Federica Pascucci - Academia.edu (original) (raw)
Papers by Federica Pascucci
2015 American Control Conference (ACC), 2015
2016 International Conference on Control, Decision and Information Technologies (CoDIT), 2016
IFAC Proceedings Volumes, 2007
Abstract Localization has been recognized as one of the most significant problems in mobile robot... more Abstract Localization has been recognized as one of the most significant problems in mobile robotics. A robot must have a knowledge of its position in an environment in order to correctly perform almost any task. Moreover, having accurate information about the nodes positions turns out to be substantial in a sensor network context. In fact, several middle-ware services often rely on location knowledge to properly operate. In this paper, an overall scenario in which a robot is moving within a collaborative sensor network is considered. The aim is to provide an ...
Lecture Notes in Computer Science, 2016
2013 European Control Conference, Jul 17, 2013
Localization is a fundamental task for sensor networks. Traditional network construction approach... more Localization is a fundamental task for sensor networks. Traditional network construction approaches allow to obtain localized networks requiring the nodes to be at least tri-connected (in 2D), i.e., the communication graph needs to be globally rigid. In this paper we exploit, besides the information on the neighbors sensed by each robot/sensor, also the information about the lack of communication among nodes. The result is a framework where the nodes are required to be bi-connected and the communication graph has to be rigid. This is possible considering a novel typology of link, namely Shadow Edges, that account for the lack of communication among nodes and allow to reduce the uncertainty associated to the position of the nodes.
Proceedings 2007 Ieee International Conference on Robotics and Automation, Apr 10, 2007
Abstract One of the most important problems in mobile robotics is to realize the complete robot&a... more Abstract One of the most important problems in mobile robotics is to realize the complete robot's autonomy. In order to achieve this goal several tasks have to be accomplished. Among them, the robot's ability to localise itself turns out to be critical. The research community has provided, through the years, different methodologies to face the localisation problem, such as the Kalman filter or the Monte Carlo Integrations methods. In this paper a different approach relying on a specialisation of the genetic algorithms is proposed. The ...
IFAC Proceedings Volumes, 2007
... Conference Editor: Devy, Michel. Authors Perillo, David; Di Rocco, Maurizio; Pascucci, Federi... more ... Conference Editor: Devy, Michel. Authors Perillo, David; Di Rocco, Maurizio; Pascucci, Federica. ... Vol. 2. pp. 1331-1336. [2] He, Tian, Pascal Vicaire, Ting Yan, Liqian Luo, Lin Gu, Gang Zhou, Radu Stoleru, Qing Cao, John A. Stankovic and Tarek Abdelzaher (2006). ...
Lecture Notes in Computer Science, 2016
Procedia - Social and Behavioral Sciences, 2014
In the last decades, the increase of traffic and the limited capacity of urban networks, has led ... more In the last decades, the increase of traffic and the limited capacity of urban networks, has led to the development of algorithms for traffic management and route guidance. The route guidance systems may cause a well-known dilemma by suggesting the same path to too many drivers. We propose a multiple path routing algorithm, in which each vehicle computes its own route on the basis of (i) its specific settings reflecting user's preferences/constraints and (ii) traffic information provided by the reference station. Our aim is to propose a solution that represents a good trade off between single user satisfaction and system optimum.
2015 International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2015
Frontiers in Bioengineering and Biotechnology, 2015
Anthrax toxin comprises three different proteins, jointly acting to exert toxic activity: a non-t... more Anthrax toxin comprises three different proteins, jointly acting to exert toxic activity: a non-toxic protective agent (PA), toxic edema factor (EF), and lethal factor (LF). Binding of PA to anthrax receptors promotes oligomerization of PA, binding of EF and LF, and then endocytosis of the complex. Homomeric forms of PA, complexes of PA bound to LF and to the endogenous receptor capillary morphogenesis gene 2 (CMG2) were analyzed. In this work, we characterized protein-protein interfaces (PPIs) and identified key residues at PPIs of complexes, by means of a protein contact network (PCN) approach. Flexibility and global and local topological properties of each PCN were computed. The vulnerability of each PCN was calculated using different node removal strategies, with reference to specific PCN topological descriptors, such as participation coefficient, contact order, and degree. The participation coefficient P, the topological descriptor of the node's ability to intervene in protein inter-module communication, was the key descriptor of PCN vulnerability of all structures. High P residues were localized both at PPIs and other regions of complexes, so that we argued an allosteric mechanism in protein-protein interactions. The identification of residues, with key role in the stability of PPIs, has a huge potential in the development of new drugs, which would be designed to target not only PPIs but also residues localized in allosteric regions of supramolecular complexes.
