Constrained LQR Using Online Decomposition Techniques

This paper presents an algorithm to solve the infinite horizon constrained linear quadratic regulator (CLQR) problem using operator splitting methods. First, the CLQR problem is reformulated as a (finite-time) model predictive control (MPC) problem without terminal constraints. Second, the MPC problem is decomposed into smaller subproblems of fixed dimension independent of the horizon length. Third, using the fast alternating minimization algorithm to solve the subproblems, the horizon length is estimated online, by adding or removing subproblems based on a periodic check on the state of the last subproblem to determine whether it belongs to a given control invariant set. We show that the estimated horizon length is bounded and that the control sequence computed using the proposed algorithm is an optimal solution of the CLQR problem. Compared to state-of-the-art algorithms proposed to solve the CLQR problem, our design solves at each iteration only unconstrained least-squares problems and simple gradient calculations. Furthermore, our technique allows the horizon length to decrease online (a useful feature if the initial guess on the horizon is too conservative). Numerical results on a planar system show the potential of our algorithm.Comment: This technical report is an extended version of the paper titled "Constrained LQR Using Online Decomposition Techniques" submitted to the 2016 Conference on Decision and Contro

The NW sector of the Sicily Channel: geometry and evolution of inverted structural lineaments

The 3-D trend of anticline axial planes, fault planes and surfaces has been reconstructed in the offshore area between the Egadi Islands and the Sciacca High from the interpretation of multichannel seismic reflection profiles and well data (available from the VIDEPI project database). In particular, isopach maps generated for the five seismic units of age between Cretaceous and Quaternary allowed highlighting the space-time migration of the tectonic processes. The western portion of the studied area covers the submerged prolongation of the inner sector of the Sicilian-Maghrebian chain, limited in the NW and in the SE by two tectonic lineaments running along the western and eastern margins of the Adventure Bank: the Maghrebian Thrust Front and Adventure Thrust Front, respectively (see Argnani et al., 1986). The eastern portion is characterized by transpressive zones orientated NNE-SSW identifying the Separation Belt that partly corresponds to the foreland area which contains the Gela Nappe Thrust. Age constraints indicate that contraction related to the Sicilian-Maghrebian fold and thrust belt migrated progressively towards the southeast. The emplacement of the western front is attributable to the Middle-Upper Miocene while that of the eastern front is Plio-Pleistocene. Within this tectonic framework, two tectonic basins were identified on the basis of the different trend, age and evolution. The Adventure foredeep exhibits the maximum thickness of 500 m in correspondence of the Adventure Plateau. Here, the younger Gela foredeep displays minor depth showing a thickness increase towards the Gela Nappe and the Pantelleria graben. Positive inversion structures form by the Plio-Pleistocene compressional reactivation of preexisting structures limiting the Saccense and Trapanese domains were recognized the offshore sector between Mazara and Sciacca. Moreover, a correlation between the Campobello di Mazara-Castelvetrano alignment as proposed by Barreca et al., 2013, Ferranti et al., this meeting, and the tectonic units recognized in their offshore prolongation has been recognized. Therefore, we propose that in this area contractional tectonics is still active (see also Pepe et al., this meeting), and occurs on high-angle, NW-dipping crustal ramps (Monaco et al., 1996)

Architecture and Pliocene to Recent evolution of the offshore prolongation of the Granitola - Castelvetrano Thrust System (Sicily Channel)

High-resolution, seismic profiles were recorded in the offshore of Mazara - Punta Granitola with the purpose of reconstructing the architecture and Pliocene to Recent evolution of the south-west prolongation of the Granitola- Castelvetrano Thrust System, identified as an active structure possibly related to destructive historical earthquakes (Barreca et al., 2014; Ferranti et al., this meeting). A number of seismic units were identified. The oldest one is interpreted as representative of the Lower Pliocene pelagic deposits known in the region as Trubi. Lower-middle Pleistocene calcarenites are widespread along the continental shelf (CS) between Mazara del Vallo while their top rapidly deepens moving southeast-ward Capo Granitola. In this area, lower-middle Pleistocene calcarenites are unconformably overlain by the late Pleistocene- Holocene deposits. These latter are thin or absent NW of Punta Granitola along the CS, at water depth less than ~30 m, suggesting that this sector experienced uplift during the Quaternary. Small scale, NW- and SE-displacing reverse faults are observed along the CS where they cut the lower-middle Pleistocene calcarenites and offset the seafloor. South-eastwards, south-east-verging, reverse faults affect lower-middle Pleistocene calcarenites as well as the late Pleistocene-Holocene layers, suggesting that fault displacement acted during the post-LGM. Growth folding of Upper Pleistocene-Holocene deposits and thrust faults, predominantly dipping to the NW, affecting Pliocene rocks are observed in the immediate offshore Capo Granitola. The integration of the new data with those obtained from multi-channel profiles suggests that the active folds and thrusts are the uppermost expression of steep crustal ramps (Monaco et al., 1996; Lavecchia et al., 2007; Meccariello et al., this meeting) which upthrust the Saccense platform at depth

Performance evaluation of 5G access technologies and SDN transport network on an NS3 simulator

