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| Antonello Giannitrapani

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Smart grid, Multi-agent systems, Aerospace applications, Mobile robots

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Journal papers

Giovanni Gino Zanvettor, Marco Casini, Antonio Giannitrapani, Simone Paoletti, Antonio Vicino (2022). Optimal Management of Energy Communities Hosting a Fleet of Electric Vehicles. Energies, 15(22).

PDF DOI Smart grid

Mirko Leomanni, Renato Quartullo, Gianni Bianchini, Andrea Garulli, Antonio Giannitrapani (2022). Variable-Horizon Guidance for Autonomous Rendezvous and Docking to a Tumbling Target. Journal of Guidance, Control, and Dynamics, 45(5):846-858.

PDF DOI Aerospace applications

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.

PDF DOI Multi-agent systems

M. Leomanni, A. Garulli, A. Giannitrapani, R. Quartullo (2020). Satellite relative motion modeling and estimation via nodal elements. Journal of Guidance, Control and Dynamics, 43(10):1904-1914.

PDF DOI Aerospace applications

M Leomanni, A. Garulli, A. Giannitrapani, F. Scortecci (2020). An adaptive groundtrack maintenance scheme for spacecraft with electric propulsion. Acta Astronautica, 167:460–466.

PDF DOI Aerospace applications

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.

PDF DOI Multi-agent systems

M. Leomanni, G. Bianchini, A. Garulli, A. Giannitrapani, R. Quartullo (2020). Orbit control techniques for space debris removal missions using electric propulsion. Journal of Guidance, Control and Dynamics, 43(7):1259–1268.

PDF DOI Aerospace applications

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.

PDF DOI Multi-agent systems

M. Leomanni, G. Bianchini, A. Garulli, A. Giannitrapani, R. Quartullo (2019). Sum-of-Norms model predictive control for spacecraft maneuvering. IEEE Control Systems Letters, 3(3):649–654.

PDF DOI Aerospace applications

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

PDF DOI Multi-agent systems

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

PDF DOI Multi-agent systems

B. Cornélusse, I. Savelli, S. Paoletti, A. Giannitrapani, A. Vicino (2019). A community microgrid architecture with an internal local market. Applied Energy, 242:547–560.

PDF DOI Smart grid

I. Savelli, B. Cornélusse, A. Giannitrapani, S. Paoletti, A. Vicino (2018). A new approach to electricity market clearing with uniform purchase price and curtailable block orders. Applied Energy, 226:618–630.

PDF DOI Smart grid

I. Savelli, A. Giannitrapani, S. Paoletti, A. Vicino (2018). An optimization model for the electricity market clearing problem with uniform purchase price and zonal selling prices. IEEE Transactions on Power Systems, 33(3):2864–2873.

PDF DOI Smart grid

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.

PDF DOI Multi-agent systems

D. Zarrilli, A. Giannitrapani, S. Paoletti, A. Vicino (2018). Energy storage operation for voltage control in distribution networks: A receding horizon approach. IEEE Transactions on Control Systems Technology, 26(2):599–609.

PDF DOI Smart grid

M. Leomanni, G. Bianchini, A. Garulli, A. Giannitrapani (2018). State feedback control in equinoctial variables for orbit phasing applications. Journal of Guidance, Control and Dynamics, 41(8):1812–1819.

PDF DOI Aerospace applications

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

PDF DOI Multi-agent systems

M. Leomanni, G. Bianchini, A. Garulli, A. Giannitrapani (2017). A class of globally stabilizing feedback controllers for the orbital rendezvous problem. International Journal of Robust and Nonlinear Control, 27(18):4607–4621.

PDF DOI Aerospace applications

A. Giannitrapani, S. Paoletti, A. Vicino, D. Zarrilli (2017). Optimal allocation of energy storage systems for voltage control in LV distribution networks. IEEE Transactions on Smart Grid, 8(6):2859–2870.

PDF DOI Smart grid

M. Leomanni, A. Garulli, A. Giannitrapani, F. Scortecci (2017). Propulsion options for very low Earth orbit microsatellites. Acta Astronautica, 133:444–454.

PDF DOI Aerospace applications

M. Leomanni, A. Garulli, A. Giannitrapani, F. Farina, F. Scortecci (2017). Minimum switching thruster control for spacecraft precision pointing. IEEE Transactions on Aerospace and Electronic Systems, 53(2):683–697.

PDF DOI Aerospace applications

A. Giannitrapani, S. Paoletti, A. Vicino, D. Zarrilli (2016). Bidding wind energy exploiting wind speed forecasts. IEEE Transactions on Power Systems, 31(4):2647 - 2656.

PDF DOI Smart grid

A. Garulli, A. Giannitrapani, M. Leomanni (2015). Minimum switching control for systems of coupled double integrators. Automatica, 60:115 - 121.

