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Target Capturing in an Ellipsoidal Region for a Swarm of Double Integrator Agents

IEEE/CAA Journal of Automatica Sinica 2022年第5期9卷 801-811页

作者： Antonio Bono Luigi D'Alfonso giuseppe fedele Veysel Gazi IEEE Department of Informatics ModelingElectronics and Systems EngineeringUniversity of CalabriaRende 87036Italy Dept.Electrical and Electronics Eng. Faculty of EngineeringMarmara UniversityIstanbul 34722 Department of Control and Automation Engineering Faculty of Electrical and Electronics EngineeringYildiz Technical UniversityEsenler 34220Turkey

In this paper we focus on the target capturing problem for a swarm of agents modelled as double integrators in any finite space *** agent knows the relative position of the target and has only an estimation of its velocity and *** that the estimation errors are bounded by some known values,it is possible to design a control law that ensures that agents enter a user-defined ellipsoidal ring around the moving *** know the relative position of the other members whose distance is smaller than a common detection ***,in the case of no uncertainty about target data and homogeneous agents,we show how the swarm can reach a static configuration around the moving *** simulations are reported to show the effectiveness of the proposed strategy.

关键词： Agents-based systems cooperative control swarms target-capturing

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Autonomous Vehicle Platoons In Urban Road Networks:A Joint Distributed Reinforcement Learning and Model Predictive Control Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 141-156页

作者： Luigi D’Alfonso Francesco Giannini giuseppe Franzè giuseppe fedele Francesco Pupo Giancarlo Fortino IEEE the Department of Computer Engineering ModelingElectronics and SystemsUniversitàdella CalabriaVia Pietro BucciCubo 42-CRende(CS)87036Italy the Department of Mechanical Engineering Energy Engineering and ManagementUniversitàdella CalabriaVia Pietro BucciCubo 42-CRende(CS)87036Italy

In this paper, platoons of autonomous vehicles operating in urban road networks are considered. From a methodological point of view, the problem of interest consists of formally characterizing vehicle state trajectory tubes by means of routing decisions complying with traffic congestion criteria. To this end, a novel distributed control architecture is conceived by taking advantage of two methodologies: deep reinforcement learning and model predictive control. On one hand, the routing decisions are obtained by using a distributed reinforcement learning algorithm that exploits available traffic data at each road junction. On the other hand, a bank of model predictive controllers is in charge of computing the more adequate control action for each involved vehicle. Such tasks are here combined into a single framework:the deep reinforcement learning output(action) is translated into a set-point to be tracked by the model predictive controller;conversely, the current vehicle position, resulting from the application of the control move, is exploited by the deep reinforcement learning unit for improving its reliability. The main novelty of the proposed solution lies in its hybrid nature: on one hand it fully exploits deep reinforcement learning capabilities for decisionmaking purposes;on the other hand, time-varying hard constraints are always satisfied during the dynamical platoon evolution imposed by the computed routing decisions. To efficiently evaluate the performance of the proposed control architecture, a co-design procedure, involving the SUMO and MATLAB platforms, is implemented so that complex operating environments can be used, and the information coming from road maps(links,junctions, obstacles, semaphores, etc.) and vehicle state trajectories can be shared and exchanged. Finally by considering as operating scenario a real entire city block and a platoon of eleven vehicles described by double-integrator models, several simulations have been performed with the a

关键词： Distributed model predictive control distributed reinforcement learning routing decisions urban road networks

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An experimental method to design porous asphalts to account for surface requirements

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Journal of Traffic and Transportation Engineering(English Edition) 2021年第3期8卷 439-452页

作者： Filippo G.Pratico Paolo G.Briante giuseppe Colicchio Rosario fedele DIIES Department University“Mediterranea”of Reggio CalabriaReggio Calabria89100Italy

Porous asphalts have supplementary surface and volumetric properties(e.g., acoustic absorption, drain ability, texture, and friction). These properties are linked to intrinsic factors(e.g., gradation and bitumen content) and extrinsic factors(e.g., traffic load), while their evolution over time depends on complex phenomena and processes that cause their deterioration and therefore affect safety, noise, and budget. Despite the decay of so many and complex properties over time, there is a lack of criteria to synergistically optimize the pavement system. Consequently, the objective of this study is to set up and validate a design method that synergistically addresses the most relevant properties of friction courses as a part of a pavement structure. The abovementioned method is based on indepth analyses of the literature and on laboratory and on-site tests carried for several years in order to evaluate the decay over time of the main surface and volumetric *** show that (1) the level of fulfilment of single requirements varies over time and among the characteristics;(2) a sound optimization of the design of the mix in order to balance the different characteristics is needed;(3) further studies are needed because of uncertainty in predicting the main surface properties.

关键词： Road engineering Surface property Acoustic absorption Macrotexture Friction Porous asphalt

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Molecular structure, pharmacokinetics and clinical evidence of brolucizumab: a narrative review

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Annals of Eye Science 2021年第4期6卷 49-60页

作者： Francesco Pignatelli Alfredo Niro fedele Passidomo giuseppe Addabbo Eye Clinic Hospital“SS.Annunziata”ASL TarantoTarantoItaly

Macular neovascularization(MNV)is the hallmark of neovascular age-related macular degeneration(nAMD),one of the leading causes of vision loss in the developed *** current MNV standard of care including frequent intravitreal anti-vascular endothelial growth factor(VEGF)injections,although has revolutionized favorably the treatment,places a substantial burden on patients,caregivers,and *** is a newly developed single-chain antibody fragment that inhibits activation of VEGF receptor 2 with in vitro affinity and potency comparable to commercially-available anti-VEGF *** small molecular weight and its design allow for high solubility and retinal tissue penetration,and improve binding affinity to the *** a high clearance rate leading to minimal systemic exposure was *** has shown similar gains in visual acuity compared with other anti-VEGF molecules but a higher and earlier resolution of nAMD related fluid,achieving sustained macular dryness with longer mantainance injection interval ranging from 8 to 12 weeks after monthly loading *** cases of ocular inflammation also including retinal vasculitis and retinal vascular occlusions referred to an immune-mediated reaction posed safety concerns on selected patients and mantainance treatment interval shorter than 8 *** present review summarizes several key points including the molecular structure and pharmacokinetics,the preclinical and clinical evidence of brolucizumab administration evaluating its efficacy,tolerability,and safety,extended dosing regimens and other indications still under clinical investigation.

关键词： Neovascular age-related macular degeneration(nAMD) anti-vascular endothelial growth factor(anti-VEGF) single-chain antibody fragment brolucizumab

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