September 9-11, 2020, Cagliari, Italy


Wednesday      Thursday      Friday

***IMPORTANT: Click on a contribution’s title to be forwarded to the presentation’s video*** 

September 9, Wednesday
  Parallel regular sessions @ 09:00-11:00 CEST
Spiaggia Poetto WeA1 – Optimization. Chair: D. Regruto Tomalino
09:00-09:20 WeA1.1: Enhancing semidefinite relaxations for Boolean quadratic optimization
Vito Cerone, Sophie M. Fosson and Diego Regruto Tomalino
09:20-09:40 WeA1.2: ADMM for Robust Distributed Optimization
Nicola Bastianello
09:40-10:00 WeA1.3: Distributed Primal Decomposition Schemes for Constraint-Coupled Optimization
Andrea Camisa and Giuseppe Notarstefano
10:00-10:20 WeA1.4: SMGO: A Set Membership Approach to Data-Driven Global Optimization
Lorenzo Jr Sabug, Fredy Ruiz and Lorenzo Fagiano
10:20-10:40 WeA1.5: Optimizing cooperative pallet loading robots: A mixed integer approach
Luca Consolini, Mattia Laurini and Marco Locatelli
10:40-11:00 WeA1.6: Distributed Mixed-Integer Linear Programming for Task Assignment in Robotic Networks
Andrea Testa and Giuseppe Notarstefano
Spiaggia Chia WeB1: Robotics-I. Chair: D. Prattichizzo
09:00-09:20 WeB1.1: Soft-rigid Grippers to Exploit Environmental and Embedded Constraints for Food Handling
Gionata Salvietti and Domenico Prattichizzo
09:20-09:40 WeB1.2: The Mag-Gripper: A Soft-Rigid Gripper Augmented with an Electromagnet to Precisely Handle Clothes
Sara Marullo, Simone Bartoccini, Gionata Salvietti, Zubair Iqbal and Domenico Prattichizzo
09:40-10:00 WeB1.3: Stiffness Estimation for Soft-Robot Joints without Force Sensors
Maja Trumic, Giorgio Grioli, Kosta Jovanovic and Adriano Fagiolini
10:00-10:20 WeB1.4:  A Multi-Modal Learning System for Action Segmentation to Control Surgical Robots
Giacomo De Rossi, Marco Minelli, Serena Roin, Fabio Falezza, Alessio Sozzi, Federica Ferraguti, Francesco Setti, Marcello Bonfe, Cristian Secchi and Riccardo Muradore
10:20-10:40 WeB1.5: Hand Guidance Using Grasping Metaphor and Wearable Haptics
Nicole D’Aurizio, Tommaso Lisini Baldi and Domenico Prattichizzo
10:40-11:00 WeB1.6: Instrumenting Hand-held Surgical Drills with a Pneumatic Sensing Cover for Haptic Feedback
Tommaso Lisini Baldi, Chiara Gaudeni and Domenico Prattichizzo
Spiaggia Cala Giunco WeC1: Energy systems. Chair: M. Robba
09:00-09:20 WeC1.1: A distributed approach to the Optimal Power Flow problem for unbalanced and mesh networks
Giulio Ferro, Michela Robba, David D’Achiardi, Rabab Haider and Anuradha Annaswamy
09:20-09:40 WeC1.2: On the robust distributed secondary control of islanded inverter-based microgrids
Milad Gholami, Alessandro Pilloni, Alessandro Pisano and Elio Usai
09:40-10:00 WeC1.3: Robust and Nonlinear PSS-AVR Control of a Synchronous Generator connected to an Infinite Bus
Cristiano Maria Verrelli, Riccardo Marino, Patrizio Tomei and Gilney Damm
10:00-10:20 WeC1.4: A game-theoretic control approach for the optimal energy storage under power flow constraints in distribution networks
Paolo Scarabaggio, Raffaele Carli and Mariagrazia Dotoli
10:20-10:40 WeC1.5: Sliding Mode Based Droop Control Strategies for Parallel-Connected Inverters in Railway Vehicles
Aline Cristiane Buzzi, Gian Paolo Incremona, Patrizio Colaneri, Andrea Dolcini and Angelo Colombo
10:40-11:00 WeC1.6: An Innovative Service for Electric Vehicle Charge Planning based on Virtual Sensors
