The protection of the national infrastructures is one of the main issues for national and international security. The FP7 MICIE project has achieved promising results by developing a secure online software architecture and by sharing... more
The protection of the national infrastructures is one of the main issues for national and international security. The FP7 MICIE project has achieved promising results by developing a secure online software architecture and by sharing information on a real time basis among local risk predictors, in order to obtain accurate and synchronized predictions using shared interdependency models. However, results of MICIE project are not enough in order to quickly and effectively react to all adverse events that may occur over the System of Systems and, in particular, to face cyber attacks. The EC FP7 CockpitCI project aims to improve the resilience and the dependability of CIs through the design and the implementation of an Alerting System that provides to CI operators an efficient tool to support them: (i) in the prevention of cyber attacks and (ii) in the implementation of consequence containment strategies in case of attack.
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Abstract A new type of servosystem is introduced and named cyclic control. The control algorithm presented allows the execution of cycles defined by positions to be attained at given time instants. The cycle starts and ends at the same... more
Abstract A new type of servosystem is introduced and named cyclic control. The control algorithm presented allows the execution of cycles defined by positions to be attained at given time instants. The cycle starts and ends at the same position and has to be repeated over and over in time. Differently from repetitive control and learning control, where exact trajectory tracking is considered, the control problem herein formulated cares only for positions. This allows the development of a finite dimensional control scheme which does ...
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ABSTRACT The synchronization problem of a network of interconnected systems has been deeply analyzed by the scientific community. In the case of identical systems, under suitable hypotheses, the synchronization depends on the network... more
ABSTRACT The synchronization problem of a network of interconnected systems has been deeply analyzed by the scientific community. In the case of identical systems, under suitable hypotheses, the synchronization depends on the network topology, and specifically on the ratio between the second smallest eigenvalue (algebraic connectivity) and spectral radius of the Laplacian matrix corresponding to the network topology. In this paper a distributed algorithm for the estimation of such a ratio is given, hence providing a distributed synchronizability check for networks of interconnected systems. Simulations results are provided to show the effectiveness of the proposed algorithm.
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In the last years a new way to implement Real Time control systems has been opened, in connection with the diffusion of the open-source operating system Linux. There are several proposals to force this system to become or, at last, to... more
In the last years a new way to implement Real Time control systems has been opened, in connection with the diffusion of the open-source operating system Linux. There are several proposals to force this system to become or, at last, to behave as a Real Time one. Some of them are opened source as the original operating system. The purpose of this work ist two-fold. First, to describe the mechanical structure and the electronics of the mobile robot SuperMARIO (Mobile Autonomous Robot for Indoor Operations): this unit was built in our ...
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Abstract Most of real networks show a structure that can be represented quite well by means of growth and probabilistic preferential attachment, leading to optimal features, such as high clustering or scale-freeness. Real networks,... more
Abstract Most of real networks show a structure that can be represented quite well by means of growth and probabilistic preferential attachment, leading to optimal features, such as high clustering or scale-freeness. Real networks, however, are not the result of a global optimization strategy; indeed it is more realistic to let new nodes selfishly chose to connect to the existing nodes that maximize their utility, regardless of the global optimality of the resulting network. On the other hand real networks exist and deploy in metric spaces; ...
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Topological graphs can be used as a world representation for a mobile robot that navigates in an office-like environment. Nodes of the graph can represent the intrinsic structure of the environment like corridors, corners and so on. Arcs... more
Topological graphs can be used as a world representation for a mobile robot that navigates in an office-like environment. Nodes of the graph can represent the intrinsic structure of the environment like corridors, corners and so on. Arcs can capture the connectivity of the space. The task of building algorithms able to identify the characteristic features of nodes directly from sensory data requires several intermediate steps. They consist in the collection of the raw data, their reduction to a possibly one-dimensional representation, its “filtering” ...
