Alberto Speranzon - Publications

Google Scholar

For the most up to date list of publication, please follow the link to my Google Scholar page. Direct download of most publications can be found below (please, refer to copyright notice above before downloading).

Preprints/Reports

• Temporal Landscapes: A Graphical Temporal Logic for Reasoning
  B. Fong, A. Speranzon and D. I. Spivak
  Preprint, 2019 - Arxiv: 1904.01081

• Abstraction, Composition and Contracts: A Sheaf Theoretic Approach
  A. Speranzon, D. I. Spivak and S. Varadarajan
  Preprint, 2018 - Arxiv: 1802.03080
  Early abstract based on this work won Best Poster at HSCC’17

• An Algebraic Topological Approach to Privacy: Numerical and Categorical Data
  A. Speranzon and S.D. Bopardikar
  Preprint, 2016 - ArXiv: 1602.06643

• Topological landmark-based navigation and mapping
  R. Ghrist, D. Lipsky, J. Derenick and A. Speranzon
  Tech. Report 8, University of Pennsylvania, Mathematics Department, 2013

Journal Papers

• High Dimensional Robust Consensus over Networks with Limited Capacity
  Y. Yazicioglu and A. Speranzon
  IEEE Systems and Control Letters, Vol. 5, No. 6, pp. 2024-2029, 2021

• Convergence Analysis of Iterated Best Response for a Trusted Computation Game
  S.D Bopardikar, A. Speranzon and C. Langbort
  Automatica 78(1), 88-96, 2017

• Robust belief space planning under intermittent sensing via a maximum eigenvalue-based bound
  S.D. Bopardikar, B. Englot, A. Speranzon and J. van den Berg
  The International Journal of Robotics Research, July 7, 2016

• Model based peer-to-peer estimator over wireless sensor network with lossy channels
  Y. Xu, C. Fischione and A. Speranzon
  Automatica, Volume 61, 263-273, 2016

• Multi-objective path planning: localization constraints and collision probability
  S. D. Bopardikar, B. Englot and A. Speranzon
  IEEE Transactions on Robotics 31(3), 2015

• Hearing the clusters in a graph: A distributed algorithm
  T. Sahai, A. Speranzon and A. Banaszuk
  Automatica 48(1), 15-24, 2012

• Scalable approach to uncertainty quantification and robust design of interconnected dynamic systems
  A. Banaszuk, V.A. Fonoberov, T. A. Frewen, M. Kobilarov, G. Matthew, I. Mezic, A. Pinto, T. Sahai, H. Sane, A. Speranzon and A. Surana
  Annual Reviews in Control, Vol. 35, No. 1, 77-98, 2011

• A distributed minimum variance estimator for sensor networks
  A. Speranzon, C. Fischione, K. H. Johansson and A. Sangiovanni-Vincentelli
  In IEEE Journal on Selected Areas in Communications, Vol. 26, No 4, 609-621, 2008

• On decentralized negotiation of optimal consensus
  B. Johansson, A. Speranzon, M. Johansson, K.H. Johansson
  In Automatica, Vol. 44, No. 4, April 2008

• Communication constraints in the average consensus problem
  R. Carli, F. Fagnani, A. Speranzon and S. Zampieri
  In Automatica, Vol. 44, No. 3, March 2008

• A verified hierarchical control architecture for coordinated multi-vehicle operations
  J. Borges de Sousa, K. H. Johansson, J. Silva and A. Speranzon
  International Journal of Adaptive Control and Signal Processing, Vol. 21, No. 2-3, 159 - 188, 2007

• Emergent behaviors of a robot team performing cooperative tasks
  E. Pagello, A. D'Angelo, C. Ferrari, R. Polesel, R. Rosati and A. Speranzon
  Advanced Robotics, Vol. 15, No. 1, 3-20, 2003

• A Feedback Control Scheme for Reversing a Truck and Trailer Vehicle
  C. Altafini, A. Speranzon and B. Wahlberg
  IEEE Transactions on Robotics and Automation, Vol.17, No. 6, 915-922, 2001

Book Chapters

• Symmetries in the Coordinated Consensus Problem
  R. Carli, F. Fagnani, M. Focoso, A. Speranzon and S. Zampieri
  In NESC: Networked Embedded Sensing and Control, P.J. Antsaklis and P. Tabuada, Ed., Lecture Notes in Control and Information Sciences, Springer, 2005

• Hybrid Control of a Truck and Trailer Vehicle
  C. Altafini, A. Speranzon and K.H. Johansson
  In Hybrid Systems: Computation and Control, C.J. Tomlin and M.R. Greenstreet, Ed., Lecture Notes in Computer Science, Springer-Verlag. 2002