Michele Roccotelli, Maria Pia Fanti and Agostino Marcello Mangini
  Parallel regular sessions @ 11:30-13:30 CEST
Spiaggia Poetto WeA2: Learning & Control. Chair: G. Pola
11:30-11:50 WeA2.1: dynoNet: a neural network architecture for learning dynamical systems
Marco Forgione and Dario Piga
11:50-12:10 WeA2.2: Deep Reinforcement Learning-based Control for Chance Constrained Systems
Alessandro Giuseppi and Antonio Pietrabissa
12:10-12:30 WeA2.3: Data–driven controller synthesis for abstract systems with regular language specifications
Giordano Pola, Tommaso Masciulli, Elena De Santis and Maria Domenica Di Benedetto
12:30-12:50 WeA2.4: Learning and control of smart cities via Regression Trees
Francesco Smarra, Vittorio De Iuliis, Giovanni Domenico Di Girolamo and Alessandro D’Innocenzo
12:50-13:10 WeA2.5: Deep Reinforcement Learning for Autonomous Robot Navigation in Unknown Environments
Alessandro Devo, Alberto Dionigi, Giacomo Mezzetti, Gabriele Costante and Paolo Valigi 
13:10-13:30 WeA2.6: A Q-learning Approach for SoftECU Design in Automotive Vehicles
Domenico Natella and Francesco Vasca
Spiaggia Chia WeB2: Robotics-II. Chair: P. Rocco
11:30-11:50 WeB2.1: A framework for risk-aware autonomous navigation of UAS
Alessandro Rizzo, Giorgio Guglieri and Stefano Primatesta
11:50-12:10 WeB2.2: Autonomous Vision-Based Aerial Navigation and Environment Interaction with Multi-Rotors
Dario Calogero Guastella, Luciano Cantelli, Giuseppe Sutera and Giovanni Muscato
12:10-12:30 WeB2.3: Shared human-robot control of an unmanned ground vehicle
Karl Von Ellenrieder, Roberto Belotti and Stephen Licht
12:30-12:50 WeB2.4: RF-Emitting Target Search under Energy Constraint: a Probabilistic Bi-modal Active Sensing Approach
Luca Varotto, Angelo Cenedese and Andrea Cavallaro
12:50-13:10 WeB2.5: LiDAR-Based Navigation of Tethered Drone Formations in an Unknown Environment
Michele Bolognini and Lorenzo Fagiano
13:10-13:30 WeB2.6:  Flexible scheduling for human-robot assembly
Riccardo Maderna, Andrea Maria Zanchettin and Paolo Rocco
Spiaggia Cala Giunco WeC2: Model Predictive Control. Chair: A. Giannitrapani
11:30-11:50 WeC2.1: Multi-trajectory model predictive control
Danilo Saccani and Lorenzo Fagiano
11:50-12:10 WeC2.2: Preference-based MPC calibration
Mengjia Zhu, Alberto Bemporad and Dario Piga
12:10-12:30 WeC2.3: Efficient Calibration of Embedded MPC
Marco Forgione, Dario Piga and Alberto Bemporad
12:30-12:50 WeC2.4: A Robust Scenario MPC Approach for Uncertain Multi-modal Obstacles
Ivo Batkovic, Mario Zanon, Paolo Falcone and Ugo Rosolia
12:50-13:10 WeC2.5: Model Predictive Control of HVAC Systems in Smart Buildings: an IoT Based Architecture
Raffaele Carli, Graziana Cavone, Sarah Ben Othman and Mariagrazia Dotoli
13:10-13:30 WeC2.6: An MPC Strategy for Low-Thrust Space Debris Rendezvous
Renato Quartullo, Gianni Bianchini, Andrea Garulli, Antonio Giannitrapani and Mirko Leomanni
  Parallel regular sessions @ 15:00-16:40 CEST
Spiaggia Poetto WeA3: Automotive. Chair: P. Lino
15:00-15:20 WeA3.1: A Data-Driven Slip Estimation Approach for Effective Braking Control under Varying Road Conditions
Francesco Crocetti, Gabriele Costante, Mario Luca Fravolini and Paolo Valigi 
15:20-15:40 WeA3.2: Fault-Tolerant and Switchable Slip Control Architecture in Four-Wheel-Drive Electric Vehicles
Gerardo Amato and Riccardo Marino
