**Electronic pre-prints of the following publications are available only for personal use and must abide to copyrights of the publisher. **

IEEE-copyright notice: *Copyright 199x IEEE. Personal use of this material is permitted.
However, permission to reprint/republish this material for advertising
or promotional purposes or for creating new collective works for resale
or redistribution to servers or lists, or to reuse any copyrighted
component of this work in other works must be obtained from the IEEE.*

Elsevier copyrights: pamphlet

IFAC copyrights notice

# Publications Lists [ all BibTeX ]

**Publications of author Ruggero Carli**

20XX

M. Todescato, A. Carron, R. Carli, G. Pillonetto, L. Schenato.

**Efficient Spatio-Temporal Gaussian Regression via Kalman Filtering.***IEEE Transactions on Pattern Analysis and Machine Intelligence [submitted, available@arXiv:1705.01485]*, 20XX [url] [BibTeX]M. Todescato, N. Bof, G. Cavraro, R. Carli, L. Schenato.

**Generalized gradient optimization over lossy networks for partition-based estimation.***SIAM Journal on Optimization (submitted)*, 20XX [BibTeX]N. Bof, R. Carli, L. Schenato.

**Is ADMM always faster than Average Consensus?.***Automatica [submitted]*, 20XX [BibTeX]N. Bof, R. Carli, G. Notarstefano, L. Schenato, D. Varagnolo.

**Newton-Raphson Consensus under asynchronous and lossy communications for peer-to-peer networks.***IEEE Trans. Automatic Control [submitted]*, 20XX [url] [BibTeX]2017

K. Yildirim, R. Carli, L. Schenato.

**A Distributed Dual-Ascent Approach for Power Control of Wireless Power Transfer Networks.***IEEE Conference on Decision and Control (CDC'17)*, 2017 [BibTeX]K. Yildirim, R. Carli, L. Schenato.

**Adaptive Proportional-Integral Synchronization In Wireless Sensor Networks.***IEEE Transactions on Control Systems Technology*, 2017 [url] [BibTeX]N. Bof, R. Carli, A. Cenedese, L. Schenato.

**Asynchronous Distributed Camera Network Patrolling under Unreliable Communication.***IEEE Transactions on Automatic Control*, 2017 [url] [pdf] [BibTeX]N. Bof, R. Carli, L. Schenato.

**Average Consensus with Asynchronous Updates and Unreliable Communication.***Proceedings of IFAC Word Congress*, 2017 [ abstract ] [pdf] [BibTeX]K. Yildirim, R. Carli, L. Schenato.

**Distributed Control of Wireless Power Transfer Subject to Safety Constraints.***Proceedings of IFAC Word Congress [to appear]*, 2017 [BibTeX]M. Todescato, A. Dalla Libera, R. Carli, G. Pillonetto, L. Schenato.

**Distributed Kalman Filtering for Time-Space Gaussian Processes (with proofs).***20th World Congress of International Federation of Automatic Control (IFAC)*, 2017 [pdf] [BibTeX]N. Bof, R. Carli, L. Schenato.

**Lyapunov Theory for Discrete Time Systems.**(Technical Report), 2017 [pdf] [BibTeX]M. Todescato, A. Carron, R. Carli, G. Pillonetto, L. Schenato.

**Multi-Robots Gaussian Estimation and Coverage Control: from Server-based to Peer-to-Peer Architecture.***Automatica*, vol. 80, pp. 284--294, 2017 [url] [pdf] [BibTeX]M. Todescato, J.W. Simpson-Porco, F. Doerfler, R. Carli, F. Bullo.

**Online Distributed Voltage Stress Minimization by Optimal Feedback Reactive Power Control.***Control of Network Systems, IEEE Transactions on [to appear, available@arXiv:1602.01969]*, 2017 [url] [BibTeX]M. Todescato, R. Carli, L. Schenato, G. Barchi.

**PMUs Clock De-Synchronization Compensation for Smart Grid State Estimation.***56th IEEE Conference on Decision and Control (CDC17)*, 2017 [pdf] [BibTeX]M. Todescato, R. Carli, L. Schenato, G. Barchi.

