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Recent unpublished work

  1. Carmen Del Vecchio, Gianfranco Fenu, Felice Andrea Pellegrino, Michele Di Foggia, Massimo Quatrale, Luca Benincasa, Stefania Iannuzzi, Alessandro Acernese, Pasquale Correra, Luigi Glielmo "Support Vector Representation Machine for superalloy investment casting optimization," Applied Mathematical Modelling [submitted]

Journal papers

  1. Daniele Tognetto, Alberto Armando Perrotta, Francesco Bauci, Silvia Rinaldi, Manlio Antonuccio, Felice Andrea Pellegrino, Gianfranco Fenu, George Stamatelatos and Noel Alpins. Quality of images with toric intraocular lenses. Journal of Cataract & Refractive Surgery 44(3):376 - 381, 2018. URL, DOI BibTeX

    @article{Tognetto2018376,
    	title = "Quality of images with toric intraocular lenses",
    	journal = "Journal of Cataract & Refractive Surgery",
    	volume = 44,
    	number = 3,
    	pages = "376 - 381",
    	year = 2018,
    	note = "",
    	issn = "0886-3350",
    	doi = "https://doi.org/10.1016/j.jcrs.2017.10.053",
    	url = "https://www.sciencedirect.com/science/article/pii/S0886335018301731",
    	author = "Daniele Tognetto and Alberto Armando Perrotta and Francesco Bauci and Silvia Rinaldi and Manlio Antonuccio and Felice Andrea Pellegrino and Gianfranco Fenu and George Stamatelatos and Noel Alpins",
    	abstract = "Purpose To objectively evaluate the image quality obtained with toric intraocular lenses (IOLs) when misaligned from the intended axis. Setting University Eye Clinic and the Department of Industrial and Information Engineering, University of Trieste, Trieste, Italy. Design Experimental study. Methods An experimental optoelectronic test bench was created. It consisted of a high-resolution monitor to project target images and an artificial eye. The system simulates the optical and geometric characteristics of the human eye with an implanted toric IOL. A 3.00 diopters corneal astigmatism was simulated. Images reproduced by the optical system were captured according to different \{IOL\} axis positions. The quality of each image was analyzed using the visual information fidelity (VIF) criterion. The \{VIF\} reduction was calculated at each \{IOL\} rotational step. Results A 5-degree \{IOL\} axis rotation from the intended position determined a decay in the image quality of 7.03%. Ten degrees of \{IOL\} rotation caused an 11.09% decay of relative \{VIF\} value. For a 30-degree rotation, the \{VIF\} decay value was 45.85%. Finally, the image decay with no toric correction was 56.70%. Conclusions The more the objective quality of the image decays progressively, the further the axis of the \{IOL\} is rotated from its intended position. The reduction in image quality obtained after 30 degrees of toric \{IOL\} rotation was less than 50% and after 45 degrees, the image quality was the same as that of no toric correction."
    }
    
  2. Franco Blanchini, Gianfranco Fenu, Giulia Giordano and Felice Andrea Pellegrino. Model-Free Plant Tuning. IEEE Transactions on Automatic Control 62(6):2623–2634, 2017. URL, DOI BibTeX

    @article{Blanchini2016a,
    	abstract = "Given a static plant described by a differentiable input-output function, which is completely unknown, but whose Jacobian takes values in a known polytope in the matrix space, this paper considers the problem of tuning (i.e., driving to a desired value) the output, by suitably choosing the input. It is shown that, if the polytope is robustly nonsingular (or has full rank, in the nonsquare case), then a suitable tuning scheme drives the output to the desired point. The proof exploits a Lyapunov-like function and applies a well-known game-theoretic result, concerning the existence of a saddle point for a min-max zero-sum game. When the plant output is represented in an implicit form, it is shown that the same result can be obtained, resorting to a different Lyapunov-like function. The case in which proper input or output constraints must be enforced during the transient is considered as well. Some application examples are proposed to show the effectiveness of the approach.",
    	author = "Blanchini, Franco and Fenu, Gianfranco and Giordano, Giulia and Pellegrino, Felice Andrea",
    	doi = "10.1109/TAC.2016.2616025",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Blanchini et al. - 2017 - Model-Free Plant Tuning(2).pdf:pdf",
    	issn = "0018-9286",
    	journal = "IEEE Transactions on Automatic Control",
    	keywords = "Games,Generators,Jacobian matrices,Lyapunov methods,Robustness,Steady-state,Transient analysis,Tuning,min-max theorem,robust control,uncertain systems",
    	number = 6,
    	pages = "2623--2634",
    	title = "{Model-Free Plant Tuning}",
    	url = "http://ieeexplore.ieee.org/document/7586127/",
    	volume = 62,
    	year = 2017
    }
    
  3. Daniele Casagrande, Gianfranco Fenu and Felice Andrea Pellegrino. Hamiltonian path planning in constrained workspace. European Journal of Control 33:1–10, 2017. URL, DOI BibTeX

    @article{Casagrande20171,
    	abstract = "Abstract A methodology to plan the trajectories of robots that move in an n-dimensional Euclidean space, have to reach a target avoiding obstacles and are constrained to move in a region of the space is described. It is shown that if the positions of the obstacles are known then a Hamiltonian function can be constructed and used to define a collision-free trajectory. It is also shown that the method can be extended to the case in which the target or the obstacles (or both) move. Results of simulations for a pair of planar robots and a three degrees-of-freedom manipulator are finally reported.",
    	author = "Casagrande, Daniele and Fenu, Gianfranco and Pellegrino, Felice Andrea",
    	doi = "http://dx.doi.org/10.1016/j.ejcon.2016.09.002",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Casagrande, Fenu, Pellegrino - 2017 - Hamiltonian path planning in constrained workspace(2).pdf:pdf",
    	issn = "0947-3580",
    	journal = "European Journal of Control",
    	keywords = "Hamiltonian systems,Kinematic constraints,Obstacle avoidance",
    	pages = "1--10",
    	title = "{Hamiltonian path planning in constrained workspace}",
    	url = "http://www.sciencedirect.com/science/article/pii/S0947358016301388",
    	volume = 33,
    	year = 2017
    }
    
  4. Franco Blanchini, Gianfranco Fenu, Giulia Giordano and Felice Andrea Pellegrino. A convex programming approach to the inverse kinematics problem for manipulators under constraints. European Journal of Control 33:11–23, 2017. URL, DOI BibTeX

    @article{Blanchini201711,
    	abstract = "Abstract We propose a novel approach to the problem of inverse kinematics for possibly redundant planar manipulators. We show that, by considering the joints as point masses in a fictitious gravity field, and by adding proper constraints to take into account the length of the links, the kinematic inversion may be cast as a convex programming problem. Convex constraints in the decision variables (in particular, linear constraints in the workspace) are easily managed with the proposed approach. We also show how to exploit the idea for avoiding obstacles while tracking a reference end-effector trajectory and discuss how to extend the results to some kinds of non-planar manipulators. Simulation results are reported, showing the effectiveness of the approach.",
    	author = "Blanchini, Franco and Fenu, Gianfranco and Giordano, Giulia and Pellegrino, Felice Andrea",
    	doi = "http://dx.doi.org/10.1016/j.ejcon.2016.09.001",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Blanchini et al. - 2017 - A convex programming approach to the inverse kinematics problem for manipulators under constraints.pdf:pdf",
    	issn = "0947-3580",
    	journal = "European Journal of Control",
    	keywords = "Constraints,Convex programming,Inverse kinematics,Robotic manipulators",
    	pages = "11--23",
    	title = "{A convex programming approach to the inverse kinematics problem for manipulators under constraints}",
    	url = "http://www.sciencedirect.com/science/article/pii/S0947358016301315",
    	volume = 33,
    	year = 2017
    }
    
  5. Niky Bruchon, Gianfranco Fenu, Giulio Gaio, Marco Lonza, Felice Andrea Pellegrino and Lorenzo Saule. Free-electron laser spectrum evaluation and automatic optimization. Nuclear Instruments and Methods in Physics Research Section A: Accelerators, Spectrometers, Detectors and Associated Equipment 871:20–29, 2017. URL, DOI BibTeX

    @article{Bruchon2017,
    	abstract = "The radiation generated by a seeded free-electron laser (FEL) is characterized by a high temporal coherence, which is close to the Fourier limit in the ideal case. The setup and optimization of a FEL is a non-trivial and challenging operation. This is due to the plethora of highly sensitive machine parameters and to the complex correlations between them. The fine tuning of the FEL process is normally supervised by physicists and is carried out by scanning various parameters with the aim of optimizing the spectrum of the emitted pulses in terms of intensity and line-width. In this article we introduce a novel quantitative method for the evaluation of the FEL spectrum via a quality index. Moreover, we investigate the possibility of optimization of the FEL parameters using this index as the objective function of an automatic procedure. We also present the results of the preliminary tests performed in the FERMI FEL focused on the effectiveness and ability of the automatic procedure to assist in the task of machine tuning and optimization.",
    	author = "Bruchon, Niky and Fenu, Gianfranco and Gaio, Giulio and Lonza, Marco and Pellegrino, Felice Andrea and Saule, Lorenzo",
    	doi = "10.1016/j.nima.2017.07.048",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Bruchon et al. - 2017 - Free-electron laser spectrum evaluation and automatic optimization.pdf:pdf",
    	issn = 01689002,
    	journal = "Nuclear Instruments and Methods in Physics Research Section A: Accelerators, Spectrometers, Detectors and Associated Equipment",
    	pages = "20--29",
    	title = "{Free-electron laser spectrum evaluation and automatic optimization}",
    	url = "http://www.sciencedirect.com/science/article/pii/S0168900217308057",
    	volume = 871,
    	year = 2017
    }
    
  6. Franco Blanchini, Patrizio Colaneri, Yasumasa Fujisaki, Stefano Miani and Felice Andrea Pellegrino. {A Youla–Kučera parameterization approach to output feedback relatively optimal control}. Systems & Control Letters 81:14–23, 2015. DOI BibTeX

    @article{BlaColFujMiaPel2015,
    	abstract = "This paper presents a continuous time solution to the problem of designing a relatively optimal control, precisely, a dynamic control which is optimal with respect to a given initial condition and is stabilizing for any other initial state. This technique provides a drastic reduction of the complexity of the controller and successfully applies to systems in which (constrained) optimality is necessary for some “nominal operation” only. The technique is combined with a pole assignment procedure. It is shown that once the closed-loop poles have been fixed and an optimal trajectory originating from the nominal initial state compatible with these poles is computed, a stabilizing compensator which drives the system along this trajectory can be derived in closed form. There is no restriction on the optimality criterion and the constraints. The optimization is carried out over a finite-dimensional parameterization of the trajectories. The technique has been presented for state feedback. We propose here a technique based on the Youla–Ku{\v{c}}era parameterization which works for output feedback. The main result is that we provide conditions for solvability in terms of a set of linear algebraic equations.",
    	author = "Blanchini, Franco and Colaneri, Patrizio and Fujisaki, Yasumasa and Miani, Stefano and Pellegrino, Felice Andrea",
    	doi = "10.1016/j.sysconle.2015.04.006",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Blanchini et al. - 2015 - A Youla–Ku{\v{c}}era parameterization approach to output feedback relatively optimal control.pdf:pdf",
    	issn = 01676911,
    	journal = "Systems & Control Letters",
    	keywords = "Continuous time systems,Output feedback,Relatively optimal control,Youla–Ku{\v{c}}era parameterization",
    	pages = "14--23",
    	title = "{A Youla–Ku{\v{c}}era parameterization approach to output feedback relatively optimal control}",
    	volume = 81,
    	year = 2015
    }
    