15:40-16:00 WeA3.3: Design and proof of concept validation of a Common-rail pressure control using a Continuously Variable Transmission (CVT)
Michele Tomaselli, Paolo Lino and Giuseppe Carbone
16:00-16:20 WeA3.4: An Eco-Route Planner for Heavy Duty Vehicles
Agostino Marcello Mangini, Gianvito Difilippo and Maria Pia Fanti
16:20-16:40 WeA3.5: Modelling and Control of Test-Scenarios via Hybrid Automata for Validation of Autonomous Driving Functions
Paolo Falcone and Angel Molina Acosta
Spiaggia Chia WeB3: Robotics-III. Chair: A. Ferrara
15:00-15:20 WeB3.1: Learning Continuous Control Actions for Robotic Grasping with Reinforcement Learning
Asad Ali Shahid, Loris Roveda, Dario Piga and Francesco Braghin
15:20-15:40 WeB3.2: Reinforcement Learning based Motion Planning and Obstacle Avoidance for Robot Manipulators
Bianca Sangiovanni, Gian Paolo Incremona, Nikolas Sacchi and Antonella Ferrara 
15:40-16:00 WeB3.3: Towards data-driven Visual Odometry: from model-based to deep learning approaches
Gabriele Costante
16:00-16:20 WeB3.4: Hierarchical QP trajectory scaling with limited joint excursion
Manuel Beschi, Marco Faroni and Nicola Pedrocchi
16:20-16:40 WeB3.5: Actuator Fault Tolerant Control of Variable Pitch Quadrotor Vehicles
Alessandro Baldini, Riccardo Felicetti, Alessandro Freddi, Sauro Longhi and Andrea Monteriù
Spiaggia Cala Giunco WeC3: Analysis & Control-I. Chair: M. Prandini
15:00-15:20 WeC3.1: Performance and Execution Time analysis of optimal controls in Hard Real Time environment
Andrea Bonci, Sauro Longhi, Giacomo Nabissi and Giuseppe Antonio Scala
15:20-15:40 WeC3.2: A New Algorithm for Discrete-time Derivative Computation
Davide Tebaldi, Riccardo Morselli and Roberto Zanasi
15:40-16:00 WeC3.3: A reachability framework for piecewise affine systems verification and control
Riccardo Desimini and Maria Prandini
16:00-16:20 WeC3.4: Full-Complexity Characterization of Control-Invariant Domains for Systems with Uncertain Parameter Dependence
Ankit Gupta and Paolo Falcone
16:20-16:40 WeC3.5: Hegselmann–Krause model in Mixed Logical Dynamical formulation
Carmela Bernardo and Francesco Vasca
  Parallel regular sessions @ 17:15-19:15 CEST
Spiaggia Poetto WeS1: Italian Experience on Fostering the Gender Balance in ICT. Chair: L. Giarrè
17:15-17:30 WeS1.1: Gender @UNIPI, from the TRIGGER project to the gender balance, activituies and initiatives
Lucia Pallottino 
17:30-17:45 WeS1.2: Gender balance at the time of smart working: Risk and challenges with a focus on Unibo
Elena Zattoni
17:45-18:00 WeS1.3: Dissemination of ideas, women networking, encouraging female youngest generation: three keys to pursue with passion and dedication
Laura Celentano and Stefania Santini
18:00-18:15 WeS1.4: Equal opportunities at Politecnico di Milano: a look from within via the POP initiative and the firstgender balance
Mara Tanelli, Cristina Rossi and Donatella Sciuto
18:15-18:30 WeS1.5: Gender balance in Robotics: starting from the very beginning
Federica Pascucci
18:30-18:45 WeS1.6: Reflections on Gender Balance in Top Research Positions
Laura Giarrè
18:45-19:00 WeS1.7: The IEEE CSS Women in Control and Women in Engineering experience
Antonella Ferrara 
19:00-19:15 WeS1.8: An IEEE perspective on Gender balance:The IEEE Technical Activities Board (TAB)Committee on Diversity and Inclusion
Maria Elena Valcher 

