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 Laura GIARRÈ Professore OrdinarioDipartimento di Ingegneria "Enzo Ferrari"

## Pubblicazioni

2022 - Optimal Plug-and-Control of Unknown Nonlinear Systems [Articolo su rivista]
Adelberger, Daniel; Giarré, Laura; Ohtsuka, Toshiyuki; Luigi del, Re
abstract

Modeling and control design are typically subsequent but independent activities. Optimal control is traditionally developed on the basis of explicit models. While this usually yields good results for linear systems, the same is not as true for nonlinear ones, for which explicit solutions can be found only for few cases. In practice, in most cases receding horizon controls based on linear approximations are used. In this paper, we propose a procedure which delivers in one step both a model and an optimal receding horizon control algorithm, without requiring a linearization. Our procedure relies essentially on a system identification by a suitable class of functions which offers universal approximation properties that can be directly incorporated in the control algorithm. Using directional forgetting we show that an adaptive extension can be realized. Measurements and simulations based on a standard automotive control problem are presented to confirm the validity of our proposal.

2022 - The 29th Mediterranean Conference on Control and Automation [Articolo su rivista]
Maria grazia Dotoli, ; Giarré, Laura
abstract

2022 - The 29th Mediterranean Conference on Control and Automation [Conference Reports] [Articolo su rivista]
Dotoli, M.; Giarrè, Laura
abstract

2021 - A navigation and augmented reality system for visually impaired people [Articolo su rivista]
Alice Lo Valvo, ; Daniele, Croce; Domenico, Garlisi; Fabrizio, Giuliano; Giarrè, Laura; Ilenia, Tinnirello
abstract

In recent years, we have assisted to an impressive advance of augmented reality systems and computer vision algorithms, based on image processing and artificial intelligence. Thanks to these technologies, mainstream smartphones are able to estimate their own motion in 3D space with high accuracy. In this paper, we exploit such technologies to support autonomous mobility of people with visual disabilities, identifying pre-defined virtual paths and providing context information, reducing the distance between digital and real world. In particular, we present ARIANNA+, an extension of ARIANNA, a system explicitly designed for visually impaired people for indoor and outdoor localization and navigation. While ARIANNA is based on the assumption that landmarks, such as QR codes, and physical paths (composed of colored tapes, painted lines, or tactile pavings) are deployed in the environment and recognized by the camera of a common smartphone, ARIANNA+ eliminates the need of any physical support thanks to the ARKit library which we exploit to build a completely virtual path. Moreover, ARIANNA+ adds the possibility for the users to have enhanced interactions with the surrounding environment, through Convolutional Neural Networks (CNNs) trained to recognize objects or buildings and enabling the possibility of accessing contents associated to them. By using a common smartphone as a mediation instrument with the environment, ARIANNA+ leverages augmented reality and machine learning for enhancing physical accessibility. The proposed system allows visually impaired people to easily navigate in indoor and outdoor scenarios simply by loading a previously recorded virtual path and providing automatic guidance along the route, through haptic, speech, and sound feedback.

2021 - Assistive Navigation using Deep Reinforcement Learning Guiding Robot with UWB/Voice Beacons and Semantic Feedbacks for Blind and Visually Impaired People [Articolo su rivista]
Chen-Lung, Lu; Zi-Yan, Liu; Jui-Te, Huang; Ching-I, Huang; Bo-Hui, Wang; Chen, Yi; Nien-Hsin, Wu; Hsueh-Cheng Nick Wang, ; Giarrè, Laura; Pei-Yi, Kuo
abstract

Facilitating navigation in pedestrian environments is critical for enabling people who are blind and visually impaired (BVI) to achieve independent mobility. A deep reinforcement learning (DRL)–based assistive guiding robot with ultrawide-bandwidth (UWB) beacons that can navigate through routes with designated waypoints was designed in this study. Typically, a simultaneous localization and mapping (SLAM) framework is used to estimate the robot pose and navigational goal; however, SLAM frameworks are vulnerable in certain dynamic environments. The proposed navigation method is a learning approach based on state-of-the-art DRL and can effectively avoid obstacles. When used with UWB beacons, the proposed strategy is suitable for environments with dynamic pedestrians. We also designed a handle device with an audio interface that enables BVI users to interact with the guiding robot through intuitive feedback. The UWB beacons were installed with an audio interface to to obtain environmental information. The on-handle and on-beacon verbal feedback provides points of interests and turn-by-turn information to BVI users. BVI users were recruited in this study to conduct navigation tasks in different scenarios. A route was designed in a simulated ward to represent daily activities. In real-world situations, SLAM-based state state estimation might be affected by dynamic obstacles, and the visual-based trail may suffer from occlusions from pedestrians or other obstacles. The proposed system successfully navigated through environments with dynamic pedestrians, in which systems based on existing SLAM algorithms have failed.

2021 - Erratum: Consensus for networks with unknown but bounded disturbances (SIAM Journal on Control and Optimization (2009) 48 (1756-1770) DOI: 10.1137/060678786) [Articolo su rivista]
Giarrè, L.; Pesenti, R.
abstract

This erratum corrects an error in the proof of Theorem 1 in [D. Bauso, L. Giarr'e, and R. Pesenti, SIAM J. Control Optim., 48 (2009), pp. 1756-1770].

2021 - Making an opportunity of the crisis - The Inclusive Approach of the Italian Robotics Community [Articolo su rivista]
Sciutti, Alessandra; Battaglia: Maria Rosanna Fossati: Valentina Calderai, Fiorella; Giuseppe Catalano, Manuel; Antonelli, Gianluca; Maria Di Nunzio, Giorgio; Dubbini, Nevio; Giarrè, Laura; Menegatti, Emanuele; Negrello, Francesca; Pascucci, Federica; Pivetti, Monica; Maria Zanchettin, Andrea; Baroncelli, Arturo; Majorana, Salvatore; Marchisio, Carlo; Siciliano, Bruno; Rocco, Paolo; Metta, Giorgio; Melchiorri, Claudio; Laschi, Cecilia; Guglielmelli, Eugenio; De Luca, Alessandro; Dario, Paolo; Bicchi, Antonio
abstract

2021 - Smart waste management system as a sustainable social enterprise model [Relazione in Atti di Convegno]
Nasar, W.; Hameed, I. A.; Giarrè, Laura
abstract

Smart and sustainable solid waste management in metropolises with systemic methods and other environmental issues are important factors in the development of urban management and circular economy. Extensive progress has been made towards reducing the environmental and human health impact of the generated solid waste in households. Under such a context, the major challenges are to reduce waste generation and optimize waste collection process in a way that lies within the circular economy. A Norwegian municipality has been investigated as a case study for this research. In this regard, a sustainable social enterprise model for solid waste management has been proposed. It has two key points; one is optimal waste collection and other is to observe effects of optimal route planning for achieving sustainable development goals (SDGs). Furthermore, the data analysis has been done to observe the waste generation patterns in different areas of the investigated municipality and how can this be used for future placement and sizes of waste bins. The proposed solution is profitable for a circular economy as the optimal route planning will help to reduce fuel consumption, cost, and time used for waste collection. The social enterprise model (SEM) accomplishes the revenue and achieves the key performance indicators (KPIs) for sustainable development goals.

2020 - A cultural heritage experience for visually impaired people [Relazione in Atti di Convegno]
Valvo, A. L.; Garlisi, D.; Giarrè, Laura; Croce, D.; Giuliano, F.; Tinnirello, I.
abstract

In recent years, we have assisted to an impressive advance of computer vision algorithms, based on image processing and artificial intelligence. Among the many applications of computer vision, in this paper we investigate on the potential impact for enhancing the cultural and physical accessibility of cultural heritage sites. By using a common smartphone as a mediation instrument with the environment, we demonstrate how convolutional networks can be trained for recognizing monuments in the surroundings of the users, thus enabling the possibility of accessing contents associated to the monument itself, or new forms of fruition for visually impaired people. Moreover, computer vision can also support autonomous mobility of people with visual disabilities, for identifying pre-defined paths in the cultural heritage sites, and reducing the distance between digital and real world.