  7. Gilberto Pin, Marco Filippo, Felice Andrea Pellegrino, Gianfranco Fenu and Thomas Parisini. Approximate model predictive control laws for constrained nonlinear discrete–time systems: analysis and offline design. International Journal of Control 86(5):804–820, 2013. DOI BibTeX

    @article{PinFilPelFenPar2013,
    	abstract = "The objective of this work consists in the offline approximation of possibly discontinuous model predictive control laws for nonlinear discrete-time systems, while enforcing hard constraints on state and input variables. Obtaining an offline approximation of the receding horizon control law may lead to a very significant reduction of the online computational burden with respect to algorithms based on iterated optimization, thus allowing the application to fast dynamics plants. The proposed approximation scheme allows to cope with discontinuous control laws, such as those arising from constrained nonlinear finite horizon optimal control problems. A detailed stability analysis of the closed-loop system driven by the approximated state-feedback controller shows that the devised technique guarantees the input-to-state practical stability with respect to the (non-fading) approximation-induced errors. Two examples are provided to show the effectiveness of the method when the approximator is chosen either as a discontinuous nearest point function or as a smooth neural network.",
    	author = "Pin, Gilberto and Filippo, Marco and Pellegrino, Felice Andrea and Fenu, Gianfranco and Parisini, Thomas",
    	doi = "10.1080/00207179.2012.762121",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Pin et al. - 2013 - Approximate model predictive control laws for constrained nonlinear discrete--time systems analysis and offline desi.pdf:pdf",
    	journal = "International Journal of Control",
    	number = 5,
    	pages = "804--820",
    	title = "{Approximate model predictive control laws for constrained nonlinear discrete--time systems: analysis and offline design}",
    	volume = 86,
    	year = 2013
    }
    
  8. Franco Blanchini, Felice Andrea Pellegrino and Stefano Miani. {Disturbance-driven model predictive control by means of Youla-Kučera parameter switching with an application to drainage canal control}. International Journal of Robust and Nonlinear Control 22(12):1362–1375, 2012. DOI BibTeX

    @article{BlaPeMi2012,
    	abstract = "Motivated by applications such as drainage canal control, where the disturbance acting on a system can be predicted on the basis of weather forecast, we propose a model predictive control technique consisting in the online tuning of a Youla–Kucera parameter. Essentially, the optimal control sequence is supplied to the system by properly setting the coefficients of the Youla–Kucera parameter taken as a finite impulse response, whose length depends on that of the optimal trajectory. Stability is guaranteed for any arbitrary choice of the time-varying coefficients that are adapted to the current forecast of disturbance. The approach is illustrated by numerical simulations of a drainage canal control system.",
    	author = "Blanchini, Franco and Pellegrino, Felice Andrea and Miani, Stefano",
    	doi = "10.1002/rnc.2828",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Blanchini, Pellegrino, Miani - 2012 - Disturbance-driven model predictive control by means of Youla-Ku{\v{c}}era parameter switching with an.pdf:pdf",
    	issn = 10498923,
    	journal = "International Journal of Robust and Nonlinear Control",
    	keywords = "model predictive control,relatively optimal control,switching systems,youla-kucera parametrization",
    	number = 12,
    	pages = "1362--1375",
    	title = "{Disturbance-driven model predictive control by means of Youla-Ku{\v{c}}era parameter switching with an application to drainage canal control}",
    	volume = 22,
    	year = 2012
    }
    
  9. Franco Blanchini, Thomas Parisini, Felice Andrea Pellegrino and Gilberto Pin. High-Gain Adaptive Control: A Derivative-Based Approach. IEEE Transactions on Automatic Control 54(9):2164–2169, September 2009. DOI BibTeX

    @article{Blanchini2009,
    	abstract = "In this work, we propose an adaptive scheme which is a counterpart of existing high gain control techniques based on control Lyapunov functions. Given a control Lyapunov function, the main idea is that of tuning the feedback gain according to a suitably-chosen Lyapunov time-derivative. The control gain is not monotonically non-decreasing as in existing techniques, but it is increased or decreased depending on the imposed derivative, thus avoiding the well-known issue of actuator over-exploitation. We are able to show robust convergence of the proposed adaptive control scheme as well as other interesting properties. For instance, it is possible to guarantee an a-priori given upper bound for the transient mode of behavior during adaptation. Furthermore, if the control Lyapunov function is designed based on an optimal control problem, then the control action is nominally optimal, precisely it yields the optimal trajectory for any initial condition, if the actual plant matches the nominal system.",
    	author = "Blanchini, Franco and Parisini, Thomas and Pellegrino, Felice Andrea and Pin, Gilberto",
    	doi = "10.1109/TAC.2009.2024379",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Blanchini et al. - 2009 - High-Gain Adaptive Control A Derivative-Based Approach.pdf:pdf",
    	issn = "0018-9286",
    	journal = "IEEE Transactions on Automatic Control",
    	keywords = "Adaptive control,Lyapunov functions,high gain control",
    	month = "sep",
    	number = 9,
    	pages = "2164--2169",
    	title = "{High-Gain Adaptive Control: A Derivative-Based Approach}",
    	volume = 54,
    	year = 2009
    }
    
  10. Franco Blanchini, Patrizio Colaneri and Felice Andrea Pellegrino. Simultaneous performance achievement via compensator blending. Automatica 44(1):1–14, January 2008. DOI BibTeX

    @article{Blanchini2008,
    	abstract = "In this paper we consider the problem of designing a state-feedback controller that simultaneously achieves different optimality criteria defined on different input–output pairs. Precisely, if r “optimal” target transfer functions are given (as the result of local “optimal” controllers), it is shown that (under mild assumptions) there exists a unique controller capable of replicating these transfer functions in the closed-loop system, so simultaneously achieving the performances inherited by the chosen local transfer functions. An explicit and constructive procedure (we refer to such procedure as “compensator blending”) is provided. The possibility of designing a stable blending compensator or the generalization to dynamic local controllers or time varying systems are also discussed. We finally consider the dual version of the problem, precisely, we show how to achieve simultaneous optimality by filter blending.",
    	author = "Blanchini, Franco and Colaneri, Patrizio and Pellegrino, Felice Andrea",
    	doi = "10.1016/j.automatica.2007.04.010",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Blanchini, Colaneri, Pellegrino - 2008 - Simultaneous performance achievement via compensator blending.pdf:pdf",
    	issn = 00051098,
    	journal = "Automatica",
    	keywords = "Constrained control,Mixed-objective control,Optimal control,Robustness",
    	month = "jan",
    	number = 1,
    	pages = "1--14",
    	title = "{Simultaneous performance achievement via compensator blending}",
    	volume = 44,
    	year = 2008
    }
    
  11. Franco Blanchini, Stefano Miani, Felice Andrea Pellegrino and Bart Van Arkel. Enhancing Controller Performance for Robot Positioning in a Constrained Environment. IEEE Transactions on Control Systems Technology 16(5):1066–1074, 2008. DOI BibTeX

    @article{Blanchini2008a,
    	abstract = "The paper deals with the problem of positioning a manipulator in a cluttered environment while avoiding collision with obstacles. Recently a control strategy based on invariant sets has been introduced by some of the authors: it consists of covering the configuration space by means of a connected family of poly- hedral regions which can be rendered controlled-invariant. Each of these regions includes some crossing points to the confining (and partially overlapping) regions. The control is hierarchically structured: a high-level controller establishes a proper sequence of regions to be crossed to reach the one in which the target con- figuration is included. A low-level controller solves the problem of tracking, within a region, the crossing point to the next con- fining region and, eventually, tracking the reference whenever it is included in the current one. Here we focus on the low-level controller, providing two novel contributions: first we extend the previous results, based on a vertex representation of the polyhedral sets, to the face representation which is more natural and offers significant computational advantages for on-line implementation; second, we provide a new low-level speed-saturated controller in order to improve the performance of the previous one in terms of convergence speed. We also investigate the robustness of the proposed controller. Experimental results on a Cartesian robot are provided.",
    	author = "Blanchini, Franco and Miani, Stefano and Pellegrino, Felice Andrea and {Van Arkel}, Bart",
    	doi = "10.1109/TCST.2007.916324",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Blanchini et al. - 2008 - Enhancing Controller Performance for Robot Positioning in a Constrained Environment.pdf:pdf",
    	journal = "IEEE Transactions on Control Systems Technology",
    	keywords = "Hierarchical systems,Lyapunov methods,invariance,manipulator motion-planning,robustness",
    	number = 5,
    	pages = "1066--1074",
    	title = "{Enhancing Controller Performance for Robot Positioning in a Constrained Environment}",
    	volume = 16,
    	year = 2008
    }
    
  12. Franco Blanchini and Felice Andrea Pellegrino. Relatively Optimal Control: A Static Piecewise-Affine Solution. SIAM Journal on Control and Optimization 46(2):585–603, 2007. DOI BibTeX

    @article{Blanchini2007,
    	abstract = "A relatively optimal control is a stabilizing controller that, without initialization nor feedforwarding and tracking the optimal trajectory, produces the optimal (constrained) behavior for the nominal initial condition of the plant. In a previous work, for discrete-time linear systems, we presented a linear dynamic relatively optimal control. Here we provide a static solution, namely a deadbeat piecewise-affine state-feedback controller based on a suitable partition of the state space into polyhedral sets. The vertices of the polyhedra are the states of the optimal trajectory; hence a bound for the complexity of the controller is known in advance. We also show how to obtain a controller that is not deadbeat by removing the zero terminal constraint while guaranteeing stability. Finally, we compare the proposed static compensator with the dynamic one.",
    	author = "Blanchini, Franco and Pellegrino, Felice Andrea",
    	doi = "10.1137/050643180",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Blanchini, Pellegrino - 2007 - Relatively Optimal Control A Static Piecewise-Affine Solution(2).pdf:pdf",
    	journal = "SIAM Journal on Control and Optimization",
    	keywords = "discrete-time systems,invariance,linear systems,optimal control,y-k mpc",
    	mendeley-tags = "y-k mpc",
    	number = 2,
    	pages = "585--603",
    	title = "{Relatively Optimal Control: A Static Piecewise-Affine Solution}",
    	volume = 46,
    	year = 2007
    }
    
