
Adriano Fagiolini
Associate Professor in Automation (ING-INF/04)
Department of Engineering, University of Palermo (UNIPA), Italy
Delegate for International Mobility for:
Cybernetics Engineering Course at UNIPA
Cyber-physical Systems
Engineering at UNIPA
Head of Research Lab at Mobile & Intelligent Robots @ Panormus Laboratory (MIRPALab)
Local Contact Person
Italian University
Consortium for Transportation and Logistics (NITEL)
Latest News!
News 3 - 19.08.2023: Exciting News! Our latest
paper on drone technology has just been accepted!
S. I. Azid, S. A. Ali, M. Kumar, M. Cirrincione and A.
Fagiolini,
" Precise Trajectory Tracking of Multi-Rotor UAVs using
Wind Disturbance Rejection Approach,"
in IEEE Access, 2023, Early Access,
doi:10.1109/ACCESS.2023.3308297.
News 2 - 29.07.2023: Remarkable Milestone! Also
our PNRR
PRIN22
has been funded in the general track!
Project title: FORESEEN: FORmal mEthodS for attack
dEtEction in autonomous driviNg systems (FORSEEN)
Partners: University of Pisa, University of Milan, University of Molise, University of Palermo (we are local PI)
Partners: University of Pisa, University of Milan, University of Molise, University of Palermo (we are local PI)
News 1 - 27.05.2023: Major Achievement! Our
PRIN22 Project got funded in the general track!
Project title: Self-optimizing Networked Edge Control for
Cooperative Vehicle Autonomy (SELF4COOP)
Partners: University of Bolzano, University of Trento, and University of Palermo (we are local PI)
Partners: University of Bolzano, University of Trento, and University of Palermo (we are local PI)
Stay tuned for more!
Distributed Algorithms for Estimation and Robot Cooperation


Selected Journal Papers
Other papers that are mostly cited
-
Fagiolini, A., Pellinacci, M., Valenti, G., Dini, G., Bicchi,
A.,
"Consensus-based distributed intrusion detection for multi-robot systems",
IEEE International Conference on Robotics and Automation,
2008 [Online]. Available: https://ieeexplore.ieee.org/document/4543196
Citations: 34 (Scopus)
-
Fagiolini, A., Valenti, G., Pallottino, L., Dini, G., Bicchi,
A.,
"Decentralized intrusion detection for secure cooperative multi-agent systems",
IEEE Conference on Decision and Control, 2007 [Online].
Available: https://ieeexplore.ieee.org/document/4434902
Citations: 32 (Scopus)
-
Manca, S., Fagiolini, A., Pallottino, L.,
"Decentralized coordination system for multiple AGVs in a structured environment",
IFAC World Congress, 2011 [Online]. Available: https://www.sciencedirect.com/science/article/pii/S1474667016445660
Citations: 19 (Scopus)
-
Fagiolini, A., Babboni, F., Bicchi, A.,
"Dynamic distributed intrusion detection for secure Multi-Robot systems",
IEEE International Conference on Robotics and Automation,
2009 [Online]. Available: https://ieeexplore.ieee.org/document/5152608
Citations: 14 (Scopus)
-
Fagiolini, A., Visibelli, E.M., Bicchi, A.,
"Logical consensus for distributed network agreement", IEEE
Conference on Decision and Control, 2008 [Online].
Available: https://ieeexplore.ieee.org/document/4738964
Citations: 13 (Scopus)
-
Fagiolini, A., Dini, G., Bicchi, A.,
"Distributed intrusion detection for the security of industrial cooperative robotic systems",
IFAC World Congress, 2014 [Online]. Available: https://www.sciencedirect.com/science/article/pii/S1474667016428120
Citations: 11 (Scopus)
Soft Robotics: Adaptive Control and Stiffness Estimation


Continuum soft robots are endowed with morphological flexibility and compliance, and promise to have a disruptive impact, but they require facing the challenge of dealing with systems with states of theoretically infinite sizes. One possible strategy to deal with such systems is by using model-free machine learning techniques that regard a soft robot as a black box. On the other end of the spectrum, model-based techniques fully taking into account the infinite nature of the problem are still unfeasible.

Selected Journal Papers
Other recently published papers on the topic
- Maja Trumić, Kosta Jovanović, Adriano Fagiolini, "Comparison of Model-Based Simultaneous Position and Stiffness Control Techniques for Pneumatic Soft Robots", International Conference on Robotics in Alpe-Adria Danube Region (RAAD), 2020 [Online]. Available: https://link.springer.com/chapter/10.1007/978-3-030-48989-2_24
Estimation, Planning and Control of Self-Driving Racecars


Selected Journal Papers
Other papers that are mostly cited
-
Caporale, D., Fagiolini, A., Pallottino, L., Settimi, A.,
Biondo,
A., Amerotti, F., Massa, F., De Caro, S., Corti, A.,
Venturini,
L.,
"A Planning and Control System for Self-Driving Racing Vehicles",
IEEE 4th International Forum on Research and Technology for
Society and Industry (RTSI), 2018 [Online]. Available:
https://ieeexplore.ieee.org/document/8548444
Citations: 17 (Scopus)
-
Caporale, D., Settimi, A., Massa, F., Amerotti, F., Corti, A.,
Fagiolini, A., Guiggian, M., Bicchi, A., Pallottino, L.,
"Towards the design of robotic drivers for full-scale self-driving racing cars",
International Conference on Robotics and Automation,
2019
[Online]. Available: https://ieeexplore.ieee.org/document/8793882
Citations: 13 (Scopus)
Robust Estimation and Control of Multirotor Aircraft



Selected Journal Papers
Speed-sensorless Estimation and Control of Induction Motors

We investigate on new solutions to estimate the state of these machines and to control them despite the uncertainties of the model, with a special focus on low-speed operating conditions and with varying load conditions. As is well known, the observability property of the model is crucial for the existence of state observers, a property that is known to be lost at zero rotor speed. We provide a new approach to estimate the speed of an IM by using an extended Kalman filter (EKF), which remains valid at very low rotor speed. Also, we reformulate the motor model by using complex-valued variables, which allows reducing the size of the model as well as simplifying the observability property. This enables the derivation of Extended Complex-valued Kalman Filters (ECKF) whose main feature is a smaller required computational time.
Selected Journal Papers
Other recently published papers on the topic
- H. K. Mudaliar, D. M. Kumar, M. Cirrincione, M. di Benedetto and A. Fagiolini, "Improving the speed estimation by load torque estimation in induction motor drives: an MRAS and NUIO approach", IEEE 12th Energy Conversion Congress & Exposition - Asia (ECCE-Asia), 2021 [Online]. Available: https://ieeexplore.ieee.org/abstract/document/9479249
- D. M. Kumar, M. Cirrincione, H. K. Mudaliar, M. di Benedetto, A. Lidozzi and A. Fagiolin, "Development of a Fractional PI controller in an FPGA environment for a Robust High-Performance PMSM Electrical Drive", IEEE 12th Energy Conversion Congress & Exposition - Asia (ECCE-Asia), 2021 [Online]. Available: https://ieeexplore.ieee.org/abstract/document/9479450
- F. Alonge, F. D'Ippolito, A. Fagiolini, G. Garraffa, F. M. Raimondi and A. Sferlazza, "Tuning of Extended Kalman Filters for Sensorless Motion Control with Induction Motor", IEEE International Conference of Electrical and Electronic Technologies for Automotive , 2019 [Online]. Available: https://ieeexplore.ieee.org/abstract/document/8804540