2020 - On optimal design of experiments for static polynomial approximation of nonlinear systems [Articolo su rivista]
Patrick, Schrlang; Giarrè, Laura
abstract

2020 - Privacy-preserving Overgrid: Secure Data Collection for the Smart Grid [Articolo su rivista]
Daniele, Croce; Fabrizio, Giuliano; Ilenia, Tinnirello; Giarrè, Laura
abstract

In this paper we present a privacy-preserving scheme for Overgrid, a fully distributed peer-to-peer (P2P) architecture designed to automatically control and implement distributed Demand Response (DR) schemes in a community of smart buildings with energy generation and storage capabilities. To monitor the power consumption of the buildings, while respecting the privacy of the users, we extend our previous Overgrid algorithms to provide privacy preserving data aggregation ( extit{PP-Overgrid}). This new technique combines a distributed data aggregation scheme with the Secure Multi-Party Computation paradigm. First, we use the energy profiles of hundreds of buildings, classifying the amount of flexible'' energy consumption, i.e. the quota which could be potentially exploited for DR programs. Second, we consider renewable energy sources and apply the DR scheme to match the flexible consumption with the available energy. Finally, to show the feasibility of our approach, we validate the PP-Overgrid algorithm in simulation for a large network of smart building

2020 - Supporting Autonomous Navigation of Visually Impaired People for Experiencing Cultural Heritage [Capitolo/Saggio]
Daniele, Croce; Giovanni, Galioto; Natale, Galioto; Domenico, Garlisi; Giarrè, Laura; Federica, Inderst; Federica, Pascucci; Ilenia, Tinnirello
abstract

In this chapter, we present a system for indoor and outdoor localization and navigation to allow the low vision users in experiencing cultural heritage in autonomy. The system is based on the joint utilization of dead-reckoning and computer vision techniques on a smartphone-centric tracking system. The system is explicitly designed for visually impaired people, but it can be easily generalized to other users, and it is built under the assumption that special reference signals, such as colored tapes, painted lines, or tactile paving, are deployed in the environment for guiding visually impaired users along pre-defined paths. Differently from previous works on localization, which are focused only on the utilization of inertial sensors integrated into the smartphones, we exploit the smartphone camera as an additional sensor that, on one side, can help the visually impaired user to identify the paths and, on the other side, can provide direction estimates to the tracking system. The users with the help of the navigation system may experience the museum or the cultural site in autonomy, by following a path previously decided and by going from a location of interest to another, without any external personal assistant. We demonstrate the effectiveness of our approach, by means of experimental tests performed in a controlled indoor environment and in a real outdoor installation

2019 - An Indoor and Outdoor Navigation System for Visually Impaired People [Articolo su rivista]
Croce, Daniele; Giarre, Laura; Pascucci, Federica; Tinnirello, Ilenia; Galioto, Giovanni Ettore; Garlisi, Domenico; Lo Valvo, Alice
abstract

2019 - Online k-step model identification with directional forgetting [Relazione in Atti di Convegno]
Schrangl, P.; Del Re, L.; Giarre, L.
abstract

2019 - Online k-step PNARX identification for nonlinear engine systems [Relazione in Atti di Convegno]
Schrangl, P.; Giarré, Laura.; Reiterer, F.; L. D., Re
abstract

Real systems are often nonlinear, and accounting for the nonlinearity can be essential for the attainable closed-loop performance in model-based control. This is especially true for many engine related control problems, as the achievable tradeoff between different targets, e.g. emissions and consumption, depends strongly on the model quality. However, engine systems tend to change over time, and it would be beneficial to be able to track these changes in the model. Against this background, we propose here a novel recursive algorithm for online adaptive system identification aimed to estimate an approximating parametric nonlinear model (polynomial NARX) of systems. This model structure has been used earlier e.g. for the air path control. The presented identification scheme is also suitable for parameter estimation in a closed-loop setting, provided that the data is sufficiently exciting. The main contribution of this paper is a recursive algorithm minimizing the k-step ahead prediction error for updating the model parameters in a computationally efficient way. We show its effectiveness by means of simulation examples of a nonlinear case study system and real data of a Diesel engine air path.

2019 - Optimal experiment design for static polynomial approximation of nonlinear systems [Relazione in Atti di Convegno]
Schrangl, P.; Del Re, L.; Giarre, L.
abstract

2018 - Deep Trail-Following Robotic Guide Dog in Pedestrian Environments for People who are Blind and Visually Impaired-Learning from Virtual and Real Worlds [Relazione in Atti di Convegno]
Tzu-Kuan, Chuang; Ni-Ching, Lin; Jih-Shi, Chen; Chen-Hao, Hung; Yi-Wei, Huang; Chunchih, Tengl; Haikun, Huang; Lap-Fai, Yu; Giarrè, Laura; Hsueh-Cheng, Wang
abstract

Navigation in pedestrian environments is critical to enabling independent mobility for the blind and visually impaired (BVI) in their daily lives. White canes have been commonly used to obtain contact feedback for following walls, curbs, or man-made trails, whereas guide dogs can assist in avoiding physical contact with obstacles or other pedestrians. However, the infrastructures of tactile trails or guide dogs are expensive to maintain. Inspired by the autonomous lane following of self-driving cars, we wished to combine the capabilities of existing navigation solutions for BVI users. We proposed an autonomous, trail-following robotic guide dog that would be robust to variances of background textures, illuminations, and interclass trail variations. A deep convolutional neural network (CNN) is trained from both the virtual and realworld environments. Our work included major contributions: 1) conducting experiments to verify that the performance of our models trained in virtual worlds was comparable to that of models trained in the real world; 2) conducting user studies with 10 blind users to verify that the proposed robotic guide dog could effectively assist them in reliably following man-made trails.

2018 - Improved PDR localization via UWB-anchor based on-line calibration [Relazione in Atti di Convegno]
Giarrè, Laura; Federica, Pascucci; Simone, Morosi; Alessio, Martinelli
abstract

In the present paper, we perform an on-line recalibration of a localization system which is based on the pedestrian dead reckoning technique by means of an anchor based Ultra Wide Band positioning. As a matter of fact a hybrid localization perspective is adopted the use of different(wearable) sensors to improve the localization accuracy; furthermore, it exploits the data to simultaneously build maps in unknown and uncertain environments. Comparisons of pedestrian dead reckoning localization with and without recalibration are shown by reporting the results of experiments that have been taken in a real environment

2018 - Mixed ℓ2 and ℓ1-norm regularization for adaptive detrending with ARMA modeling [Articolo su rivista]
GIarré, L.; Argenti, F.
abstract

In this paper, the problem of detrending a time series and/or estimating a wandering baseline is addressed. We propose a new methodology that adaptively minimizes different regularized cost functions by introducing an ARMA model of the underlying trend. Mixed ℓ1/ℓ2-norm penalty functions are taken into consideration and novel RLS and LMS solutions are derived for the model parameters estimation. The proposed methods are applied to typical trend estimation/removal problems that can be found in the analysis of economic time series or biomedical signal acquisition. Comparisons with standard noncausal filtering techniques are also presented.

2018 - Sensor Fusion Localization and Navigation for Visually Impaired People [Relazione in Atti di Convegno]
Galioto, Giovanni; Tinnirello, Ilenia; Croce, Daniele; Pascucci, Federica; Inderst, Federica; Giarre', Laura
abstract

In this paper, we present an innovative cyber physical system for indoor and outdoor localization and navigation, based on the joint utilization of dead-reckoning and computer vision techniques on a smartphone-centric tracking system. The system is explicitly designed for visually impaired people, but it can be easily generalized to other users and it is built under the assumption that special reference signals, such as colored tapes, painted lines, or tactile paving, are deployed in the environment for guiding visually impaired users along pre-defined paths. Differently, from previous works on localization, which are focused only on the utilization of inertial sensors integrated into the smartphones, we exploit the smartphone camera as an additional sensor that, on one side, can help the visually impaired user to identify the paths and, on the other side, can provide direction estimates to the tracking system. We demonstrate the effectiveness of our approach, by means of experimental tests performed in a real outdoor installation and in a controlled indoor environment

2018 - Teletraffic engineering for direct load control in smart grids [Articolo su rivista]
Neglia, G; Giarré, L; Tinnirello, I; G Di Bella,
abstract

2017 - Demo: Sensor Fusion Localization and Navigation for Visually Impaired People [Relazione in Atti di Convegno]
Galioto, Giovanni; Tinnirello, Ilenia; Croce, Daniele; Inderst, Federica; Pascucci, Federica; Giarrè, Laura
abstract

We present an innovative smartphone-centric tracking system for indoor and outdoor environments, based on the joint utilization of dead-reckoning and computer vision (CV) techniques. The system is explicitly designed for visually impaired people (although it could be easily generalized to other users) and it is built under the assumption that special reference signals, such as painted lines, colored tapes or tactile pavings are deployed in the environment for guiding visually impaired users along pre-defined paths. Thanks to highly optimized software, we are able to execute the CV and sensor-fusion algorithms in run-time on low power hardware such as a normal smartphone, precisely tracking the users movements.

