Ricerc@Sapienza

The paper focuses on the time domain output-only technique called Data-Driven Stochastic Subspace Identification (DD-SSI); in order to identify modal models (frequencies, damping ratios and mode shapes), the role of its user-defined parameters is studied, and rules to determine their minimum values are proposed. Such investigation is carried out using, first, the time histories of structural responses to stationary excitations, with a large number of samples, satisfying the hypothesis on the input imposed by DD-SSI.

This paper deals with the dynamic Euclidean Multivehicle Routing Problem (MVRP) in both deterministic and uncertain scenarios. The objective of MVRP is to find the best paths for a fleet of vehicles that are cooperative to visit a set of targets.

This paper presents an original discrete-time, distributed, noncooperative load-balancing algorithm, based on mean field game theory, which does not require explicit communications. The algorithm is proven to converge to an arbitrarily small neighborhood of a specific equilibrium among the loads of the providers, known as Wardrop equilibrium.

This paper presents a Model Predictive Control (MPC) scheme capable of generating a 3D gait for a humanoid robot. The proposed method starts from an assigned sequence of footsteps and generates online the trajectory of both the Zero Moment Point and Center of Mass. Starting from the moment balance (neglecting rotations) we derive a model characterizing all 3D trajectories that satisfy a linear differential equation along all three axes.

In the era of Big Data and Internet-of-Things (IoT), all real-world environments are gradually becoming cyber-physical (e.g., emergency management, healthcare, smart manufacturing, etc.), with the presence of connected devices and embedded ICT systems (e.g., smartphones, sensors, actuators) producing huge amounts of data and events that influence the enactment of the Cyber Physical Processes (CPPs) enacted in such environments.

Business Process Management (BPM) is a central element of today organizations. Despite over the years its main focus has been the support of processes in highly controlled domains, nowadays many domains of interest to the BPM community are characterized by ever-changing requirements, unpredictable environments and increasing amounts of data that influence the execution of process instances. Under such dynamic conditions, BPM systems must increase their level of automation to provide the reactivity and flexibility necessary for process management.

In this paper, we describe a navigation system requiring very few computational resources, but still providing performance comparable with commonly used tools in the ROS universe. This lightweight navigation system is thus suitable for robots with low computational resources and provides interfaces for both ROS and NAOqi middlewares.

In 58 Italian Public Comprehensive Institutes (Istituti Comprensivi), that include Primary and Elementary schools, 2911 students experimented the use of a mobile robot, Sapientino Doc by Clementoni, to learn curricula matters such as Mathematics, Geometry and Geography (MGG). The project “A scuola di coding con Sapientino” was developed during the 2016/2017 regular school year for about 3 months (April–June 2017). The schools were distributed throughout Italy and involved 2911 students from 5 to 8 years old, 155 classes, and 163 teachers.

The interest on introducing robots in schools has increased significantly in recent years. Robots in these environments are managed by educators who design teaching activities where the students can consolidate the knowledge acquired in the classroom by interacting with the robot. In this context, the use of multiple modalities of communication can become a determining factor to achieve the success of the interaction and a better learning experience.

Mathematical modeling represents a useful instrument to study the evolution of an epidemic spread and to determine the best control strategy to reduce the number of infected subjects. The computation of the singular solution for a SIR epidemic system with vaccination control is performed; a constructive algorithm for the computation of a bang-singular-bang optimal solution is proposed and, for the specific choice of the parameters typical for a SIR model, the two switching instants, as well as the singular profile, are determined.