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A Fast Conjunctive Resampling Particle Filter (FCR-PF) for the Multi-Robot Localization problem is proposed. The idea is to ex-ploit a plain Particle Filter to keep low the computational load and focus the attention to the collaboration... more
A Fast Conjunctive Resampling Particle Filter (FCR-PF) for the Multi-Robot Localization problem is proposed. The idea is to ex-ploit a plain Particle Filter to keep low the computational load and focus the attention to the collaboration among robots in order to improve the ...
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We describe two possible structures for a localization system which should exploit ultrasonic sensor measures as well as inertial and odometric data to maintain a correct estimate of the location of a mobile robot. The objective is to... more
We describe two possible structures for a localization system which should exploit ultrasonic sensor measures as well as inertial and odometric data to maintain a correct estimate of the location of a mobile robot. The objective is to reduce the position and orientation error in the presence of slippage, and, at the same time, to identify the bias of the gyroscope. The two algorithms have the classical predictor-corrector structure of the Extended Kalman Filter, but they differ in the use of the angular velocity measure coming ...
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Research Interests: Robotics, Computer Science, Artificial Intelligence, Genetic Algorithms, Complex Networks, and 15 moreGenetic Algorithm, Monte Carlo Methods, Space Exploration, Proceedings, Kalman Filter, Mobile Robots, Complex network, ROBOT, Mobile Robot, Novelty, Search Space, Software Deployment, Robotics Automation, Optimal Solution, and Monte Carlo Integration
ABSTRACT In recent years, Model Based Predictive Control (MPC) constitutes an important research trend in the control of advanced heating, ventilation and air conditioning (HVAC) systems in order to find a compromise between the energy... more
ABSTRACT In recent years, Model Based Predictive Control (MPC) constitutes an important research trend in the control of advanced heating, ventilation and air conditioning (HVAC) systems in order to find a compromise between the energy savings and the occupant thermal comfort. In this paper an innovative MPC strategy for indoor temperature regulation in a three-zones building is presented. Two different strategies of adaptive MPC are proposed to achieve even higher performances ensuring temperature regulation on the basis of the occupancy level of each building zone. Furthermore, a comparison between decentralized and distributed MPC configurations is showed to demonstrate the effectiveness of MPC distributed approach in terms of computational costs and control results.
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Research Interests: Applied Mathematics, Regulation, Iterative Learning Control, Robot Control, Structural Properties, and 9 moreBoolean Satisfiability, PID control, Flexible Manipulator, Robot Manipulator, Electrical And Electronic Engineering, Global Convergence, Flexible manipulators, dynamic model, and Approximate solution
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The problem of tracking output trajectories generated by a finite dimensional exosystem using a finite dimensional iterative learning algorithm has been largely considered in literature for linear systems. In this paper, for a class of... more
The problem of tracking output trajectories generated by a finite dimensional exosystem using a finite dimensional iterative learning algorithm has been largely considered in literature for linear systems. In this paper, for a class of nonlinear systems, a piecewise continuous reference is considered and a suitable norm of the output error is minimised rather then zeroed. An application to robotic manipulators concludes the paper.
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Modeling and analyzing critical infrastructures and their interdepen-dencies are essential to discovering hidden vulnerabilities and threats. Several current approaches engage a holistic perspective and rely on ab-stract models; others... more
Modeling and analyzing critical infrastructures and their interdepen-dencies are essential to discovering hidden vulnerabilities and threats. Several current approaches engage a holistic perspective and rely on ab-stract models; others incorporate a reductionistic perspective ...
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A lightweight robot has been built with the aim of testing advanced control algorithms and demonstrating the engineering feasibility of flexible arm control. The robot is a planar two-link manipulator, with revolute joints and a very... more
A lightweight robot has been built with the aim of testing advanced control algorithms and demonstrating the engineering feasibility of flexible arm control. The robot is a planar two-link manipulator, with revolute joints and a very flexible forearm. A description of this laboratory facility is given, including mechanical structure, actuators and sensors, and interface electronics. A nonlinear dynamic model of the robot is given, in which link deflection is expressed in terms of orthonormal mode shapes of the associated ...
