133 citations · 654 across the 31 of their papers we have counts for
33 papers
Optimal Control of Short-Time Attractors in Active Fluid Flows
Carlo Sinigaglia, Francesco Braghin, Mattia Serra
Objective Eulerian Coherent Structures (OECSs) and instantaneous Lyapunov exponents (iLEs) govern short-term material transport in fluid flows as Lagrangian Coherent Structures and…
Optimal Strategies to Steer and Control Water Waves
Sebastiano Cominelli, Carlo Sinigaglia, Davide Enrico Quadrelli +1
In this paper, we propose a novel approach for controlling surface water waves and their interaction with floating bodies. We consider a floating target rigid body surrounded by a…
Design and Simulation-Based Testing of Connected Traffic Light Guidance Systems
Michael Khayyat, Alberto Gabriele, Francesca Mancini +2
The establishment of fast and reliable communication technologies, such as 5G, is enabling the evolution of a new generation of connected ADAS. This work aims to develop a traffic…
Nonlinear Model Identification and Observer Design for Thrust Estimation of Small-scale Turbojet Engines
Affaf Junaid Ahamad Momin, Gabriele Nava, Giuseppe LErario +5
Jet-powered vertical takeoff and landing (VTOL) drones require precise thrust estimation to ensure adequate stability margins and robust maneuvering. Small-scale turbojets have bec…
Centroidal Aerodynamic Modeling and Control of Flying Multibody Robots
Tong Hui, Antonello Paolino, Gabriele Nava +5
This paper presents a modeling and control framework for multibody flying robots subject to non-negligible aerodynamic forces acting on the centroidal dynamics. First, aerodynamic…
Robust optimal density control of robotic swarms
Carlo Sinigaglia, Andrea Manzoni, Francesco Braghin +1
In this paper, we propose a computationally efficient, robust density control strategy for the mean-field model of a robotic swarm. We formulate a static optimal control problem (O…
Competitors-Aware Stochastic Lap Strategy Optimisation for Race Hybrid Vehicles
Francesco Braghin, Luca Paparusso, Manuel Riani +1
World Endurance Championship (WEC) racing events are characterised by a relevant performance gap among competitors. The fastest vehicles category, consisting in hybrid vehicles, ha…
Indirect Optimal Control of Advection-Diffusion Fields through Robotic Swarms
Carlo Sinigaglia, Andrea Manzoni, Francesco Braghin +1
In this paper, we consider the problem of optimally guiding a large-scale swarm of underwater vehicles that is tasked with the indirect control of an advection-diffusion environmen…
Extended Object Tracking in Curvilinear Road Coordinates for Autonomous Driving
Pragyan Dahal, Simone Mentasti, Stefano Arrigoni +3
In literature, Extended Object Tracking (EOT) algorithms developed for autonomous driving predominantly provide obstacles state estimation in cartesian coordinates in the Vehicle R…
Control of a Hexapod Robot Considering Terrain Interaction
Marco Zangrandi, Stefano Arrigoni, Francesco Braghin
Bio-inspired walking hexapod robots are a relatively young branch in robotics in both state of the art and applications. Despite their high degree of flexibility and adaptability d…
Elastic three-dimensional metaframe for selective wave filtering and polarization control
Jacopo M. De Ponti, Emanuele Riva, Francesco Braghin +1
We experimentally achieve selective wave filtering and polarization control in a three-dimensional elastic frame embedding local resonators. By connecting multi-resonating elements…
Fast active thermal cloaking through PDE-constrained optimization and reduced-order modeling
Carlo Sinigaglia, Davide Enrico Quadrelli, Andrea Manzoni +1
In this paper we show how to efficiently achieve thermal cloaking from a computational standpoint in several virtual scenarios by controlling a distribution of active heat sources.…
Design of arbitrarily shaped acoustic cloaks through PDE-constrained optimization satisfying sonic-metamaterial design requirements
Sebastiano Cominelli, Davide Enrico Quadrelli, Carlo Sinigaglia +1
We develop an optimization framework for the design of acoustic cloaks, with the aim of overcoming the limitations of usual transformation-based cloaks in terms of microstructure c…
Optimal Control of Velocity and Nonlocal Interactions in the Mean-Field Kuramoto Model
Carlo Sinigaglia, Francesco Braghin, Spring Berman
In this paper, we investigate how the self-synchronization property of a swarm of Kuramoto oscillators can be controlled and exploited to achieve target densities and target phase…
Experimental validation of a broadband pentamode elliptical-shaped cloak for underwater acoustics
Davide Enrico Quadrelli, Matteo Alessandro Casieri, Gabriele Cazzulani +2
In this paper we report the numerical design and experimental validation of a pentamode cloak for scattering reduction of elliptical targets in underwater acoustics. Despite being…
Design of a prototypical platform for autonomous and connected vehicles
Stefano Arrigoni, Simone Mentasti, Federico Cheli +2
Self-driving technology is expected to revolutionize different sectors and is seen as the natural evolution of road vehicles. In the last years, real-world validation of designed a…
Acoustic scattering reduction of elliptical targets via pentamode near-cloaking based on transformation acoustics in elliptic coordinates
Davide Enrico Quadrelli, Gabriele Cazzulani, Simone La Riviera +1
Cloaks for underwater applications designed for actual submarine acoustic stealth are still far from the technological advancement needed for being put in practice. Several challen…
Adiabatic edge-to-edge transformations in time-modulated elastic lattices and non-Hermitian shortcuts
Emanuele Riva, Gianmaria Castaldini, Francesco Braghin
The temporal modulation of a relevant parameter can be employed to induce modal transformations in Hermitian elastic lattices. When this is combined with a proper excitation mechan…
Selective mode conversion and rainbow trapping via graded elastic waveguides
Jacopo M. De Ponti, Luca Iorio, Emanuele Riva +3
We experimentally achieve wave mode conversion and rainbow trapping in an elastic waveguide loaded with an array of resonators. Rainbow trapping is a phenomenon that induces wave c…
Density control of large-scale particles swarm through PDE-constrained optimization
Carlo Sinigaglia, Andrea Manzoni, Francesco Braghin
We describe in this paper an optimal control strategy for shaping a large-scale swarm of particles using boundary global actuation. This problem arises as a key challenge in many s…
Real-Time Forecasting of Driver-Vehicle Dynamics on 3D Roads: a Deep-Learning Framework Leveraging Bayesian Optimisation
Luca Paparusso, Stefano Melzi, Francesco Braghin
Most state-of-the-art works in trajectory forecasting for automotive target predicting the pose and orientation of the agents in the scene. This represents a particularly useful pr…
An enhanced parametric nonlinear reduced order model for imperfect structures using Neumann expansion
Jacopo Marconi, Paolo Tiso, Davide E. Quadrelli +1
We present an enhanced version of the parametric nonlinear reduced order model for shape imperfections in structural dynamics we studied in a previous work [1]. The model is comput…
MPC path-planner for autonomous driving solved by genetic algorithm technique
Stefano Arrigoni, Francesco Braghin, Federico Cheli
Autonomous vehicle's technology is expected to be disruptive for automotive industry in next years. This paper proposes a novel real-time trajectory planner based on a Nonlinear Mo…
Elastic Wave Near-Cloaking
Davide Enrico Quadrelli, Richard Craster, Muamer Kadic +1
Cloaking elastic waves has, in contrast to the cloaking of electromagnetic waves, remained a fundamental challenge: the latter successfully uses the invariance of Maxwell's equatio…