  13. P F Culverhouse, R Williams, B Simpson, C Gallienne, B Reguera, M Cabrini, S Fonda-Umani, Thomas Parisini, Felice Andrea Pellegrino, Y Pazos, H Wang, L Escalera, A Moroño, M Hensey, J Silke, A Pellegrini, D Thomas, D James, M A Longa, S Kennedy and G Punta. HAB Buoy: a new instrument for in situ monitoring and early warning of harmful algal bloom events. African Journal of Marine Science 28(2):245–250, 2006. DOI BibTeX

    @article{Culverhouse2006,
    	abstract = "A new microplankton imaging and analysis instrument, HAB Buoy, is described. It integrates a high-speed camera for in-flow image acquisition with automatic specimen labelling software, known as DiCANN (Dino- flagellate Categorisation by Artificial Neural Network). Some preliminary results are presented together with a rationale for its use.",
    	author = "Culverhouse, P.F. and Williams, R. and Simpson, B. and Gallienne, C. and Reguera, B. and Cabrini, M. and Fonda-Umani, S. and Parisini, Thomas and Pellegrino, Felice Andrea and Pazos, Y. and Wang, H. and Escalera, L. and Moro{\~{n}}o, A. and Hensey, M. and Silke, J. and Pellegrini, A. and Thomas, D. and James, D. and Longa, M.A. and Kennedy, S. and del Punta, G.",
    	doi = "10.2989/18142320609504156",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Culverhouse et al. - 2006 - HAB Buoy a new instrument for in situ monitoring and early warning of harmful algal bloom events.pdf:pdf",
    	journal = "African Journal of Marine Science",
    	keywords = "automatic plankton identification,hab monitoring",
    	number = 2,
    	pages = "245--250",
    	title = "{HAB Buoy: a new instrument for in situ monitoring and early warning of harmful algal bloom events}",
    	volume = 28,
    	year = 2006
    }
    
  14. Franco Blanchini and Felice Andrea Pellegrino. Relatively Optimal Control With Characteristic Polynomial Assignment and Output Feedback. IEEE Transactions on Automatic Control 51(2):183–191, 2006. DOI BibTeX

    @article{Blanchini2006a,
    	abstract = "A relatively optimal control is a stabilizing controller such that, if initialized at its zero state, produces the optimal (con- strained) behavior for the nominal initial condition of the plant (without feedforwarding and tracking the optimal trajectory). In this paper, we prove that a relatively optimal control can be ob- tained under quite general constraints and objective function, in particular without imposing 0-terminal constraints as previously done. The main result is that stability of the closed-loop system can be achieved by assigning an arbitrary closed-loop character- istic stable polynomial to the plant. An explicit solution is provided. We also show how to choose the characteristic polynomial in such a way that the constraints (which are enforced on a finite horizon) can be globally or ultimately satisfied (i.e., satisfied from a certain time on). We provide conditions to achieve strong stabilization (sta- bilization by means of a stable compensator) precisely, we show how to assign both compensator and closed-loop poles. We consider the output feedback problem, and we show that it can be success- fully solved by means of a proper observer initialization (based on output measurements only). We discuss several applications of the technique and provide experimental results on a cart-pendulum system.",
    	author = "Blanchini, Franco and Pellegrino, Felice Andrea",
    	doi = "10.1109/TAC.2005.863493",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Blanchini, Pellegrino - 2006 - Relatively Optimal Control With Characteristic Polynomial Assignment and Output Feedback.pdf:pdf",
    	journal = "IEEE Transactions on Automatic Control",
    	keywords = "Characteristic polynomial assignment,constrained control,linear control,optimal control",
    	number = 2,
    	pages = "183--191",
    	title = "{Relatively Optimal Control With Characteristic Polynomial Assignment and Output Feedback}",
    	volume = 51,
    	year = 2006
    }
    
  15. Franco Blanchini, Felice Andrea Pellegrino and Luca Visentini. Control of manipulators in a constrained workspace by means of linked invariant sets. International Journal of Robust and Nonlinear Control 14(1314):1185–1205, September 2004. DOI BibTeX

    @article{Blanchini2004c,
    	abstract = "We propose a new technique for controlling manipulators in constrained environments. Based on recent developments on constrained control theory, our approach basically consists in covering the admissible region of the configuration space by partially overlapping convex polyhedra arbitrarily fixed and forming a connected family. Each of these polyhedra, defined in the configuration space, is suitably extended in the state-space (i.e. configuration-plus-velocity space) in order to maintain all the original connections among regions and to be a tracking domain of attraction for the system, i.e. a set of initial states from which a reference signal can be asymptotically approached without constraints violation during the transient. The connection path is not generated a priori, but it is automatically produced on-line by a hierarchical feedback controller. A high-level controller selects the confining polyhedron, to which the current state has to be transferred, which is the closest to the one containing the target reference. A low-level controller solves the problem of locally tracking a suitable crossing point to the desired new region under constraints. The robustness of the scheme as well as the control effort constraints are also taken into account.",
    	author = "Blanchini, Franco and Pellegrino, Felice Andrea and Visentini, Luca",
    	doi = "10.1002/rnc.939",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Blanchini, Pellegrino, Visentini - 2004 - Control of manipulators in a constrained workspace by means of linked invariant sets.pdf:pdf",
    	issn = "1049-8923",
    	journal = "International Journal of Robust and Nonlinear Control",
    	keywords = "constrained control,controlled-invariant sets,obstacle avoidance,tracking",
    	month = "sep",
    	number = 1314,
    	pages = "1185--1205",
    	title = "{Control of manipulators in a constrained workspace by means of linked invariant sets}",
    	volume = 14,
    	year = 2004
    }
    
  16. Gian Luca Foresti and Felice Andrea Pellegrino. Automatic Visual Recognition of Deformable Objects for Grasping and Manipulation. IEEE Transactions on Systems, Man and Cybernetics, Part C (Applications and Reviews) 34(3):325–333, August 2004. DOI BibTeX

    @article{Foresti2004,
    	abstract = "This paper describes a vision-based system that is able to automatically recognize deformable objects, to estimate their pose, and to select suitable picking points. A hierarchical self-organized neural network is used to segment color images based on texture information. A morphological analysis allows the recognition of the objects and the picking points extraction. The proposed approach is useful in all of the situations where texture properties are significant for detecting regions of interest on deformable objects. Several tests on a large number of images, acquired in real operative working conditions, demonstrate the effectiveness of the system.",
    	author = "Foresti, Gian Luca and Pellegrino, Felice Andrea",
    	doi = "10.1109/TSMCC.2003.819701",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Foresti, Pellegrino - 2004 - Automatic Visual Recognition of Deformable Objects for Grasping and Manipulation.pdf:pdf",
    	issn = "1094-6977",
    	journal = "IEEE Transactions on Systems, Man and Cybernetics, Part C (Applications and Reviews)",
    	keywords = "Deformable objects,morphological analysis,object grasping,object manipulation,self-organizing maps,visual recognition",
    	month = "aug",
    	number = 3,
    	pages = "325--333",
    	title = "{Automatic Visual Recognition of Deformable Objects for Grasping and Manipulation}",
    	volume = 34,
    	year = 2004
    }
    
  17. Felice Andrea Pellegrino, Walter Vanzella and Vincent Torre. Edge detection revisited. IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) 34(3):1500–1518, June 2004. DOI BibTeX

    @article{Pellegrino2004,
    	abstract = "The present manuscript aims at solving four problems of edge detection: the simultaneous detection of all step edges from a fine to a coarse scale; the detection of thin bars with a width of very few pixels; the detection of trihedral junctions; the development of an algorithm with image-independent parameters. The proposed solution of these problems combines an extensive spatial filtering with classical methods of computer vision and newly developed algorithms. Step edges are computed by extracting local maxima from the energy summed over a large bank of directional odd filters with a different scale. Thin roof edges are computed by considering maxima of the energy summed over narrow odd and even filters along the direction providing maximal response. Junctions are precisely detected and recovered using the output of directional filters. The proposed algorithm has a threshold for the minimum contrast of detected edges: for the large number of tested images this threshold was fixed equal to three times the standard deviation of the noise present in usual acquisition system (estimated to be between 1 and 1.3 gray levels out of 256), therefore, the proposed scheme is in fact parameter free. This scheme for edge detection performs better than the classical Canny edge detector in two quantitative comparisons: the recovery of the original image from the edge map and the structure from motion task. As the Canny detector in previous comparisons was shown to be the best or among the best detectors, the proposed scheme represents a significant improvement over previous approaches.",
    	author = "Pellegrino, Felice Andrea and Vanzella, Walter and Torre, Vincent",
    	doi = "10.1109/TSMCB.2004.824147",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Pellegrino, Vanzella, Torre - 2004 - Edge detection revisited.pdf:pdf",
    	issn = "1083-4419",
    	journal = "IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)",
    	keywords = "Algorithms,Artificial Intelligence,Automated,Cluster Analysis,Computer Graphics,Computer Simulation,Computer-Assisted,Computer-Assisted: methods,Image Enhancement,Image Enhancement: methods,Image Interpretation,Information Storage and Retrieval,Information Storage and Retrieval: methods,Numerical Analysis,Pattern Recognition,Reproducibility of Results,Sensitivity and Specificity,Signal Processing,Subtraction Technique",
    	month = "jun",
    	number = 3,
    	pages = "1500--1518",
    	pmid = 15484920,
    	title = "{Edge detection revisited}",
    	volume = 34,
    	year = 2004
    }
    
  18. Walter Vanzella, Felice Andrea Pellegrino and Vincent Torre. Self-Adaptive Regularization. IEEE Transactions on Pattern Analysis and Machine Intelligence 26(6):804–809, June 2004. DOI BibTeX

    @article{Vanzella2004,
    	abstract = "Often an image g(x,y) is regularized and even restored by minimizing the Mumford-Shah functional. Properties of the regularized image u(x,y) depends critically on the numerical value of the two parameters alpha and gamma controlling smoothness and fidelity. When alpha and gamma are constant over the image, small details are lost when an extensive filtering is used in order to remove noise. In this paper, it is shown how the two parameters alpha and gamma can be made self-adaptive. In fact, alpha and gamma are not constant but automatically adapt to the local scale and contrast of features in the image. In this way, edges at all scales are detected and boundaries are well-localized and preserved. In order to preserve trihedral junctions alpha and gamma become locally small and the regularized image u(x,y) maintains sharp and well-defined trihedral junctions. Images regularized by the proposed procedure are well-suited for further processing, such as image segmentation and object recognition.",
    	author = "Vanzella, Walter and Pellegrino, Felice Andrea and Torre, Vincent",
    	doi = "10.1109/TPAMI.2004.15",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Vanzella, Pellegrino, Torre - 2004 - Self-Adaptive Regularization.pdf:pdf",
    	issn = "0162-8828",
    	journal = "IEEE Transactions on Pattern Analysis and Machine Intelligence",
    	keywords = "Algorithms,Artificial Intelligence,Automated,Automated: methods,Computer-Assisted,Computer-Assisted: methods,Image Enhancement,Image Enhancement: methods,Image Interpretation,Pattern Recognition,Reproducibility of Results,Sensitivity and Specificity",
    	month = "jun",
    	number = 6,
    	pages = "804--809",
    	pmid = 18579940,
    	title = "{Self-Adaptive Regularization}",
    	volume = 26,
    	year = 2004
    }
    