In this article, we deal with the enhanced Mobile Broadband (eMBB) service class, defined within the new 5G communication paradigm, to evaluate the impact of the transition from 4G to 5G access technology on the Radio Access Network and on the Transport Network. Simulation results are obtained with ns3 and performance analyses are focused on 6 GHz radio scenarios for the Radio Access Network, where an Non-Standalone 5G configuration has been assumed, and on SDN-based scenarios for the Transport Network. Inspired by the 5G Transformer model, we describe and simulate each single element of the three main functional plains of the proposed architecture to aim a preliminary evaluation of the end-to-end system performances

Plio-Quaternary tectonic evolution offshore the Capo Vaticano Promontory

We reconstruct the Plio-Quaternary tectono-stratigraphic evolution in the offshore Capo Vaticano (W Calabria, Italy) by integrating data obtained from single- and multi-channel reflection seismic profiles and a reprocessed version of the CROP M2A/III line. NW-trending, high-angle normal faults, dipping ~70° to the south-west formed along the continental slope connecting the south-west continental shelf of the Capo Vaticano Promontory to the Gioia Tauro Basin (Pepe et al., 2014). Faults generally have small displacements up to 40 m and are sealed by Pleistocene deposits. West of the Capo Vaticano promontory and in the Gioia Basin, a SE-dipping, normal fault system, more than 32 km long, is recognized. Faults affect lower (?) Pleistocene and are sealed by probably post-0.7 Ma deposits. These faults are here tentatively interpreted as the antithetic faults of major, Late Pliocene to Quaternary, NW-dipping, normal faults, which form the currently active tectonic belt along the Calabrian Arc (e.g. Monaco and Tortorici, 2000; Faccenna et al., 2011). In the Santa Eufemia Gulf, reverse faults affecting Plio-Quaternary and older sedimentary successions are observed. Faults also offset the seafloor thus indicating their recent activity. A normal fault system has been also inferred on the basis of the present day depth variations of the edges of submerged depositional terraces and associated abrasion platforms, along which a vertical displacement of ~21 m during the Late Pleistocene-Holocene has been inferred. The information derived in offshore the Capo Vaticano Promontory represents an important step towards an accurate 3-D kinematic description of the tectono-stratigraphic evolution of the western (Tyrrhenian) side of the Calabrian Arc orogenic wedge during the Plio-Quaternary

Globally Guided Trajectory Planning in Dynamic Environments

Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to two distinct passing behaviors per obstacle (passing left or right). For local planners, such as receding-horizon trajectory optimization, each behavior presents a local optimum in which the planner can get stuck. This may result in slow or unsafe motion even when a better plan exists. In this work, we identify trajectories for multiple locally optimal driving behaviors, by considering their topology. This identification is made consistent over successive iterations by propagating the topology information. The most suitable high-level trajectory guides a local optimization-based planner, resulting in fast and safe motion plans. We validate the proposed planner on a mobile robot in simulation and real-world experiments.Comment: 7 pages, 6 figures, accepted to IEEE International Conference on Robotics and Automation (ICRA) 202

PRIN Project 2010-11 “Active and recent geodynamics of Calabrian Arc and accretionary complex in the Ionian Sea”: new constraints from geological, geodetic and seismological data

This contribution illustrates the preliminary results of our Research Unit in the PRIN Project 2010-11, which focuses on active and recent geodynamics of Calabrian Arc. The integration of the new geological, geodetic and seismological data supports the inferred recent plate boundary reorganization in the central-southern Mediterranean, where the regional GNNS velocity fields point to a deceleration or cessation of Calabrian Arc migration, and to extension along the axis of the Calabrian Arc, accommodated by normal faulting (e.g. Capo Vaticano and Messina Straits (Aloisi et al., 2012; Pepe et al., 2014; Spampinato et al., 2014). The study of the lateral borders of the Arc revealed that oblique strike-slip displacement has occurred during its southeastwards migration. Active dextral transtension is occurring along the NNW-striking Aeolian-Tindari Letojanni fault system, forming the southern boundary of the Arc. It joins to the north other two boundaries characterized by different tectonic regimes, a contractional belt in the southern Tyrrhenian sea, where a tectonic inversion has occurred since the middle Pleistocene, and the extensional one in northeastern Sicily and western Calabria (Palano et al., 2012; Barreca et al., 2014a). Along the northern boundary of the Arc, the so-called Pollino line (onshore) and Sibari Line (offshore), active deformation has been documented on folds growing above blind oblique thrust ramps extending offshore, controlling the present morphobathymetric pattern (Santoro et al., 2013). Although external to the Calabrian Arc, we also devoted attention to the front of the Maghrebian thrust belt in western Sicily where we presented the first evidence of historical co-seismic deformation on a thrust array running from the Belice area to the Sicily Channel (Barreca et al., 2014b). Morphotectonic analysis and fault numeric modeling of uplifted Pleistocene marine terraces and Holocene paleo-shorelines has documented that most of the uplift along the Calabrian Arc is related to regional processes and the residual to coseismic displacement on major faults, both transpressional and transtensional, at the borders, and extensional along the chain axis