**PMUs Clock De-Synchronization Compensation for Smart Grid State Estimation – 2-nodes Toy Example.**2017 [pdf] [BibTeX]2016

G. Cavraro, T. Caldognetto, R. Carli, P. Tenti.

**A Master/Slave Control of Distributed Energy Resources in Low-Voltage Microgrids.**2016 [pdf] [BibTeX]S. Bolognani, R. Carli, E. Lovisari, S. Zampieri.

**A randomized linear algorithm for clock synchronization in multi-agent systems.***IEEE Transactions on Automatic Control*, (61), 2016 [BibTeX]G. Cavraro, R. Carli.

**Local and distributed voltage control algorithms in distribution network.**2016 [pdf] [BibTeX]M. Todescato, A. Carron, R. Carli, L. Schenato, G. Pillonetto.

**Machine Learning meets Kalman Filtering (with proofs).***55th IEEE Conference on Decision and Control (CDC16)*, pp. 4594--4599, 2016 [pdf] [BibTeX]M. Todescato, A. Carron, R. Carli, A. Franchi, L. Schenato.

**Multi-Robot Localization via GPS and Relative Measurements in the Presence of Asynchronous and Lossy Communication.***European Control Conference 2016 (ECC'16)*, pp. 2527–-2532, 2016 [pdf] [BibTeX]N. Bof, R. Carli, L. Schenato.

**On the performances of consensus based versus Lagrangian based algorithms for quadratic cost functions.***European Control Conference 2016 (ECC'16)*, 2016 [ abstract ] [url] [BibTeX]M. Todescato, A. Carron, R. Carli, L. Schenato, A. Franchi.

**Optimality and limit behavior of the ML estimator for Multi-Robot Localization via GPS and Relative Measurements.**2016 [pdf] [BibTeX]N. Bof, M. Todescato, R. Carli, L. Schenato.

**Proofs of Robust Estimation for Localization in Lossy SN.**2016 [pdf] [BibTeX]N. Bof, M. Todescato, R. Carli, L. Schenato.

**Robust Distributed Estimation for Localization in Lossy Sensor Networks.***6th IFAC Workshop on Distributed Estimation and control in Networked Systems (NecSys16)*, pp. 250–-255, 2016 [pdf] [BibTeX]G. Cavraro, S. Bolognani, R. Carli, S. Zampieri.

**The value of communication in the voltage regulation problem.**2016 [pdf] [BibTeX]2015

M. Todescato, G. Cavraro, R. Carli, L. Schenato.

**A Robust Block-Jacobi Algorithm for Quadratic Programming under Lossy Communications.***5th IFAC Workshop on Distributed Estimation and control in Networked Systems (NecSys15)*, pp. 126--131, 2015 [pdf] [BibTeX]K. Yildirim, R. Carli, L. Schenato.

**Adaptive Control-Based Clock Synchronization in Wireless Sensor Networks.***European Control Conference ECC15*, 2015 [pdf] [BibTeX]G. Cavraro, R. Carli.

**Algorithms for voltage control in distribution networks.***IEEE SmartGridComm 2015 Symposium*, 2015 [pdf] [BibTeX]R. Carli, G. Notarstefano, L. Schenato, D. Varagnolo.

**Analysis of Newton-Raphson Consensus for multi-agent convex optimization under asynchronous and lossy communication.***Proceedings of IEEE Conference on Decision and Control (CDC'15)*, 2015 [pdf] [BibTeX]M. Todescato, G. Cavraro, R. Carli, L. Schenato.

**Convergence of the Robust Block Jacobi Algorithm in Presence of Packet Losses.**2015 [pdf] [BibTeX]A. Carron, R. Carli, M. Todescato, L. Schenato.

**Distributed Localization from Relative Noisy Measurements: a Packet Losses and Delays Robust Approach.**2015 [pdf] [BibTeX]M. Todescato, A. Carron, R. Carli, L. Schenato.

**Distributed Localization from Relative Noisy Measurements: a Robust Gradient Based Approach.***European Control Conference (ECC'15)*, pp. 1914--1919, 2015 [pdf] [BibTeX]R. Carli, G. Notarstefano, L. Schenato, D. Varagnolo.