September 10, Thursday

  Parallel regular sessions @ 09:00:11:00 CEST
Spiaggia Poetto ThA1: Multi-agent Systems-I. Chair: L. Zaccarian
09:00-09:20 ThA1.1: Uniform global asymptotic synchronization of Kuramoto oscillators via hybrid coupling
Riccardo Bertollo, Elena Panteley, Romain Postoyan and Luca Zaccarian
09:20-09:40 ThA1.2: On role of static and dynamic coupling in chaos synchronization
Luca Patanè and Arturo Buscarino
09:40-10:00 ThA1.3: Synchronization in oscillators coupled via hubs-attracting Laplacians
Lucia Valentina Gambuzza, Mattia Frasca and Ernesto Estrada
10:00-10:20 ThA1.4: Cooperative trajectory tracking over sampled communication
Enrica Rossi and Luca Schenato
10:20-10:40 ThA1.5: Dynamic Consensus on the Median Value in Open Multi-Agent Systems
Zohreh Al Zahra Sanai Dashti, Carla Seatzu and Mauro Franceschelli
10:40-11:00 ThA1.6: Discrete-Time Dynamic Consensus on the Max Value
Diego Deplano, Mauro Franceschelli and Alessandro Giua
Spiaggia Chia ThB1: Identification & Estimation. Chair: F. Previdi
09:00-09:20 ThB1.1: Structured identification for network reconstruction of RC-models
Gabriele Calzavara, Luca Consolini and Juxhino Kavaja
09:20-09:40 ThB1.2: Identification of Critical Nodes in Critical Infrastructures
Luca Faramondi, Gabriele Oliva and Roberto Setola
09:40-10:00 ThB1.3: Kernel-based identification of asymptotically stable continuous-time linear dynamical systems
Matteo Scandella, Mirko Mazzoleni, Simone Formentin and Fabio Previdi
10:00-10:20 ThB1.4: Efficient Online Update and Sparse Approximation of LS-SVM for LPV-ARX Model Identification
Luca Cavanini, Francesco Ferracuti, Sauro Longhi and Andrea Monteriù
10:20-10:40 ThB1.5: Deterministic optimality of the steady-state behavior of the Kalman-Bucy filter
Corrado Possieri and Mario Sassano
10:40-11:00 ThB1.6: Optimal Continuous-Discrete Linear Filter and Moment Equations for Nonlinear Diffusions
Filippo Cacace, Valerio Cusimano, Alfredo Germani, Pasquale Palumbo and Marco Papi
Spiaggia Cala Giunco ThC1: Analisys & Control-II. Chair: A.M. Perdon
09:00-09:20 ThC1.1: A Converse Lyapunov–Krasovskii Theorem for the Global Asymptotic Local Exponential Stability of Nonlinear Time–Delay Systems
Mario Di Ferdinando, Pierdomenico Pepe and Stefano Di Gennaro
09:20-09:40 ThC1.2: A fast and effective algorithm for influence maximization in large-scale independent cascade networks
Paolo Scarabaggio, Raffaele Carli and Mariagrazia Dotoli
09:40-10:00 ThC1.3: Integral-Input-to-State Stability of Switched Nonlinear Systems under Slow Switching
Antonio Russo, Alberto Cavallo, Shenyu Liu and Daniel Liberzon
10:00-10:20 ThC1.4: A comparison approach for the stability of some classes of delay and switched systems
Vittorio De Iuliis, Alessandro D’Innocenzo, Alfredo Germani and Costanzo Manes
10:20-10:40 ThC1.5: Solvability conditions for model matching of positive linear systems
Giuseppe Conte, Anna Maria Perdon and Elena Zattoni
10:40-11:00 ThC1.6: Properties of the Nyquist plot for SISO and MIMO systems under frequency transformations
Maide Bucolo, Arturo Buscarino, Luigi Fortuna and Mattia Frasca
  Parallel regular sessions @ 11:30:13:10 CEST
Spiaggia Poetto ThA2: Multi-agent Systems-II. Chair: G. Notarstefano
11:30-11:50 ThA2.1: Computation-Communication Trade-offs and Sensor Selection in Real-time Estimation for Processing Networks
Luca Ballotta, Luca Schenato and Luca Carlone
11:50-12:10 ThA2.2: Joint communication schedule and control design for perturbed networked control systems in presence of state and input constraints
Masoud Bahraini, Mario Zanon, Alessandro Colombo and Paolo Falcone