Proceedings of the 18th IFAC World Congress, 2011
ABSTRACT
IEEE Transactions on Automatic Control, 2015
2014 UKSim-AMSS 16th International Conference on Computer Modelling and Simulation, 2014
Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007
Abstract One of the most important problems in mobile robotics is to realize the complete robot&a... more Abstract One of the most important problems in mobile robotics is to realize the complete robot's autonomy. In order to achieve this goal several tasks have to be accomplished. Among them, the robot's ability to localise itself turns out to be critical. The research community has provided, through the years, different methodologies to face the localisation problem, such as the Kalman filter or the Monte Carlo Integrations methods. In this paper a different approach relying on a specialisation of the genetic algorithms is proposed. The ...
Lecture Notes in Computer Science, 2013
2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2014
ABSTRACT Tracking the positions of people in large indoor spaces is important, since it enables a... more ABSTRACT Tracking the positions of people in large indoor spaces is important, since it enables a range of applications related to security, indoor navigation and guidance. This paper proposes a personal indoor navigation system based on hybrid map, containing geometric as well as symbolic information. In this way the same map can be exploited to guide and localise the user efficiently during navigation. The hybrid map is built using floor plans of the environment. It is a topological graph capturing the connectivity of complex indoor environment and it is retrieved by applying image-processing techniques. Some additional metric information are added to make the map suitable for quantitative localisation. Semantic features are considered to improve user readability.
2015 American Control Conference (ACC), 2015
2016 International Conference on Control, Decision and Information Technologies (CoDIT), 2016
IFAC Proceedings Volumes, 2007
Abstract Localization has been recognized as one of the most significant problems in mobile robot... more Abstract Localization has been recognized as one of the most significant problems in mobile robotics. A robot must have a knowledge of its position in an environment in order to correctly perform almost any task. Moreover, having accurate information about the nodes positions turns out to be substantial in a sensor network context. In fact, several middle-ware services often rely on location knowledge to properly operate. In this paper, an overall scenario in which a robot is moving within a collaborative sensor network is considered. The aim is to provide an ...
Lecture Notes in Computer Science, 2016
2013 European Control Conference, Jul 17, 2013
Localization is a fundamental task for sensor networks. Traditional network construction approach... more Localization is a fundamental task for sensor networks. Traditional network construction approaches allow to obtain localized networks requiring the nodes to be at least tri-connected (in 2D), i.e., the communication graph needs to be globally rigid. In this paper we exploit, besides the information on the neighbors sensed by each robot/sensor, also the information about the lack of communication among nodes. The result is a framework where the nodes are required to be bi-connected and the communication graph has to be rigid. This is possible considering a novel typology of link, namely Shadow Edges, that account for the lack of communication among nodes and allow to reduce the uncertainty associated to the position of the nodes.
Proceedings 2007 Ieee International Conference on Robotics and Automation, Apr 10, 2007
Abstract One of the most important problems in mobile robotics is to realize the complete robot&a... more Abstract One of the most important problems in mobile robotics is to realize the complete robot's autonomy. In order to achieve this goal several tasks have to be accomplished. Among them, the robot's ability to localise itself turns out to be critical. The research community has provided, through the years, different methodologies to face the localisation problem, such as the Kalman filter or the Monte Carlo Integrations methods. In this paper a different approach relying on a specialisation of the genetic algorithms is proposed. The ...
