publications

2025

1. 

   A practical aerodynamic model for dynamic textile manipulation in robotics

   Franco Coltraro, Jaume Amorós , Carme Torras , and 1 more author

   Mechanism and Machine Theory, 2025

   Bib HTML

   @article{aerodynamicsMMT,
     title = {A practical aerodynamic model for dynamic textile manipulation in robotics},
     journal = {Mechanism and Machine Theory},
     volume = {209},
     pages = {105993},
     year = {2025},
     issn = {0094-114X},
     doi = {https://doi.org/10.1016/j.mechmachtheory.2025.105993},
     url = {https://www.sciencedirect.com/science/article/pii/S0094114X25000825},
     author = {Coltraro, Franco and Amorós, Jaume and Torras, Carme and Alberich-Carramiñana, Maria},
     keywords = {Aerodynamics, Cloth manipulation, Simulation, Robotics, Sim-to-real gap},
   }

2. 

   Tracking cloth deformation: a novel dataset for closing the sim-to-real gap for robotic cloth manipulation learning

   Franco Coltraro, Júlia Borràs , Maria Alberich-Carramiñana , and 1 more author

   The International Journal of Robotics Research, 2025

   Bib HTML PDF

   @article{DatasetIJRR,
     title = {Tracking cloth deformation: a novel dataset for closing the sim-to-real gap for robotic cloth manipulation learning},
     author = {Coltraro, Franco and Borràs, Júlia and Alberich-Carramiñana, Maria and Torras, Carme},
     year = {2025},
     journal = {The International Journal of Robotics Research},
     doi = {https://doi.org/10.1177/02783649251317617},
   }

2024

1. 

   Surface reconstruction of sampled textiles via Morse theory

   Franco Coltraro, Jaume Amorós , Maria Alberich-Carramiñana , and 1 more author

   arXiv pre-print, 2024

   Bib PDF

   @article{MorseArXiv,
     title = {Surface reconstruction of sampled textiles via Morse theory},
     author = {Coltraro, Franco and Amorós, Jaume and Alberich-Carramiñana, Maria and Torras, Carme},
     year = {2024},
     eprint = {2405.17257},
     journal = {arXiv pre-print},
   }

2. 

   The logistic queue model: theoretical properties and performance evaluation

   Franco Coltraro, Marc Ruiz , and Luis Velasco

   arXiv pre-print, 2024

   Bib PDF

   @article{LogisticArXiv,
     title = {The logistic queue model: theoretical properties and performance evaluation},
     author = {Coltraro, Franco and Ruiz, Marc and Velasco, Luis},
     year = {2024},
     eprint = {2405.17528},
     journal = {arXiv pre-print},
   }

3. 

   A novel collision model for inextensible textiles and its experimental validation

   Franco Coltraro, Jaume Amorós , Maria Alberich-Carramiñana , and 1 more author

   Applied Mathematical Modelling, 2024

   Bib HTML PDF

   @article{CollisionsAMM,
     title = {A novel collision model for inextensible textiles and its experimental validation},
     journal = {Applied Mathematical Modelling},
     volume = {128},
     pages = {287-308},
     year = {2024},
     issn = {0307-904X},
     doi = {https://doi.org/10.1016/j.apm.2024.01.030},
     url = {https://www.sciencedirect.com/science/article/pii/S0307904X24000295},
     author = {Coltraro, Franco and Amorós, Jaume and Alberich-Carramiñana, Maria and Torras, Carme},
     keywords = {Inextensible cloth, Collision modeling, Coloumb friction, Experimental validation, Constrained optimization},
   }

2023

1. 

   A representation of cloth states based on a derivative of the Gauss Linking Integral

   Franco Coltraro, Josep Fontana , Jaume Amorós , and 3 more authors

   Applied Mathematics and Computation, 2023

   Bib HTML PDF

   @article{dGLIAMC,
     title = {A representation of cloth states based on a derivative of the Gauss Linking Integral},
     journal = {Applied Mathematics and Computation},
     volume = {457},
     pages = {128165},
     year = {2023},
     issn = {0096-3003},
     doi = {https://doi.org/10.1016/j.amc.2023.128165},
     url = {https://www.sciencedirect.com/science/article/pii/S009630032300334X},
     author = {Coltraro, Franco and Fontana, Josep and Amorós, Jaume and Alberich-Carramiñana, Maria and Borràs, Júlia and Torras, Carme},
     keywords = {Semantic state labelling, Robotic cloth manipulation, Deformable object representation and classification, Gauss Linking Integral (GLI)},
   }

2. 

   Reconstruction of sampled surfaces with boundary via Morse theory

   Franco Coltraro, Jaume Amorós , Maria Alberich-Carramiñana , and 1 more author

   In Spanish Computer Graphics Conference (CEIG) , 2023

   Bib PDF

   @inproceedings{MorseCEIG,
     booktitle = {Spanish Computer Graphics Conference (CEIG)},
     editor = {Gimeno Sancho, Jesús and Comino Trinidad, Marc},
     title = {{Reconstruction of sampled surfaces with boundary via Morse theory}},
     author = {Coltraro, Franco and Amor\'os, Jaume and Alberich-Carrami\~{n}ana, Maria and Torras, Carme},
     year = {2023},
     publisher = {The Eurographics Association},
     isbn = {978-3-03868-230-1},
     doi = {10.2312/ceig.20231146},
   }

3. 

