Publications

Selected journal publications

• Leanza A, Ugenti A,  Galati R,  Reina G, “Predicting the impact of wheel passage on terrain unevenness“, Journal of Terramechanics, Volume 117, 2025, 101015.
• Behzad Golanbari, Aref Mardani, Nashmil Farhadi, Reina G, “Machine learning applications in off-road vehicles interaction with terrain: An overview“, Journal of Terramechanics, Volume 116, December 2024, 101003.
• Matteo Maggi, Giacomo Mantriota, Reina G, “Combining underactuation with vacuum grasping for improved robotic grippers“, Mechatronics, Vol. 102, October 2024, 103211.
• Damiano Cosma Potenza, Andrea Grazioso, Federico Gaetani, Giacomo Mantriota, Reina G, “Smart demonstration unit for upper-limb myoelectric prostheses“, Smart Health, 32, 2024, 100481, https://doi.org/10.1016/j.smhl.2024.100481.
• Milella  A. and Reina G, “Consumer-grade imaging system for NDVI measurement at plant scale by a farmer robot“, Measurement, Vol. 234, 2024, 114817, https://doi.org/10.1016/j.measurement.2024.114817
• Leanza A, Mantriota G.,  Reina G, “On the vehicle dynamics prediction via modelbased observation“, Vehicle System Dynamics, 62(5), 1181-1202,2023.
• Leanza A, Galati R,  Ugenti A, Cavallo E,  Reina G, “Where am I heading? A robust approach for orientation estimation of autonomous agricultural robots“, Computers and Electronics in Agriculture, 210, July 2023, 107888.
• Ugenti A, Galati R, Mantriota G.,  Reina G, “Analysis of an all-terrain tracked robot with innovative suspension system“, Mechanism and Machine Theory, Vol. 182, April 2023, 105237
• Ugenti A, Vulpi F, Dominguez R, Cordes F, Milella A,  Reina G, “On the role of feature and signal selection for terrain learning in planetary exploration robots“, 39 (4), 355-370, 2022
• Vulpi F, Marani R, Petitti A, Reina G, Milella A, “An RGB-D multi-view perspective for autonomous agricultural robots“, Computers and Electronics in Agriculture, Vol. 202, November 2022, 107419
• Reina G., A. Leanza, G. Mantriota, “Model-based observers for vehicle dynamics and tyre force prediction“, Vehicle System Dynamics, 2021.
• Maggi M, Mantriota G, Reina G., “Introducing POLYPUS: a novel adaptive vacuum gripper“, Mechanism and Machine Theory, 167, 104483, 2021.
• Leanza A, Reina G, Blanco-Claraco JL, “A Factor-Graph-Based Approach to Vehicle Sideslip Angle Estimation“, Sensors, 21(16), 5409, 2021.
• Taghavifar H., Rakheja S., Reina G., “A novel optimal path-planning and following algorithm for wheeled robots on deformable terrains“, Journal of Terramechanics 96, 147-157, 2021.
• Vulpi F, Milella A., Marani R., Reina G., “Recurrent and convolutional neural networks for deep terrain classification by autonomous robots“, Journal of Terramechanics 96, 119-131, 2021.
• Balena M, Mantriota G, Reina G., “Dynamic Handling Characterization and Set-Up Optimization for a Formula SAE Race Car via Multi-Body Simulation“, Machines 9 (6), 126, 2021.
• Blanco-Claraco JL, Leanza A, Reina G., “A general framework for modeling and dynamic simulation of multibody systems using factor graphs“, Nonlinear Dynamics, 2021.
• Galati R., Mantriota G., Reina G., “Design and development of a tracked robot to increase bulk density of flax fibers“, J. Mechanisms Robotics, 2021.
• Dimastrogiovanni M., Reina G. , Burzoni A., “An improved active drag reduction system for formula race cars“, Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 234 (5), pp. 1460-1471, 2020.
• Reina G. , Leanza A., Messina A., “Terrain estimation via vehicle vibration measurement and cubature Kalman filtering“, Journal of Vibration and Control, Vol 26, Issue 11-12, pp. 885-898, 2020.
• Reina G. , Leanza A., Milella A., Messina A., “Mind the ground: A power spectral density-based estimator for all-terrain rovers“, Measurement, 151, 2020.
• Galati R., Reina G. , “Terrain Awareness Using a Tracked Skid-Steering Vehicle With Passive Independent Suspensions“, Frontiers in Robotics and AI, 2019.
• Reina G., Messina A., “Vehicle Dynamics Estimation via Augmented Extended Kalman Filtering“, Measurement, 133, 383-395, 2019.
• Messina A., Reina G. “On the frequency range of Timoshenko beam theory“, Mechanics of Advanced Materials and Structures , https://doi.org/10.1080/15376494.2018.1511880, 2019.
• Milella A., Marani R., Petitti A., Reina G. , “In-field high throughput grapevine phenotyping with a consumer-grade depth camera“, Computers and Electronics in Agriculture, 156, pp. 293-306, 2019.
• Milella A., Reina G. , Nielsen M., “ A multi‑sensor robotic platform for ground mapping and estimation beyond the visible spectrum“, Precision Agriculture, 20(2), 423-444, 2019.
• Reina G , Foglia M., “Modelling and handling dynamics of a wind-driven vehicle“, Vehicle System Dynamics, 57(5), 697-720, 2019.
• Reina G , Leanza A., Messina A., “ On the vibration analysis of off-road vehicles: Influence of terrain deformation and irregularity“, Journal of Vibration and Control, DOI: 10.1177/1077546318754682 2018.
• Narvaez FY, Reina G , Torres-Torriti M, Kantor G, Cheein FA, “A Survey of Ranging and Imaging Techniques for Precision Agriculture Phenotyping“, IEEE/ASME Transactions on Mechatronics 22 (6), 2428-2439, 2017.

