B. Levy, M. Zorzi.
A contraction analysis of the convergence of risk-sensitive filters. SIAM J. Optimization Control,, vol. 54(4), pp. 2154-2173, 2016 [
BibTeX]
A. Cenedese, M. Fagherazzi, P. Bettini.
A Novel Application of Selective Modal Analysis to Large-Scale Electromagnetic Devices. IEEE Transactions on Magnetics, vol. 52(3), pp. 1--4, 2016
Abstract:
In the analysis and design of large-scale dynamical systems, model reduction techniques aim at yielding a reasonable trade-off
between the contrasting needs of reducing the number of states and of reaching a good approximation of the overall system behavior.
In the specific case of complex electromagnetic devices, a large number of state variables represent physical quantities in the overall
system. This work collocates along this line of research and aims at studying Model Order Reduction techniques that maintain the
mathematical formalism of system theory but at the same time keep consistency with the physics of the phenomena of interest.
[ abstract ] [
url] [
BibTeX]
A. Cenedese, G.A. Susto, M. Terzi.
A Parsimonious Approach for Activity Recognition with Wearable Devices: an Application to Cross-country Skiing. European Control Conference 2016 (ECC'16), pp. 2541-2546, 2016
Abstract:
With the aim of monitoring the human activity,
wearable devices provide an enhanced usability and a seamless
human experience with respect to other portable devices (e.g.
smartphones) in critical tasks as well as in leisure and sport
activities. At the same time, though, wearable devices are more
resource-constrained in terms of computational capability and
memory, which calls for the design of algorithmic solutions
that explicitly take into account these issues. In this paper, a
parsimonious approach for activity recognition with wearable
devices is presented. The methodology is based on Relevant
Vector Machines (RVMs), a sparse machine learning framework
for classification, and allows to tackle the activity recognition
problem by identifying the two phases of Event Identification
and Gesture Recognition. The performance of the presented
methodology is tested on the interesting case study of cross-
country skiing (classic style): such a dataset presents three
different classes of gestures in addition to non-gesture activities
and has been obtained by recording the training sessions
of a heterogeneous set of executors in different environment
conditions.
[ abstract ] [
url] [
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]
A. Cenedese, L. Minetto, G.A. Susto, M. Terzi.
A Symbolic Approach to Human Activity Recognition. 5th International Workshop on Symbiotic Interaction, 2016
Abstract:
In the context of activity recognition, wearable devices arenowadays the preferable hardware thanks to their usability, user expe-rience and performances; at the same time, these devices present limi-tations in terms of computational capability and memory, which forcethe algorithm design to be at the same time ecient and simple. Inthis work, we adopt Symbolic Aggregate Approximation (SAX), a sym-bolic approach for information retrieval in time series data that allowsdimensionality and numerosity reduction; SAX is employed here, in com-bination with 1-Nearest Neighbor classier, to identify activity phases incontinuous repetitive activities from inertial time-series data. The pro-posed approach is validated on a public activity recognition dataset.
[ abstract ] [
BibTeX]
A. Beghi, F. Marcuzzi, M. Rampazzo.
A Virtual Laboratory for the Prototyping of Cyber-Physical Systems. 11th IFAC Symposium on Advances in Control Education, 2016 [
BibTeX]
S. Borile, A. Pandharipande, D. Caicedo, A. Cenedese, L. Schenato.
An identification approach to lighting control. European Control Conference 2016 (ECC'16), pp. 637-642, 2016
Abstract:
The problem of daylight estimation in a smart lighting system is considered. The smart lighting system consists of multiple luminaires with collocated occupancy and light sensors. Using sensor information, the objective is to attain illumination levels higher than specified values at the workspaces. We consider a training phase wherein light sensors are used at the workspaces in addition. Data from the light sensors at the ceiling and workspaces is used to estimate the mapping across the sensors. In the operational phase, the estimated mapping is used at the lighting controller to obtain an estimate of the illuminance value at the workspaces. Under the constraint that the estimated illuminance is higher than a specified target value, the controller optimizes the dimming levels of the luminaires to minimize power consumption. We evaluate the performance of the proposed approach in an open-office lighting model by considering different daylight conditions.