• Golem Team in Middle-Sized Robots League
  P. de Pascalis, M. Ferraresso, M. Lorenzetti, A. Modolo, M. Peluso, R. Polesel, R. Rosati, N. Scattolin, A. Speranzon and W. Zanette
  In Lecture Notes In Computer Science, RoboCup 2000: Robot Soccer World Cup IV, P. Stone, T. Balch, and G. Kraetszchmar, Ed., Springer-Verlag, Berlin, 2001

• Collaborative Emergent Actions between Real Soccer Robots
  M. Ferraresso, C. Ferrari, E. Pagello, R. Polesel, R. Rosati, A. Speranzon and W. Zanette
  In Lecture Notes In Computer Science, RoboCup 2000: Robot Soccer World Cup IV, P. Stone, T. Balch, and G. Kraetszchmar, Ed., Springer-Verlag, Berlin, 2001

Conference Papers & Abstracts

• Temporal Landscapes: A Graphical Logic of Behavior
  B. Fong, A. Speranzon and D. I. Spivak
  Applied Category Theory Conference (ACT'21), 2021 (to appear)

• High Dimensional Robust Consensus over Networks with Limited Capacity
  Y. Yazıcıoglu and A. Speranzon
  American Control Conference, New Orleans, LA, USA, May 2021.

• On Sensor Network Localization Exploiting Topological Constraints
  A. Speranzon, S. Shivkumar, and R. Ghrist
  American Control Conference (ACC), 3639-3646, 2020

• A perspective on multi-agent communication for information fusion
  H. Saha, V. Venkataraman, A. Speranzon and S. Sarkar
  Visually Grounded Interaction and Language (ViGIL) NeurIPS Workshop, Vancouver, Canada, 2019

• Sampling-Based Min-Max Uncertainty Path Planning
  B. Englot, T. Shan, S. D. Bopardikar and A. Speranzon
  In the Proceedings of the IEEE Conference on Decision and Control, 2016

• Hierarchical Strategy Synthesis for Pursuit-Evasion Problems
  R. Ramaithitima, S. Srivastava, S. Bhattacharya, A. Speranzon and V. Kumar
  In the Proceedings of the European Conference on Artificial Intelligence, 2016

• An Algebraic Topological Approach to Privacy
  A. Speranzon and S. D. Bopardikar
  In the Proceedings of the American Control Conference, 2016

• An H-infinity Approach to Stealth-resilient Control Design
  S. D. Bopardikar, A. Speranzon and J. Hespanha In the Proceedings of the Resilient Week, 2016

• Trusted computation with an adversarial cloud
  S. D. Bopardikar, A. Speranzon and C. Langbort
  In the Proceedings of the American Control Conference, 2015

• Distributed map fusion with sporadic updates for large environments
  P. C. Niedfeldt, A. Speranzon and A. Surana
  In the Proceedings of the International Conference on Robotics and Automation, 2015

• Multi-Objective Path Planning in GPS Denied Environments under Localization Constraints
  S. D. Bopardikar, B. Englot and A. Speranzon
  In Proceedings of the American Control Conference, 2014

• Hierarchical Multi-Objective Planning: From Mission Specifications to Contingency Management
  D. Ding, B. Englot, A. Pinto, A. Speranzon and A. Surana
  In the Proceedings of International Conference on Robotics and Automation, 2014

• Robust Belief Roadmap: Planning Under Intermittent Sensing
  S. D. Bopardikar, B. Englot and A. Speranzon
  In the Proceedings of International Conference on Robotics and Automation, 2014

• The CPHD and R-RANSAC Trackers Applied to the VIVID Dataset
  R. Georgescu, P. Niedfeldt, S. Zhang, A. Surana, A. Speranzon and O. Erdinc
  SPIE Signal and Data Processing of Small Targets, Baltimore, MD, May 2014

• A Formal Verification Approach To Revealing Stealth Attacks on Networked Control Systems
  N. Trcka, M. Moulin, S. D. Bopardikar, and A. Speranzon
  3rd ACM Int. Conference on High Confidence Networked Systems (HiCoNS), 2014

• A Robust and Adaptive Framework for Localization under Varying Sensor Modalities
  S. D. Bopardikar, S. Zhang and A. Speranzon
  In the Proceedings of AIAA Guidance, Navigation and Control, 2013

• On Analysis And Design Of Stealth-Resilient Control Systems
  S. D. Bopardikar and A. Speranzon
  Resilient Week, 6th International Symposium on Resilient Control Systems, 2013

• Performance analysis of linear estimators with unknown changes in sensors characteristics
  S. D. Bopardikar, A. Speranzon, S. Zhang and B. Sinopoli
  In the Proceedings of American Control Conference, 2013