• Bellone M.,Reina G., Caltagirone L, Wahde M., “Learning Traversability From Point Clouds in Challenging Scenarios“, IEEE Transactions on Intelligent Transportation Systems 19 (1), 296-305, 2018.
• Reina G., Milella A., Galati R., “Terrain assessment for precision agriculture using vehicle dynamic modelling“, Biosystems Engineering, Vol. 162, pp. 124-139, 2017. PDF
• Reina G., Milella A., Rouvere R., Nielsen M., Worst R., Blas M.R., “Ambient Awareness for Agricultural Robotic Vehicles“, Biosystems Engineering, Vol. 146, pp. 114-132, 2016. PDF
• Reina G., Paiano M., Blanco-Claraco J., “Vehicle parameter estimation using a model-based estimator”, Mechanical Systems and Signal Processing, Vol. 87, pp. 227-241, 2017, DOI: 10.1016/j.ymssp.2016.06.038.
• Bellone M., Reina G., “Pavement distress detection and avoidance for intelligent vehicles”, Int. J. Vehicle Autonomous Systems, Vol. 13, No. 2, 2016. PDF
• Reina G., Galati R., “Slip-based terrain estimation with a skid-steer vehicle“, Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility, 54 (10), pp. 1384-1404, 2016,  DOI:10.1080/00423114.2016.1203961.  PDF
• Reina G., Delle Rose G., “Active vibration absorber for automotive suspensions: a theoretical study“, Int. J. Heavy Vehicle Systems, Vol. 23, No. 1, 21–39, 2016. PDF
• Reina G., Gentile A., and Messina A. “Tyre pressure monitoring using a dynamical model-based estimator“, Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility, Vol. 53, No. 4, 568–586, 2015. PDF
• Milella A., Reina G., and Underwood J. “A self-learning framework for statistical ground classification using radar and monocular vision“, Journal of Field Robotics, Vol. 32(1), pp. 20-41, 2015.  PDF
• Milella A., Reina G., “Adaptive Multi-sensor Perception for Driving Automation in Outdoor Contexts“, International Journal of Advanced Robotic Systems, Vol. 11(135), pp. 1-16, 2014.
• Bellone M, Pascali L., Reina G., A kinect-based parking assistance system, Advances in Robotics Research, Vol. 1(2), pp 127-140. ISSN: 2287-4976 . PDF, Youtube link
• Milella A., Reina G., 3D reconstruction and classification of natural environments by an autonomous vehicle using multi-baseline stereo, Intelligent Service Robotics, Vol. 7 (2), pp 79-92. ISSN: 1861-2776. PDF
• Bellone M., Reina G., Giannoccaro N.I., Spedicato L., (2014) “3D traversability awareness for rough terrain mobile robots“, Sensor Review, Vol. 34 Iss: 2, pp.220 – 232. PDF Youtubelink
• Reina G.,  Cross-Coupled Control for All-Terrain Rovers, Sensors, 13(1), 785-800, 2013.
• Bellone M., Reina G., Giannoccaro N.I., Spedicato L., Unevenness Point Descriptor for Terrain Analysis in Mobile Robot Applications, International Journal of Advanced Robotics Systems, 10, 284-294, 2013. ISSN: 1729-8806. Youtubelink
• Reina G., and Foglia M., On the Mobility of All-terrain Rovers, Industrial Robot: an International Journal, Vol. 40, No. 2, pp. 121-131, 2013.  PDF
• Reina G.,  Milella A., Toward autonomous agriculture: automatic ground detection using trinocular stereovision, Sensors, 12(9), pp. 12405-12423, 2012. Youtubelink
