20 citations · 110 across the 17 of their papers we have counts for
19 papers
Sparsity in control problems: Recent trends and open challenges
Luca Ballotta, Geethu Joseph, Geethu Josephb +7
As in all fields of engineering, control engineers constantly face a dichotomy between achieving high performance and the limited availability of resources for sensing, actuation,…
Submodular Policy Learning for Distributed Task Allocation in Open Multi-Agent Systems
Jing Liu, Luca Ballotta, Yangyang Yang +3
This paper studies policy learning for distributed task allocation in open multi-agent systems, where agents may join and leave in a time-varying fashion, with submodular stage tea…
Adaptive Stepsizes With Certified Convergence in Distributed Gradient Tracking With Quadratic Costs
Yifan Wang, Luca Ballotta, Ruggero Carli +3
In this work, we propose an adaptive stepsize rule with guaranteed convergence for Distributed Gradient Tracking applied to scalar quadratic problems with heterogeneous curvatures.…
Pursuing Optimal Stepsize in Adaptive Gradient-Based Quadratic Optimization
Yifan Wang, Luca Ballotta, Ruggero Carli +2
In this paper, we address the problem of achieving fast convergence in gradient descent for quadratic functions without relying on a priori knowledge of global function parameters.…
Submodular Multi-Agent Policy Learning for Online Distributed Task Allocation in Open Multi-Agent Systems
Jing Liu, Yangyang Yang, Luca Ballotta +3
This paper studies multi-agent reinforcement learning with submodular team utilities for online distributed task allocation. In this setting, each agent selects one action from a l…
The role of communication delays in the optimal control of spatially invariant systems
Luca Ballotta, Juncal Arbelaiz, Vijay Gupta +2
We study optimal proportional feedback controllers for spatially invariant systems when the controller has access to delayed state measurements received from different spatial loca…
Safe Distributed Control of Multi-Robot Systems with Communication Delays
Luca Ballotta, Rajat Talak
Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in…
VREM-FL: Mobility-Aware Computation-Scheduling Co-Design for Vehicular Federated Learning
Luca Ballotta, Nicolò Dal Fabbro, Giovanni Perin +3
Assisted and autonomous driving are rapidly gaining momentum and will soon become a reality. Artificial intelligence and machine learning are regarded as key enablers thanks to the…
Faster Consensus via a Sparser Controller
Luca Ballotta, Vijay Gupta
In this paper, we investigate the architecture of an optimal controller that maximizes the convergence speed of a consensus protocol with single-integrator dynamics. Under the assu…
To Compute or not to Compute? Adaptive Smart Sensing in Resource-Constrained Edge Computing
Luca Ballotta, Giovanni Peserico, Francesco Zanini +1
We consider a network of smart sensors for an edge computing application that sample a time-varying signal and send updates to a base station for remote global monitoring. Sensors…
Can Competition Outperform Collaboration? The Role of Misbehaving Agents
Luca Ballotta, Giacomo Como, Jeff S. Shamma +1
We investigate a novel approach to resilient distributed optimization with quadratic costs in a multi-agent system prone to unexpected events that make some agents misbehave. In co…
A Reinforcement Learning Approach to Sensing Design in Resource-Constrained Wireless Networked Control Systems
Luca Ballotta, Giovanni Peserico, Francesco Zanini
In this paper, we consider a wireless network of smart sensors (agents) that monitor a dynamical process and send measurements to a base station that performs global monitoring and…
Competition-Based Resilience in Distributed Quadratic Optimization
Luca Ballotta, Giacomo Como, Jeff S. Shamma +1
This paper proposes a novel approach to resilient distributed optimization with quadratic costs in a networked control system (e.g., wireless sensor network, power grid, robotic te…
Coordinated Multi-Robot Trajectory Tracking Control over Sampled Communication
Enrica Rossi, Marco Tognon, Luca Ballotta +4
In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perfor…
Can Decentralized Control Outperform Centralized? The Role of Communication Latency
Luca Ballotta, Mihailo R. Jovanović, Luca Schenato
In this paper, we examine the influence of communication latency on performance of networked control systems. Even though distributed control architectures offer advantages in term…
Computation and Communication Co-Design for Real-Time Monitoring and Control in Multi-Agent Systems
Vishrant Tripathi, Luca Ballotta, Luca Carlone +1
We investigate the problem of co-designing computation and communication in a multi-agent system (e.g. a sensor network or a multi-robot team). We consider the realistic setting wh…
Optimal Network Topology of Multi-Agent Systems subject to Computation and Communication Latency (with proofs)
Luca Ballotta, Mihailo R. Jovanović, Luca Schenato
We study minimum-variance feedback-control design for a networked control system with retarded dynamics, where inter-agent communication is subject to latency. We prove that such a…
From Sensor to Processing Networks: Optimal Estimation with Computation and Communication Latency
Luca Ballotta, Luca Schenato, Luca Carlone
This paper investigates the use of a networked system (, swarm of robots, smart grid, sensor network) to monitor a time-varying phenomenon of interest in the presence of comm…
Computation-Communication Trade-offs and Sensor Selection in Real-time Estimation for Processing Networks
Luca Ballotta, Luca Schenato, Luca Carlone
Recent advances in electronics are enabling substantial processing to be performed at each node (robots, sensors) of a networked system. Local processing enables data compression a…