Simone Martini

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— Vision-based control of a robot formation is challenging because the on-board sensor (camera) only provides the view-angle to the other moving robots, but not the distance that must be estimated. In order to guarantee a consistent estimate of the distance by knowing the control inputs and the sensor outputs in a given interval, the nonlinear multi-robot(More)
— In this paper we study decentralized, networked systems whose interaction dynamics are given by a nearest-neighbor averaging rule. By letting one node in the network take on the role of a leader in the sense that this node provides the control input to the entire system, we can ask questions concerning the controllability. In particular, we show that the(More)
The paper considers the problem of driving a formation of autonomous mobile agents. The group of mobile devices is represented by a leader-follower network, where the followers update their position using a simple local consensus procedure, while the leaders, whose positions represent the control inputs of the network, are free to move. We characterize the(More)
— This paper addresses an aspect of controllability in a single-leader network when the agents are homogeneous. In such a network, indices are not assigned to the individual agents and controllability, which is typically a point to point property, now becomes a point to set property, where the set consists of all permutations of the target point. Agent(More)
— This paper addresses the clock synchronization problem in a wireless sensor network (WSN) and proposes a distributed solution that consists of a form of consensus, where agents are able to exchange data representing intervals or sets. The solution is based on a centralized algorithm for clock synchronization, proposed by Marzullo, that determines the(More)
— In this paper, we address decision making problems , depending on a set of input events, with networks of dynamic agents that have partial visibility of such events. Previous work by the authors proposed so–called logical consensus approach, by which a network of agents, that can exchange binary values representing their local estimates of the events, is(More)
In this paper we show how the decentralized estimation of the spectrum of a network can be used to infer its controllability and observability properties. The proposed approach is applied to networked multi-agent systems whose local interaction rule is based on Laplacian feedback. We provide a decentralized necessary and sufficient condition for(More)
—This paper focuses on the convergence of information in distributed systems of agents communicating over a network. The information on which the convergence is sought is not represented by real numbers, as often in the literature, rather by sets. The dynamics of the evolution of information across the network is accordingly described by set–valued(More)