  19. Franco Blanchini and Felice Andrea Pellegrino. Relatively Optimal Control and Its Linear Implementation. IEEE Transactions on Automatic Control 48(12):2151–2162, 2003. DOI BibTeX

    @article{Blanchini2003b,
    	author = "Blanchini, Franco and Pellegrino, Felice Andrea",
    	doi = "10.1109/TAC.2003.820070",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Blanchini, Pellegrino - 2003 - Relatively Optimal Control and Its Linear Implementation(2).pdf:pdf",
    	journal = "IEEE Transactions on Automatic Control",
    	keywords = "y-k mpc",
    	mendeley-tags = "y-k mpc",
    	number = 12,
    	pages = "2151--2162",
    	title = "{Relatively Optimal Control and Its Linear Implementation}",
    	volume = 48,
    	year = 2003
    }
    
  20. Franco Blanchini, Stefano Miani and Felice Andrea Pellegrino. Suboptimal Receding Horizon Control for Continuous-Time Systems. IEEE Transactions on Automatic Control 48(6):1081–1086, 2003. DOI BibTeX

    @article{Blanchini2003a,
    	abstract = "Solving a continuous-time optimal control problem under state and control constraints is known to be a very hard task. In this note, we propose a suboptimal solution based on the Euler auxiliary system (EAS). We show that we can determine a continuous-time stabilizing control whose cost not only converges to the optimal as the EAS time parameter vanishes, but it is also upper bounded by the discrete-time cost, no matter how such a parameter is chosen. In particular, continuous-time linear problems with convex cost can be solved by considering a fictitious receding-horizon scheme. Both stability and constraints satisfaction are guaranteed for the continuous-time system. This scheme turns out to be very useful when, due to unstable or poorly damped dynamics, the digital implementation of the control requires a very small (virtually zero) sampling time, since the “time parameter” of the EAS can be much greater than the sampling time, without compromising stability, with a strongly reduced computational burden.",
    	author = "Blanchini, Franco and Miani, Stefano and Pellegrino, Felice Andrea",
    	doi = "10.1109/TAC.2003.813145",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Blanchini, Miani, Pellegrino - 2003 - Suboptimal Receding Horizon Control for Continuous-Time Systems.pdf:pdf",
    	journal = "IEEE Transactions on Automatic Control",
    	keywords = "Constrained control,convexity,receding horizon control,suboptimal control,suboptimal value function",
    	number = 6,
    	pages = "1081--1086",
    	title = "{Suboptimal Receding Horizon Control for Continuous-Time Systems}",
    	volume = 48,
    	year = 2003
    }
    

Conference papers

  1. Valentino Cucit, Fabio Burlon, Gianfranco Fenu, Riccardo Furlanetto, Valentino Cucit, Felice Andrea Pellegrino and Michele Simonato. A control system for preventing cavitation of centrifugal pumps. In Energy Procedia 148(Ati). 2018, 242–249. URL, DOI BibTeX

    @inproceedings{Cucit2018,
    	abstract = "Cavitation is a well-known phenomenon that may occur, among other turbo-machines, in centrifugal pumps and can result in severe damage of both the pump and the whole hydraulic system. There are situations in which, in principle, the cavitation could be avoided by detecting the condition of incipient cavitation, and changing slightly the working point of the whole system in order to move away from that condition. In the present paper two simple closed-loop control strategies are implemented, acting on the pump's rotational speed and fed by the measurements of a set of inertial sensors. In particular, the research is focused on a centrifugal pump normally employed in hydraulic systems. The pump operates in a dedicated test rig, where cavitation can be induced by acting on a reservoir's pressure. Three accelerometers are installed in the pump body along three orthogonal axes. An extensive set of experiments has been carried out at different flow rates and a number of signals' features both in the time domain and in the frequency domain have been considered as indicators of incipient cavitation. The amount of energy of the signal captured by the accelerometer in the component orthogonal to the flow direction, in the band from 10 to 12.8 kHz, demonstrated to be effective in detecting the incipient cavitation, by selecting a proper (condition-dependent) threshold. Therefore, two simple controllers have been designed: the first regulates the speed of the pump, to recover from cavitation, bringing the indicator back to the nominal value, while the second allows to reduce the pump's rotational speed when the cavitation detector indicates the incipient cavitation and restoring the nominal speed when possible. The latter approach is rather general, because the threshold-based detector can be substituted by any detector providing binary output. Experimental results are reported that demonstrate the effectiveness of the approach.",
    	author = "Cucit, Valentino and Burlon, Fabio and Fenu, Gianfranco and Furlanetto, Riccardo and Cucit, Valentino and Pellegrino, Felice Andrea and Simonato, Michele",
    	booktitle = "Energy Procedia",
    	doi = "10.1016/j.egypro.2018.08.074",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Cucit et al. - 2018 - A control system for preventing cavitation of centrifugal pumps.pdf:pdf",
    	issn = "1876-6102",
    	keywords = "Cavitation,Centrifugal pump,Closed-loop control",
    	number = "Ati",
    	pages = "242--249",
    	publisher = "Elsevier B.V.",
    	title = "{A control system for preventing cavitation of centrifugal pumps}",
    	url = "https://doi.org/10.1016/j.egypro.2018.08.074",
    	volume = 148,
    	year = 2018
    }
    
  2. Franco Blanchini, Gianfranco Fenu, Giulia Giordano and Felice Andrea Pellegrino. Discrete-Time Trials for Tuning without a Model. In Proceedings of the 20th IFAC World Congress 50(1). July 2017, 1539–1544. URL, DOI BibTeX

    @inproceedings{Blanchini2017,
    	abstract = "Given a static plant described by a differentiable input-output function, which is completely unknown, but whose Jacobian takes values in a known polytope in the matrix space, we consider the problem of tuning the output (i.e., driving the output to a desired value), by suitably choosing the input. To this aim, we assume to have at our disposal a discrete sequence of trials only, as it happens, for instance, when we iteratively run a software, with new input data at each iteration, in order to achieve the desired output value. In this paper we prove that, if the polytope is robustly non-singular (or has full row rank, in the general non-square case), then a suitable discrete-time tuning law drives the output to the desired point. The computation of the tuning law is based on a convex-optimisation problem to be solved on-line. An application example is proposed to show the effectiveness of the approach.",
    	address = "Toulouse",
    	author = "Blanchini, Franco and Fenu, Gianfranco and Giordano, Giulia and Pellegrino, Felice Andrea",
    	booktitle = "Proceedings of the 20th IFAC World Congress",
    	doi = "10.1016/j.ifacol.2017.08.306",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Blanchini et al. - 2017 - Discrete-Time Trials for Tuning without a Model.pdf:pdf",
    	issn = 24058963,
    	keywords = "Tuning,discrete-time,model-free,plant-tuning,tuning",
    	number = 1,
    	pages = "1539--1544",
    	publisher = "Elsevier B.V.",
    	title = "{Discrete-Time Trials for Tuning without a Model}",
    	url = "http://linkinghub.elsevier.com/retrieve/pii/S2405896317306286",
    	volume = 50,
    	year = 2017,
    	month = "jul"
    }
    
  3. Alberto Bartoli, Gianfranco Fenu, Eric Medvet, Felice Andrea Pellegrino and Nicola Timeus. Segmentation of Mosaic Images Based on Deformable Models Using Genetic Algorithms. In Ombretta Gaggi, Pietro Manzoni, Claudio Palazzi, Armir Bujari and Johann M Marquez-Barja (eds.). Smart Objects and Technologies for Social Good: Second International Conference, GOODTECHS 2016 Proceedings. 2017, 233–242. URL, DOI BibTeX

    @inproceedings{Bartoli2017,
    	abstract = "Preservation and restoration of ancient mosaics is a crucial activity for the perpetuation of cultural heritage of many countries. Such an activity is usually based on manual procedures which are typically lengthy and costly. Digital imaging technologies have a great potential in this important application domain, from a number of points of view including smaller costs and much broader functionalities. In this work, we propose a mosaic-oriented image segmentation algorithm aimed at identifying automatically the tiles composing a mosaic based solely on an image of the mosaic itself. Our proposal consists of a Genetic Algorithm, in which we represent each candidate segmentation with a set of quadrangles whose shapes and positions are modified during an evolutionary search based on multi-objective optimization. We evaluate our proposal in detail on a set of real mosaics which differ in age and style. The results are highly promising and in line with the current state-of-the-art.",
    	address = "Venice",
    	author = "Bartoli, Alberto and Fenu, Gianfranco and Medvet, Eric and Pellegrino, Felice Andrea and Timeus, Nicola",
    	booktitle = "Smart Objects and Technologies for Social Good: Second International Conference, GOODTECHS 2016 Proceedings",
    	doi = "10.1007/978-3-319-61949-1_25",
    	editor = "Gaggi, Ombretta and Manzoni, Pietro and Palazzi, Claudio and Bujari, Armir and Marquez-Barja, Johann M",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Bartoli et al. - 2017 - Segmentation of Mosaic Images Based on Deformable Models Using Genetic Algorithms.pdf:pdf",
    	isbn = "978-3-319-61949-1",
    	pages = "233--242",
    	publisher = "Springer International Publishing",
    	series = "Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering",
    	title = "{Segmentation of Mosaic Images Based on Deformable Models Using Genetic Algorithms}",
    	url = "http://dx.doi.org/10.1007/978-3-319-61949-1_25",
    	year = 2017
    }
    
  4. Marco De Marco, Gianfranco Fenu, Eric Medvet and Felice Andrea Pellegrino. Computer Vision for the Blind: A Comparison of Face Detectors in a Relevant Scenario. In Ombretta Gaggi, Pietro Manzoni, Claudio Palazzi, Armir Bujari and Johann M Marquez-Barja (eds.). Smart Objects and Technologies for Social Good: Second International Conference, GOODTECHS 2016, Venice, Italy, November 30 – December 1, 2016, Proceedings. 2017, 145–154. URL, DOI BibTeX