• Homological sensing for mobile robot localization
  J. Derenick, A. Speranzon and R. Ghrist
  In the Proceedings of International Conference on Robotics and Automation, 2013

• Wave equation based algorithm for distributed eigenvector computation
  T. Sahai, A. Speranzon and A. Banaszuk
  In the Proceedings of IEEE Conference on Decision and Control, 2010

• Peer-to-peer estimation over wireless sensor networks via Lipschitz optimization
  C. Fischione, A. Speranzon, K.H. Johansson and A. Sangiovanni-Vincentelli
  In the Proceedings of ACM/IEEE International Conference on Information Processing in Sensor Networks (IPSN09), 2009

• Adaptive distributed estimation over wireless sensor networks with packet losses
  A. Speranzon, C. Fischione, B. Johansson and K. H. Johansson
  In Proceedings of IEEE International Conference on Decision and Control, 2007

• On Power Control for Wireless Sensor Networks: System Model, Middleware Components and Experimental Evaluation
  B. Zurita Ares, P. G. Park, C. Fischione, A. Speranzon, K. H. Johansson
  In the Proceedings of European Control Conference, 2007

• A distributed estimation algorithm for tracking over Wireless Sensor Networks
  A. Speranzon, C. Fischione and K. H. Johansson
  In the Proceedings of IEEE International Conference on Communications, 2007

• Distributed and collaborative estimation over Wireless Sensor Networks
  A. Speranzon, C. Fischione and K. H. Johansson
  In the Proceedings of IEEE Conference on Decision and Control, 2006

• Distributed model predictive consensus
  B. Johansson, A. Speranzon, M. Johansson, and K. H. Johansson
  In the Proceedings of the International Symposium on Mathematical Theory of Networks and Systems, 2006

• Communication constraints in coordinated consensus problems
  R. Carli, F. Fagnani, A. Speranzon and S. Zampieri
  In the Proceedings of American Control Conference, 2006

• On quantization and communication topologies in multi-vehicle rendezvous
  K. H. Johansson, A. Speranzon and S. Zampieri
  In the Proceedings of 16th IFAC World Congress, 2005

• A control architecture for multiple submarines in coordinated search missions
  J. de Sousa, K. H. Johansson, A. Speranzon, and J. Silva
  In the Proceedings of 16th IFAC World Congress, 2005

• On collaborative optimization and communication for a team of autonomous underwater vehicles
  A. Speranzon, J. Silva, J. de Sousa, and K. H. Johansson
  In the Proceedings of Reglermöte, 2004

• On Multi-Vehicle Rendezvous Under Quantized Communication
  F. Fagnani and K.H. Johansson and A. Speranzon and S. Zampieri
  In the Proceedings of the International Symposium on Mathematical Theory of Networks and Systems, 2004

• Hierarchical search strategy for a team of autonomous vehicles
  J. Silva and A. Speranzon and J. de Sousa and K.H. Johansson
  Inthe Proceedings of the 5th IFAC Symposium on Intelligent Autonomous Vehicles, 2004

• Multi-robot tracking of a moving object using directional sensors
  M. Mazo, A. Speranzon, K.H. Johansson, and X. Hu
  IEEE International Conference on Robotics and Automation, 2004

• On Some Communication Schemes for Distributed Pursuit-Evasion Games
  A. Speranzon and K.H. Johansson
  IEEE Conference on Decision and Control, 2003

• On Localization and Communication Issues in Pursuit-Evasion Games
  A. Speranzon and K.H. Johansson
  In the Proceeding of the Workshop on Cooperative Robotics, IROS 2002

• Backward Line Tracking Control of a Radio-Controlled Truck and Trailer
  C. Altafini and A. Speranzon
  IEEE International Conference on Robotics and Automation, 2001

• Using Collision Avoidance Algorithms for Designing Multi-robot Emergent Behaviors
  R. Polesel, R. Rosati, A. Speranzon, C. Ferrari and E. Pagello
  IEEE International Conference on Intelligent Robots and Systems, 2000

• Planning Multi-Robot Systems Actions for Robotics Entertainment
  E. Pagello, C. Ferrari, S. Carpin, P. Patuelli, R. Polesel, R. Rosati and A. Speranzon
  Intelligent Autonomous Systems - 6 (IAS-6), 2000

Thesis

• PhD Thesis
  Coordination, Consensus and Communication in Multi-Robot Control Systems
  A. Speranzon
  Royal Institute of Technology, Stockholm, 2006

• Licentiate Thesis
  On Control under Communication Constraints in Autonomous Multi-Robot Systems
  A. Speranzon
  Royal Institute of Technology, Stockholm, 2004

• Master Thesis
  A Feedback Control System for Reversing a Multi-Body Vehicle
  A. Speranzon
  University of Padova and Royal Institute of Technology, Stockholm, 2000