**Distributed Quadratic Programming under Asynchronous and Lossy Communications Via Newton-Raphson Consensus.***European Control Conference ECC15*, 2015 [pdf] [BibTeX]S. Bolognani, R. Carli, G. Cavraro, S. Zampieri.

**Distributed reactive power feedback control for voltage regulation and loss minimization.***Automatic Control, IEEE Transactions on*, vol. 60(4), pp. 966--981, 2015 [BibTeX]F. Branz, A. Antonello, A. Carron, R. Carli, A. Francesconi.

**Kinematics and control of redundant robotic arm based on Dielectric Elastomer Actuators.***SPIE Smart Structure*, 2015 [pdf] [BibTeX]A. Carron, M. Todescato, R. Carli, L. Schenato, G. Pillonetto.

**Multi-agents adaptive estimation and coverage control using Gaussian regression.***European Control Conference (ECC'15)*, pp. 2490--2495, 2015 [pdf] [BibTeX]M. Todescato, J.W. Simpson-Porco, F. Doerfler, R. Carli, F. Bullo.

**Optimal Voltage Support and Stress Minimisation in Power Networks.***54th IEEE Conference on Decision and Control (CDC15)*, pp. 6921--6926, 2015 [pdf] [BibTeX]2014

G. Cavraro, R. Carli, S. Zampieri.

**A distributed control algorithm for the minimization of the power generation cost in smart micro-grid.***Conference on Decision and Control (CDC14)*, 2014 [pdf] [BibTeX]G. Cavraro, R. Carli, S. Zampieri.

**A Multi-Agents Control Approach for the Optimal Power Flow Problem.***The 21st International Symposium on Mathematical Theory of Networks and Systems (MTNS 2014)*, 2014 [pdf] [BibTeX]A. Antonello, F. Sansone, A. Francesconi, R. Carli, A. Carron.

**A Novel Approach to the Simulation of On-Orbit Rendezvous and Docking Maneuvers in a Laboratory Environment Through the Aid of an Anthropomorphic Robotic Arm.***Metrology for Aerospace (MetroAeroSpace), 2014 IEEE*, 2014 [pdf] [BibTeX]A. Carron, M. Todescato, R. Carli, L. Schenato.

**An asynchronous consensus-based algorithm for estimation from noisy relative measurements.***IEEE Transactions on Control of Network Systems*, vol. 1(3), pp. 283 - 295, 2014 [url] [pdf] [BibTeX]R. Carli, A. Carron, L. Schenato, M. Todescato.

**An exponential-rate consensus-based algorithms for estimation from relative measurements: implementation and performance analysis.**2014 [pdf] [BibTeX]R. Lucchese, A. Cenedese, R. Carli.

**An Hidden Markov Model based transitional description of camera networks.***Proceedings of the 19th IFAC World Congress*, pp. 7394-7399, 2014 [ abstract ] [url] [BibTeX]S. Bolognani, R. Carli, M. Todescato.

**Convergence of the partition-based ADMM for a separable quadratic cost function.**2014 [pdf] [BibTeX]R. Carli, S. Zampieri.

**Network clock synchronization based on the second order linear consensus algorithm.***IEEE Trans. on Automatic Control*, vol. 59,, pp. 409--422, 2014 [pdf] [BibTeX]S. Bolognani, R. Carli, M. Todescato.

**State estimation in power distribution networks with poorly synchronized measurements.***IEEE Conference on Decision and Control (CDC'14)*, pp. 2579--2584, 2014 [pdf] [BibTeX]2013

S. Bolognani, R. Carli, G. Cavraro, S. Zampieri.

**A distributed control strategy for optimal reactive power flow with power and voltage constraints.***IEEE SmartGridComm 2013 Symposium*, 2013 [pdf] [BibTeX]S. Bolognani, R. Carli, G. Cavraro, S. Zampieri.

**A distributed control strategy for optimal reactive power flow with power constraints.***Conference on Decision and Control (CDC13)*, 2013 [pdf] [BibTeX]S. Bolognani, G. Cavraro, R. Carli, S. Zampieri.