    @inproceedings{DeMarco2017,
    	abstract = "Motivated by the aim of developing a vision-based system to assist the social interaction of blind persons, the performance of some face detectors are evaluated. The detectors are applied to manually annotated video sequences acquired by blind persons with a glass-mounted camera and a necklace-mounted one. The sequences are relevant to the specific application and demonstrate to be challenging for all the considered detectors. A further analysis is performed to reveal how the performance is affected by some features such as occlusion, rotations, size and position of the face within the frame.",
    	address = "Venice",
    	author = "{De Marco}, Marco and Fenu, Gianfranco and Medvet, Eric and Pellegrino, Felice Andrea",
    	booktitle = "Smart Objects and Technologies for Social Good: Second International Conference, GOODTECHS 2016, Venice, Italy, November 30 -- December 1, 2016, Proceedings",
    	doi = "10.1007/978-3-319-61949-1_16",
    	editor = "Gaggi, Ombretta and Manzoni, Pietro and Palazzi, Claudio and Bujari, Armir and Marquez-Barja, Johann M",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Bartoli et al. - 2017 - Segmentation of Mosaic Images Based on Deformable Models Using Genetic Algorithms.pdf:pdf",
    	isbn = "978-3-319-61949-1",
    	pages = "145--154",
    	publisher = "Springer International Publishing",
    	series = "Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering",
    	title = "{Computer Vision for the Blind: A Comparison of Face Detectors in a Relevant Scenario}",
    	url = "http://dx.doi.org/10.1007/978-3-319-61949-1_16",
    	year = 2017
    }
    
  5. Franco Blanchini, Gianfranco Fenu, Giulia Giordano and Felice Andrea Pellegrino. Model-free tuning of plants with parasitic dynamics. In 2017 56th IEEE Conference on Decision and Control (CDC). 2017, 499–504. URL, DOI BibTeX

    @inproceedings{Blanchini2017b,
    	abstract = "We have recently considered the problem of tun- ing a static plant described by a differentiable input-output function, which is completely unknown, but whose Jacobian takes values in a known polytope of matrices: to drive the output to a given desired value, we have suggested an integral feedback scheme, whose convergence is ensured if the polytope of matrices is robustly full row rank. The suggested tuning scheme may fail in the presence of parasitic dynamics, which may destabilize the loop if the tuning action is too aggressive. Here we show that such tuning action can be applied to dynamic plants as well if it is sufficiently “slow”, a property that we can ensure by limiting the integral action. We provide robust bounds based on the exclusive knowledge of the largest time constant and of the matrix polytope to which the system Jacobian is known to belong. We also provide similar bounds in the presence of parasitic dynamics affecting the actuators.",
    	address = "Melbourne",
    	author = "Blanchini, Franco and Fenu, Gianfranco and Giordano, Giulia and Pellegrino, Felice Andrea",
    	booktitle = "2017 56th IEEE Conference on Decision and Control (CDC)",
    	doi = "10.1109/CDC.2017.8263713",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Blanchini et al. - 2017 - Model-free tuning of plants with parasitic dynamics.pdf:pdf",
    	isbn = 9781509028726,
    	keywords = "Lyapunov methods,Robust control,Uncertain systems",
    	pages = "499--504",
    	publisher = "IEEE",
    	title = "{Model-free tuning of plants with parasitic dynamics}",
    	url = "http://ieeexplore.ieee.org/document/8263713/",
    	year = 2017
    }
    
  6. Sergio Carrato, Stefano Marsi, Eric Medvet, Felice Andrea Pellegrino, Giovanni Ramponi and Michele Vittori. Computer Vision for the blind: a dataset for experiments on face detection and recognition. In Proceedings of the 39th International Convention on Information and Communication Technology, Electronics and Microelectronics. 2016, 1479–1484. DOI BibTeX

    @inproceedings{MIPRO2016,
    	abstract = "We present a video dataset created for the needs of a research project that aims at developing vision-based techniques that assist the social interaction of a blind person. Two totally blind users have acquired the sequences, using at the same time a glasses-mounted camera and a necklace-mounted one. The video sequences were acquired in different environments, selecting conditions in which a user could be interested in detecting the presence of some of his/her acquaintances, to approach them in a most natural way. The sequences have been temporally cropped to extract video shots that, by inspection, were deemed to contain events valuable for the goals of the project. The shots are presently being annotated, and some preliminary experiments on face detection have been performed on the annotated data. We also present some observations about the specific application that is being considered.",
    	address = "Opatija",
    	author = "Carrato, Sergio and Marsi, Stefano and Medvet, Eric and Pellegrino, Felice Andrea and Ramponi, Giovanni and Vittori, Michele",
    	booktitle = "Proceedings of the 39th International Convention on Information and Communication Technology, Electronics and Microelectronics",
    	doi = "10.1109/MIPRO.2016.7522323",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Carrato et al. - 2016 - Computer Vision for the blind a dataset for experiments on face detection and recognition(2).pdf:pdf",
    	pages = "1479--1484",
    	publisher = "Mipro Croatian Society",
    	title = "{Computer Vision for the blind: a dataset for experiments on face detection and recognition}",
    	year = 2016
    }
    
  7. Gianfranco Fenu, Nikita Jain, Eric Medvet, Felice Andrea Pellegrino and Myriam Pilutti Namer. On the Assessment of Segmentation Methods for Images of Mosaics. In Proceedings of 10th International Conference on Computer Vision Theory and Applications VISAPP 2015. 2015, 130–137. DOI BibTeX

    @inproceedings{Fenu2015,
    	abstract = "The present paper deals with automatic segmentation of mosaics, whose aim is obtaining a digital representation of the mosaic where the shape of each tile is recovered. This is an important step, for instance, for preserving ancient mosaics. By using a ground-truth consisting of a set of manually annotated mosaics, we objectively compare the performance of some existing recent segmentation methods, based on a simple error metric taking into account precision, recall and the error on the number of tiles. Moreover, we introduce some mosaic-specific hardness estimators (namely some indexes of how difficult is the task of segmenting a particular mosaic image). The results show that the only segmentation algorithm specifically designed for mosaics performs better than the general purpose algorithms. However, the problem of segmentation of mosaics appears still partially unresolved and further work is needed for exploiting the specificity of mosaics in designing new segmentation algorithms.",
    	address = "Berlin",
    	author = "Fenu, Gianfranco and Jain, Nikita and Medvet, Eric and Pellegrino, Felice Andrea and {Pilutti Namer}, Myriam",
    	booktitle = "Proceedings of 10th International Conference on Computer Vision Theory and Applications VISAPP 2015",
    	doi = "10.13140/RG.2.1.3025.6489",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Fenu et al. - 2015 - On the Assessment of Segmentation Methods for Images of Mosaics(2).pdf:pdf",
    	keywords = "comparative evaluation,cultural heritage preservation,image segmentation,superpixel",
    	pages = "130--137",
    	title = "{On the Assessment of Segmentation Methods for Images of Mosaics}",
    	year = 2015
    }
    
  8. Franco Blanchini, Gianfranco Fenu, Giulia Giordano and Felice Andrea Pellegrino. Inverse kinematics by means of convex programming: some developments. In Proceedings of the 11th IEEE International Conference on Automation Science and Engineering (CASE 2015). 2015, 3–8. DOI BibTeX

    @inproceedings{BlanchiniCASE2015,
    	abstract = "A novel approach to the problem of inverse kinematics for redundant manipulators has been recently introduced: by considering the joints as point masses in a fictitious gravity field, and by adding proper constraints to take into account the length of the links, the kinematic inversion may be cast as a convex programming problem. Such a problem can be solved in an efficient way and may be easily modified to include constraints due to obstacles. Here we present further developments of the idea. In particular, for the case of planar robots, we show (i) how to impose hard constraints on the joint angles while preserving the convexity of the problem, and (ii) how to add constraints due to objects (for instance, a load carried by the robot) that are rigidly attached to some part of the robot.",
    	address = "Gothenburg",
    	author = "Blanchini, Franco and Fenu, Gianfranco and Giordano, Giulia and Pellegrino, Felice Andrea",
    	booktitle = "Proceedings of the 11th IEEE International Conference on Automation Science and Engineering (CASE 2015)",
    	doi = "10.1109/CoASE.2015.7294131",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Blanchini et al. - 2015 - Inverse kinematics by means of convex programming some developments.pdf:pdf",
    	isbn = 9781467381833,
    	keywords = "Automation for Machine Tools,Mechatronics,Scheduling and Optimization",
    	pages = "3--8",
    	title = "{Inverse kinematics by means of convex programming: some developments}",
    	year = 2015
    }
    
  9. Sergio Carrato, Gianfranco Fenu, Eric Medvet, Enzo Mumolo, Felice Andrea Pellegrino and Giovanni Ramponi. Towards More Natural Social Interactions of Visually Impaired Persons. In Sebastiano Battiato, Jacques Blanc-Talon, Giovanni Gallo, Wilfried Philips, Dan Popescu and Paul Scheunders (eds.). Advanced Concepts for Intelligent Vision Systems SE - 63. Lecture Notes in Computer Science series, volume 9386, Springer International Publishing, 2015, pages 729–740. URL, DOI BibTeX

    @incollection{Carrato2015,
    	author = "Carrato, Sergio and Fenu, Gianfranco and Medvet, Eric and Mumolo, Enzo and Pellegrino, Felice Andrea and Ramponi, Giovanni",
    	booktitle = "Advanced Concepts for Intelligent Vision Systems SE - 63",
    	doi = "10.1007/978-3-319-25903-1_63",
    	editor = "Battiato, Sebastiano and Blanc-Talon, Jacques and Gallo, Giovanni and Philips, Wilfried and Popescu, Dan and Scheunders, Paul",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Carrato et al. - 2015 - Towards More Natural Social Interactions of Visually Impaired Persons.pdf:pdf",
    	isbn = "978-3-319-25902-4",
    	language = "English",
    	pages = "729--740",
    	publisher = "Springer International Publishing",
    	series = "Lecture Notes in Computer Science",
    	title = "{Towards More Natural Social Interactions of Visually Impaired Persons}",
    	url = "http://dx.doi.org/10.1007/978-3-319-25903-1_63",
    	volume = 9386,
    	year = 2015
    }
    
  10. Margherita Bonetto, Sergio Carrato, Gianfranco Fenu, Eric Medvet, Enzo Mumolo, Felice Andrea Pellegrino and Giovanni Ramponi. Image Processing Issues in a Social Assistive System for the Blind. In Image and Signal Processing and Analysis (ISPA), 2015 9th International Symposium on. 2015, 216–221. DOI BibTeX

    @inproceedings{bonetto2015,
    	abstract = "We systematically analyse the design of the low- level vision components of a real-time system able to help a blind person in his/her social interactions. We focus on the acquisition and processing of the video sequences that are acquired by a wearable sensor (a smartphone camera or a Webcam) for the detection of faces in the scene. We review some classical and some very recent techniques that seem appropriate to the requirements of our goal.",
    	address = "Zagreb",
    	author = "Bonetto, Margherita and Carrato, Sergio and Fenu, Gianfranco and Medvet, Eric and Mumolo, Enzo and Pellegrino, Felice Andrea and Ramponi, Giovanni",
    	booktitle = "Image and Signal Processing and Analysis (ISPA), 2015 9th International Symposium on",
    	doi = "10.1109/ISPA.2015.7306061",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Bonetto et al. - 2015 - Image Processing Issues in a Social Assistive System for the Blind.pdf:pdf",
    	isbn = 9781467380324,
    	keywords = "Cameras,Distortion,Face detection,Face recognition,Image processing,Lighting,Signal processing algorithms",
    	pages = "216--221",
    	title = "{Image Processing Issues in a Social Assistive System for the Blind}",
    	year = 2015
    }
    
