Alessandro Farinelli

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This paper considers the problem of performing decentralised coordination of low-power embedded devices (as is required within many environmental sensing and surveillance applications). Specifically, we address the generic problem of maximising social welfare within a group of interacting agents. We propose a novel representation of the problem, as a cyclic(More)
In this paper we propose a novel approach to decentralised coordination, that is able to efficiently compute solutions with a guaranteed approximation ratio. Our approach is based on a factor graph representation of the constraint network. It builds a tree structure by eliminating dependencies between the functions and variables within the factor graph that(More)
Multirobot systems (MRS) are, nowadays, an important research area within robotics and artificial intelligence and a growing number of systems have recently been presented in the literature. Since application domains and tasks that are faced by MRS are of increasing complexity, the ability of the robots to cooperate can be regarded as a fundamental feature.(More)
The coordination of emergency responders and robots to undertake a number of tasks in disaster scenarios is a grand challenge for multi-agent systems. Central to this endeavour is the problem of forming the best teams (coalitions) of responders to perform the various tasks in the area where the disaster has struck. Moreover, these teams may have to form,(More)
Emergency responders are faced with a number of significant challenges when managing major disasters. First, the number of rescue tasks posed is usually larger than the number of responders (or agents) and the resources available to them. Second, each task is likely to require a different level of effort in order to be completed by its deadline. Third, new(More)
In this paper, we introduce an on-line, decentralised coordination algorithm for monitoring and predicting the state of spatial phenomena by a team of mobile sensors. These sensors have their application domain in disaster response, where strict time constraints prohibit path planning in advance. The algorithm enables sensors to coordinate their movements(More)
We present an approach Io autonomous exploration of a rescue environment. Exploration is based on unexplored frontiers and navigation on a two-level approach to the robot motion problem. Our method makes use of a motion planner capable of negotiating with very fine representations of the environment, that is used to move in a cluttered scenario. A(More)
Matching demand and supply is recognized as a crucial issue for smart grids, and ICT-based solutions are essential to deliver the infrastructure, algorithms and mechanisms for demand-supply balancing. To date, most work in this area focus on providing users with real time feedback on energy prices and consumption, or on load scheduling of home appliances(More)
Emergency responders are faced with a number of significant challenges when managing major disasters. First, the number of rescue tasks posed is usually larger than the number of responders (or agents) and the resources available to them. Second, each task is likely to require a different level of effort in order to be completed by its deadline. Third, new(More)