• Reina G.,  Milella A., Underwood J., Self-learning Classification of Radar Features for Scene Understanding, Robotics and Autonomous Systems, 60(11), pp.1377-1388, 2012. DOI: 10.1016/j.robot.2012.03.002. PDF
• Reina G.,  Underwood J., Brooker G., and Durrant-Whyte H., Radar-based Perception for Autonomous Outdoor Vehicles, Journal of Field Robotics, 28: 6, pp. 894-913, 2011. DOI: 10.1002/rob.20393. PDF
• Reina G., Milella A., “FLane: An Adaptive Fuzzy Logic Lane Tracking System for Driver Assistance,” Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, Vol. 33, No.2, March 2011, pp. 021002 (11 pages). DOI: 10.1115/1.4003091. PDF
• Reina G., Ishigami G., Nagatani K. and Yoshida K., “Odometry Correction Using Visual Slip-Angle Estimation for Planetary Exploration Rovers,” Advanced Robotics, Vol. 24, No. 3, pp. 359-385, 2010.
• Rohmer E., Reina G., and Yoshida K., “Dynamic Simulation-Based Action Planner for a Reconfigurable Hybrid Leg–Wheel Planetary Exploration Rover,” Advanced Robotics, Vol. 24, No. 8-9, pp. 1219-1238, 2010.
• Distante C., Indiveri G., Reina G., “An Application of Mobile Robotics for Olfactory Monitoring of Hazardous Industrial Sites,” Industrial Robot: an International Journal, Vol. 36, No. 1, pp. 51-59, 2009. PDF
• Milella A., Reina G., Siegwart R., “Computer Vision Methods for Improved Mobile Robot State Estimation in Challenging Terrains,” Journal of Multimedia, Vol. 1, No. 7, November/ December 2006, pp. 49-61.
• Ojeda L., Reina G., D. Cruz D., Borenstein J., “The FLEXnav Precision Dead-reckoning Systems,” International Journal of Vehicle Autonomous Systems (IJVAS), Special issue on Computational Intelligence and its Applications to Mobile Robots and Autonomous Systems, Vol. 4, Nos. 2-4, December 2006, pp. 173-195.
• Milella A., Reina G., Foglia M., “Computer Vision Technology for Agricultural Robotics“, Sensor Review, Vol. 26, No. 4, November 2006, pp.290-300. 2007 Emerald Literati Network Outstanding Paper Award in the topic of Advanced Automation.
• Foglia M., Reina G., “Agricultural Robot for Radicchio Harvesting“, Journal of Field Robotics, Special Issue on Field and Service Robotics, Vol. 23, No. 6/7, June/July 2006, pp.363-377. PDF
• Reina G., Ojeda L., Milella A., and Borenstein J., “Wheel Slippage and Sinkage Detection for Planetary Rovers,” Special Issue on Biomimetics and Novel Aspects in Robotics, IEEE/ASME Transactions on Mechatronics, Vol. 11, No. 2, April 2006, pp. 185-195. PDF
• Ojeda L., Cruz D., Reina G., and Borenstein J., “Current-based Slippage Detection and Correction for Mobile Robots and Planetary Rovers,” IEEE Transactions on Robotics, Vol. 22, No. 2, April 2006, pp. 366-378.
• Reina G., Foglia M., Milella A., Gentile A., “Visual and Tactile-Based Terrain Analysis Using a Cylindrical Mobile Robot,” Special Issue on Novel Robotics and Control, Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, Vol. 128, No.1, March 2006, pp. 165-170. PDF

