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About

Basilio Bona is a prominent robotics researcher whose work spans two deeply interconnected domains: robot dynamics and control, and autonomous mobile robot navigation. Based at the Politecnico di Torino, Bona has made foundational contributions that bridge theoretical rigor with practical implementation. His highly cited 2006 overview of friction compensation in robotics (225 citations) remains a landmark reference, systematically surveying techniques to counteract friction-induced positioning errors, stick-slip phenomena, and limit cycles that plague industrial manipulators. Complementing this, his work on robot dynamic calibration (116 citations) established robust methodologies for generating optimal excitation trajectories and estimating inertial parameters — prerequisites for advanced model-based control. His 2006 rapid prototyping study further demonstrated how these theoretical frameworks translate into real-time control systems. Bona's research portfolio expanded significantly into Simultaneous Localization and Mapping (SLAM), where he developed innovative graph-based linear approximations and Rao-Blackwellized Particle Filter approaches for multi-robot systems, with his 2014 pose graph optimization paper earning 106 citations. His investigations into active SLAM using Kullback-Leibler divergence further advanced autonomous exploration under uncertainty. With nearly 1,000 cumulative citations across these areas, Bona's body of work represents essential reading for researchers in robot control and autonomous navigation alike.