101 citations · 466 across the 65 of their papers we have counts for
74 papers
VirTooS: A ROS 2 - Unity Virtualization Toolkit for Fleet Management of Autonomous Mobile Robots
Andrea Drudi, Lorenzo Pichierri, Andrea Testa +1
In this paper, we present VirTooS, a Python/C# toolkit designed to implement fleet-management tasks on teams of Autonomous Mobile Robots (AMRs). VirTooS leverages the Robot Operati…
MROPE: A Multi-Robot Safe Cooperative Strategy via combined Predictive Safety Filters and Ellipse-based Constraint Compression
Alice Rosetti, Lorenzo Pichierri, Domenico Cappello +2
Deploying drone swarms to track a dynamic target in cluttered environments presents severe computational and safety challenges. We propose MROPE, a hierarchical strategy that decou…
Derivative-Free Data-Driven Control of Continuous-Time Linear Time-Invariant Systems
Alessandro Bosso, Marco Borghesi, Andrea Iannelli +2
This paper develops a data-driven stabilization method for continuous-time linear time-invariant systems with theoretical guarantees and no need for signal derivatives. The framewo…
MR-ARL: Model Reference Adaptive Reinforcement Learning for Robustly Stable On-Policy Data-Driven LQR
Marco Borghesi, Alessandro Bosso, Giuseppe Notarstefano
This article introduces a novel framework for data-driven linear quadratic regulator (LQR) design. First, we introduce a reinforcement learning paradigm for on-policy data-driven L…
ADMM-Tracking Gradient for Distributed Optimization over Asynchronous and Unreliable Networks
Guido Carnevale, Nicola Bastianello, Giuseppe Notarstefano +1
In this paper, we propose a novel distributed algorithm for consensus optimization over networks and a robust extension tailored to deal with asynchronous agents and packet losses.…
A Tutorial on Distributed Optimization for Cooperative Robotics: from Setups and Algorithms to Toolboxes and Research Directions
Andrea Testa, Guido Carnevale, Giuseppe Notarstefano
Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target…