[ abstract ] [
url] [
BibTeX]
F. Tramarin, S. Vitturi, M. Luvisotto.
An innovative approach to rate adaptation in IEEE 802.11 real-time industrial networks. IEEE World Conference on Factory Communication Systems (WFCS), 2016
Abstract:
The Multirate Support feature has been introduced by the IEEE 802.11
standard to improve system performance. It has been widely exploited
within general purpose Wireless LANs by means of Rate Adaptation (RA)
strategies, that unfortunately revealed ineffective for the case of
real-time industrial communications. This paper presents the innovative
Rate Selection for Industrial Networks (RSIN) algorithm, specifically
conceived for the real-time industrial scenario with the goal of
minimizing the transmission error probability, while taking into account
the deadlines imposed to packet delivery.
[ abstract ] [
url] [
BibTeX]
M. Zorzi, R. Sepulchre.
AR identification of Latent-variable Graphical models. IEEE Trans. Aut. Control, vol. 61(9), pp. 2327 - 2340, 2016 [
BibTeX]
G. Michieletto, A. Cenedese, A. Franchi.
Bearing Rigidity Theory in SE(3). 55th Conference on Decision and Control (CDC16), pp. 5950-5955, 2016
Abstract:
Recently, rigidity theory has emerged as an ef-
ficient tool in the control field of coordinated multi–agent
systems, such as multi–robot formations and UAVs swarms
that are characterized by the sensing, communication and
movement capabilities. This paper aim at describing the rigidity
properties for frameworks embedded in SE(3), i.e. the three–
dimensional Euclidean space wherein each agent has 6DoF. In
such configuration, it is assumed that the devices are able to
gather bearing measurements of their neighbors, expressing
them into their own body frame. Rigidity properties are
mathematically formalized in the paper which differs from the
previous works as it faces the extension in three–dimensional
space dealing with the 3D rotations manifold. In particular,
the attention is focused on the infinitesimal SE(3)–rigidity for
which necessary and sufficient condition is provided.
[ abstract ] [
url] [
pdf] [
BibTeX]
G. Prando, D. Romeres, G. Pillonetto, A. Chiuso.
Classical vs. Bayesian methods for linear system identification: point estimators and confidence sets. Proc. of ECC 2016, 2016 [
BibTeX]
A. Beghi, L. Cecchinato, G. Menegazzo, M. Rampazzo, F. Simmini.
Data-driven Fault Detection and Diagnosis for HVAC water chillers. Control Engineering Practice, vol. 53,, 2016 [
BibTeX]
T. Chen, G. Pillonetto, A. Chiuso, L. Ljung.
DC kernel - a stable generalized first order spline kernel. Proc. of CDC 2016 - accepted, 2016 [
BibTeX]
G.A. Susto, A. Beghi.
Dealing with Time-Series Data in Predictive Maintenance Problems. Emerging Technologies and Factory Automation, 2016
Abstract:
In this paper an approach to deal with Predictive Maintenance (PdM) problems with time-series data is discussed. PdM is a important approach to tackle maintenance and it is gaining an increasing attention in advanced manufacturing to minimize scrap materials, downtime, and associated costs. PdM approaches are generally based on Machine Learning tools that require the availability of historical process and maintenance data. Given the exponential growth in data logging in modern equipment, time series dataset are increasingly available in PdM applications. To exploit time series data for PdM, a functional learning methodology, namely Supervised Aggregative Feature Extraction (SAFE), is here employed on a semiconductor manufacturing maintenance problem.
[ abstract ] [
url] [
BibTeX]
G. Belgioioso, A. Cenedese, G. Michieletto.
Distributed partitioning strategies with visual optimization for camera network perimeter patrolling. 55th Conference on Decision and Control (CDC16), pp. 5912-5917, 2016
Abstract:
The employment of smart camera networks for
surveillance purposes has become ubiquitous in many appli-
cation scenarios, from the industrial, to the public, to the
home environments. In particular, in this work the boundary
patrolling problem is considered, where the camera network task
is to monitor the perimeter of an environment so as to detect
anomalies and track possible intrusions. Here, a distributed
solution is sought based on the definition of a suitable functional
that accounts both for the equitable partitioning of the available
space and for the quality of vision of the patrolled area,
and admits a unique optimal solution. The optimization of
such functional leads to the design of an algorithm relying
on a symmetric gossip communication protocol among the
neighboring cameras. The theoretical results formalized in
terms of propositions prove the correctness of the approach
and the numerical simulations on a realistic scenario confirm
the validity of the proposed procedure.