2017 - Enabling independent navigation for visually impaired people through a wearable vision-based feedback system [Relazione in Atti di Convegno]
Hsueh-Cheng, Wang; Katzschmann, Robert K.; Santani, Teng; Brandon, Araki; Giarrè, Laura; Daniela, Rus
abstract

This work introduces a wearable system to provide situational awareness for blind and visually impaired people. The system includes a camera, an embedded computer and a haptic device to provide feedback when an obstacle is detected. The system uses techniques from computer vision and motion planning to (1) identify walkable space; (2) plan step-by-step a safe motion trajectory in the space, and (3) recognize and locate certain types of objects, for example the location of an empty chair. These descriptions are communicated to the person wearing the device through vibrations. We present results from user studies with low- and high-level tasks, including walking through a maze without collisions, locating a chair, and walking through a crowded environment while avoiding people

2017 - In.Line: A Navigation Game for Visually Impaired People [Relazione in Atti di Convegno]
Giarre, L.; Jaccheri, L.; Tinnirello, I.
abstract

In.line is a novel game based on a navigation system, called ARIANNA (pAth Recognition for Indoor Assisted NavigatioN with Augmented perception, [1]), primarily designed for visually impaired people permitting to navigate and find some points of interests in an indoor and outdoor environment by following a path painted or stuck on the floor. The aim of the game is twofold: (1) let the users learn and familiarize with the system, (2) improve blind people spatial skills to let them learn and acquire an allocentric spatial representation. The impact stands in the possibility of enhancing the social inclusion of a large part of the society that is increasing with the aging of the population by augmenting their autonomous mobility. The paper presents the concept design and preliminary evaluation of a game specifically designed for blind people. The evaluation has been performed via qualitative and quantitative tests.

2016 - Adaptive quadratic regularization for baseline wandering removal in wearable ECG devices [Relazione in Atti di Convegno]
Argenti, F.; Facheris, L.; Giarrè, Laura
abstract

The electrocardiogram (ECG) is one of the most important physiological signals to monitor the health status of a patient. Technological advances allow the size and weight of ECG acquisition devices to be strongly reduced so that wearable systems are now available, even though the computational power and memory capacity is generally limited. An ECG signal is affected by several artifacts, among which the baseline wandering (BW), i.e., a slowly varying variation of its trend, represents a major disturbance. Several algorithms for BW removal have been proposed in the literature. In this paper, we propose new methods to face the problem that require low computational and memory resources and thus well comply with a wearable device implementation.

2016 - Enhancing tracking performance in a smartphone-based navigation system for visually impaired people [Relazione in Atti di Convegno]
Croce, D.; Giarrè, Laura; La Rosa, F.; Montana, E.; Tinnirello, I.
abstract

In this paper we show how to enhance the tracking performance of Arianna, a low-cost augmented reality system designed to meet the needs of people with problems of orientation, people with sight impairment and blind people. For augmented reality system we mean the design of: i) a set of paths and tags to be deployed in the environment, realized in various ways depending on the context (decorative elements easily identifiable, colorful stripes, QR code, RFID, etc.); ii) an instrument of mediation between the reality and the user (typically a smartphone) to access the information disseminated in the environment by means of a camera and provide a vibration feedback signal to the users for following pre-defined paths. In this paper we explore the possibility of applying optical flow techniques to the sequence of images captured by the camera along the paths, to identify the user movements and provide a position estimate. Experimental results show that the approach is promising.

2016 - Large Scale Control of Deferrable Domestic Loads in Smart Grids [Articolo su rivista]
Tinnirello, I.; Neglia, G.; Giarrè, Laura; Di Bella, G.; Alain, J. M.; Ippolito, M.
abstract

In this paper, we investigate a realistic and low- cost deployment of large scale direct control of inelastic home appliances whose energy demand cannot be shaped, but simply deferred. The idea is to exploit 1) some simple actuators to be placed on the electric plugs for connecting or disconnecting appliances with heterogeneous control interfaces, including non- smart appliances, and 2) the Internet connections of customers for transporting the activation requests from the actuators to a centralized controller. Our solution requires no interaction with home users: in particular, it does not require them to express their energy demand in advance. A queuing theory model is derived to quantify how many users should adopt this solution in order to control a significant aggregated power load without significantly impairing their quality of service.

2016 - Regularized LMS methods for baseline wandering removal in wearable ECG devices [Relazione in Atti di Convegno]
Fabrizio, Argenti; Bassam, Bamieh; Giarrè, Laura
abstract

Abstract: The acquisition of electrocardiogram (ECG) signals by means of light and reduced size devices can be usefully exploited in several health-care applications, e.g., in remote monitoring of patients. ECG signals, however, are affected by several artifacts due to noise and other disturbances. One of the major ECG degradation is represented by the baseline wandering (BW), a slowly varying change of the signal trend. Several BW removal algorithms have been proposed into the literature, even though their complexity often hinders their implementation into wearable devices characterized by limited computational and memory resources. In this study, we formalize the BW removal problem as a mean-square-error regression with an ℓ1 or ℓ2 penalty function and propose low-complexity least mean squares (LMS) solutions that comply with a wearable device implementation.

2015 - In.Sight s.r.l. [Spin Off]
Giarrè, Laura; Tinnirello, I.; Croce, ; D, .; Garlisi, ; D, .; Giuliano, ; F, .; Galioto, N.
abstract

Enhancing Sense through technology

2015 - Scalable and privacy-preserving admission control for smart grids [Relazione in Atti di Convegno]
Neglia, G.; Di Bella, G.; Giarrè, Laura; Tinnirello, I.
abstract

Energy demand and production need to be constantly matched in the power grid. The traditional paradigm to continuously adapt the production to the demand is challenged by the increasing penetration of more variable and less predictable energy sources, like solar photovoltaics and wind power. An alternative approach is the so called direct control of some inherently flexible electric loads to shape the demand. Direct control of deferrable loads presents analogies with flow admission control in telecommunication networks: a request for network resources (bandwidth or energy) can be delayed on the basis of the current network status in order to guarantee some performance metrics. In this paper we go beyond such an analogy, showing that usual teletraffic tools can be effectively used to control energy loads. In particular we propose a family of control schemes which can be easily tuned to achieve the desired trade-off among resources usage, control overhead and privacy leakage.

2015 - Smart plugs: A low cost solution for programmable control of domestic loads [Relazione in Atti di Convegno]
Galioto, Giovanni; Galioto, Natale; Giaconia, Costantino; Giarrè, Laura; Neglia, Giovanni; Tinnirello, Ilenia
abstract

Balancing energy demand and production is becoming a more and more challenging task for energy utilities. This is due to a number of different reasons among which the larger penetration of renewable energies which are more difficult to predict and the meagre availability of financial resources to upgrade the existing power grid. While the traditional solution is to dynamically adapt energy production to follow the time-varying demand, a new trend is to drive the demand itself by means of Direct Load Control (DLC). In this paper we consider a scenario where DLC functionalities are deployed at a large set of small deferrable energy loads, like appliances of residential users. The required additional intelligence and communication capabilities may be introduced through smart plugs, without the need to replace older 'dumb' appliances. Smart plugs are inserted between the appliances plugs and the power sockets and directly connected to the Internet. An open software architecture allows to abstract the hardware sensors and actuators integrated in the plug and to easily program different load control.

2014 - ARIANNA: a smartphone-based navigation system with human in the loop [Relazione in Atti di Convegno]
Croce, D; Gallo, P; Garlisi, D; Giarrè, Laura; Mangione, S; Tinnirello, I.
abstract

In this paper we present a low cost navigation system, called ARIANNA, primarily designed for visually impaired people. ARIANNA (pAth Recognition for Indoor Assisted NavigatioN with Augmented perception) permits to find some points of interests in an indoor environment by following a path painted or sticked on the floor. The path is detected by the camera of the smartphone which also generates a vibration signal providing a feedback to the user for correcting his/her direction. Some special landmarks can be deployed along the path for coding additional information detectable by the camera. In order to study the practical feasibility of the ARIANNA system for human users that want to follow a pre-defined path (by only using the smartphone feedback signals), we study how to incorporate human behavior models into the feedback control loop. We also implement an Extended Kalman Filter for localization, in which the user coordinates, speed and orientation represent the filter state (whose updating law depends on the user reaction to the vibration signals), while the smartphones sensors provide the set of measurements used for state estimation.

2014 - MED14 [Conference Reports] [Relazione in Atti di Convegno]
Giarrè, Laura
abstract

The 22nd Mediterranean Control Conference (MED14) took place in Palermo, Italy, on July 16?19, 2014. MED14 was another success for this series of conferences, which are organized under the auspices of the Mediterranean Control Association (MCA) with technical co-sponsorship of the IEEE Control System Society (CSS) and the IEEE Robotics and Automation Society (RAS). A total of 38 members of the International Program Committee contributed to the evaluation of the papers, collecting about 1000 reviews. Three plenary speakers opened each day of the technical program, with talks on economics, networks, and system biology. Two tutorial sessions were dedicated to systems biology and smart grid, and five invited sessions were organized and presented: two on marine robotics, one on aerospace systems, and two on assistive technologies.

