Trajectory Generation, Control, and Safety with Denoising Diffusion Probabilistic Models

We present a framework for safety-critical optimal control of physical systems based on denoising diffusion probabilistic models (DDPMs). The technology of control barrier functions (CBFs), encoding desired safety constraints, is used in combination with DDPMs to plan actions by iteratively denoising trajectories through a CBF-based guided sampling procedure. At the same time, the generated trajectories are also guided to maximize a future cumulative reward representing a specific task to be optimally executed. The proposed scheme can be seen as an offline and model-based reinforcement learning algorithm resembling in its functionalities a model-predictive control optimization scheme with receding horizon in which the selected actions lead to optimal and safe trajectories

Identification and safety effects of road user related measures. Deliverable 4.2 of the H2020 project SafetyCube

Safety CaUsation, Benefits and Efficiency (SafetyCube) is a European Commission supported Horizon 2020 project with the objective of developing an innovative road safety Decision Support System (DSS). The DSS will enable policy-makers and stakeholders to select and implement the most appropriate strategies, measures, and cost-effective approaches to reduce casualties of all road user types and all severities. This document is the second deliverable (4.2) of work package 4, which is dedicated to identifying and assessing road safety measures related to road users in terms of their effectiveness. The focus of deliverable 4.2 is on the identification and assessment of countermeasures and describes the corresponding operational procedure and outcomes. Measures which intend to increase road safety of all kind of road user groups have been considered [...continues]

VIGOR: Sviluppo geotermico nelle Regioni della Convergenza

La valutazione del potenziale geotermico. Quadro normativo e iter autorizzativo per la ricerca e la coltivazione di risorse geotermiche. Accettabilità sociale della geotermia. Il caso tipo di Termini Imeres