[ abstract ] [
url] [
BibTeX]
L. Brinon-Arranz, L. Schenato, A. Seuret.
Distributed Source-seeking via a Circular Formation of Agents with asynchronous communication. IEEE Transactions on Control of Network Systems, vol. 3(2), pp. 104--115, 2016 [
url] [
pdf] [
BibTeX]
A. Cenedese, L. Minetto, G.A. Susto, M. Terzi.
Human Activity Recognition with Wearable Devices: A Symbolic Approach. PsychNology, vol. 14(2-3), pp. 99-115, 2016
Abstract:
In the context of activity recognition, wearable devices are nowadays the preferable hardware
thanks to their usability, user experience and performances; at the same time, these devices
present limitations in terms of computational capability and memory, which force the algorithm
design to be at the same time efficient and simple. In this work, we adopt Symbolic Aggregate
Approximation (SAX), a symbolic approach for information retrieval in time series data that
allows dimensionality and numerosity reduction; SAX is employed here, in combination with
1-Nearest Neighbor classifier, to identify activity phases in continuous repetitive activities from
inertial time-series data. The proposed approach is validated on a cross-country skiing dataset
and on a daily living activities dataset.
[ abstract ] [
url] [
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]
F.P. Carli, T. Chen, L. Ljung.
Maximum Entropy Kernels for System Identification. IEEE Trans. on Automatic Control, accepted, 2016 [
BibTeX]
T. Chen, T. Ardeshiri, F.P. Carli, A. Chiuso, L. Ljung, G. Pillonetto.
Maximum entropy properties of discrete-time first-order stable spline kernel. Automatica, 2016 [
BibTeX]
M. Bonotto, P. Bettini, A. Cenedese.
Model order reduction of large-scale state-space models in fusion machines via Krylov methods. 17th IEEE Conference on Electromagnetic Field Computation (CEFC16), 2016
Abstract:
This work presents a robust technique, based on the
Krylov subspace method, for the reduction of large-scale state-
space models arising in many electromagnetic problems in fusion
machines. The proposed approach aims at reducing the number
of states of the system and lowering the computational effort,
with a negligible loss of accuracy in the numerical solution. It is
built on the Arnoldi algorithm, which allows to avoid numerical
instabilities when computing the reduced model, and exploits
both input/output Krylov methods. In the full paper a detail
performance study will be presented on an ITER-like machine.
[ abstract ] [
url] [
BibTeX]
A. Beghi, L. Cecchinato, F. Peterle, M. Rampazzo, F. Simmini.
Model-Based Fault Detection and Diagnosis for Centrifugal Chillers. SysTol’16, 3rd International Conference on Control and Fault-Tolerant Systems, 2016 [
BibTeX]
F.P. Carli.
Modeling and Estimation of Discrete-Time Reciprocal Processes via Probabilistic Graphical Models. submitted, arXiv:1603.04419, 2016 [
BibTeX]
S. Soatto, A. Chiuso.
Modeling Visual Representations:Defining Properties and Deep Approximations. International Conference on Learning Representation (ICLR), 2016 [
BibTeX]
A. Cenedese, C. Favaretto, G. Occioni.
Multi-agent Swarm Control through Kuramoto Modeling. 55th Conference on Decision and Control (CDC16), pp. 1820-1825, 2016
Abstract:
In this paper we discuss a particular case of
synchronization involving a finite population of nonlinearly
coupled oscillators. We employ a discrete time approximation of
the Kuramoto model in order to achieve the coordination of the
heading directions of N identical vehicles moving at constant
speed in a bidimensional environment; this synchronization
model acts as a base for a more complex distributed control, the
aim of which is to direct the vehicles towards a target, adjusting
their trajectories alongside their formation in the process, while
avoiding collisions.
[ abstract ] [
url] [
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]
M.E. Valcher, I. Zorzan.
New results on the solution of the positive consensus problem. Proceedings of the 55th IEEE Conf. on Decision and Control, pp. 5251-5256, 2016 [
BibTeX]
D. Varagnolo, F. Zanella, A. Cenedese, G. Pillonetto, L. Schenato.
Newton-Raphson Consensus for Distributed Convex Optimization. IEEE Transactions on Automatic Control, vol. 61(4), pp. 994--1009, 2016
Abstract:
We address the problem of distributed unconstrained convex optimization under separability assumptions, i.e., the framework where a network of agents, each endowed with local private multidimensional convex cost and subject to communication constraints, wants to collaborate to compute the minimizer of the sum of the local costs. We propose a design methodology that combines average consensus algorithms and separation of time-scales ideas. This strategy is proven, under suitable hypotheses, to be globally convergent to the true minimizer. Intuitively, the procedure lets the agents distributedly compute and sequentially update an approximated Newton-Raphson direction by means of suitable average consensus ratios. We show with numerical simulations that the speed of convergence of this strategy is comparable with alternative optimization strategies such as the Alternating Direction Method of Multipliers. Finally, we propose some alternative strategies which trade-off communication and computational requirements with convergence speed.