2014 - Optimal Resource Allocation in Multi-Hop Networks: Contention vs. Scheduling [Relazione in Atti di Convegno]
Badalamenti, R; Giarrè, Laura; Tinnirello, I.
abstract

CSMA/CA (Carrier Sense Multiple Access/Collision Avoidance) is actually the most used method in ad-hoc networks for transmitting on a contending medium, even if it shows poor performance in presence of hidden nodes. To increase performance, we propose an algorithm that combines CSMA and TDMA (Time Division Multiple Access) approaches. The adopted solution consists of grouping contending nodes in non-interfering subsets and granting a different numbers of time slots to different groups, while using the CSMA to manage medium access among nodes belonging to the same subset. An optimization procedure to assign the time slots to each subset of nodes and to find an equilibrium between contention and scheduling is presented.

2014 - Unidirectional Direct Load Control through Smart Plugs [Relazione in Atti di Convegno]
G., Neglia; G., Di Bella; Giarrè, Laura; I., Tinnirello
abstract

Balancing energy demand and production is becoming a more and more challenging task for energy utilities also because of the larger penetration of renewable energies which are more difficult to predict and control. While the traditional solution is to dynamically adapt energy production to follow time-varying demand, a new trend is to drive demand itself. Most of the ongoing actions in this direction involve greedy energy consumers, like industrial plants, supermarkets or large buildings. Pervasive communication technologies may allow in the near future to push further the granularity of such approach, by having the energy utility interacting with residential appliances. In this paper we study large scale direct control of inelastic home appliances whose energy demand cannot be shaped, but simply deferred. Our solution does not suppose any particular intelligence at the appliances. The actuators are rather \emph{smart plugs}---simple devices with local communication capabilities that can be inserted between appliances' plugs and power sockets and are able to interrupt/reactivate power flow through the plug. A simple control message can be broadcast to a large set of smart plugs for probabilistically enabling or deferring the activation requests of a specific load type in order to satisfy a probabilistic bound on the aggregated power consumption. The control law can be easily derived analytically.

2014 - Unidirectional Probabilistic Direct Control for Deferrable Loads [Relazione in Atti di Convegno]
Giovanni, Neglia; Giuseppe Di, Bella; Giarrè, Laura; Ilenia, Tinnirello
abstract

The idea of harnessing the inherent flexibility in demand of many types of electric loads has been largely discussed in the last years for coping with the need to maintain the energy demand-supply balance. In particular, the fine tuning of the operation conditions of different thermostatic loads (such as air-conditioning, refrigerators, etc.) has appeared as the most natural solution for load control with minimal user discomfort. In this paper we focus on an alternative approach: deploying simple open-loop control strategies for deferrable loads with minimal communication overhead. The idea is to send a multicast control message to a group of users, on the basis of the expected and desired load profiles, for probabilistically enabling or deferring the activation requests of a specific load type. The control law and the most important performance metrics can be easily derived analytically. Despite the simplicity of the approach, which requires minimal or null investments, our results show that significant load shifts can be achieved.

2013 - ARIANNA: pAth Recognition for Indoor Assisted NavigatioN with Augmented perception [Working paper]
Gallo, P; Tinnirello, I; Giarrè, Laura; Garlisi, D; Croce, D; Fagiolini, A.
abstract

ARIANNA stands for pAth Recognition for Indoor Assisted Navigation with Augmented perception. It is a flexible and low cost navigation system for vi- sually impaired people. Arianna permits to navigate colored paths painted or sticked on the floor revealing their directions through vibrational feedback on commercial smartphones.

2013 - HLPV Identication in wireless ad hoc networks [Capitolo/Saggio]
abstract

Hybrid systems are dynamical systems consisting of components with con- tinuous and discrete behavior and thus they have required a new hybrid systems and control theory that has been developed in the past years and is still an active research topic. Motivated by a practical example, the tra c ow in wireless ad hoc network model, we derive Hybrid LPV modeling and identi cation techniques. Finally we show simulation results of o line identi cation and possible future algorithms.

2013 - Model identification of a network as compressing sensing [Articolo su rivista]
Materassi, D; Innocentig, ; Giarrè, Laura; Salapaka, M.
abstract

In many applications, it is of interest to derive information about the topology and the internal connections of multiple dynamical systems interacting together. Examples can be found in fields as diverse as Economics, Neuroscience and Biochemistry. The paper deals with the problem of deriving a descriptive model of a network with no a-priori knowledge on its topology. It is assumed that the network nodes are passively observed and data are collected in the form of time series. The underlying structure is then determined by the non-zero entries of a “sparse Wiener filter”. We cast the problem as the optimization of a quadratic cost function, where a set of parameters are used to operate a trade-off between accuracy and complexity in the final model.

2013 - Modeling energy demand aggregators for residential consumers [Relazione in Atti di Convegno]
Di Bella, G; Giarrè, Laura; Ippolito, M; Jean Marie, A; Neglia, G; Tinnirello, I.
abstract

Energy demand aggregators are new actors in the energy scenario: they gather a group of energy consumers and implement a demand-response paradigm. When the energy provider needs to reduce the current energy demand on the grid, it can pay the energy demand aggregator to reduce the load by turning off some of its consumers loads or postponing their activation. Currently this operation involves only greedy energy consumers like industrial plants. In this paper we want to study the potential of aggregating a large number of small energy consumers like home users as it may happen in smart grids. In particular we want to address the feasibility of such approach by considering which scale the aggregator should reach in order to be able to control a significant power load. The challenge of our study derives from residential users' demand being much less predictable than that of industrial plants. For this reason we resort to queuing theory to study analytically the problem and quantify the trade-off between load control and tolerable service delays.

2013 - The linear saturated decentralized strategy for constrained flow control is asymptotically optimal [Articolo su rivista]
Bauso, D; Blanchini, F; Giarrè, Laura; Pesenti, R.
abstract

We present an algorithm for constrained network flow control in the presence of an unknown demand. Our algorithm is decentralized in the sense that it is implemented by a team of agents, each controlling just the flow on a single arc of the network based only on the buffer levels at the nodes at the extremes of the arc, while ignoring the actions of other agents and the network topology. We prove that our algorithm is also stabilizing and steady-state optimal. Specifically, we show that it asymptotically produces the minimum-norm flow. We finally generalize our algorithm to networks with a linear dynamics and we prove that certain least-square optimality properties still hold.

2012 - Enabling Primary and Specialist Care Interoperability through HL7 CDA Release 2 and Chronic Care Model: an Italian case study [Articolo su rivista]
Calamai, R; Giarrè, Laura
abstract

Interoperability is the key to enable clinical information systems for General Practitioners (GP) and Hospital Specialists (HS) in order to exchange and manage the Chronic Care Models (CCM) medical records, Patient Summary (PS), and Electronic Prescription (e-Prescription) documents while accessing the electronic health record. We present a localization experience for PS and e-prescription, based on the Health Level Seven Version 3 Clinical Document Architecture Release 2, developed for Italian healthcare. We describe also an experience on the implementation of CCM for sharing patient clinical data among healthcare providers in the management of diagnostic and therapeutic pathways for chronic diseases (diabetes). Finally, we propose, as a case study, a project for the integration of various services for GP/HS, in line with the context of Italian normative both at the national and regional levels (Tuscany region).

2012 - Identification of Distributed Systems with Logical Interaction Structure [Relazione in Atti di Convegno]
Martini, S; Fagiolini, A; Giarrè, Laura; Bicchi, A.
abstract

This paper focuses on the structure identification problem for a class of networked systems, where the interaction among components or agents is described through logical maps. In particular, agents are heterogeneous cooperating systems, i.e. they may have different individual dynamics and different interaction rules depending on input events. While we assume that the individual agents’ dynamics are known, each agent has partial knowledge of the logical map encoding the interaction of another agent with its neighbors. Based on the so–called algebraic normal form for binary functions, we present a technique by which the network structure described by a logical function can be dynamically estimated as its truth table is observed. The estimated map is a lower approximation of the real one, which coincides with it as soon as the truth table is entirely observed. Application of the proposed technique to a real system, where agents are mobile robots whose motion depends on logical conditions on their neighborhood, is finally presented.