**A distributed feedback control strategy for optimal reactive power flow with voltage constraints.***Arxiv preprint*, 2013 [url] [BibTeX]A. Carron, M. Todescato, R. Carli, L. Schenato.

**Adaptive consensus-based algorithms for fast estimation from relative measurements.***4th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NecSys'13)*, pp. 234-239, 2013 [pdf] [BibTeX]2012

S. Bolognani, R. Carli, E. Lovisari, S. Zampieri.

**A randomized linear algorithm for clock synchronization in multi-agent systems.***Proceedings of CDC 2012*, 2012 [pdf] [BibTeX]S.H. Dandach, R. Carli, F. Bullo.

**Accuracy and Decision Time for Sequential Decision Aggregation.***Proceedings of the IEEE*, vol. 100(3), pp. 687-712, 2012 [BibTeX]D. Borra, E. Lovisari, R. Carli, F. Fagnani, S. Zampieri.

**Autonomous Calibration Algorithms for Networks of Cameras.***Proceedings of American Control Conference 2012, ACC'12*, 2012 [pdf] [BibTeX]R. Carli, G. Giorgi, C. Narduzzi.

**Comparative analysis of synchronization strategies in sensor networks with misbehaving clocks.***IEEE International Instrumentation and Measurement Technology Conference*, 2012 [BibTeX]J.W. Durham, R. Carli, P. Frasca, F. Bullo.

**Discrete Partitioning and Coverage Control for Gossiping Robots.***IEEE Transactions on Robotics*, vol. 28(2), pp. 364-378, 2012 [BibTeX]F. Pasqualetti, R. Carli, F. Bullo.

**Distributed Estimation via Iterative Projections with Application to Power Network Monitoring.***Automatica*, vol. 48(5), pp. 747-758, 2012 [BibTeX]N. Michelusi, L. Badia, R. Carli, K. Stamatiou, M. Zorzi.

**Energy Generation and State-of-Charge Knowledge in Energy Harvesting Devices.***International Wireless Communications and Mobile Computing Conference*, 2012 [BibTeX]F. Bullo, R. Carli, P. Frasca.

**Gossip Coverage Control for gossiping robots.***SIAM Journal on Control and Optimization*, vol. 50(1), pp. 419-447, 2012 [BibTeX]R. Alberton, R. Carli, A. Cenedese, L. Schenato.

**Multi-agent perimeter patrolling subject to mobility constraints.***Proceedings of American Control Conference ACC2012*, 2012 [ abstract ] [url] [pdf] [BibTeX]R. Carli, E. Lovisari.

**Robust synchronization of networks of heterogeneous double-integrators.***Proceedings of CDC'12*, 2012 [pdf] [BibTeX]F. Zanella, F. Pasqualetti, R. Carli, F. Bullo.

**Simultaneous Boundary Partitioning and Cameras Synchronization for Optimal Video Surveillance.***3rd IFAC Workshop on Distributed Estimation and Control in Networked Systems (NecSys'12)*, 2012 [ abstract ] [BibTeX]2011

F. Pasqualetti, R. Carli, F. Bullo.

**A distributed method for state estimation and false data detection in power networks.***IEEE SmartGridComm*, 2011 [BibTeX]R. Carli, E. D'Elia, S. Zampieri.

**A PI controller based on asymmetric gossip communications for clocks synchronization in wireless sensors networks.***CDC-ECC*, 2011 [BibTeX]R. Carli, G. Como, P. Frasca, F. Garin.

**Distributed averaging on digital erasure networks.***Automatica*, vol. 47(1), pp. 115-121, 2011 [BibTeX]R. Carli, G. Como, P. Frasca, F. Garin.

**Distributed averaging on digital noisy networks.***Proceedings of Information Theory and Applications Workshop*, 2011 [BibTeX]R. Carli, A. Cenedese, L. Schenato.

**Distributed Partitioning Strategies for Perimeter patrolling.***Proceedings of the American Control Conference (ACC11)*, 2011 [ abstract ] [pdf] [BibTeX]J.W. Durham, R. Carli, P. Frasca, F. Bullo.