12:10-12:30 ThA2.3: On the utilization of Macroscopic Information for String Stability of a Vehicular Platoon
Marco Mirabilio, Alessio Iovine, Elena De Santis, Maria Domenica Di Benedetto and Giordano Pola
12:30-12:50 ThA2.4: Secure Rendezvous and Containment in Multi-Robot Systems
Matteo Santilli, Mauro Franceschelli and Andrea Gasparri
12:50-13:10 ThA2.5: A framework for power line inspection tasks with multi-robot systems from signal temporal logic specifications
Giuseppe Silano, Davide Liuzza, Luigi Iannelli and Martin Saska
Spiaggia Chia ThB2: Task & Resource allocation. Chair: M.P. Fanti
11:30-11:50 ThB2.1: Multiperiod asset allocation via kernel-based control
Gabriele Maroni, Simone Formentin, Fabio Previdi and Mirko Mazzoleni
11:50-12:10 ThB2.2: ICT Services for Electro-Mobility
Alessandro Rinaldi, Maria Pia Fanti, Bartolomeo Silvestri, Michele Roccotelli and Agostino Marcello Mangini
12:10-12:30 ThB2.3: Innovative Approaches for Electric Vehicles Relocation Management in Sharing Systems
Bartolomeo Silvestri, Maria Pia Fanti, Agostino Marcello Mangini and Michele Roccotelli
12:30-12:50 ThB2.5: Optimal Allocation of Network Resources for QoE-Fair Video Distribution
Gioacchino Manfredi, Luca De Cicco, Vittorio Palmisano and Saverio Mascolo
Spiaggia Cala Giunco ThC2: Control Applications. Chair: M.D. Di Benedetto
11:30-11:50 ThC2.1:  An assume-guarantee approach to sampled-data quantized glucose control
Ilaria Di Loreto, Alessandro Borri and Maria Domenica Di Benedetto
11:50-12:10 ThC2.2: Spatial patterns in multicellular systems: from single-cell to multi-cell level
Irene Zorzan
12:10-12:30 ThC2.3: Model-based control for the Artificial Pancreas: towards a hands-off control approach
Alessandro Borri, Pierdomenico Pepe, Ilaria Di Loreto and Mario Di Ferdinando
12:30-12:50 ThC2.4: Robust Boundary Control of an In-Line Heating System governed by coupled PDE/ODE Dynamics
Stefan Koch, Alessandro Pilloni, Alessandro Pisano and Elio Usai
12:50-13:10 ThC2.5:  Optimization of fractional and distributed-order PID controllers for permanent magnet synchronous motors
Boris Jakovljevic, Paolo Lino and Guido Maione
  Special session @ 14:30-17:10 CEST
Spiaggia Poetto ThS1: Dynamical Systems to Model and Control Epidemic Spreading: COVID-19 and beyond. Chair: A. Rizzo
14:30-14:50 ThS1.1: A time-varying SIRD model for the COVID-19 contagion in Italy
G. Calafiore, C. Novara, C. Possieri
14:50-15:10 ThS1.2: Intermittent yet coordinated regional strategies can alleviate the COVID-19 epidemic: a network model of the Italian case
F. Della Rossa, D. Salzano, A. Di Meglio, F. De Lellis, M. Coraggio, C. Calabrese, A. Guarino, R. Cardona, P. De Lellis, D. Liuzza, F. Lo Iudice, G. Russo, M. di Bernardo
15:10-15:30 ThS1.3: Ex Post Analysis of the Counteractions against COVID-19: the Italian Case
P. Di Giamberardino and D. Iacoviello
15:30-15:50 ThS1.4: A multicriteria approach for risk assessment of Covid-19 in urban district lockdown
M.P. Fanti, F. Parisi, V. Sangiorgio
15:50-16:10 ThS1.5: COVID-19 Modelling: SIDHARTE and Beyond
G. Giordano, F. Blanchini, P. Colaneri
16:10-16:30 ThS1.6: A Metapopulation Activity-Driven Network Model for COVID-19 in Italy.
F. Parino, L. Zino, M. Porfiri, A. Rizzo
16:30-16:50 ThS1.7: Can the COVID-19 epidemic be controlled on the basis of daily test reports?
Francesco Casella
16:50-17:10 ThS1.8: Model calibration and robustness analysis of COVID-19 with Italian data
Chiara Antonini, Sara Calandrini, Fabrizio Stracci, Claudio Dario, Fortunato Bianconi and Paolo Valigi
Spiaggia Poetto Round Table @ 17:30-19:00 CEST
17:30-19:00 Tavola rotonda: “La didattica a distanza nel settore dell’Automatica. Opportunità e limitazioni”