[ abstract ] [
url] [
pdf] [
BibTeX]
C. Favaretto, A. Cenedese.
On brain modeling in resting-state as a network of coupled oscillators. 55th Conference on Decision and Control (CDC16), pp. 4190-4195, 2016
Abstract:
The problem of emergent synchronization pat-terns in a complex network of coupled oscillators has caughtscientists’ interest in a lot of different disciplines. In particular,from a biological point of view, considerable attention has beenrecently devoted to the study of the human brain as a networkof different cortical regions that show coherent activity duringresting-state. In literature, there can be found different large-scale models of resting-state dynamics in health and disease.In this context, the Kuramoto model, a classical model apt todescribe oscillators’ dynamics, has been extended to capture thespatial displacement and the communication conditions in suchbrain network. Starting from a previous work in this ?eld ,we analyze this modi?ed model and compare it with otherexisting large-scale models. In doing so, our aim is to promotea set of mathematical tools useful to better understand realexperimental data in neuroscience and estimate brain dynamics.
[ abstract ] [
url] [
BibTeX]
M.E. Valcher, I. Zorzan.
On the consensus problem with positivity constraints. Proceedings of the 2016 American Control Conference, pp. 2846-2851, 2016 [
BibTeX]
S. Bolognani, S. Zampieri.
On the existence and linear approximation of the power flow solution in power distribution networks. IEEE Transactions on Power Systems, vol. 31(1), pp. 163--172, 2016 [
BibTeX]
F.P. Carli.
On the Geometry of Message Passing Algorithms for Gaussian Reciprocal Processes. submitted, arXiv:1603.09279, 2016 [
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:
In this paper we analyze the performances of some popular algorithms used to solve distributed optimization problems involving quadratic cost functions in a multi agent system. Namely, we study the performances of standard consensus, accelerated consensus and ADMM. We analyze the scalar quadratic function case, under different scenarios and with structured graphs. We find that accelerated consensus is the algorithm with the best performance in all the cases analyzed. On the other hand, ADMM has performance comparable to the accelerated consensus when the graph is scarcely connected, while for dense graphs its performance deteriorates and becomes worse than the one of standard consensus. The results therefore suggest that the choice of the algorithm to solve the problem we analyze strongly depends on the graph, and that accelerated consensus should always be preferred.
[ abstract ] [
url] [
BibTeX]
N. Bof, G. Baggio, S. Zampieri.
On the role of network centrality in the controllability of complex networks. IEEE Transactions on Control of Network Systems, 2016
Abstract:
In recent years complex networks have gained in-
creasing attention in different fields of science and engineering.
The problem of controlling these networks is an interesting and
challenging problem to investigate. In this paper we look at the
controllability problem focusing on the energy needed for the
control. Precisely not only we want to analyze whether a network
can be controlled, but we also want to establish whether the
control can be performed using a limited amount of energy.
We restrict our study to irreducible and (marginally) stable
networks and we find that the leading right and left eigenvectors
of the network matrix play a crucial role in this analysis.
Interestingly, our results suggest the existence of a connection
between controllability and network centrality, a well-known
concept in network science. In case the network is reversible, the
latter connection involves the PageRank, an extensively studied
type of centrality measure. Finally, the proposed results are
applied to examples concerning random graphs.
[ abstract ] [
pdf] [
BibTeX]
D. Romeres, G. Prando, G. Pillonetto, A. Chiuso.
On-line Bayesian System Identification. Proc. of ECC 2016, 2016 [
BibTeX]
G. Prando, D. Romeres, A. Chiuso.
On-line Identification of Time-Varying Systems: a Bayesian approach. IEEE CDC 2016 - accepted, 2016 [
BibTeX]
D. Romeres, M. Zorzi, R. Camoriano, A. Chiuso.
Online semi-parametric learning for inverse dynamics modeling. 55th IEEE Conference on Decision and Control, 2016 [
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]
M. Luvisotto, A. Sadeghi, F. Lahouti, S. Vitturi, M. Zorzi.
RCFD: A frequency-based channel access scheme for full-duplex wireless networks. IEEE International Conference on Communications (ICC), 2016
Abstract:
Recently, several working implementations of inband full-duplex wireless
systems have been presented, where the same node can transmit and
receive simultaneously in the same frequency band. The introduction of
such a possibility at the physical layer could lead to improved
performance but also poses several challenges at the MAC layer. In this
paper, an innovative mechanism of channel contention in full-duplex OFDM
wireless networks is proposed. This strategy is able to ensure
efficient transmission scheduling with the result of avoiding collisions
and effectively exploiting full-duplex opportunities. As a consequence,
considerable performance improvements are observed with respect to
standard and state-of-the-art MAC protocols for wireless networks, as
highlighted by extensive simulations performed in ad hoc wireless
networks with varying number of nodes.