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In this paper we consider the problem of building a new class of metric maps representing the surroundings of a mobile robot moving in an unstructured indoor environment. Maps are conceived with a metric based on a log-polar space... more
In this paper we consider the problem of building a new class of metric maps representing the surroundings of a mobile robot moving in an unstructured indoor environment. Maps are conceived with a metric based on a log-polar space representation: this retina-like representation allows a better definition of objects near the robot, giving less importance to far ones. Information provided
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The aim of this paper is to present a vision based algorithm for simultaneous localisation and map build- ing (SLAM) for indoor environment. The approach is based on the well known predictor-corrector structure of the Extended Kalman... more
The aim of this paper is to present a vision based algorithm for simultaneous localisation and map build- ing (SLAM) for indoor environment. The approach is based on the well known predictor-corrector structure of the Extended Kalman Filter and makes use of vi- sion data in the correction phase. To this aim a low cost vision system is presented, with
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Abstract In this paper we present a novel finite dimensional learning algorithm for end point trajectory control of a flexible link moving on a horizontal plane. Given a desired end point trajectory generated by a finite dimensional... more
Abstract In this paper we present a novel finite dimensional learning algorithm for end point trajectory control of a flexible link moving on a horizontal plane. Given a desired end point trajectory generated by a finite dimensional exosystem, by means of successive trials, the algorithm proposed learns the initial state and the control needed to exactly track the desired trajectory. An internal stability constraint is also enforced, which prevents undesirable excessive vibrations and control effort. Initialization of the flexible link state is automatically ...
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ABSTRACT The success of training through virtual environments is due both to an interesting cost savings for industry and positive results for learners. However, the system behind this approach is usually hard to produce, being strongly... more
ABSTRACT The success of training through virtual environments is due both to an interesting cost savings for industry and positive results for learners. However, the system behind this approach is usually hard to produce, being strongly domain-dependent and for this reason difficult to port on other domains. Here we present the design of a domain-independent training system based on simulation environments, capable to be reused in different domains and especially in the industrial ones, saving costs considerably. The main idea behind the system design is the separation between the domain logic and the trainer role. This distinction is achieved by the adoption of a modular and flexible agent-based system approach. We present a first case study for training advanced technicians to learn maintenance procedures for complex medium tension equipments.
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Abstract This paper deals with a new approach to multi robot localization. An Interlaced extended Kalman filter is shown to be a good solution to the problem of estimating the pose of a team of robots with a fully decentralized algorithm.... more
Abstract This paper deals with a new approach to multi robot localization. An Interlaced extended Kalman filter is shown to be a good solution to the problem of estimating the pose of a team of robots with a fully decentralized algorithm. Moreover, it is feasible to dynamically" correct" the estimation autonomously evaluated by each single robot, updating this quantity anytime two robots randomly come across. The algorithm combines the robustness of a full state EKF with the simplicity of its interlaced implementation. It does ...
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ABSTRACT Infrastructure systems and their interaction mechanisms can be interpreted following a multitude of different approaches, depending on different perspectives and levels of abstraction. In this paper, we propose a mixed approach,... more
ABSTRACT Infrastructure systems and their interaction mechanisms can be interpreted following a multitude of different approaches, depending on different perspectives and levels of abstraction. In this paper, we propose a mixed approach, in which different representations of the same infrastructure is used in order to define the interdependencies and interactions among infrastructures and their elements. We explicitly introduce into our model the three concepts of: infrastructure, component and interaction; and model, on one hand, intra-domain dependencies with a reductionistic approach and, on the other hand, inter-domain dependencies mainly using a holistic vision.
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ABSTRACT Tracking the positions of people in large indoor spaces is important, since it enables a range of applications related to security, indoor navigation and guidance. This paper proposes a personal indoor navigation system based on... more
ABSTRACT Tracking the positions of people in large indoor spaces is important, since it enables a range of applications related to security, indoor navigation and guidance. This paper proposes a personal indoor navigation system based on hybrid map, containing geometric as well as symbolic information. In this way the same map can be exploited to guide and localise the user efficiently during navigation. The hybrid map is built using floor plans of the environment. It is a topological graph capturing the connectivity of complex indoor environment and it is retrieved by applying image-processing techniques. Some additional metric information are added to make the map suitable for quantitative localisation. Semantic features are considered to improve user readability.