**Dynamic Partitioning and Coverage Control with Asynchronous One-to-Base-Station Communication.***Accepted, CDC*, 2011 [BibTeX]R. Carli, A. Chiuso, L. Schenato, S. Zampieri.

**Optimal Synchronization for Networks of Noisy Double Integrators.***IEEE Transactions on Automatic Control*, vol. 56(5), pp. 1146-1152, 2011 [pdf] [BibTeX]V. Srivastava, R. Carli, F. Bullo, C. Langbort.

**Task release control for decision making queues.***American Control Conference (ACC)*, pp. 1855-1860, 2011 [BibTeX]2010

S.H. Dandach, R. Carli, F. Bullo.

**Accuracy and Decision Time for a Class of Sequential Decision Aggregation Rules.***IEEE Conference on Decision and Control (CDC)*, pp. 4777-4782, 2010 [BibTeX]S.H. Dandach, R. Carli, F. Bullo.

**Accuracy and Decision Time for decentralized Implementations of the Sequential Probability Ratio Test.***IEEE American Control Conference (ACC)*, 2010 [BibTeX]F. Pasqualetti, R. Carli, A. Bicchi, F. Bullo.

**Distributed estimation and detection under local information.***In proceedings of IFAC Worshop on Estimation and Control of Networked Systems Necsys*, pp. 263--268, 2010 [BibTeX]R. Carli, P. Frasca, F. Fagnani, S. Zampieri.

**Gossip consensus algorithms via quantized communication.***Automatica*, vol. 46, pp. 70-80, 2010 [pdf] [BibTeX]F. Pasqualetti, R. Carli, A. Bicchi, F. Bullo.

**Identifying cyber attacks under local model information.***In proceedings of IEEE Conference on Decision and Control*, pp. 1855--1860, 2010 [BibTeX]R. Carli, S. Zampieri.

**Networked clock synchronization based on second order linear consensus algorithms.***IEEE Conference on Decision and Control*, 2010 [pdf] [BibTeX]J.W. Durham, R. Carli, F. Bullo.

**Pairwise optimal coverage control for robotic networks in discretized environments.***IEEE Conference on Decision and Control (CDC)*, pp. 7286-7291, 2010 [BibTeX]R. Carli, F. Bullo, S. Zampieri.

**Quantized Average Consensus via Dynamic Coding/Decoding Schemes.***International Journal of Robust and Nonlinear Control*, vol. 20, pp. 156--175, 2010 [pdf] [BibTeX]2009

S. Bolognani, R. Carli, S. Zampieri.

**A PI consensus controller with gossip communication for clock synchronization in wireless sensors networks.***Proceedings of the IFAC Workshop on Estimation and Control of Networked Systems (NecSys09)*, 2009 [ abstract ] [pdf] [BibTeX]R. Carli, G. Como, P. Frasca, F. Garin.

**Average consensus on digital noisy networks.***Proceedings of 1st IFAC Workshop on Estimation and Control of Networked Systems (NecSys09)*, pp. 36--41, 2009 [BibTeX]P. Frasca, R. Carli, F. Fagnani, S. Zampieri.

**Average consensus on networks with quantized communication.***International Journal of Robust and Nonlinear Control*, vol. 19, pp. 1787 - 1816, 2009 [pdf] [BibTeX]J.W. Durham, R. Carli, P. Frasca, F. Bullo.

**Discrete partitioning and coverage control with gossiping communication.***ASME Dynamic Systems and Control Conference*, 2009 [BibTeX]P. Frasca, R. Carli, F. Bullo.

**Multiagent coverage algorithms with gossip communication: control systems on the space of partitions.***American Control Conference (ACC)*, pp. 2228-2235, 2009 [BibTeX]J. Delvenne, R. Carli, S. Zampieri.

**Optimal strategies in the Average Consensus Problem.***Systems & Control Letters*, vol. 58, pp. 759--765, 2009 [pdf] [BibTeX]R. Carli, F. Garin, S. Zampieri.

**Quadratic indices for the analysis of consensus algorithms.***Proceedings of Information Theory and Applications Workshop*, pp. 96--104, 2009 [pdf] [BibTeX]R. Carli, F. Bullo.