2012 - Quantized Dissensus in Networks of Agents subject to Death and Duplication [Articolo su rivista]
Bauso, D; Giarrè, Laura; Pesenti, R.
abstract

Dissensus is a modeling framework for networks of dynamic agents in competition for scarce resources. Originally inspired by biological cell behaviors, it also fits marketing, finance and many other application areas. Competition is often unstable in the sense that strong agents, those having access to large resources, gain more and more resources at the expenses of weak agents. Thus, strong agents duplicate when reaching a critical amount of resources, whereas weak agents die when losing all their resources. To capture all these phenomena we introduce discrete time gossip systems with unstable state dynamics interrupted by discrete events affecting the network topology. Invariancy of states, topologies, and network connectivity are explored

2011 - Achieving Fair Bandwidth Distribution in WiFi Networks: A Game Theoretical Approach [Relazione in Atti di Convegno]
Tinnirello, I; Giarrè, Laura; Neglia, G.
abstract

2011 - Coloring-based resource allocations in ad-hoc wireless networks [Relazione in Atti di Convegno]
Giarrè, Laura; La Rosa, F; Pesenti, R; Tinnirello, I.
abstract

It is well known that CSMA/CA protocols exhibit very poor performance in case of multi-hop transmissions, because of inter-link interference due to imperfect carrier sensing. We propose to control such an interference by preallocating temporal slots in which different sets of network nodes are allowed to contend for the channel access. The approach is based on distributed coloring algorithms with limited signaling overhead that can be customized as a function of the network topology and traffic load.

2011 - Hybrid LPV Modeling and Identi cation [Capitolo/Saggio]
Giarrè, Laura; Falugi, P; Badalamenti, R.
abstract

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2011 - Hybrid LPV modeling and identification [Capitolo/Saggio]
Giarre, Laura; Falugi, P.; Badalamenti, R.
abstract

In the last two decades, LPV and Hybrid Switching models have been extensively studied and identification and control design techniques have been devised. In the present chapter, after an overview of the existing literature, starting from some motivating examples, we introduce the modeling of Hybrid LPV systems. An application example is considered in detail, with reference to the modeling of the traffic flow in wireless ad-hoc networks, together with some possible identification schemes. Then, we highlight some open problems.

2011 - MAC Design for WiFi Infrastructure Networks: A Game-Theoretic Approach [Articolo su rivista]
Tinnirello, I; Giarrè, Laura; Neglia, G.
abstract

In WiFi networks, mobile nodes compete for accessing a shared channel by means of a random access protocol called Distributed Coordination Function (DCF). Although this protocol is in principle fair, since all the stations have the same probability to transmit on the channel, it has been shown that unfair behaviors may emerge in actual networking scenarios because of non-standard configurations of the nodes. Due to the proliferation of open source drivers and programmable cards, enabling an easy customization of the channel access policies, we propose a game-theoretic analysis of random access schemes. We show that even when stations are selfish, efficient equilibria conditions can be reached when they are interested in both uploading and downloading traffic. We explore the utilization of the Access Point as an arbitrator for improving the global network performance. Finally, we propose and evaluate some simple DCF extensions for practically implementing our theoretical findings.

2011 - OLS Identification of network topologies [Relazione in Atti di Convegno]
Materassi, D; Innocenti, G; Giarrè, Laura; Salapaka, M.
abstract

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2011 - Relations between structure and estimators in networks of dynamical systems [Relazione in Atti di Convegno]
Materassi, D; Salapaka, Mv; Giarrè, Laura
abstract

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2011 - Utility-based resource allocations in multi-hop wireless networks [Relazione in Atti di Convegno]
Tinirello, I.; Giarrè, L.; Badalamenti, R.; La Rosa, F. G.
abstract

It is well known that CSMA (Carrier Sense Multiple Access) protocols exhibit very poor performance in case of multi-hop transmissions, because of inter-link interference due to imperfect carrier sensing. Since ad-hoc networks based on multi-hop packet deliveries are becoming more and more common in different application and networking scenarios, different medium access control extensions are currently considered for improving the channel utilization efficiency. In this paper, we propose a simple approach based on preallocating temporal slots in which different sets of nodes are allowed to contend for the channel access, which can significantly improve CSMA performance with limited signaling overhead. Since the approach does not completely prevent contentions for accessing the wireless channel, we also propose a game-theoretical analysis of contention strategies for multi-hop networks 1. © 2011 INRIA.

2010 - A decentralized solution for the constrained minimum cost flow [Relazione in Atti di Convegno]
Bauso, D.; Blanchini, F.; Giarrè, Laura; Pesenti, R.
abstract

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2010 - A game theoretic approach to MAC design for infrastructure networks [Relazione in Atti di Convegno]
Tinnirello, I; Giarrè, Laura; Neglia, G.
abstract

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2010 - Contention-based infrastructure networks: a protocol bases on the game-theoretical approach. [Relazione in Atti di Convegno]
I., Tinnirello; Giarrè, Laura; G., Neglia
abstract

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2010 - Decentralized Synchronization for Zigbee wireless sensor networks in Multi-Hop Topology [Relazione in Atti di Convegno]
I., Tinnirello; Giarrè, Laura; R., Pesenti
abstract

The most effective solution for energy saving in low-rate wireless sensor networks is maintaining each node in a doze state as long as possible. In order to guarantee network connectivity, the intervals at which the network sensors are turned on and off have to be coordinated. We analyze the Zigbee MAC performance in sensor networks deployed in multi- hop topologies. For this networks, critical inefficiencies can arise due to transmissions performed by hidden nodes. We evaluate the impact of different synchronization schemes on the network performance, both in terms of network capacity and in terms of energy consumption. We show how the synchronization function can be opportunistically configured in order to emulate a token-like access mechanism, able to significantly improve the network performance.

2010 - HL7v3 CDA Rel.2 Prescription: Localization Experience and GP Integration Project [Relazione in Atti di Convegno]
Calamai, R; Giarrè, Laura
abstract

The localization experience for the e-prescription, based on the Health Level Seven Version 3 (HL7v3) Clinical Document Architecture, Release 2 (CDA Rel.2), is presented. As application, we propose a project of General Practitioners Integration with the EHR (Electronic Health Record), implementing the e-prescription, patient summary and other CDA Rel.2 documents. The integration is made possible with HL7v3, the most widely used standard for healthcare information interoperability. The project is in line with the state of the art in the normative referring context for the Italian Healthcare, both at national and regional level (Tuscany Region). Final remarks are drawn, also referring to the European epSOS and IPSE ehealth project

2010 - HL7v3 CDA Rel.2 Patient Summary and Chronic Care Model: Localization experience and GP/HS Integration Project [Relazione in Atti di Convegno]
Calamai, R.; Giarrè, Laura
abstract

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2010 - Opportunistic Synchronization for Improving IEEE 802.15.4 MAC Performance in Chain Topologies [Relazione in Atti di Convegno]
Tinnirello, I; Giarrè, Laura; Mineo, F.
abstract

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2010 - Robust control of uncertain multi-inventory systems via linear matrix inequality [Articolo su rivista]
Bauso, D; Giarrè, Laura; Pesenti, R.
abstract

We consider a continuous time linear multi-inventory system with unknown demands bounded within ellipsoids and controls bounded within ellipsoids or polytopes. We address the problem of -stabilising the inventory since this implies some reduction of the inventory costs. The main results are certain conditions under which -stabilisability is possible through a saturated linear state feedback control. All the results are based on a linear matrix inequalities approach and on some recent techniques for the modelling and analysis of polytopic systems with saturations. Numerical simulations are provided.

2009 - Consensus for networks with unknown but bounded disturbances [Articolo su rivista]
Bauso, D; Giarrè, Laura; Pesenti, R.
abstract

We consider stationary consensus protocols for networks of dynamic agents. The measure of the neighbors' state is affected by unknown but bounded disturbances. Here the main contribution is the formulation and solution of what we call the epsilon-consensus problem, where the states are required to converge in a target set of radius epsilon asymptotically or in finite time. We introduce as a solution a dead-zone policy that we denote as lazy policy.

2009 - Dealing with uncertainty in consensus protocols [Relazione in Atti di Convegno]
Bauso, D; Giarrè, Laura; Pesenti, R.
abstract

Recent results on Consensus protocols for networks are presented. The basic tools and the main contribution available in the literature are considered, together with some of the related challenging aspects: estimation in networks and how to deal with disturbances is considered. Motivated by applications to sensor, peer-to-peer, and ad hoc networks, many papers have considered the problem of estimation in a consensus fashion. Here, the Unknown But Bounded (UBB) noise affecting the network is addressed in details. Because of the presence of UBB disturbances convergence to equilibria with all equal components is, in general, not possible. The solution of the $epsilon$-consensus problem, where the states converge in a tube of ray $epsilon$ asymptotically or in finite time, is described. In solving the epsilon-consensus problem a focus on linear protocols and a rule for estimating the average from a compact set of candidate points, the lazy rule, is shown

2009 - Dissensus, Death and Division [Relazione in Atti di Convegno]
Bauso, D.; Giarrè, Laura; Pesenti, R.
abstract

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2009 - Distributed Consensus in Noncooperative Inventory Games. [Articolo su rivista]
Bauso, D; Giarrè, Laura; Pesenti, R.
abstract

This paper deals with repeated nonsymmetric congestion games in which the players cannot observe their payoffs at each stage. Examples of applications come from sharing facilities by multiple users. We show that these games present a unique Pareto optimal Nash equilibrium that dominates all other Nash equilibria and consequently it is also the social optimum among all equilibria, as it minimizes the sum of all the players’ costs. We assume that the players adopt a best response strategy. At each stage, they construct their belief concerning others probable behavior, and then, simultaneously make a decision by optimizing their payoff based on their beliefs. Within this context, we provide a consensus protocol that allows the convergence of the players’ strategies to the Pareto optimal Nash equilibrium. The protocol allows each player to construct its belief by exchanging only some aggregate but sufficient information with a restricted number of neighbor players. Such a networked information structure has the advantages of being scalable to systems with a large number of players and of reducing each player’s data exposure to the competitors.