PDF DOI Aerospace applications

L. Palopoli, A. Argyros, J. Birchbauer, A. Colombo, D. Fontanelli, A. Legay, A. Garulli, A. Giannitrapani, D. Macii, F. Moro, P. Nazemzadeh, P. Padeleris, R. Passerone, G. Poier, D. Prattichizzo, T. Rizano, L. Rizzon, S. Scheggi, S. Sedwards (2015). Navigation assistance and guidance of older adults across complex public spaces: the DALi approach. Intelligent Service Robotics, 8(2):77-92.

PDF DOI Mobile robots

M. Leomanni, A. Garulli, A. Giannitrapani, F. Scortecci (2015). All-Electric spacecraft precision pointing using model predictive control. Journal of Guidance, Control and Dynamics, 38(1):161-167.

PDF DOI Aerospace applications

M. Casini, A. Garulli, A. Giannitrapani, A. Vicino (2014). A remote lab for experiments with a team of mobile robots. Sensors, 14(9):16486-16507.

PDF DOI Mobile robots

D. Benedettelli, A. Garulli, A. Giannitrapani (2012). Cooperative SLAM using M-Space representation of linear features. Robotics and Autonomous Systems, 60(10):1267-1278.

PDF DOI Mobile robots

N. Ceccarelli, M. Di Marco, A. Garulli, A. Giannitrapani, A. Vicino (2011). Path planning with uncertainty: A set membership approach. International Journal of Adaptive Control and Signal Processing, 25(3):273-287.

PDF DOI Mobile robots

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

PDF DOI Multi-agent systems

A. Giannitrapani, N. Ceccarelli, F. Scortecci, A. Garulli (2011). Comparison of EKF and UKF for spacecraft localization via angle measurements. IEEE Transactions on Aerospace and Electronic Systems, 47(1):75-84.

PDF DOI Aerospace applications

A. Garulli, A. Giannitrapani, M. Leomanni, F. Scortecci (2011). Autonomous Low-Earth-Orbit station-keeping with electric propulsion. Journal of Guidance, Control, and Dynamics, 34(6):1683-1693.

PDF DOI Aerospace applications

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.

PDF DOI Multi-agent systems

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

A. Formaglio, D. Prattichizzo, F. Barbagli, A. Giannitrapani (2008). Dynamic performance of mobile haptic interfaces. IEEE Transactions on Robotics, 24(3):559-575.

PDF DOI Mobile robots

M. Di Marco, A. Garulli, A. Giannitrapani, A. Vicino (2004). A set theoretic approach to dynamic robot localization and mapping. Autonomous Robots, 16(1):23-47.

PDF DOI Mobile robots

M. Di Marco, A. Garulli, A. Giannitrapani, A. Vicino (2003). Simultaneous localization and map building for a team of cooperating robots: A set membership approach. IEEE Transactions on Robotics and Automation, 19(2):238-249.

PDF DOI Mobile robots

Book chapters

M. Aggravi, A. Colombo, D. Fontanelli, A. Giannitrapani, D. Macii, F. Moro, P. Nazemzadeh, L. Palopoli, R. Passerone, D. Prattichizzo, T. Rizano, L. Rizzon, S. Scheggi (2015). A smart walking assistant for safe navigation in complex indoor environments. In: Ambient Assisted Living, Andò, B. and Siciliano, P. and Marletta, V. and Monteriù, A. (editors), pp. 487-497, Springer.

PDF DOI Mobile robots

F. Barbagli, A. Formaglio, M. Franzini, A. Giannitrapani, D. Prattichizzo (2006). An experimental study of the limitations of mobile haptic interfaces. In: Experimental Robotics IX, Ang, M. and Khatib, O. (editors), pp. 533-542, Springer.

PDF DOI Mobile robots

N. Ceccarelli, M. Di Marco, A. Garulli, A. Giannitrapani, A. Vicino (2006). Set membership localization and map building for mobile robots. In: Current trends in nonlinear systems and control, Menini, L. and Zaccarian, L. and Abdallah, C.T. (editors), pp. 289-308, Birkäuser.

PDF DOI Mobile robots

Conference papers

Jonathan Dumas, Bertrand Cornélusse, Xavier Fettweis, Antonello Giannitrapani, Simone Paoletti, Antonio Vicino (2021). Probabilistic forecasting for sizing in the capacity firming framework. In: 2021 IEEE Madrid PowerTech, pp. 1-6, Madrid (Spain).

Smart grid

M. Leomanni, G. Bianchini, A. Garulli, A. Giannitrapani, R. Quartullo (2020). An MPC Strategy for Low-Thrust Space Debris Rendezvous. In: Proceedings of the 59th IEEE Conference on Decision and Control, pp. 1484-1489, Jeju Island (Korea).