[ abstract ] [
url] [
BibTeX]
A. Chiuso.
Regularization and Bayesian Learning in Dynamical Systems: Past, Present and Future. Annual Reviews in Control - in press, 2016 [
url] [
BibTeX]
G. Pillonetto, T. Chen, A. Chiuso, G. De nicolao, L. Ljung.
Regularized linear system identification using atomic, nuclear and kernel-based norms: the role of the stability constraint. Automatica, 2016 [
url] [
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]
M. Todescato.
Robust, Asynchronous and Distributed Algorithms for Control and Estimation in Smart Grids. 2016 [
BibTeX]
M.E. Valcher, I. Zorzan.
Stability and stabilizability of continuous-time compartmental switched systems. IEEE Transactions on Automatic Control, vol. 61(12), pp. 3885 - 3897, 2016 [
BibTeX]
G.A. Susto, A. Schirru, S. Pampuri, S. McLoone.
Supervised Aggregative Feature Extraction for Big Data Time Series Regression. IEEE Transactions on Industrial Informatics, vol. 12, pp. 1243 - 1252, 2016
Abstract:
In many applications, and especially thosewhere batch processes are involved, a target scalar outputof interest is often dependent on one or more time seriesof data. With the exponential growth in data logging inmodern industries such time series are increasingly availablefor statistical modeling in soft sensing applications. In orderto exploit time series data for predictive modelling, it isnecessary to summarise the information they contain as aset of features to use as model regressors. Typically thisis done in an unsupervised fashion using simple techniquessuch as computing statistical moments, principalcomponents or wavelet decompositions, often leading tosignificant information loss and hence suboptimal predictivemodels. In this paper, a functional learning paradigm isexploited in a supervised fashion to derive continuous,smooth estimates of time series data (yielding aggregatedlocal information), while simultaneously estimating a continuousshape function yielding optimal predictions. Theproposed Supervised Aggregative Feature Extraction (SAFE)methodology can be extended to support nonlinear predictivemodels by embedding the functional learning framework ina Reproducing Kernel Hilbert Spaces setting. SAFE has anumber of attractive features including closed form solutionand the ability to explicitly incorporate first and secondorder derivative information. Using simulation studies and apractical semiconductor manufacturing case study we highlightthe strengths of the new methodology with respect tostandard unsupervised feature extraction approaches.
[ abstract ] [
url] [
BibTeX]
M. Tognon, A. Testa, E. Rossi, A. Franchi.
Takeoff and landing on slopes via inclined hovering with a tethered aerial robot. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1702-1707, 2016 [
url] [
BibTeX]
A. Sadeghi, M. Luvisotto, F. Lahouti, S. Vitturi, M. Zorzi.
tatistical QoS analysis of full duplex and half duplex heterogeneous cellular networks. IEEE International Conference on Communications (ICC), 2016
Abstract:
In this paper, statistical Quality of Service provisioning in next
generation heterogeneous mobile cellular networks is investigated. To
this aim, any active entity of the cellular network is regarded as a
queuing system, whose statistical QoS requirements depend on the
specific application. In this context, by quantifying the performance in
terms of effective capacity, we introduce a lower bound for the system
performance that facilitates an efficient analysis. We exploit this
analytical framework to give insights about the possible improvement of
the statistical QoS experienced by the users if the current
heterogeneous cellular network architecture migrates from a Half Duplex
to a Full Duplex mode of operation. Numerical results and analysis are
provided, where the network is modeled as a Mate?rn point processes with
a hard core distance. The results demonstrate the accuracy and
computational efficiency of the proposed scheme, especially in large
scale wireless systems.
[ abstract ] [
url] [
BibTeX]
G. Cavraro, S. Bolognani, R. Carli, S. Zampieri.
The value of communication in the voltage regulation problem. Decision and Control (CDC), 2016 IEEE 55th Conference on, pp. 5781-5786, 2016 [
pdf] [
BibTeX]
G. Rallo, S. Formentin, A. Chiuso, S. Savaresi.
Virtual Reference Feedback Tuning with bayesian regularization. ECC 2016, 2016 [
BibTeX]