257 citations · 996 across the 51 of their papers we have counts for
9 papers · 1 filter
Smart Grid State Estimation with PMUs Time Synchronization Errors
Marco Todescato, Ruggero Carli, Luca Schenato +1
We consider the problem of PMU-based state estimation combining information coming from ubiquitous power demand time series and only a limited number of PMUs. Conversely to recent…
Nonlinear Model Predictive Control with Enhanced Actuator Model for Multi-Rotor Aerial Vehicles with Generic Designs
Davide Bicego, Jacopo Mazzetto, Ruggero Carli +2
In this paper, we propose, discuss, and validate an online Nonlinear Model Predictive Control (NMPC) method for multi-rotor aerial systems with arbitrarily positioned and oriented…
Proprioceptive Robot Collision Detection through Gaussian Process Regression
Dalla Libera Alberto, Tosello Elisa, Pillonetto Gianluigi +2
This paper proposes a proprioceptive collision detection algorithm based on Gaussian Regression. Compared to sensor-based collision detection and other proprioceptive algorithms, t…
A novel Multiplicative Polynomial Kernel for Volterra series identification
Alberto Dalla Libera, Ruggero Carli, Gianluigi Pillonetto
Volterra series are especially useful for nonlinear system identification, also thanks to their capability to approximate a broad range of input-output maps. However, their identif…
A data-efficient geometrically inspired polynomial kernel for robot inverse dynamics
Alberto Dalla Libera, Ruggero Carli
In this paper, we introduce a novel data-driven inverse dynamics estimator based on Gaussian Process Regression. Driven by the fact that the inverse dynamics can be described as a…
Robot kinematic structure classification from time series of visual data
Alberto Dalla Libera, Matteo Terzi, Alessandro Rossi +2
In this paper we present a novel algorithm to solve the robot kinematic structure identification problem. Given a time series of data, typically obtained processing a set of visual…
Prediction-Correction Splittings for Nonsmooth Time-Varying Optimization
Nicola Bastianello, Andrea Simonetto, Ruggero Carli
We address the solution of time-varying optimization problems characterized by the sum of a time-varying strongly convex function and a time-invariant nonsmooth convex function. We…
Prediction-Correction for Nonsmooth Time-Varying Optimization via Forward-Backward Envelopes
Nicola Bastianello, Andrea Simonetto, Ruggero Carli
We present an algorithm for minimizing the sum of a strongly convex time-varying function with a time-invariant, convex, and nonsmooth function. The proposed algorithm employs the…
Asynchronous Distributed Optimization over Lossy Networks via Relaxed ADMM: Stability and Linear Convergence
Nicola Bastianello, Ruggero Carli, Luca Schenato +1
In this work we focus on the problem of minimizing the sum of convex cost functions in a distributed fashion over a peer-to-peer network. In particular, we are interested in the ca…