  11. Franco Blanchini, Gianfranco Fenu, Giulia Giordano and Felice Andrea Pellegrino. Plant tuning: A robust Lyapunov approach. In Decision and Control (CDC), 2015 IEEE 54th Annual Conference on. 2015, 1142–1147. DOI BibTeX

    @inproceedings{Blanchini2015CDC,
    	abstract = "We consider the problem of tuning the output of a static plant whose model is unknown, under the only information that the input–output function is monotonic in each component or, more in general, that its Jacobian belongs to a known polytope of matrices. As a main result, we show that, if the polytope is robustly non–singular (or has full rank, in the non–square case), then a suitable tuning scheme drives the output to a desired point. The proof is based on the application of a well known theorem concerning the existence of a saddle point for a min–max zero–sum game. Some application examples are suggested.",
    	address = "Osaka",
    	author = "Blanchini, Franco and Fenu, Gianfranco and Giordano, Giulia and Pellegrino, Felice Andrea",
    	booktitle = "Decision and Control (CDC), 2015 IEEE 54th Annual Conference on",
    	doi = "10.1109/CDC.2015.7402365",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Blanchini et al. - 2015 - Plant tuning A robust Lyapunov approach.pdf:pdf",
    	keywords = "Games,Heating,Humidity,Jacobian matrices,Market research,Robustness,Tuning",
    	pages = "1142--1147",
    	publisher = "IEEE",
    	title = "{Plant tuning: A robust Lyapunov approach}",
    	year = 2015
    }
    
  12. Daniele Tognetto, Silvia Rinaldi, Claudia Papagno, Gianfranco Fenu, Felice Andrea Pellegrino and Paolo Sirotti. Quality of Images With Premium IOLs. In ASCRS Symposium on Cataract, IOL and Refractive Surgery. 2013. BibTeX

    @inproceedings{tognetto2012,
    	abstract = "To evaluate the quality of images obtained with different type of premium intraocular lenses (IOLs) by developing an optoelectronic test bench including an artificial eye. An experimental opto-electronic test bench has been realized following the Gullstrand eye model and ISO 11979-2 norm. The system includes an electro-opto-mechanical device that simulates the optical and geometric characteristics of the human eye. The PMMA artificial cornea has been realized with optical and geometric properties similar to those of a real cornea. A cylindrical lens is placed in front of the artificial cornea to simulate corneal astigmatism. Toric IOL were analized evaluating the Modulation Transfer Function (MTF) and the quality of different images. A relevant software was realized to capture, store images and evaluate their quality in accordance with established criteria. Images transmitted through an astigmatic cornea are corrected by the toric IOL as much as the axis of the lens correspond to the axis of the astigmatism thus improving the transmission of different spatial frequencies and the quality of test images. Pupil diameter affects the quality of images especially when a residual refractive error is induced. This opto-electronic test bench allows to determine the quality of images transmitted by premium intraocular lenses in different refractive and optical conditions. Toric IOL have been studied demonstrating their ability to correct the corneal astigmatism. This system allows to evaluate different criteria besides the MTF, such as the evaluation of sharpness or the distortion of local image patterns or even to formulate new objective image evaluating criteria.",
    	address = "Chicago",
    	author = "Tognetto, Daniele and Rinaldi, Silvia and Papagno, Claudia and Fenu, Gianfranco and Pellegrino, Felice Andrea and Sirotti, Paolo",
    	booktitle = "ASCRS Symposium on Cataract, IOL and Refractive Surgery",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Tognetto et al. - 2013 - Quality of Images With Premium IOLs.pdf:pdf",
    	title = "{Quality of Images With Premium IOLs}",
    	year = 2013
    }
    
  13. Daniele Tognetto, Silvia Rinaldi, Claudia Papagno, Gianfranco Fenu, Felice Andrea Pellegrino and Paolo Sirotti. Quality of Images with Multifocal IOLs. In ASCRS-ASOA Symposium & Congress. 2013. BibTeX

    @inproceedings{tognetto2013,
    	address = "San Francisco",
    	author = "Tognetto, Daniele and Rinaldi, Silvia and Papagno, Claudia and Fenu, Gianfranco and Pellegrino, Felice Andrea and Sirotti, Paolo",
    	booktitle = "ASCRS-ASOA Symposium & Congress",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Tognetto et al. - 2013 - Quality of Images with Multifocal IOLs.pdf:pdf",
    	title = "{Quality of Images with Multifocal IOLs}",
    	year = 2013
    }
    
  14. Daniele Casagrande, Gianfranco Fenu, Felice Andrea Pellegrino and Alessandro Astolfi. Application of Hamiltonian dynamics to manipulator control in constrained workspace. In Proceedings of the 52nd IEEE Conference on Decision and Control. 2013, 1634–1639. DOI BibTeX

    @inproceedings{Casagrande2013,
    	abstract = "We describe a methodology to plan the trajectory of a robotic manipulator moving in an n-dimensional Euclidean space. The robot has to reach a target avoiding obstacles and is allowed to move in a constrained space. We show that if the position of the target and of the obstacles in known a priori, then a Hamiltonian function can be constructed and used to define the trajectory. A simulation concerning a real three-dimensional manipulator is finally reported.",
    	address = "Florence",
    	author = "Casagrande, Daniele and Fenu, Gianfranco and Pellegrino, Felice Andrea and Astolfi, Alessandro",
    	booktitle = "Proceedings of the 52nd IEEE Conference on Decision and Control",
    	doi = "10.1109/CDC.2013.6760116",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Casagrande et al. - 2013 - Application of Hamiltonian dynamics to manipulator control in constrained workspace.pdf:pdf",
    	pages = "1634--1639",
    	title = "{Application of Hamiltonian dynamics to manipulator control in constrained workspace}",
    	year = 2013
    }
    
  15. Andrea Cigaina, Gianfranco Fenu, Felice Andrea Pellegrino, Paolo Sirotti, Silvia Rinaldi and Daniele Tognetto. Experimental setup and methodology for automatic quality assessment of intraocular lenses. In Image and Signal Processing and Analysis (ISPA), 2013 8th International Symposium on. 2013, 677–682. DOI BibTeX

    @inproceedings{Cigaina2013,
    	abstract = "Intraocular lenses (IOLs) are widely used in cataract surgery. There is a variety of IOLs depending on lens material, optical and mechanical design. Evaluation of the visual performance obtainable with intraocular lenses is important for objective comparison between IOL models. Indeed, the visual performance of implanted lenses has a deep impact on the life of the subjects, having medical, social and economical consequences. The purpose of the present paper is twofold: first, we propose an experimental setup, consisting of an actuated opto–electro– mechanical eye capable of simulating different refractive and optical conditions. Second, we suggest to employ some well– known image quality assessment tools for evaluating the visual performance of different IOLs (or of the same IOL in different conditions) based on the comparison between the original image and that produced by the artificial eye equipped with the IOL. The objective and repeatable results obtained, are in accor- dance with subjective evaluation (a time–consuming procedure employed in previous works).",
    	address = "Trieste",
    	author = "Cigaina, Andrea and Fenu, Gianfranco and Pellegrino, Felice Andrea and Sirotti, Paolo and Rinaldi, Silvia and Tognetto, Daniele",
    	booktitle = "Image and Signal Processing and Analysis (ISPA), 2013 8th International Symposium on",
    	doi = "10.1109/ISPA.2013.6703824",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers//Cigaina et al. - 2013 - Experimental setup and methodology for automatic quality assessment of intraocular lenses.pdf:pdf",
    	pages = "677--682",
    	title = "{Experimental setup and methodology for automatic quality assessment of intraocular lenses}",
    	year = 2013
    }
    
  16. Paolo Fabris, Walter Vanzella and Felice Andrea Pellegrino. Evaluation of features for automatic detection of cell nuclei in fluorescence microscopy images. In Image and Signal Processing and Analysis (ISPA), 2013 8th International Symposium on. 2013, 683–688. DOI BibTeX

    @inproceedings{Fabris2013,
    	abstract = "The problem of detecting cell nuclei in images may be faced by means of a segmentation the neighbourhood of candidate nuclei, followed by a binary classification step. Important for the latter step is the choice of the descriptors (features) to be extracted from the neighbourhood and used by the classifier. In the present paper, based on a large set of manually labelled samples, we evaluate several of such descriptors combined with some common type of support vector machines. We show that equipping the detection algorithm with the best combination of features/classifier leads to a performance comparable to human labelling by experts.",
    	address = "Trieste",
    	author = "Fabris, Paolo and Vanzella, Walter and Pellegrino, Felice Andrea",
    	booktitle = "Image and Signal Processing and Analysis (ISPA), 2013 8th International Symposium on",
    	doi = "10.1109/ISPA.2013.6703825",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Fabris, Vanzella, Pellegrino - 2013 - Evaluation of features for automatic detection of cell nuclei in fluorescence microscopy images.pdf:pdf",
    	pages = "683--688",
    	title = "{Evaluation of features for automatic detection of cell nuclei in fluorescence microscopy images}",
    	year = 2013
    }
    
  17. Lorenzo Dal Col and Felice Andrea Pellegrino. Fast and Accurate Object Detection by Means of Recursive Monomial Feature Elimination and Cascade of SVM. In M P Fanti and A Giua (eds.). Proceedings of the IEEE Conference on Automation Science and Engineering, Trieste, Italy. 2011, 304–309. DOI BibTeX

    @inproceedings{DalCol2011,
    	abstract = "Support Vector Machines (SVMs) are an established tool for pattern recognition. However, their application to real–time object detection (such as detection of objects in each frame of a video stream) is limited due to the relatively high computational cost. Speed is indeed crucial in such applications. Motivated by a practical problem (hand detection), we show how second–degree polynomial SVMs in their primal formulation, along with a recursive elimination of monomial features and a cascade architecture can lead to a fast and accurate classifier. For the considered hand detection problem we obtain a speed–up factor of 1600 with comparable classification performance with respect to a single, unreduced SVM.",
    	address = "Trieste",
    	author = "{Dal Col}, Lorenzo and Pellegrino, Felice Andrea",
    	booktitle = "Proceedings of the IEEE Conference on Automation Science and Engineering, Trieste, Italy",
    	doi = "10.1109/CASE.2011.6042464",
    	editor = "Fanti, M.P. and Giua, A.",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Dal Col, Pellegrino - 2011 - Fast and Accurate Object Detection by Means of Recursive Monomial Feature Elimination and Cascade of SVM.pdf:pdf",
    	keywords = "SVM,feature selection,hand detection,object detection",
    	pages = "304--309",
    	title = "{Fast and Accurate Object Detection by Means of Recursive Monomial Feature Elimination and Cascade of SVM}",
    	year = 2011
    }
    
  18. Francesca Boem, Felice Andrea Pellegrino, Gianfranco Fenu and Thomas Parisini. Multi-feature trajectory clustering using Earth Mover's Distance. In Proceedings of the IEEE Conference on Automation Science and Engineering, Trieste, Italy. 2011, 310–315. DOI BibTeX

