Search Results for author: Marco Fabris

Found 18 papers, 2 papers with code

A Distributed Approach to Autonomous Intersection Management via Multi-Agent Reinforcement Learning

1 code implementation14 May 2024 Matteo Cederle, Marco Fabris, Gian Antonio Susto

Autonomous intersection management (AIM) poses significant challenges due to the intricate nature of real-world traffic scenarios and the need for a highly expensive centralised server in charge of simultaneously controlling all the vehicles.

Autonomous Vehicles Management +2

Harnessing Uncertainty for a Separation Principle in Direct Data-Driven Predictive Control

no code implementations22 Dec 2023 Alessandro Chiuso, Marco Fabris, Valentina Breschi, Simone Formentin

Model Predictive Control (MPC) is a powerful method for complex system regulation, but its reliance on an accurate model poses many limitations in real-world applications.

Model Predictive Control valid

Optimal Time-Invariant Distributed Formation Tracking for Second-Order Multi-Agent Systems

no code implementations23 Jul 2023 Marco Fabris, Giulio Fattore, Angelo Cenedese

This paper addresses the optimal time-invariant formation tracking problem with the aim of providing a distributed solution for multi-agent systems with second-order integrator dynamics.

Adaptive Consensus-based Reference Generation for the Regulation of Open-Channel Networks

no code implementations23 Jul 2023 Marco Fabris, Marco D. Bellinazzi, Andrea Furlanetto, Angelo Cenedese

This paper deals with water management over open-channel networks (OCNs) subject to water height imbalance.

Management

A Robustness Analysis to Structured Channel Tampering Over Secure-by-Design Consensus Networks

no code implementations23 Jun 2023 Marco Fabris, Daniel Zelazo

This work addresses multi-agent consensus networks where adverse attackers affect the convergence performances of the protocol by manipulating the edge weights.

On the Characterization of Regular Ring Lattices and their Relation with the Dirichlet Kernel

no code implementations23 Apr 2023 Marco Fabris

Regular ring lattices (RRLs) are defined as peculiar undirected circulant graphs constructed from a cycle graph, wherein each node is connected to pairs of neighbors that are spaced progressively in terms of vertex degree.

Relation

Uncertainty-aware data-driven predictive control in a stochastic setting

no code implementations18 Nov 2022 Valentina Breschi, Marco Fabris, Simone Formentin, Alessandro Chiuso

Data-Driven Predictive Control (DDPC) has been recently proposed as an effective alternative to traditional Model Predictive Control (MPC), in that the same constrained optimization problem can be addressed without the need to explicitly identify a full model of the plant.

Model Predictive Control

On the Distributed Estimation from Relative Measurements: a Graph-Based Convergence Analysis

no code implementations21 Feb 2022 Marco Fabris, Giulia Michieletto, Angelo Cenedese

For a multi-agent system state estimation resting upon noisy measurements constitutes a problem related to several application scenarios.

Optimal Time-Invariant Formation Tracking for a Second-Order Multi-Agent System

no code implementations21 Feb 2022 Marco Fabris, Angelo Cenedese, John Hauser

Given a multi-agent linear system, we formalize and solve a trajectory optimization problem that encapsulates trajectory tracking, distance-based formation control and input energy minimization.

Position

Distributed Strategies for Dynamic Coverage with Limited Sensing Capabilities

no code implementations21 Feb 2022 Marco Fabris, Angelo Cenedese

In this work, it is presented the development of a novel distributed algorithm performing robotic coverage, clustering and dispatch around an event in static-obstacle structured environments without relying on metric information.

Visual Sensor Network Stimulation Model Identification via Gaussian Mixture Model and Deep Embedded Features

1 code implementation18 Jan 2022 Luca Varotto, Marco Fabris, Giulia Michieletto, Angelo Cenedese

Visual sensor networks (VSNs) constitute a fundamental class of distributed sensing systems, with unique complexity and appealing performance features, which correspondingly bring in quite active lines of research.

Bearing-based Autonomous Communication Relay Positioning under Field-of-View Constraints

no code implementations4 Jan 2022 Marco Fabris, Daniel Zelazo

This paper investigates the problem of communication relay establishment for multiple agent-based mobile units using a relay vehicle.

Collision Avoidance Position

A General Regularized Distributed Solution for System State Estimation from Relative Measurements

no code implementations6 Aug 2021 Marco Fabris, Giulia Michieletto, Angelo Cenedese

This work presents a novel general regularized distributed solution for the state estimation problem in networked systems.

Secure Consensus via Objective Coding: Robustness Analysis to Channel Tampering

no code implementations9 Jul 2021 Marco Fabris, Daniel Zelazo

This work mainly addresses continuous-time multiagent consensus networks where an adverse attacker affects the convergence performances of said protocol.

A Proximal Point Approach for Distributed System State Estimation

no code implementations21 Mar 2021 Marco Fabris, Giulia Michieletto, Angelo Cenedese

System state estimation constitutes a key problem in several applications involving multi-agent system architectures.

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