   Robotic manipulation of cloth: mechanical modeling and perception

   Franco Coltraro

   PhD Thesis, 2023

   Bib HTML PDF

   @article{PhDThesis,
     publisher = {Universitat Politècnica de Catalunya},
     author = {Coltraro, Franco},
     journal = {PhD Thesis},
     title = {Robotic manipulation of cloth: mechanical modeling and perception},
     url = {https://upcommons.upc.edu/handle/2117/387342},
     year = {2023}
   }

2022

1. 

   An inextensible model for the robotic manipulation of textiles

   Franco Coltraro, Jaume Amorós , Maria Alberich-Carramiñana , and 1 more author

   Applied Mathematical Modelling, 2022

   Bib HTML PDF

   @article{InextensibleAMM,
     title = {An inextensible model for the robotic manipulation of textiles},
     journal = {Applied Mathematical Modelling},
     volume = {101},
     pages = {832-858},
     year = {2022},
     issn = {0307-904X},
     doi = {https://doi.org/10.1016/j.apm.2021.09.013},
     author = {Coltraro, Franco and Amor\'os, Jaume and Alberich-Carrami\~{n}ana, Maria and Torras, Carme},
     keywords = {Inextensible cloth, FEM Simulation, Physical modeling, Experimental validation, Robotic manipulation},
   }

2. 

   Morse cell decomposition and parametrization of surfaces from point-clouds

   Maria Alberich-Carramiñana , Jaume Amorós , Franco Coltraro, and 2 more authors

   Proceedings of XVII EACA 2022 (Encuentro Álgebra Computacional y Aplicaciones), 2022

   Bib PDF

   @article{MorseEACA,
     title = {Morse cell decomposition and parametrization of surfaces from point-clouds},
     author = {Alberich-Carrami\~{n}ana, Maria and Amor\'os, Jaume and Coltraro, Franco and Torras, Carme and Verdaguer, Miquel},
     journal = {Proceedings of XVII EACA 2022 (Encuentro \'Algebra Computacional y Aplicaciones)},
     pages = {35--38},
     year = {2022},
     url = {http://dx.doi.org/10.6035/INFiTEC.51},
   }

2021

1. 

   Developable surfaces with prescribed boundary

   Maria Alberich-Carramiñana , Jaume Amorós , and Franco Coltraro

   In Extended Abstracts GEOMVAP 2019 , 2021

   Bib PDF

   @inproceedings{DevelopableGEOMVAP,
     author = {Alberich-Carrami{\~{n}}ana, Maria and Amor{\'o}s, Jaume and Coltraro, Franco},
     editor = {Alberich-Carrami{\~{n}}ana, Maria and Blanco, Guillem and G{\'a}lvez Carrillo, Immaculada and Garrote-L{\'o}pez, Marina and Miranda, Eva},
     title = {Developable surfaces with prescribed boundary},
     booktitle = {Extended Abstracts GEOMVAP 2019},
     year = {2021},
     publisher = {Springer International Publishing},
     pages = {127--132},
     isbn = {978-3-030-84800-2},
   }

2018

1. 

   CURSA-SQ: A methodology for service-centric traffic flow analysis

   Marc Ruiz , Franco Coltraro, and Luis Velasco

   Journal of Optical Communications and Networking, 2018

   Bib HTML PDF

   @article{CURSA_JOCON,
     author = {Ruiz, Marc and Coltraro, Franco and Velasco, Luis},
     journal = {Journal of Optical Communications and Networking},
     keywords = {Machine learning; Multiple input multiple output; Network topology; Optical networks; Stochastic processes; Virtual reality},
     number = {9},
     pages = {773--784},
     publisher = {Optica Publishing Group},
     title = {CURSA-SQ: A methodology for service-centric traffic flow analysis},
     volume = {10},
     year = {2018},
     url = {https://opg.optica.org/jocn/abstract.cfm?URI=jocn-10-9-773},
     doi = {10.1364/JOCN.10.000773},
   }

2017

1. 

   A logistic queue model for network traffic modeling and simulation

   Franco Coltraro

   Master Thesis, 2017

   Bib PDF

   @article{MasterThesis,
     publisher = {Universitat Politècnica de Catalunya},
     author = {Coltraro, Franco},
     journal = {Master Thesis},
     title = {A logistic queue model for network traffic modeling and simulation},
     url = {https://upcommons.upc.edu/handle/2117/106777},
     year = {2017}
   }

2016

1. 

   Teorema de Poincaré-Hopf

   Franco Coltraro

   Bachelor Thesis, 2016

   Bib PDF

   @article{BachelorThesis,
     publisher = {Universidad Complutense de Madrid},
     author = {Coltraro, Franco},
     journal = {Bachelor Thesis},
     title = {Teorema de Poincaré-Hopf},
     url = {https://docta.ucm.es/entities/publication/1471f359-a937-452c-ac13-caf0bb387cce},
     year = {2016}
   }