    @inproceedings{Boem2011,
    	abstract = "We present new results in trajectory clustering, obtained by extending a recent methodology based on Earth Mover's Distance (EMD). The EMD can be adapted as a tool for trajectory clustering, taking advantage of an effective method for identifying the clusters' representatives by means of the p−median location problem. This methodology can be used either in an unsupervised fashion, or on-line, classifying new trajectories or part of them; it is able to manage different length and noisy trajectories, occlusions and takes velocity profiles and stops into account. We extend our previous work by taking into account other features besides the spatial locations, in particular the direction of movement in correspondence of each trajectory point. We discuss the simulation results and we compare our approach with another trajectory clustering method.",
    	address = "Trieste",
    	author = "Boem, Francesca and Pellegrino, Felice Andrea and Fenu, Gianfranco and Parisini, Thomas",
    	booktitle = "Proceedings of the IEEE Conference on Automation Science and Engineering, Trieste, Italy",
    	doi = "10.1109/CASE.2011.6042423",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Boem et al. - 2011 - Multi-feature trajectory clustering using Earth Mover's Distance.pdf:pdf",
    	pages = "310--315",
    	title = "{Multi-feature trajectory clustering using Earth Mover's Distance}",
    	year = 2011
    }
    
  19. Francesca Boem, Felice Andrea Pellegrino, Gianfranco Fenu and Thomas Parisini. Trajectory clustering by means of Earth Mover's Distance. In Proceedings of IFAC World Congress, Milano, Italy. 2011, 4741–4746. DOI BibTeX

    @inproceedings{Boem2011b,
    	abstract = "We propose a method for trajectory classification based on a general cluster-based methodology, that can be used both off-line in an unsupervised fashion, both on-line, classifying new trajectories or part of them. We use the Earth Mover's Distance (EMD) and we adapt it in order to employ it as a tool for trajectory clustering. We propose a novel effective method to identify the clusters' representatives by means of the p−median location problem. This methodology is able to manage different length and noisy trajectories and takes velocity profiles and stops into account. We discuss the experimental results and we compare our approach with other trajectory clustering methods.",
    	address = "Milan",
    	author = "Boem, Francesca and Pellegrino, Felice Andrea and Fenu, Gianfranco and Parisini, Thomas",
    	booktitle = "Proceedings of IFAC World Congress, Milano, Italy",
    	doi = "10.3182/20110828-6-IT-1002.01230",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Boem et al. - 2011 - Trajectory clustering by means of Earth Mover's Distance.pdf:pdf",
    	keywords = "Guidance navigation and control,Information and sensor fusion",
    	pages = "4741--4746",
    	title = "{Trajectory clustering by means of Earth Mover's Distance}",
    	year = 2011
    }
    
  20. Daniele Casagrande, Felice Andrea Pellegrino and Alessandro Astolfi. Hamiltonian dynamics for robot navigation. In The 9th IEEE International Conference on Control and Automation (ICCA). 2011, 118–123. DOI BibTeX

    @inproceedings{Casagrande2011,
    	abstract = "We describe a methodology to plan the trajectory of a robot moving in a two-dimensional space. The robot has to perform the task of reaching a target avoiding obstacles. We show that if the position of the target and of the obstacles in known a priori, then a suitable Hamiltonian function can be constructed and used to define the trajectory. We consider both the static case, namely the case in which both the target and the obstacles are fixed, and the dynamic case, namely the case in which the target or the obstacles move. We prove that in both cases the target can be reached in finite time. The paper is enriched by several examples that accompany the discussion.",
    	address = "Santiago",
    	author = "Casagrande, Daniele and Pellegrino, Felice Andrea and Astolfi, Alessandro",
    	booktitle = "The 9th IEEE International Conference on Control and Automation (ICCA)",
    	doi = "10.1109/ICCA.2011.6138023",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Casagrande, Pellegrino, Astolfi - 2011 - Hamiltonian dynamics for robot navigation.pdf:pdf",
    	pages = "118--123",
    	title = "{Hamiltonian dynamics for robot navigation}",
    	year = 2011
    }
    
  21. Gilberto Pin, Marco Filippo, Felice Andrea Pellegrino, Gianfranco Fenu and Thomas Parisini. Approximate off-line receding horizon control of constrained nonlinear discrete-time systems: Smooth approximation of the control law. In American Control Conference (ACC), 2010. 2010, 6268–6273. DOI BibTeX

    @inproceedings{PinFilPelFenPar2010,
    	abstract = "In this work, the off-line approximation of state-feedback nonlinear model predictive control laws by means of smooth functions of the state is addressed. The idea is to investigate how the approximation errors affect the stability of the closed-loop system, in order to derive suitable bounds which have to be fulfilled by the approximating function. This analysis allows to conveniently set up the characteristic parameters of some techniques such as Neural Networks which can be used to implement the control law, in order to render the system Input-to-State Practically Stable while satisfying, in addition, hard constraints on the trajectories; both the amount of data storage and the computational time result strongly reduced with respect to Nearest Neighbor or Set Membership approaches, which have been recently proposed to obtain effective off-line approximation of nonlinear MPC. The provided simulations confirm the validity of the method.",
    	address = "Baltimore",
    	author = "Pin, Gilberto and Filippo, Marco and Pellegrino, Felice Andrea and Fenu, Gianfranco and Parisini, Thomas",
    	booktitle = "American Control Conference (ACC), 2010",
    	doi = "10.1109/ACC.2010.5531521",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Pin et al. - 2010 - Approximate off-line receding horizon control of constrained nonlinear discrete-time systems Smooth approximation of.pdf:pdf",
    	isbn = "978-1-4244-7426-4",
    	issn = "0743-1619",
    	pages = "6268--6273",
    	title = "{Approximate off-line receding horizon control of constrained nonlinear discrete-time systems: Smooth approximation of the control law}",
    	year = 2010
    }
    
  22. Gilberto Pin, Marco Filippo, Felice Andrea Pellegrino and Thomas Parisini. Approximate off-line receding horizon control of constrained nonlinear discrete-time systems. In Proc. of the European Control Conference. 2009, 2420–2425. URL BibTeX

    @inproceedings{Pin2009,
    	abstract = "The present paper concerns the design of approximate off-line model predictive control laws for nonlinear discrete-time systems subject to hard constraints on state and input variables. The possibility to obtain an approximate receding horizon control law by performing off-line optimization, leads to a dramatic reduction of the real-time computational complexity with respect to on-line algorithms, and allows the application of the developed control technique to plants with fast dynamics, that require small sampling periods. The main feature of the proposed approximation scheme consists in the possibility to cope with possibly discontinuous state-feedback control laws, while guaranteeing the fulfillment of hard constraints on state and input variables despite the perturbations due to the use of an approximate controller. Finally, the resulting closed-loop system is shown to be input-to-state-stable with respect to the approximation-induced perturbations.",
    	address = "Budapest",
    	author = "Pin, Gilberto and Filippo, Marco and Pellegrino, Felice Andrea and Parisini, Thomas",
    	booktitle = "Proc. of the European Control Conference",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Pin et al. - 2009 - Approximate off-line receding horizon control of constrained nonlinear discrete-time systems(2).pdf:pdf",
    	pages = "2420--2425",
    	title = "{Approximate off-line receding horizon control of constrained nonlinear discrete-time systems}",
    	url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7074768",
    	year = 2009
    }
    
  23. Franco Blanchini, Thomas Parisini, Felice Andrea Pellegrino and Gilberto Pin. High-gain adaptive control: A derivative-based approach. In Proceedings of the 47th IEEE Conference on Decision and Control. 2008, 3233–3238. DOI BibTeX

    @inproceedings{Blanchini2008b,
    	abstract = "We propose an adaptive scheme which is a coun- terpart of existing high gain control techniques based on control Lyapunov functions. Given a control Lyapunov function, the main idea is that of tuning the feedback gain according to a suitably–chosen Lyapunov time–derivative. The control gain is not monotonically non–decreasing as in existing techniques, but it is increased or decreased depending on the imposed derivative, thus avoiding the well-known issue of actuator over– exploitation. We are able to show robust convergence of the proposed adaptive control scheme as well as other interesting properties. For instance, it is possible to guarantee an a–priori given upper bound for the transient mode of behavior during adaptation. Furthermore, if the control Lyapunov function is designed based on an optimal control problem, then the control action is nominally optimal, precisely it yields the optimal trajectory for any initial condition, if the actual plant matches the nominal system.",
    	address = "Cancun",
    	author = "Blanchini, Franco and Parisini, Thomas and Pellegrino, Felice Andrea and Pin, Gilberto",
    	booktitle = "Proceedings of the 47th IEEE Conference on Decision and Control",
    	doi = "10.1109/CDC.2008.4739129",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Blanchini et al. - 2008 - High-gain adaptive control A derivative-based approach.pdf:pdf",
    	isbn = "978-1-4244-3123-6",
    	keywords = "Lyapunov methods,Robust adaptive control,Uncertain systems",
    	pages = "3233--3238",
    	title = "{High-gain adaptive control: A derivative-based approach}",
    	year = 2008
    }
    
  24. Franco Blanchini and Felice Andrea Pellegrino. Relatively optimal control: a static piecewise-affine solution. In Proceedings of the 46th IEEE Conference on Decision and Control. 2007, 807–812. DOI BibTeX

    @inproceedings{Blanchini2007b,
    	address = "New Orleans",
    	author = "Blanchini, Franco and Pellegrino, Felice Andrea",
    	booktitle = "Proceedings of the 46th IEEE Conference on Decision and Control",
    	doi = "10.1109/CDC.2007.4435045",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Blanchini, Pellegrino - 2007 - Relatively optimal control a static piecewise-affine solution.pdf:pdf",
    	isbn = "978-1-4244-1497-0",
    	pages = "807--812",
    	title = "{Relatively optimal control: a static piecewise-affine solution}",
    	year = 2007
    }
    
  25. Franco Blanchini, Patrizio Colaneri and Felice Andrea Pellegrino. Compensator blending: a new tool for multiobjective design. In Proceedings of the 5th IFAC Symposium on Robust Control Design. 2006. DOI BibTeX

    @inproceedings{Blanchini2006,
    	abstract = "In this paper we show that (under some input matrix rank conditions) there exists a single compensator which achieves simultaneously the performances of r ≤ n (the system order) given static state feedback (local) compensators. The compensator, whose order is r(n − 1), is then capable of matching the r (possibly different) optimality criteria defined for each input-output pair. An explicit and easy construction procedure (we refer to such procedure as “compensator blending”) is provided. We also consider the dual version of the problem, precisely, we show how to achieve simultaneous optimality by blending a set of given filters.",
    	address = "Toulouse",
    	author = "Blanchini, Franco and Colaneri, Patrizio and Pellegrino, Felice Andrea",
    	booktitle = "Proceedings of the 5th IFAC Symposium on Robust Control Design",
    	doi = "10.3182/20060705-3-FR-2907.00002",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Blanchini, Colaneri, Pellegrino - 2006 - Compensator blending a new tool for multiobjective design(2).pdf:pdf",
    	keywords = "constrained control,mixed-objective control,optimal control",
    	title = "{Compensator blending: a new tool for multiobjective design}",
    	year = 2006
    }
    
