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| Antonello Giannitrapani

Multi-agent systems

Distributed algorithms, Consensus, Multi-agent coordination

This research line focuses on the development of estimation, optimization and control algorithms over networks. Some of the addressed problems include:

  • Asynchronous distributed optimization
  • Distributed set membership estimation
  • Consensus protocols in the presence of bounded errors
  • Decentralized coordination of nonholonomic vehicles

See our Journal papers or Conference papers on this topic.

Journal papers

Francesco Farina, Andrea Garulli, Antonio Giannitrapani (2022). An interpolatory algorithm for distributed set membership estimation in asynchronous networks. IEEE Transactions on Automatic Control, 67(10):5464-5470.

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F. Farina, S. Melacci, A. Garulli, A. Giannitrapani (2020). Asynchronous distributed learning from constraints. IEEE Transactions on Neural Networks and Learning Systems, 31(10):4367–4373.

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T. Lisini Baldi, F. Farina, A. Garulli, A. Giannitrapani, D. Prattichizzo (2020). Upper body pose estimation using wearable inertial sensors and multiplicative Kalman filter. IEEE Sensors Journal, 20(1):492–500.

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F. Farina, A. Garulli, A. Giannitrapani, G. Notarstefano (2019). A distributed asynchronous method of multipliers for constrained nonconvex optimization. Automatica, 103:243-253.

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F. Farina, A. Garulli, A. Giannitrapani (2019). Distributed interpolatory algorithms for set membership estimation. IEEE Transactions on Automatic Control, 64(9):3817–3822.

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A. Garulli, A. Giannitrapani (2018). Asymptotic behaviours of a class of threshold models for collective action in social networks. International Journal of Control, 91(10):2230-2249.

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F. Farina, D. Fontanelli, A. Garulli, A. Giannitrapani, D. Prattichizzo (2017). Walking ahead: The Headed Social Force Model. PloS One, 12(1):e016973.

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A. Garulli, A. Giannitrapani (2011). Analysis of consensus protocols with bounded measurement errors. Systems and Control Letters, 60(1):44-52.

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D. Benedettelli, N. Ceccarelli, A. Garulli, A. Giannitrapani (2010). Experimental validation of collective circular motion for nonholonomic multi-vehicle systems. Robotics and Autonomous Systems, 58(8):1028-1036.

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N. Ceccarelli, M. Di Marco, A. Garulli, A. Giannitrapani (2008). Collective circular motion of multi-vehicle systems. Automatica, 44(12):3025-3035.

PDF DOI Multi-agent systems

Conference papers

F. Farina, A. Garulli, A. Giannitrapani (2019). Distributed set membership estimation with time-varying graph topology. In: Proceedings of the 58th IEEE Conference on Decision and Control, pp. 4121–4126, Nice (France).

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F. Farina, A. Garulli, A. Giannitrapani, G. Notarstefano (2018). Asynchronous distributed method of multipliers for constrained nonconvex optimization. In: Proceedings of the 16th European Control Conference, pp. 2535-2540, Limassol (Cyprus).

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F. Farina, D. Fontanelli, A. Garulli, A. Giannitrapani, D. Prattichizzo (2016). When Helbing meets Laumond: The Headed Social Force Model. In: Proceedings of the 55th IEEE Conference on Decision and Control, pp. 3548-3553, Las Vegas (USA).

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D. Fontanelli, A. Giannitrapani, L. Palopoli, D. Prattichizzo (2015). A passive guidance system for a robotic walking assistant using brakes. In: Proceedings of the 54th IEEE Conference on Decision and Control, pp. 829-834, Osaka (Japan).

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A. Garulli, A. Giannitrapani, M. Valentini (2015). Analysis of threshold models for collective actions in social networks. In: Proceedings of the 14th European Control Conference, pp. 211-216, Linz (Austria).

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M. Casini, A. Garulli, A. Giannitrapani, A. Vicino (2013). Remote pursuer-evader experiments with mobile robots in the automatic control telelab. In: Proceedings of the 10th IFAC Symposium on Advances in Control Education, pp. 66-71, Sheffield (UK).

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F. Morbidi, A. Giannitrapani, D. Prattichizzo (2010). Maintaining connectivity among multiple agents in cyclic pursuit: A geometric approach. In: Proceedings of the 49th IEEE Conference on Decision and Control, pp. 7461-7466, Atlanta (USA).

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A. Garulli, A. Giannitrapani (2008). A set-membership approach to consensus problems with bounded measurement errors. In: Proceedings of the 47th IEEE Conference on Decision and Control, pp. 2276-2281, Cancun (Mexico).

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D. Benedettelli, N. Ceccarelli, A. Garulli, A. Giannitrapani (2007). Experimental validation of a decentralized control law for multi-vehicle collective motion. In: Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4170-4175, San Diego (USA).

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N. Ceccarelli, M. Di Marco, A. Garulli, A. Giannitrapani (2006). Experimental analysis of collective circular motion for multi-vehicle systems. In: Proceedings of the 8th International IFAC Symposium on Robot Control, Bologna (Italy).

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N. Ceccarelli, M. Di Marco, A. Garulli, A. Giannitrapani (2005). Collective circular motion of multi-vehicle systems with sensory limitations. In: Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, pp. 740-745, Seville (Spain).

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