Trento, Italy (2023)
PDF

Artificial Race Driver

Artificial Race Driver
Mattia Piccinini, Sebastiano Taddei, Francesco Biral
Industrial Engineering Day, University of Trento, Italy (2023)
PDF

A Physics-Driven Artificial Agent for Online Time-Optimal Vehicle Motion Planning and Control

A Physics-Driven Artificial Agent for Online Time-Optimal Vehicle Motion Planning and Control
Mattia Piccinini, Sebastiano Taddei, Matteo Larcher, Mattia Piazza, Francesco Biral
Industrial Engineering Day, University of Trento, Italy (2023)
PDF

MPTree: A sampling-based vehicle motion planner for real-time obstacle avoidance

MPTree: A sampling-based vehicle motion planner for real-time obstacle avoidance
Mattia Piazza, Mattia Piccinini, Sebastiano Taddei, Francesco Biral
IFAC-PapersOnLine, Elsevier, vol. 58, no. 10, pp. 146-153 (2024)
DOI | CITE

Computationally efficient minimum-time motion primitives for vehicle trajectory planning

Computationally efficient minimum-time motion primitives for vehicle trajectory planning
Mattia Piccinini, Simon Gottschalk, Matthias Gerdts, Francesco Biral
IEEE Open Journal of Intelligent Transportation Systems, Volume 5, pp. 642-655 (2024)
DOI | CITE

Impacts of ggv constraints formulations on online minimum-time vehicle trajectory planning

Impacts of ggv constraints formulations on online minimum-time vehicle trajectory planning
Mattia Piccinini, Sebastiano Taddei, Mattia Piazza, Francesco Biral
IFAC-PapersOnLine, Elsevier, vol. 58, no. 10, pp. 87-93 (2024)
DOI | CITE

Real-Time Velocity Profile Optimization for Time-Optimal Maneuvering With Generic Acceleration Constraints

Real-Time Velocity Profile Optimization for Time-Optimal Maneuvering With Generic Acceleration Constraints
Mattia Piazza, Mattia Piccinini, Sebastiano Taddei, Francesco Biral, Enrico Bertolazzi
IEEE Robotics and Automation Letters, IEEE, vol. 11, no. 2, pp. 1674-1681 (2025)
DOI | CITE

How optimal is the minimum-time manoeuvre of an artificial race driver?

How optimal is the minimum-time manoeuvre of an artificial race driver?
Mattia Piccinini, Sebastiano Taddei, Edoardo Pagot, Enrico Bertolazzi, Francesco Biral
Vehicle System Dynamics, Taylor & Francis, vol. 63, no. 12, pp. 2213-2240 (2025)
DOI | CITE

Biasing the Driving Style of an Artificial Race Driver for Online Time-Optimal Maneuver Planning

Biasing the Driving Style of an Artificial Race Driver for Online Time-Optimal Maneuver Planning
Sebastiano Taddei, Mattia Piccinini, Francesco Biral
2025 IEEE Intelligent Vehicles Symposium (IV), pp. 640-647 (2025)
DOI | CITE
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