  26. Franco Blanchini and Felice Andrea Pellegrino. Relatively Optimal Control: the Static Solution. In Proceedings of the 16th IFAC World Congress. 2005. DOI BibTeX

    @inproceedings{Blanchini2005,
    	abstract = "A relatively optimal control is a stabilizing controller that, without initialization nor feedforwarding and tracking the optimal trajectory, produces the optimal (constrained) behavior for the nominal initial condition of the plant. In a previous work, a linear dynamic relatively optimal control, for discrete–time linear systems, was presented. Here a static solution is shown, namely a dead–beat piecewise affine state–feedback controller based on a suitable partition of the state space into polyhedral sets. The vertices of the polyhedrons are the states of the optimal trajectory, hence a bound for the complexity of the controller is known in advance. It is also shown how to obtain a controller that is not dead–beat by removing the zero terminal constraint while guaranteeing stability. Finally, the proposed static compensator is compared with the dynamic one.",
    	address = "Prague",
    	author = "Blanchini, Franco and Pellegrino, Felice Andrea",
    	booktitle = "Proceedings of the 16th IFAC World Congress",
    	doi = "10.3182/20050703-6-CZ-1902.00513",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Blanchini, Pellegrino - 2005 - Relatively Optimal Control the Static Solution.pdf:pdf",
    	keywords = "discrete,invariance,linear systems,optimal control,time systems",
    	title = "{Relatively Optimal Control: the Static Solution}",
    	year = 2005
    }
    
  27. Franco Blanchini, Felice Andrea Pellegrino, Stefano Miani and Bart Arkel. Enhancing controller performance for robot positioning in a constrained environment. In Proceedings of the 43rd IEEE Conference on Decision and Control 5. 2004, 5222–5227. DOI BibTeX

    @inproceedings{Blanchini2004b,
    	abstract = "The paper considers a novel technique for manip- ulator motion in constrained environment due to the presence of obstacles. The basic problem is that of avoiding collisions of the manipulator with the obstacles. The main idea is to cover the free space (i.e. the points of the configurations space in which no collisions are possible) by a connected family of polyhedral sets which are controlled–invariant. Each of these polyhedral regions includes some crossing points to the confining regions. The tracking control is hierarchically struc- tured. A high–level controller establishes a connected chain of regions to be crossed to reach the one in which the reference is included. A low–level control solves the problem of tracking, within a region, the crossing point to the next confining region and, eventually, tracking the reference whenever it is included in the current one. The scheme assures that the reference is asymptotically tracked and that the transient trajectory is completely included in the admissible configuration space. A connection graph associated with the cluster of regions, and the high–level control is achieved by solving a minimum–path problem. As far as the low–level control is concerned, we consider both speed–control and torque–control. We propose two types of controllers. The first type is based on a linear stabilizing feedback which is suitably adapted to achieve a local tracking controller. Such a controller is computed by the plane representation of the sets which is more natural and useful then the vertex representation considered in previous work. The second is a speed–saturated type of controller which considerably improves the performance of linear–based control laws. Both these controllers have a speed–control and torque–control version. Experimental results on a laboratory Cartesian robot are provided.",
    	address = "Atlantis, Paradise Island",
    	author = "Blanchini, Franco and Pellegrino, Felice Andrea and Miani, Stefano and van Arkel, Bart",
    	booktitle = "Proceedings of the 43rd IEEE Conference on Decision and Control",
    	doi = "10.1109/CDC.2004.1429637",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Blanchini et al. - 2004 - Enhancing controller performance for robot positioning in a constrained environment.pdf:pdf",
    	pages = "5222--5227",
    	title = "{Enhancing controller performance for robot positioning in a constrained environment}",
    	volume = 5,
    	year = 2004
    }
    
  28. Franco Blanchini and Felice Andrea Pellegrino. Relatively optimal control with characteristic polynomial assignment. In Proceedings of the 43rd IEEE Conference on Decision and Control 2. 2004, 2171–2176 Vol.2. DOI BibTeX

    @inproceedings{Blanchini2004,
    	abstract = "A relatively optimal control is a stabilizing controller such that, if initialized at its zero state, produces the optimal (constrained) behavior for the nominal initial condition of the plant (without feedforwarding and tracking the optimal trajectory). In a previous work we have shown that one of such controllers is linear, dead-beat, and its order is equal to the length of the horizon minus the plant order, thus of complexity which is known a-priori. In this work we remove the assumption of zero terminal state and we show how to assign an arbitrary closed-loop characteristic stable polynomial to the plant (an explicit solution is provided.) We also show how to choose the characteristic polynomial in such a way that the constraints (which are enforced on a finite horizon) can be globally or ultimately satisfied.",
    	address = "Atlantis, Paradise Island",
    	author = "Blanchini, Franco and Pellegrino, Felice Andrea",
    	booktitle = "Proceedings of the 43rd IEEE Conference on Decision and Control",
    	doi = "10.1109/CDC.2004.1430370",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Blanchini, Pellegrino - 2004 - Relatively optimal control with characteristic polynomial assignment.pdf:pdf",
    	pages = "2171--2176 Vol.2",
    	title = "{Relatively optimal control with characteristic polynomial assignment}",
    	volume = 2,
    	year = 2004
    }
    
  29. Franco Blanchini and Felice Andrea Pellegrino. Relatively optimal control and its linear implementation. In Proceedings of the 42nd IEEE Conference on Decision and Control 1(12). 2003, 215–220. DOI BibTeX

    @inproceedings{Blanchini2003c,
    	address = "Maui, Hawaii",
    	author = "Blanchini, Franco and Pellegrino, Felice Andrea",
    	booktitle = "Proceedings of the 42nd IEEE Conference on Decision and Control",
    	doi = "10.1109/CDC.2003.1272563",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Blanchini, Pellegrino - 2003 - Relatively optimal control and its linear implementation.pdf:pdf",
    	number = 12,
    	pages = "215--220",
    	title = "{Relatively optimal control and its linear implementation}",
    	volume = 1,
    	year = 2003
    }
    
  30. Felice Andrea Pellegrino, Walter Vanzella and Vincent Torre. How the spatial filters of area V1 can be used for a nearly ideal edge detection. In Proceedings of the 2nd International Workshop on Biological Motivated Computer Vision. 2002, 37–49. DOI BibTeX

    @inproceedings{Pellegrino2002,
    	abstract = "The present manuscript aims to address and possibly solve three classical problems of edge detection: i – the detection of all step edges from a fine to a coarse scale; ii – the detection of thin bars, i.e. of roof edges; iii – the detection of corners and trihedral junctions. The proposed solution of these problems combines an extensive spatial filtering, inspired by the receptive field properties of neurons in the visual area V1, with classical methods of Computer Vision (Morrone & Burr 1988; Lindeberg 1998; Kovesi 1999) and newly developed algorithms. Step edges are computed by extracting local maxima from the energy summed over a large bank of odd filters of different scale and direction. Thin roof edges are computed by considering maxima of the energy summed over narrow odd and even filters along the direction of maximal response. Junctions are precisely detected by an appropriate combination of the output of directional filters. Detected roof edges are cleaned by using a regularization procedure and are combined with step edges and junctions in a Mumford-Shah type functional with self adaptive parameters, providing a nearly ideal edge detection and segmentation.",
    	address = {T{\"{u}}bingen},
    	author = "Pellegrino, Felice Andrea and Vanzella, Walter and Torre, Vincent",
    	booktitle = "Proceedings of the 2nd International Workshop on Biological Motivated Computer Vision",
    	doi = "10.1007/3-540-36181-2_4",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Pellegrino, Vanzella, Torre - 2002 - How the spatial filters of area V1 can be used for a nearly ideal edge detection.pdf:pdf",
    	pages = "37--49",
    	title = "{How the spatial filters of area V1 can be used for a nearly ideal edge detection}",
    	year = 2002
    }
    
  31. Franco Blanchini, Stefano Miani and Felice Andrea Pellegrino. Suboptimal receding horizon control for continuous-time systems. In Proceedings of the 41st IEEE Conference on Decision and Control. 2002, 1558–1563. DOI BibTeX

    @inproceedings{Blanchini2002,
    	address = "Las Vegas",
    	author = "Blanchini, Franco and Miani, Stefano and Pellegrino, Felice Andrea",
    	booktitle = "Proceedings of the 41st IEEE Conference on Decision and Control",
    	doi = "10.1109/CDC.2002.1184741",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Blanchini, Miani, Pellegrino - 2002 - Suboptimal receding horizon control for continuous-time systems.pdf:pdf",
    	isbn = "0-7803-7516-5",
    	pages = "1558--1563",
    	title = "{Suboptimal receding horizon control for continuous-time systems}",
    	year = 2002
    }
    

PhD thesis

  1. Felice Andrea Pellegrino. Constrained and Optimal Control. University of Udine, Udine, Italy, 2005. DOI BibTeX

    @phdthesis{Pellegrino2005,
    	abstract = "Constraint fulfillment and optimality are two important aspects of most real–world con- trol problems. Constraints typically arise from safety, physical or performance limita- tions and must be taken into account in the design stage, especially in those cases when constraint violation may have serious consequences. As a matter of fact, the control of systems subject to input or state constraints is a difficult task, being the problem in- herently nonlinear. The problem becomes still harder if optimality is also pursued. The most popular approaches to optimality for linear systems (namely LQR, LQG, H∞, L1) do not take into account constraints. The more general tools of dynamic programming and Pontryagin minimum principle are not useful in most cases, the former involving an- alytical and numerical difficulties, the latter being suitable for open–loop solutions only. The receding horizon approach allows for dealing with constraints in a suboptimal (and sometimes optimal) way but it requires solving on–line an optimization problem at each time step. In this thesis we review some of the basic techniques for constrained optimal control focusing our attention to those that are the most effective from a computational point of view. We also present an original contribution, namely the relatively optimal control (ROC) that is a stabilizing feedback control, synthesized starting from a given (or a set of given) open–loop optimal trajectories, that guarantees optimality for a given (or a set of given) initial conditions. The ROC is based on relaxing the requirement of obtaining a controller that is optimal for all possible initial conditions; on the contrary, we require optimality only from some initial conditions that are of interest for the con- sidered system. For linear systems, we provide a linear dynamic as well as a piecewise affine static solution and we develop various extensions of the basic idea.",
    	author = "Pellegrino, Felice Andrea",
    	doi = "10.13140/RG.2.1.3746.5444",
    	file = ":Users/felix/Documents/Dropbox/Lavoro/Books and papers/Pellegrino - 2005 - Constrained and Optimal Control.pdf:pdf",
    	school = "University of Udine, Udine, Italy",
    	title = "{Constrained and Optimal Control}",
    	year = 2005
    }