124 citations · 465 across the 54 of their papers we have counts for
29 papers · 1 filter
Entropy-Regularized Optimal Transport for Time-Varying Multi-Agent Coverage Control
Italo Napolitano, Mario di Bernardo
This paper addresses time-varying coverage control for multi-agent systems, formulated as the tracking of an evolving target density via entropy-regularized semi-discrete optimal t…
Synchronization of directed hypergraphs with heterogeneities via dynamic coupling
Aiwin Thomas Vadakkan, Pietro De Lellis, Mario di Bernardo
Many real-world networks involve interactions among three or more agents that cannot be reduced to pairwise coupling, making hypergraphs a natural modeling framework. In this work,…
Feedback Control of a Recirculating Bioreactor with Electrophoretic Removal of Inhibitory Extracellular DNA
Antonio Spallone, Davide Fiore, Fabrizio Cartenì +1
Extracellular DNA accumulation in recirculating bioprocesses inhibits microbial growth and reduces productivity. We consider a continuous bioreactor with a recirculating loop and a…
Multi-Scale Control of Large Agent Populations: From Density Dynamics to Individual Actuation
Mario di Bernardo
We review a body of recent work by the author and collaborators on controlling the spatial organisation of large agent populations across multiple scales. A central theme is the sy…
Semi-discrete Optimal Transport for Time-Varying Multi-Agent Coverage Control
Italo Napolitano, Mario di Bernardo
Coverage control algorithms have traditionally focused on static target densities, where agents optimally cover a fixed spatial distribution. However, many applications, such as en…
Learning-based cognitive architecture for enhancing coordination in human groups
Antonio Grotta, Marco Coraggio, Antonio Spallone +2
As interactions with autonomous agents-ranging from robots in physical settings to avatars in virtual and augmented realities-become more prevalent, developing advanced cognitive a…
Leader-Follower Density Control of Spatial Dynamics in Large-Scale Multi-Agent Systems
Gian Carlo Maffettone, Alain Boldini, Maurizio Porfiri +1
We address the problem of controlling the density of a large ensemble of follower agents by acting on a group of leader agents that interact with them. Using coupled partial integr…
High-dimensional continuification control of large-scale multi-agent systems under limited sensing and perturbations
Gian Carlo Maffettone, Mario di Bernardo, Maurizio Porfiri
This paper investigates the robustness of a novel high-dimensional continuification control method for complex multi-agent systems. We begin by formulating a partial differential e…
Data-driven architecture to encode information in the kinematics of robots and artificial avatars
Francesco De Lellis, Marco Coraggio, Nathan C. Foster +3
We present a data-driven control architecture for modifying the kinematics of robots and artificial avatars to encode specific information such as the presence or not of an emotion…
In vivo learning-based control of microbial populations density in bioreactors
Sara Maria Brancato, Davide Salzano, Francesco De Lellis +3
A key problem toward the use of microorganisms as bio-factories is reaching and maintaining cellular communities at a desired density and composition so that they can efficiently c…
Guaranteeing Control Requirements via Reward Shaping in Reinforcement Learning
Francesco De Lellis, Marco Coraggio, Giovanni Russo +2
In addressing control problems such as regulation and tracking through reinforcement learning, it is often required to guarantee that the acquired policy meets essential performanc…
Data-driven design of complex network structures to promote synchronization
Marco Coraggio, Mario di Bernardo
We consider the problem of optimizing the interconnection graphs of complex networks to promote synchronization. When traditional optimization methods are inapplicable, due to unce…
Preliminary results on the herdability of complex multiagent systems via local information
Andrea Lama, Mario Di Bernardo
We present preliminary results on the problem of driving the dynamics of a group of agents, the herders, so as to steer the collective behaviour of another group of agents, the tar…
Continuification control of large-scale multiagent systems under limited sensing and structural perturbations
Gian Carlo Maffettone, Maurizio Porfiri, Mario di Bernardo
We investigate the stability and robustness properties of a continuification-based strategy for the control of large-scale multiagent systems. Within continuation-based strategy, o…
Local convergence of multi-agent systems towards triangular patterns
Andrea Giusti, Marco Coraggio, Mario di Bernardo
Geometric pattern formation is an important emergent behavior in many applications involving large-scale multi-agent systems, such as sensor networks deployment and collective tran…
Consensus-based Distributed Intentional Controlled Islanding of Power Grids
Francesco Lo Iudice, Ricardo Cardona-Rivera, Antonio Grotta +2
The problem of partitioning a power grid into a set of islands can be a solution to restore power dispatchment in sections of a grid affected by an extreme failure. Current solutio…
Continuification-based control of large multiagent systems in a ring
Gian Carlo Maffettone, Alain Boldini, Mario di Bernardo +1
In this paper, we propose a method to control large-scale multiagent systems swarming in a ring. Specifically, we use a continuification-based approach that transforms the microsco…
Minimax Flow over Acyclic Networks: Distributed Algorithms and Microgrid Application
Marco Coraggio, Saber Jafarpour, Francesco Bullo +1
Given a flow network with variable suppliers and fixed consumers, the minimax flow problem consists in minimizing the maximum flow between nodes, subject to flow conservation and c…
Synchronization of networks of piecewise-smooth systems
Marco Coraggio, Pietro DeLellis, S. John Hogan +1
We study convergence in networks of piecewise-smooth (PWS) systems that commonly arise in applications to model dynamical systems whose evolution is affected by macroscopic events…
Convergence and Synchronization in Networks of Piecewise-Smooth Systems via Distributed Discontinuous Coupling
Marco Coraggio, Pietro DeLellis, Mario di Bernardo
Complex networks are a successful framework to describe collective behaviour in many applications, but a notable gap remains in the current literature, that of proving asymptotic c…
Ratiometric control for differentiation of cell populations endowed with synthetic toggle switches
Davide Salzano, Davide Fiore, Mario di Bernardo
We consider the problem of regulating by means of external control inputs the ratio of two cell populations. Specifically, we assume that these two cellular populations are compose…
In-silico Feedback Control of a MIMO Synthetic Toggle Switch via Pulse-Width Modulation
Agostino Guarino, Davide Fiore, Mario di Bernardo
The synthetic toggle switch, first proposed by Gardner & Collins [1] is a MIMO control system that can be controlled by varying the concentrations of two inducer molecules, aTc and…
Using learning to control artificial avatars in human motor coordination tasks
Maria Lombardi, Davide Liuzza, Mario di Bernardo
Designing artificial cyber-agents able to interact with human safely, smartly and in a natural way is a current open problem in control. Solving such an issue will allow the design…
Observer design for piecewise smooth and switched systems via contraction theory
Davide Fiore, Marco Coraggio, Mario di Bernardo
The aim of this paper is to present the application of an approach to study contraction theory recently developed for piecewise smooth and switched systems. The approach that can b…