1. La didattica a distanza di tipo sincrono o asincrono. Pro e contro
2. Attività laboratoriale a distanza
3. Gli esami a distanza e l’etica. Esami basati sulla fiducia
4. Il punto di vista degli studenti

Prof. Elio Usai,Università degli Studi di Cagliari.
   Prof. di Automatica. Coord. Presidio della Qualità (PQA) di Ateneo.

Prof. Licia Sbattella, Politecnico di Milano
   Bioingegnere e psicologo. Prof. di Linguistica Computazionale. Delegato del Rettore per il disagio psicologico in Ateneo.
Prof. Tommaso Minerva. Univ. di Modena e Reggio Emilia. 
   Prof. di Statistica. Presidente Società Italiana e-Learning, Coord. EduOpen Network, Dir. Centro Inter-Univ. EDUNOVA. Dir. Centro e-learning di Ateneo.
Ing. Martina Sciola, Mathworks
   Biomedical engineer and PhD. Techn. Specialist Eng. @Mathworks.
Prof. Magnus Egerstedt, Georgia Institute of Technology
  Steve W. Chaddick School Chair and Prof. in the School of Electrical & Computer Eng. IEEE Fellow. Creator of Robotarium.
Prof. Andrea Serrani, Ohio State University
   Prof. and Ass. Chair for Faculty Affairs, Dept. Electric. & Comp. Eng. Editor-in-Chief of IEEE Trans. Contr. Sys. Technol.
– Francesco Aracu, Università degli Studi di Cagliari 
   Pres. del Consiglio degli Studenti dell’Università degli Studi di Cagliari 

September 11, Friday

Spiaggia Poetto MathWorks session @ 09:00-09:50 CEST
09:00-09:50 MathWorks Session: “Distance Learning with MATLAB & Simulink: challenges and solutions to prepare the next generation of Engineers

– Ing. Martina Sciola, Mathworks
   Biomedical engineer and PhD. Technical Specialist Engineer.
– Ing. Stefano Olivieri, MathWorks

CHAIR: A. Pisano

ABSTRACT: We are living a Digital Transformation Era where systems required for Industry 4.0, IoT and other digital trends are multidisciplinary and pervasively connected to larger systems of systems. How Academia should adapt to these changes to provide the future engineers with the necessary skills and know-how to conceive and develop such systems? Integrating engineering knowledge about signals and systems and computational thinking approaches will become critical. In addition to the crucial Technological Skills Transfer, currently Academia is facing the transition to distance learning in a virtual environment with associated challenges of students’ engagement and motivation. In this presentation you will learn how you can use MATLAB® and Simulink® software for distance learning to provide your students the skills and techniques for their future career.


Spiaggia Poetto Award cerimonies @ 10:00-10:50 CEST
10:00-10:50 Award cerimonies 2020

CHAIR: C. Seatzu

Award ceremony of the two best congress’ contributions
Young Author’s award cerimony for the IEEE Italian Chapters RAS and CSS
Award ceremony of the two best PhD on Automation-related topics defended in the last year and presentation of the awarded PhD theses

Piazza Yenne Assembly @ 11:00-13:30 CEST
11:00-13:30 Annual SIDRA meeting