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J. Dumas, B. Cornélusse, A. Giannitrapani, S. Paoletti, A. Vicino (2020). Stochastic and deterministic formulations for capacity firming nominations. In: Proceedings of the 16th International Conference on Probabilistic Methods Applied to Power Systems, pp. 1–7, Liege (Belgium).

Smart grid

I. Savelli, B. Cornélusse, S. Paoletti, A. Giannitrapani, A. Vicino (2019). A local market model for community microgrids. In: Proceedings of the 58th IEEE Conference on Decision and Control, pp. 2982–2987, Nice (France).

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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. Antonini, A. Giannitrapani, S. Paoletti, A. Vicino (2018). Optimal management of energy storage systems for residential customers with photovoltaic generation. In: Proceedings of the 2018 IEEE International Energy Conference (ENERGYCON 2018), pp. 1-6, Limassol (Cyprus).

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I. Savelli, B. Cornélusse, A. Giannitrapani, S. Paoletti, A. Vicino (2018). Introducing block orders in the Italian day-ahead electricity market. In: Proceedings of the 15th International Conference on the European Energy Market (EEM 2018), pp. 1-6, Lodz (Poland).

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A. Giannitrapani, S. Paoletti, A. Vicino, D. Zarrilli (2017). Coordinated control of on-load tap changer and energy storage systems for voltage support in distribution networks. In: Proceedings of the 56th IEEE Conference on Decision and Control, pp. 825-830, Melbourne (Australia).

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I. Savelli, A. Giannitrapani, S. Paoletti, A. Vicino (2017). An exact solution to the market clearing problem with uniform purchase price. In: Proceedings of the 7th IEEE International Conference on Innovative Smart Grid Technologies, pp. 1-6, Torino (Italy).

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M. Bucciarelli, A. Giannitrapani, S. Paoletti, A. Vicino, D. Zarrilli (2017). Sizing of energy storage systems considering uncertainty on demand and generation. In: Proceedings of the 20th IFAC World Congress, pp. 8861–8866, Toulouse (France).

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M. Leomanni, G. Bianchini, A. Garulli, A. Giannitrapani (2016). Nonlinear orbit control with longitude tracking. In: Proceedings of the 55th IEEE Conference on Decision and Control, pp. 1316-1321, Las Vegas (USA).

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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. Zarrilli, A. Giannitrapani, S. Paoletti, A. Vicino (2016). Receding horizon voltage control in LV networks with energy storage. In: Proceedings of the 55th IEEE Conference on Decision and Control, pp. 7496-7501, Las Vegas (USA).

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M. Bucciarelli, A. Giannitrapani, S. Paoletti, A. Vicino, D. Zarrilli (2016). Energy storage sizing for voltage control in LV networks under uncertainty on PV generation. In: Proceedings of the IEEE 2nd International Forum on Research and Technologies for Society and Industry, Bologna (Italy).

Smart grid

M. Leomanni, A. Garulli, A. Giannitrapani, F. Scortecci (2016). Propulsion options for station-keeping of small LEO satellites. In: Space Propulsion 2016, Rome (Italy).

Aerospace applications

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. Giannitrapani, S. Paoletti, A. Vicino, D. Zarrilli (2015). Algorithms for placement and sizing of energy storage systems in low voltage networks. In: Proceedings of the 54th IEEE Conference on Decision and Control, pp. 3945-3950, Osaka (Japan).

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M. Leomanni, A. Garulli, A. Giannitrapani, F. Scortecci (2015). Minimum switching control for spacecraft precision pointing with on/off actuators. In: Proceedings of the 54th IEEE Conference on Decision and Control, pp. 3415-3420, 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. Leomanni, A. Garulli, A. Giannitrapani, P. Pergola, F. Petroni, F. Scortecci (2015). SSCAM: Micro-satellite platform for Earth observation. In: Proceedings of the 10th IAA Symposium on Small Satellites for Earth Observation, Berlin (Germany).

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A. Garulli, A. Giannitrapani, M. Leomanni (2014). Minimum switching limit cycle oscillations for systems of coupled double integrators. In: Proceedings of the 53rd IEEE Conference on Decision and Control, pp. 4655-4660, Los Angeles (USA).

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A. Giannitrapani, S. Paoletti, A. Vicino, D. Zarrilli (2014). Bidding strategies for renewable energy generation with non stationary statistics. In: Proceedings of the 19th IFAC World Congress, pp. 10784-10789, Cape Town (South Africa).

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M. Leomanni, A. Garulli, A. Giannitrapani, F. Scortecci (2013). An MPC-based attitude control system for all-electric spacecraft with on/off actuators. In: Proceedings of the 52nd IEEE Conference on Decision and Control, pp. 4853-4858, Florence (Italy).

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A. Giannitrapani, S. Paoletti, A. Vicino, D. Zarrilli (2013). Wind power bidding in a soft penalty market. In: Proceedings of the 52nd IEEE Conference on Decision and Control, pp. 1013-1018, Florence (Italy).