2009 - Identification and validation of quasispecies models for biological systems [Articolo su rivista]
Falugi, P; Giarrè, Laura
abstract

An identification procedure for biological systems cast as quasi-species models is proposed. Their identification is a challenging problem because of the bilinear dependence on the parameters and their physical constraints. The proposed solution is within the framework of set-membership identification. %The bilinear dependence on parameters of the model and their physical constraints make the present issue challenging. We determine an estimate of the model parameters together with their interval of variability (Uncertainty Intervals), taking into account all the physical constraints. Invalidation/validation is performed on the basis of the predictive capability of the estimated models. The effectiveness of the proposed procedure has been illustrated by means of simulation experiments.

2009 - Medium access in WiFi networks: strategies of selfish nodes [Articolo su rivista]
Giarrè, Laura; Neglia, G.; Tinnirello, I.
abstract

This article provides a game theoretical analysis of the WiFi MAC protocol to understand the risks or the advantages offered by possible modifications of MAC functionalities implemented at the driver level.

2009 - Performance analysis of selfish access strategies on WiFi infrastructure networks [Relazione in Atti di Convegno]
Giarrè, Laura; Neglia, G.; Tinnirello, I.
abstract

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2009 - Quantized Dissensus in switching networks with nodes death and duplication [Relazione in Atti di Convegno]
Bauso, D; Giarrè, Laura; Pesenti, R.
abstract

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2009 - REDUCED COMPLEXITY MODELS IN THE IDENTIFICATION OF DYNAMICAL NETWORKS: LINKS WITH SPARSIFICATION PROBLEMS [Relazione in Atti di Convegno]
D., Materassi; G., Innocenti; Giarrè, Laura
abstract

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2009 - Resource sharing optimality in WiFi infrastructure networks [Relazione in Atti di Convegno]
Giarrè, Laura; Neglia, G; Tinnirello, I.
abstract

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2009 - The Role of the Access Point in Wi-Fi Networks with Selfish Nodes [Relazione in Atti di Convegno]
Tinnirello, I; Giarrè, Laura; Neglia, G.
abstract

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2008 - Application of model quality evaluation to systems biology [Relazione in Atti di Convegno]
Falugi, P; Giarrè, Laura
abstract

Application of model quality evaluation to the quasispecies models is presented. These models are useful for the analysis of the DNA and RNA evolution and for the description of the population dynamics of viruses and bacteria. An estimate of the parameters together with their interval of variability is computed and the quality evaluation is tested on the basis of the model prediction error capability.

2008 - Blogging as a research and educational tool: a three years experience [Relazione in Atti di Convegno]
Giarrè, Laura; Jaccheri, L.
abstract

Blogging can be also used to share knowledge in research and education. We have been using many blogs with the following purposes. One goal has been to raise awareness about research methods in the information technology _eld by supporting information exchange, collaboration, and cooperation between researchers. We have been using a common blog for 3 years to share inter- and intra disciplinary knowledge among us. We have also collected stories and interviewed colleagues and friends. An other goal is the use of blogs during our teaching experience as an instrument to support the exchange of knowledge with students. A comparison of the use of blogging is presented with positive and negative aspects that have been experienced.

2008 - Challenging aspects in Consensus protocols for Networks [Relazione in Atti di Convegno]
Bauso, D; Giarrè, Laura; Pesenti, R.
abstract

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2008 - Consensus in inventory games [Relazione in Atti di Convegno]
Bauso, D.; Giarrè, L.; Pesenti, R.
abstract

This paper studies design, convergence, stability and optimality of a distributed consensus protocol for n-player repeated non cooperative games under incomplete information. Information available to each player concerning the other players' strategies evolves in time. At each stage (time period), the players select myopically their best binary strategy on the basis of a payoff, defined on a single stage, monotonically decreasing with the number of active players. The game is specialized to an inventory application, where fixed costs are shared among all retailers, interested in reordering or not from a common warehouse. As information evolves in time, the number of active players changes too, and then each player adjusts its strategy at each stage based on the updated information. In particular, the authors focus on Pareto optimality as a measure of coordination of reordering strategies, proving that there exists a unique Pareto optimal Nash equilibrium which verifies certain stability conditions. The main contribution of the paper is the design of a consensus protocol allowing the distributed convergence of the strategies to the unique Pareto optimal Nash equilibrium. Results may also be extended to externality games, pollution/congestion games, and cost-sharing games, with the only constraint of being the strategies binary and with threshold structure. © 2008 ICST ISBN.

2008 - Consensus in Noncooperative Dynamic Games: a Multi-Retailer Inventory Application [Articolo su rivista]
Bauso, D; Giarrè, Laura; Pesenti, R.
abstract

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2008 - Noncooperative dynamic games for Inventory applications: a consensus approach [Relazione in Atti di Convegno]
Bauso, D; Giarrè, Laura; Pesenti, R.
abstract

We focus on a finite horizon noncooperative dynamic game where the stage cost of a single player associated to a decision is a monotonically nonincreasing function of the total number of players making the same decision. For the single-stage version of the game, we characterize Nash equilibria and derive a consensus protocol that makes the players converge to the unique Pareto optimal Nash equilibrium. Such an equilibrium guarantees the interests of the players and is also social optimal in the set of Nash equilibria. For the multi-stage version of the game, we present an algorithm that converges to Nash equilibria, unfortunately not necessarily Pareto optimal. The algorithm returns a sequence of joint decisions, each one obtained from the previous one by an unilateral improvement on the part of a single player. The sequence with which the players act is chosen a priori and may influence the Nash equilibrium to which the path converges. We also specialize the game to a multi-retailer inventory system, where competing retailers aim at coordinating their supply strategies in order to minimize their local costs.

2008 - Robust control in uncertain multi-inventory systems and consensus problems [Relazione in Atti di Convegno]
Bauso, D; Giarrè, Laura; Pesenti, R.
abstract

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2008 - Robust control of uncertain multi-inventory systems via linear matrix inequality [Relazione in Atti di Convegno]
Bauso, D; Giarrè, Laura; Pesenti, R.
abstract

We consider a continuous time linear multi-inventory system with unknown demands bounded within ellipsoids and controls bounded within ellipsoids. We address the problem of e-stabilizing the inventory since this implies some reduction of the inventory costs. As main result, we provide conditions under which e-stabilizability is possible through a saturated linear state feedback control. All the results are based on a linear matrix inequalities (LMIs) approach.

2007 - Distributed consensus for switched networks with unknown but bounded noise [Relazione in Atti di Convegno]
Bauso, D; Giarrè, Laura; Pesenti, R.
abstract

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2007 - Lazy consensus for network with unknown but bounded noise [Relazione in Atti di Convegno]
Bauso, D; Giarrè, Laura; Pesenti, R.
abstract

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2007 - Lazy consensus for networks with unknown but bounded disturbances [Relazione in Atti di Convegno]
Bauso, D.; Giarrè, L.; Pesenti, R.
abstract

We consider stationary consensus protocols for networks of dynamic agents. The measure of the neighbors' state is affected by Unknown But Bounded disturbances. Here the main contribution is the formulation and solution of what we call the ε-consensus problem, where the states are required to converge in a tube of ray ε asymptotically or in finite time. © 2007 IEEE.