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ABSTRACT Conference code: 96949, Export Date: 17 December 2013, Source: Scopus, Art. No.: 6505011, doi: 10.1109/SCIS-ISIS.2012.6505011, Language of Original Document: English, Correspondence Address: University Campus Biomedico of... more
ABSTRACT Conference code: 96949, Export Date: 17 December 2013, Source: Scopus, Art. No.: 6505011, doi: 10.1109/SCIS-ISIS.2012.6505011, Language of Original Document: English, Correspondence Address: University Campus Biomedico of RomeItaly, References: Varga, R.S., (2004) Gershgorin and His Circles, , Berlin: Springer-Verlag;
ABSTRACT Conference code: 100143, Export Date: 17 December 2013, Source: Scopus, doi: 10.1007/978-3-642-41476-3_17, Language of Original Document: English, Correspondence Address: University Roma Tre, Via della Vasca Navale 79, 00146... more
ABSTRACT Conference code: 100143, Export Date: 17 December 2013, Source: Scopus, doi: 10.1007/978-3-642-41476-3_17, Language of Original Document: English, Correspondence Address: University Roma Tre, Via della Vasca Navale 79, 00146 Roma, Italy, References: Haimes, Y., Jiang, P., Leontief-based Model of Risk in Complex Interconnected Infrastructures (2001) Journal of Infrastructure Systems, pp. 1-12;
ABSTRACT Conference code: 100322, Export Date: 17 December 2013, Source: Scopus, Art. No.: 6609196, doi: 10.1109/NSW.2013.6609196, Language of Original Document: English, Correspondence Address: Complex System and Security Lab, Università... more
ABSTRACT Conference code: 100322, Export Date: 17 December 2013, Source: Scopus, Art. No.: 6609196, doi: 10.1109/NSW.2013.6609196, Language of Original Document: English, Correspondence Address: Complex System and Security Lab, Università CAMPUS BioMedico, via Alvaro del Portillo 21, 00128 Rome - IT, Italy, References: Aspnes, J., Eren, T., Goldenberg, D.K., Morse, A.S., Whiteley, W., Yang, Y.R., Anderson, B.D.O., Belhumeur, P.N., A theory of network localization (2006) IEEE Transactions on Mobile Computing, 5 (12), pp. 1663-1678. , Dec;, Sponsors: IEEE Task Force on Network Science; IEEE Computer Society; Network Science Center at West Point
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Abstract The design and the realization of an observer for a two-link flexible arm characterized by a nonlinear model are described. The presence of several detectable modes of vibration and of noisy deflection measures requires the... more
Abstract The design and the realization of an observer for a two-link flexible arm characterized by a nonlinear model are described. The presence of several detectable modes of vibration and of noisy deflection measures requires the observer to perform a well-defined filtering action. In order to comply both with the nonlinearity of the model and with these requirements, the subset of equations describing the flexible dynamics is extracted from the whole robot model. The nonlinear interactions between the rigid variables and ...
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ABSTRACT Consensus algorithms turned out to be effective methodologies in all those situations involving a distributed merging of information such as the collaborative estimation performed by a set of agents. This method, however, is not... more
ABSTRACT Consensus algorithms turned out to be effective methodologies in all those situations involving a distributed merging of information such as the collaborative estimation performed by a set of agents. This method, however, is not able to cope with node disruptions, and requires the agents to continue to communicate until an agreement is reached. In some cases, such an assumption may not be verified, e.g., due to the disruption of some nodes. Moreover, the unwanted presence of some additional nodes may compromise the estimate. In this paper, the effect of removing nodes during the consensus protocol with respect to the time instant of disconnection is addressed. Moreover, the case of spurious or malicious nodes connected to the network with the aim to interfere with the consensus is also considered. Simulations to corroborate the theoretical findings are provided.