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D. Fontanelli, A. Giannitrapani, L. Palopoli, D. Prattichizzo (2013). Unicycle steering by brakes: A passive guidance support for an assistive cart. In: Proceedings of the 52nd IEEE Conference on Decision and Control, pp. 2275-2280, Florence (Italy).

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A. Giannitrapani, S. Paoletti, A. Vicino, D. Zarrilli (2013). Exploiting weather forecasts for sizing photovoltaic energy bids. In: Procedings of the 4th IEEE/PES Innovative Smart Grid Technologies Europe, Copenhagen (Denmark).

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M. Leomanni, A. Garulli, A. Giannitrapani, F. Scortecci (2013). Precise attitude control of all-electric GEO spacecraft using Xenon microthrusters. In: Proceedings of the 33rd International Electric Propulsion Conference, Washinghton D.C. (USA).

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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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A. Giannitrapani, S. Paoletti, A. Vicino, D. Zarrilli (2013). Optimal bidding strategies for wind power producers with meteorological forecasts. In: Proceedings of the SIAM Conference on Control and Its Applications, pp. 13-20, San Diego (USA).

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M. Casini, A. Garulli, A. Giannitrapani, A. Vicino (2012). A remote lab for multi-robot experiments with virtual obstacles. In: Proceedings of the 9th IFAC Symposium on Advances in Control Education, pp. 354-359, Nizhny Novgorod (Russia).

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S. Paoletti, M. Casini, A. Giannitrapani, A. Facchini, A. Garulli, A. Vicino (2011). Load forecasting for active distribution networks. In: Proceedings of the 2nd IEEE/PES Innovative Smart Grid Technologies Europe, Manchester (UK).

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A. Garulli, A. Giannitrapani, M. Leomanni, F. Scortecci (2011). Autonomous station keeping for LEO missions with a hybrid continuous-impulsive electric propulsion system. In: Proceedings of the 32nd International Electric Propulsion Conference, Kurhaus (Germany).

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M. Casini, A. Garulli, A. Giannitrapani, A. Vicino (2011). A LEGO Mindstorms multi-robot setup in the Automatic Control Telelab. In: Proceedings of the 18th IFAC World Congress, pp. 9812-9817, Milan (Italy).

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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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D. Benedettelli, A. Garulli, A. Giannitrapani (2010). Multi-robot SLAM using M-Space feature representation. In: Proceedings of the 49th IEEE Conference on Decision and Control, pp. 3826-3831, Atlanta (USA).

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M. Casini, A. Garulli, A. Giannitrapani, A. Vicino (2009). A Matlab-based remote lab for multi-robot experiments. In: Proceedings of the 8th IFAC Symposium on Advances in Control Education, pp. 162-167, Kumamoto (Japan).

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D. Benedettelli, M. Casini, A. Garulli, A. Giannitrapani, A. Vicino (2009). A LEGO Mindstorms experimental setup for multi-agent systems. In: Proceedings of the 3rd IEEE Multi-Conference on Systems and Control, pp. 1230-1235, St. Petersburg (Russia).

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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, A. Garulli, A. Giannitrapani, M. Leomanni, F. Scortecci (2007). Spacecraft localization via angle measurements for autonomous navigation in deep space missions. In: Proceedings of the 17th IFAC Symposium on Automatic Control in Aerospace, pp. 551-556, Toulouse (France).

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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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A. Garulli, A. Giannitrapani, A. Rossi, A. Vicino (2005). Mobile robot SLAM for line-based environment representation. In: Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, pp. 2041-2046, Seville (Spain).

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A. Formaglio, A. Giannitrapani, F. Barbagli, M. Franzini, D. Prattichizzo (2005). Performance of mobile haptic interfaces. In: Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, pp. 8343-8348, Seville (Spain).

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A. Garulli, A. Giannitrapani, A. Rossi, A. Vicino (2005). Simultaneous localization and map building using linear features. In: Proceedings of the 2nd European Conference on Mobile Robots, pp. 44-49, Ancona (Italy).

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N. Ceccarelli, M. Di Marco, A. Garulli, A. Giannitrapani (2004). A set theoretic approach to path planning for mobile robots. In: Proceedings of the 43rd IEEE Conference on Decision and Control, pp. 147-152, Atlantis (Bahamas).

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M. Di Marco, A. Garulli, A. Giannitrapani, A. Vicino (2002). Dynamic robot localization and mapping using uncertainty sets. In: Proceedings of the 15th IFAC World Congress, Barcelona (Spain).

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M. Di Marco, A. Garulli, A. Giannitrapani, A. Vicino (2001). Set membership pose estimation of mobile robots based on angle measurements. In: Proceedings of the 40th IEEE Conference on Decision and Control, pp. 3734-3739, Orlando (USA).

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