2007 - On Discovering Low Order Models in Biochemical Reaction Kinetics [Relazione in Atti di Convegno]
Bamieh, B; Giarrè, Laura
abstract

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2006 - A STUDY ON RESEARCH METHODS IN INTERDISCIPLINARY PROJECTS [Relazione in Atti di Convegno]
Giarrè, Laura; Jaccheri, L.
abstract

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2006 - Cooperative Inventory Control [Relazione in Atti di Convegno]
Bauso, D; Giarrè, Laura; Pesenti, R.
abstract

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2006 - Distributed Consensus in Noncooperative Inventory Games [Relazione in Atti di Convegno]
Bauso, D; Giarrè, Laura; Pesenti, R.
abstract

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2006 - Identification of Replicator Mutator models [Relazione in Atti di Convegno]
Falugi, P; Giarrè, Laura
abstract

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2006 - LPV model identification for gain scheduling control: an application to rotating stall and surge control problem [Articolo su rivista]
Bauso, D; Falugi, P; Giarrè, Laura; Bamieh, B.
abstract

We approach the problem of identifying a nonlinear plant by parameterizing its dynamics as a linear parameter varying (LPV) model. The system under consideration is the Moore-Greitzer model which captures surge and stall phenomena in compressors. The control task is formulated as a problem of output regulation at various set points (stable and unstable) of the system under inputs and states constraints. We assume that inputs, outputs and scheduling parameters are measurable. It is worth pointing out that the adopted technique allows for identification of an LPV model''s coefficients without the requirements of slow variations amongst set points. An example of combined identification, feedback control design and subsequent validation is presented.

2006 - MECHANISM DESIGN FOR OPTIMAL CONSENSUS PROBLEMS [Relazione in Atti di Convegno]
Bauso, D; Giarrè, Laura; Pesenti, R.
abstract

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2006 - Non-linear protocols for optimal distributed consensus in networks of dynamic agents. [Articolo su rivista]
Bauso, D; Giarrè, Laura; Pesenti, R.
abstract

We consider stationary consensus protocols for networks of dynamic agents with fixed topologies. At each time instant, each agent knows only its and its neighbors'' state, but must reach consensus on a group decision value that is function of all the agents'' initial state. We show that the agents can reach consensus if the value of such a function is time-invariant when computed over the agents'' state trajectories. We use this basic result to introduce a non-linear protocol design rule allowing consensus on a quite general set of values. Such a set includes, e.g., any generalized mean of order p of the agents'' initial states. As a second contribution we show that our protocol design is the solution of individual optimizations performed by the agents. This notion suggests a game theoretic interpretation of consensus problems as mechanism design problems. Under this perspective a supervisor entails the agents to reach a consensus by imposing individual objectives. We prove that such objectives can be chosen so that rational agents have a unique optimal protocol, and asymptotically reach consensus on a desired group decision value. We use a Lyapunov approach to prove that the asymptotical consensus can be reached when the communication links between nearby agents define a time-invariant undirected network. Finally we perform a simulation study concerning the vertical alignment maneuver of a team of unmanned air vehicles. © 2006 Elsevier B.V. All rights reserved.

2006 - Parameter Bounded Estimation for Quasispecies models of Molecular Evolution [Relazione in Atti di Convegno]
Falugi, P; Giarrè, Laura
abstract

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2006 - Set Membership (In) Validation of nonlinear positive models for biological systems [Relazione in Atti di Convegno]
Falugi, P; Giarrè, Laura
abstract

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2005 - Approximation of Feasible Parameter Set in worst case identification of block-oriented nonlinear models [Articolo su rivista]
Falugi, P; Giarrè, Laura; Zappa, G.
abstract

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2005 - AQM Generalized Nyquist stability in multiple bottlenecks [Relazione in Atti di Convegno]
Bauso, D; Giarrè, Laura; DI BERNARDO, D; Neglia, G.
abstract

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2005 - Distributed Consensus in Networks of Dynamic Agents [Relazione in Atti di Convegno]
Bauso, D.; Giarrè, Laura; Pesenti, R.
abstract

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2005 - EXISTENCE AND OPTIMALITY OF NASH EQUILIBRIA IN INVENTORY GAMES [Relazione in Atti di Convegno]
D., Bauso; Giarrè, Laura; R., Pesenti
abstract

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2005 - Learning Research Methods and Processes via Sharing Experience in a BLOG [Relazione in Atti di Convegno]
Giarrè, Laura; Jaccheri, L.
abstract

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2005 - Learning Research Methods via Experience Sharing [Relazione in Atti di Convegno]
Giarrè, Laura; Jaccheri, L.
abstract

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2005 - Multidisciplinary Research Methods Education via Sharing Experience [Relazione in Atti di Convegno]
Giarrè, Laura; Jaccheri, L.
abstract

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2005 - NARX Models of an Industrial Power Plant Gas Turbine [Articolo su rivista]
Basso, M; Giarrè, Laura; Groppi, S; Zappa, G.
abstract

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2005 - www.researcherblog.blogspot.com [Working paper]
Giarrè, Laura
abstract

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2004 - About the stability of the Active Queue Management mechanism [Relazione in Atti di Convegno]
Bauso, D; Giarrè, Laura; Neglia, G.
abstract

.In this paper, we discuss the influence of multiple bottlenecks on the stability of Active Queue Management (AQM) controllers, usually configured on a single bottleneck basis. To see this, we consider a network scenario where RED is configured at each router according to previously developed control theoretic techniques. These configuration rules assure stability in a single bottleneck scenario. Yet, we show that instability may arise when two links become congested. We justify this result through a multiple bottleneck model.

2004 - Active Queue Management Stability in Multiple Bottleneck Networks, [Relazione in Atti di Convegno]
Bauso, D; Giarrè, Laura; Neglia, G.
abstract

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2004 - AQM Stability in Multiple Bottleneck [Relazione in Atti di Convegno]
Bauso, D; Giarrè, Laura; Neglia, G.
abstract

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2004 - Multiple UAV Cooperative Path-Planning via Neuro-Dynamic Programming [Relazione in Atti di Convegno]
Bauso, D; Giarrè, Laura; Pesenti, R.
abstract

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2004 - Neuro-Dynamic Programming for Cooperative Inventory Control [Relazione in Atti di Convegno]
Bauso, D; Giarrè, Laura; Pesenti, R.
abstract

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2003 - Approximation of Feasible Parameter Set in worst case identification of block-oriented nonlinear models [Relazione in Atti di Convegno]
Giarrè, Laura; Zappa, G.
abstract

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2003 - Attitude alignment of a team of UAVs under decentralized information structure [Relazione in Atti di Convegno]
Bauso, D.; Giarrè, Laura; Pesenti, R.
abstract

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2003 - Cooperative Inventory control [Relazione in Atti di Convegno]
Bauso, D; Giarrè, Laura; Pesenti, R.
abstract

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2003 - Distributed consensus protocols for coordinating buyers [Relazione in Atti di Convegno]
Bauso, D.; Giarrè, Laura; Pesenti, R.
abstract

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2003 - Multidiciplinary Research in Control: the Mohammed Dahleh Symposium [Monografia/Trattato scientifico]
Giarrè, Laura; Bamieh, B.
abstract

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2003 - Thermal dynamic models using z-transform coefficients: an algorithm to improve the reliability of simulations [Relazione in Atti di Convegno]
Cellura, M; Giarrè, Laura; LO BRANO, V; Orioli, A.
abstract

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2002 - Experience with NARX model identification of an industrial power plant gas turbine [Relazione in Atti di Convegno]
Basso, M.; Bencivenni, F.; Giarrè, Laura; Groppi, S.; Zappa, G.
abstract

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2002 - Identification of approximated Hammerstein models in a worst-case setting [Articolo su rivista]
Garulli, A.; Giarrè, Laura; Zappa, G.
abstract

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2002 - Identification of Linear Parameter Varying Models [Articolo su rivista]
Bamieh, B; Giarrè, Laura
abstract

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2002 - The influence of the sampling period in the transfer functions method. A case study in a very massive building in the south Italy [Relazione in Atti di Convegno]
G., Beccali; M., Cellura; Giarrè, Laura; V., LO BRANO
abstract

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2001 - Conditional center computation in the identification of approximated Hammerstein models [Relazione in Atti di Convegno]
Giarrè, Laura; Zappa, G.
abstract

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2001 - LPV predictive control of the stall and surge for jet engine [Relazione in Atti di Convegno]
P., Falugi; Giarrè, Laura; L., Chisci; G., Zappa
abstract

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2001 - LPV Model Identification and validation of the stall and surge control for jet engine [Relazione in Atti di Convegno]
B., Bamieh; Giarrè, Laura; T., Raimondi; D., Bauso; M., Lodato; D., Rosa
abstract

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2001 - LPV models: identification for Gain-Scheduling Control [Relazione in Atti di Convegno]
B., Bamieh; Giarrè, Laura
abstract

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2000 - Complex Dynamics in a Harmonically excited Lennard-Jones Oscillator: Microcantiliver-Sample Interaction in Scanning Probe Microscope [Articolo su rivista]
Basso, M.; Giarrè, Laura; Dahleh, M.; Mezic, I.
abstract

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2000 - Identification for a general class of LPV Models [Relazione in Atti di Convegno]
B., Bamieh; Giarrè, Laura
abstract

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1999 - Identification of linear parameter varying models [Relazione in Atti di Convegno]
Bamieh, B.; Giarrè, Laura
abstract

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1999 - SM identification of approximating models for H_infinity robust control [Articolo su rivista]
Giarrè, Laura; Milanese, M.
abstract

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1998 - Generalized projection algorithms for identification of mixed uncertainty models [Relazione in Atti di Convegno]
Giarrè, Laura; A., Garulli; G., Zappa
abstract

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1998 - Numerical Analysis of Complex Dynamics in Atomic Force Microscopes [Relazione in Atti di Convegno]
M., Basso; Giarrè, Laura; M., Dahleh; I., Mezic
abstract

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1998 - On state-space reconstruction of the dynamics of microcantilever interactions [Capitolo/Saggio]
S., Salapaka; Giarrè, Laura; M., Dahleh
abstract

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1998 - SM evaluation of frequency response variation rate for H∞ identification [Relazione in Atti di Convegno]
Giarrè, L.
abstract

Set membership (SM) H∞ identification for discrete time systems is aimed to estimate a low order approximating model and its identification error. A choice of the grid-ding in frequency is presented, based on a set-membership estimation of the rate of variation of the system frequency response. © 1998 AACC.