IFAC Proceedings Volumes, 2007
... Conference Editor: Devy, Michel. Authors Perillo, David; Di Rocco, Maurizio; Pascucci, Federi... more ... Conference Editor: Devy, Michel. Authors Perillo, David; Di Rocco, Maurizio; Pascucci, Federica. ... Vol. 2. pp. 1331-1336. [2] He, Tian, Pascal Vicaire, Ting Yan, Liqian Luo, Lin Gu, Gang Zhou, Radu Stoleru, Qing Cao, John A. Stankovic and Tarek Abdelzaher (2006). ...
Lecture Notes in Computer Science, 2016
Procedia - Social and Behavioral Sciences, 2014
In the last decades, the increase of traffic and the limited capacity of urban networks, has led ... more In the last decades, the increase of traffic and the limited capacity of urban networks, has led to the development of algorithms for traffic management and route guidance. The route guidance systems may cause a well-known dilemma by suggesting the same path to too many drivers. We propose a multiple path routing algorithm, in which each vehicle computes its own route on the basis of (i) its specific settings reflecting user's preferences/constraints and (ii) traffic information provided by the reference station. Our aim is to propose a solution that represents a good trade off between single user satisfaction and system optimum.
2015 International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2015
Frontiers in Bioengineering and Biotechnology, 2015
Anthrax toxin comprises three different proteins, jointly acting to exert toxic activity: a non-t... more Anthrax toxin comprises three different proteins, jointly acting to exert toxic activity: a non-toxic protective agent (PA), toxic edema factor (EF), and lethal factor (LF). Binding of PA to anthrax receptors promotes oligomerization of PA, binding of EF and LF, and then endocytosis of the complex. Homomeric forms of PA, complexes of PA bound to LF and to the endogenous receptor capillary morphogenesis gene 2 (CMG2) were analyzed. In this work, we characterized protein-protein interfaces (PPIs) and identified key residues at PPIs of complexes, by means of a protein contact network (PCN) approach. Flexibility and global and local topological properties of each PCN were computed. The vulnerability of each PCN was calculated using different node removal strategies, with reference to specific PCN topological descriptors, such as participation coefficient, contact order, and degree. The participation coefficient P, the topological descriptor of the node's ability to intervene in protein inter-module communication, was the key descriptor of PCN vulnerability of all structures. High P residues were localized both at PPIs and other regions of complexes, so that we argued an allosteric mechanism in protein-protein interactions. The identification of residues, with key role in the stability of PPIs, has a huge potential in the development of new drugs, which would be designed to target not only PPIs but also residues localized in allosteric regions of supramolecular complexes.
Proceedings of the 18th IFAC World Congress, 2011
ABSTRACT
IEEE Transactions on Automatic Control, 2015
2014 UKSim-AMSS 16th International Conference on Computer Modelling and Simulation, 2014
Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007
Abstract One of the most important problems in mobile robotics is to realize the complete robot&a... more Abstract One of the most important problems in mobile robotics is to realize the complete robot's autonomy. In order to achieve this goal several tasks have to be accomplished. Among them, the robot's ability to localise itself turns out to be critical. The research community has provided, through the years, different methodologies to face the localisation problem, such as the Kalman filter or the Monte Carlo Integrations methods. In this paper a different approach relying on a specialisation of the genetic algorithms is proposed. The ...
Lecture Notes in Computer Science, 2013
2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2014
ABSTRACT Tracking the positions of people in large indoor spaces is important, since it enables a... more ABSTRACT Tracking the positions of people in large indoor spaces is important, since it enables a range of applications related to security, indoor navigation and guidance. This paper proposes a personal indoor navigation system based on hybrid map, containing geometric as well as symbolic information. In this way the same map can be exploited to guide and localise the user efficiently during navigation. The hybrid map is built using floor plans of the environment. It is a topological graph capturing the connectivity of complex indoor environment and it is retrieved by applying image-processing techniques. Some additional metric information are added to make the map suitable for quantitative localisation. Semantic features are considered to improve user readability.