Book chapters

• Reina G., “Methods for Wheel Slip and Sinkage Estimation in Mobile Robots“, Chapter in Robot Localization and Map Building, Ed: Hanafiah Yussof, INTECH, Vienna, March 2010. ISBN 978-953-7619-83-1.
• Foglia M., Gentile A, and Reina G., “Robotics for Agricultural Systems“, Chapter on Agricultural Applications, Mechatronics and Machine Vision in Practice, Eds: Billingsley J., Bradbeer R., Springer, London, December 2007. ISBN: 978-3540740261.

PhD Thesis

• Reina G., “Rough-Terrain Mobile Robot Localization and Traversability with Application to Planetary Exploration,” PhD Thesis, Politecnico of Bari, Italy, 2004.

Selected Refereed Conference Proceedings

• Reina G., Foglia M.M., “On Wind-driven land vehicles,” ASME 2016 International Mechanical Engineering Congress and Exposition, Volume 4A: Dynamics, Vibration, and Control, Phoenix, Arizona, USA, November 11–17, 2016. PDF
• Milella A., Reina G., Foglia M.M., “A multi-baseline stereo system for scene segmentation in natural environments,” Technologies for Practical Robot Applications (TePRA), 2013 IEEE International Conference on, April 22-23, pp. 1-6, 2013. PDF
• Milella A., Reina G., Underwood J, and Douillard B. “Combining radar and vision for self-supervised ground segmentation in outdoor environments,” Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, September 25-30, pp. 255-260, 2011. PDF
• Reina G., Underwood J.., and Brooker G., “Short-range Radar Perception in Outdoor Environments,” TAROS, Sheffield, UK, August 31-September 2, pp. 265-275, 2011. Best Paper Prize.
• Reina G., and Foglia M., “Adaptive Suspension System for Planetary Rovers,” IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, 6-8 Septemeber, 2010.
• Reina G., Milella A., Foglia M., “Vision-based Methods for Mobile Robot  Localization and Wheel Sinkage Estimation,” ASME Dynamic Systems and Control Conference, Ann Arbor, MI, USA, October 20-22, 2008, pp. 615-621.
• Rohmer E., Reina G., Ishigami G., Nagatani K., and Yoshida K., “Action Planner of Hybrid Leg-Wheel Robots for Lunar and Planetary Exploration,” IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France, 2008, pp. 3902-3907.
• Reina G., Ishigami G., Nagatami K., and Yoshida K., “Vision-based Estimation of Slip Angle for Mobile Robots and Planetary Rovers,” IEEE International Conference on Robotics and Automation, Pasadena, CA, May 19-23, 2008, pp. 486-491. PDF
• Milella A., Reina G., “Rough-Terrain Mobile Robot Localization Using Stereovision,” ASME International Mechanical Engineering Congress and Exposition (IMECE-2007), Seattle, Washington, USA, November 11-15, 2007, pp. 1175-1181. PDF
• Reina G., Mora A., Nagatani K., and Yoshida K., “Adaptive Kalman Filtering for GPS-based Mobile Robot Localization,” IEEE International Workshop on Safety Security and Rescue Robotics, Roma, September 27-29, 2007. PDF
• Reina G., Ojeda L., Milella A., Borenstein J., “Measures for Wheel Slippage and Sinkage Estimation in Rough-Terrain Mobile Robots,” ASME International Mechanical Engineering Congress and Exposition (IMECE-2005), Orlando, Fl, USA,November 5-11, 2005, pp. 1379-1385. 
• Ojeda L., Reina G., and Borenstein J., “Experimental Results from FLEXnav: An Expert Rule-based Dead-reckoning System for Mars Rovers.” IEEE Aerospace Conference, Big Sky, MT, March 6-13, 2004.