**Quantized coordination algorithms for rendezvous and deployment.***SIAM Journal on Control and Optimization*, vol. 48(3), 2009 [BibTeX]2008

R. Carli, A. Chiuso, L. Schenato, S. Zampieri.

**A PI Consensus Controller for Networked Clocks Synchronization.***IFAC World Congress on Automatic Control (IFAC 08)*, 2008 [pdf] [BibTeX]R. Carli, F. Fagnani, P. Frasca, S. Zampieri.

**A probabilistic analysis of the average consensus algorithm with quantized communication.***IFAC World Conference*, pp. 8062-8067, 2008 [BibTeX]P. Frasca, R. Carli, F. Fagnani, S. Zampieri.

**Average consensus by gossip algorithms with quantized communication.***47th IEEE Conference on Decision and Control*, pp. 4831-4836, 2008 [BibTeX]R. Carli, F. Fagnani, A. Speranzon, S. Zampieri.

**Communication constraints in the average consensus problem.***Automatica*, vol. 44, pp. 671--684, 2008 [pdf] [BibTeX]R. Carli, A. Chiuso, L. Schenato, S. Zampieri.

**Distributed Kalman filtering based on consensus strategies.***IEEE Journal on Selected Areas in Communications*, vol. 26, pp. 622--633, 2008 [pdf] [BibTeX]R. Carli, F. Bullo, S. Zampieri.

**Quantized average consensus via dynamic coding/decoding schemes.***47th IEEE Conference Decision and Control*, pp. 4916-4921, 2008 [BibTeX]R. Carli, F. Fagnani, P. Frasca, S. Zampieri.

**The quantization error in the average consensus problem.***16th Mediterranean Conference on Control and Automation*, pp. 1592-1597, 2008 [BibTeX]2007

R. Carli, S. Zampieri.

**Efficient quantization in the average consensus problem.***Advances in Control Theory and Applications.*vol. 353, 2007 [BibTeX]R. Carli, F. Fagnani, P. Frasca, T. Taylor, S. Zampieri.

**Average consensus on networks with transmission noise or quantization.***European Control Conference*, 2007 [BibTeX]R. Carli, A. Chiuso, L. Schenato, S. Zampieri.

**Consensus algorithm design for distributed estimation.***Workshop on Networked Control Systems Tolerant to Foults (NeCST 07)*, 2007 [pdf] [BibTeX]R. Carli, A. Chiuso, L. Schenato, S. Zampieri.

**Distributed Kalman filtering using consensus strategies.***IEEE Conference on Decision and Control (CDC 07)*, 2007 [pdf] [BibTeX]R. Carli, F. Fagnani, P. Frasca, S. Zampieri.

**Efficient quantized techniques for consensus algorithms.***NeCST Workshop*, 2007 [BibTeX]J. Delvenne, R. Carli, S. Zampieri.

**Fast strategies in the consensus problem.***NeCST Workshop*, 2007 [BibTeX]J. Delvenne, R. Carli, S. Zampieri.

**Optimal strategies in the average consensus problem.***CDC Conference*, pp. 2498-2503, 2007 [BibTeX]2006

R. Carli, F. Fagnani, A. Speranzon, S. Zampieri.

**Communication constraints in coordinated consensus problem.***American Control Conference*, 2006 [BibTeX]R. Carli, S. Zampieri.

**Logarithmic quantization in the average consensus problem: a stability analysis.***Proc. of Int. Workshop on Networked Control Systems: Tolerant to Faults*, 2006 [BibTeX]R. Carli, S. Zampieri.

**On the state agreement with quantized information.***MTNS Conference*, 2006 [BibTeX]2005

R. Carli, S. Zampieri.

**Optimal Control with Finite Feedback Data Rate.***13th Mediterranean Conference on Control and Automation*, 2005 [BibTeX]R. Carli, F. Fagnani, M. Focoso, A. Speranzon, S. Zampieri.

**Symmetries in the Coordinated Consensus Problem.***NESC: Networked Embedded Sensing and Control*, 2005 [BibTeX]