1998 - SM evaluation of frequency response variation rate for H_infty identification [Relazione in Atti di Convegno]
Giarrè, Laura
abstract

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1997 - alpha-optimality in H_infty identification of low-order uncertainty models [Relazione in Atti di Convegno]
Giarrè, Laura; S., Malan; M., Milanese
abstract

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1997 - Filtering of nonlinear Chaotic Time [Relazione in Atti di Convegno]
S., Salapaka; M., Dahleh; Giarrè, Laura
abstract

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1997 - H_infinity identification and model quality evaluation [Articolo su rivista]
Giarrè, Laura; Milanese, M.; Taragna, M.
abstract

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1997 - Model Quality Evaluation in H_2 identification [Articolo su rivista]
Giarrè, Laura; Milanese, M.
abstract

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1997 - Model Quality Evaluation in Set Membership Identification [Articolo su rivista]
Giarrè, Laura; Kacewicz, B.; Milanese, M.
abstract

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1997 - α-Optimality evaluation in H∞ identification of low-order uncertainty models [Relazione in Atti di Convegno]
Giarrè, L.; Malan, S.; Milanese, M.
abstract

Set membership (SM) H∞ identification is investigated aimed to estimate a low order approximating model and its identification error, without requiring the selection of a-priori basis for the model class. An α-optimal algorithm is determined using time domain data and supposing l∞ bounded measurement errors and exponentially stable systems. The presented algorithm is proven to be strongly convergent.

1997 - Robust Identification and control of scanning probe microscope [Relazione in Atti di Convegno]
A., Daniele; T., Nakata; Giarrè, Laura; M., Salapaka; M., Dahleh
abstract

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1996 - H_infinity identification and model structure selection [Articolo su rivista]
Giarrè, Laura; Milanese, M.
abstract

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1996 - Nominal optimal controller with enhanced performance via adaptive-Q feedback [Articolo su rivista]
Giarrè, Laura
abstract

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1996 - Set membership identification of simplified models [Relazione in Atti di Convegno]
Giarrè, Laura; M., Milanese
abstract

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1996 - SM identification of approximating models for HINF robust control [Relazione in Atti di Convegno]
Giarrè, L.; Milanese, M.
abstract

Set Membership (SM) H∞ identification of mixed parametric and nonparametric models is investigated, aimed to estimate a low order approximating model and an identification error, giving a measure of the unmodeled dynamics in a form well suited for H∞ control methodologies. In particular, the problem of estimating the parameters of the parametric part and the H∞ bound on the modeling error is solved using frequency domain data, supposing l∞ bounded measurement errors and exponentially stable unmodeled dynamics. The effectiveness of the proposed procedure is tested on some numerical examples, showing the advantages of the proposed methods over the existing nonparametric H∞ identification approaches are shown, in terms of lower model order and of tightness in the modeling error bounds.

1996 - SM identification of approximating models for H_infty robust control [Relazione in Atti di Convegno]
Giarrè, Laura; M., Milanese
abstract

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1996 - SM system identification with approximated models [Relazione in Atti di Convegno]
Giarrè, Laura; M., Milanese
abstract

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1995 - Model quality evaluation in set membership identification [Relazione in Atti di Convegno]
Giarrè, Laura; B., Kacewicz; M., Milanese
abstract

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1994 - H_infty identification with mixed parametric and nonparametric models [Relazione in Atti di Convegno]
Giarrè, Laura; M., Milanese
abstract

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1994 - Indirect and implicit adaptive predictive control of a benchmark plant [Articolo su rivista]
Chisci, L.; Giarrè, Laura; Mosca, E.
abstract

.Two different adaptive predictive controllers are used for controlling the benchmark plant. One is of an indirect type, the other of an implicit type. In both cases, the only a priori knowledge used is that the nominal process order equals three.

1994 - Model class optimality in set membership identification [Relazione in Atti di Convegno]
Giarrè, Laura; M., Milanese
abstract

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1994 - Robust control oriented H_infty identification with mixed perturbation models [Relazione in Atti di Convegno]
Giarrè, Laura; M., Milanese; M., Taragna
abstract

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1993 - Adaptive-Q tuning to enhance performance of a nominally controlled plant [Relazione in Atti di Convegno]
Giarrè, Laura
abstract

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1993 - Implicit Predictive Adaptive Control with Stochastic Gradient Identifiers [Articolo su rivista]
Giarrè, L.; Mosca, E.
abstract

The replacement in an implicit predictive adaptive controller, viz. MUSMAR, of RLS identifiers with stochastic gradient (SG) identifiers is considered. By an O.D.E. analysis, local convergence properties of the new algorithm are investigated. The conclusions, supported by simulation results, are that, in contrast with the one-step ahead selftuning regulator, the convergence properties of the resulting adaptive controller deteriorate if RLS are replaced with SG identifiers. © 1993 IEEE

1993 - Implicit predictive adaptive controller with stochastic gradient identifiers [Articolo su rivista]
Giarrè, Laura; Mosca, E.
abstract

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1993 - Indirect and implicit adaptive predictive control of a benchmark plant [Relazione in Atti di Convegno]
L., Chisci; Giarrè, Laura; E., Mosca
abstract

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1993 - SIDESTEPPING THE CERTAINTY EQUIVALENCE IN 2DOF ADAPTIVE CONTROL VIA MULTIPLE IMPLICIT IDENTIFIERS [Capitolo/Saggio]
E., Mosca; L., Chisci; Giarrè, Laura
abstract

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1993 - Sidestepping the positive real condition in RELS via multiple RLS identifiers [Articolo su rivista]
Chisci, L.; Giarrè, Laura; Mosca, E.
abstract

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1992 - A polynomial approach to MIMO LQ servo and disturbance rejection problems [Articolo su rivista]
Mosca, E.; Giarrè, Laura
abstract

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1992 - Adaptive digital PID auto-tuning for robotic application [Relazione in Atti di Convegno]
Giarrè, Laura; Giusti, R.; Mosca, E.; Pacini, M.
abstract

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1992 - Implementation via 32-bit dsp of a self-tuning predictive controller. [Relazione in Atti di Convegno]
Chisci, L; Mosca, E.; Giarrè, Laura
abstract

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1992 - Improving RELS local convergence via long-range predictive identifiers [Relazione in Atti di Convegno]
L., Chisci; Giarrè, Laura; E., Mosca
abstract

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1992 - Sidestepping the certainty equivalence in 2DOF adaptive control via multiple implicit identifiers. [Relazione in Atti di Convegno]
E., Mosca; L., Chisci; Giarrè, Laura
abstract

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1991 - Direct predictive adaptive control of a benchmark example: MUSMAR [Relazione in Atti di Convegno]
E., Mosca; L., Chisci; Giarrè, Laura
abstract

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1991 - Direct predictive adaptive control with stochastic gradient identifiers [Relazione in Atti di Convegno]
Giarrè, Laura; E., Mosca
abstract

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1990 - Minimax LQ stochastic tracking and servo problems [Articolo su rivista]
Mosca, E.; Casavola, A.; Giarrè, Laura
abstract

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1990 - On the polynomial equations for the MIMO stochastic regulator [Articolo su rivista]
Mosca, E.; Giarrè, Laura; Casavola, A.
abstract

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1989 - A polynomial approach to mimo LQ servo and disturbance rejection problems [Relazione in Atti di Convegno]
E., Mosca; Giarrè, Laura
abstract

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1989 - Minimax LQ-stochastic tracking and disturbance rejection problems [Relazione in Atti di Convegno]
E., Mosca; Giarrè, Laura
abstract

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