Dr. Andrea Carron

Senior Lecturer, Institute for Dynamical Systems and Control (IDSC), ETH Zurich Sonneggstrasse 3 8092 Zurich, Switzerland Phone: +41 044 632 04 85 E-post: carrona [@] ethz [DOT] ch

Journal Publications

1. Andrea Carron, Franceasco Seccamonte, Claudio Ruch, Emilio Frazzoli and Melanie Zeilinger, “Scalable Model Predictive Control for Autonomous Mobility on Demand Systems,” IEEE Transaction on Control Systems Technology, 2019 [accepted]. [BibTeX]

   @article{carronAMOD,
     author = {Carron, Andrea and Seccamonte, Franceasco and Ruch, Claudio and Frazzoli, Emilio and Zeilinger, Melanie},
     title = {Scalable Model Predictive Control for Autonomous Mobility on Demand Systems},
     journal = {IEEE Transaction on Control Systems Technology},
     year = {2019 [accepted]}
   }
   

2. Andrea Carron, Elena Arcari, Martin Wermelinger, Lukas Hewing, Marco Hutter and Melanie Zeilinger, “Data-Driven Model Predictive Control for Trajectory Tracking with a Robotic Arm,” IEEE Robotics and Automation Letters, 2019. [BibTeX]

   @article{carron2019,
     author = {Carron, Andrea and Arcari, Elena and Wermelinger, Martin and Hewing, Lukas and Hutter, Marco and Zeilinger, Melanie},
     title = {Data-Driven Model Predictive Control for Trajectory Tracking with a Robotic Arm},
     journal = {IEEE Robotics and Automation Letters},
     year = {2019}
   }
   

3. Marco Todescato, Andrea Carron, Ruggero Carli, Gianluigi Pillonetto and Luca Schenato, “Multi-robots Gaussian estimation and coverage control: From client--server to peer-to-peer architectures,” Automatica, vol. 80, pp. 284-294, 2017. [BibTeX]

   @article{todescato2017multi,
     author = {Todescato, Marco and Carron, Andrea and Carli, Ruggero and Pillonetto, Gianluigi and Schenato, Luca},
     title = {Multi-robots Gaussian estimation and coverage control: From client--server to peer-to-peer architectures},
     journal = {Automatica},
     publisher = {Pergamon},
     year = {2017},
     volume = {80},
     pages = {284--294}
   }
   

4. Rushabh Patel, Andrea Carron and Francesco Bullo, “The hitting time of multiple random walks,” SIAM Journal on Matrix Analysis and Applications, vol. 37, no. 3, pp. 933-954, 2016. [BibTeX]

   @article{patel2016hitting,
     author = {Patel, Rushabh and Carron, Andrea and Bullo, Francesco},
     title = {The hitting time of multiple random walks},
     journal = {SIAM Journal on Matrix Analysis and Applications},
     publisher = {Society for Industrial and Applied Mathematics},
     year = {2016},
     volume = {37},
     number = {3},
     pages = {933--954}
   }
   

5. Marco Barbetta, Alessandro Boesso, Francesco Branz, Andrea Carron, Lorenzo Olivieri, Jacopo Prendin, Gabriele Rodeghiero, Francesco Sansone, Livia Savioli, Fabio Spinello and others, “ARCADE-R2 experiment on board BEXUS 17 stratospheric balloon,” CEAS Space Journal, vol. 7, no. 3, pp. 347-358, 2015. [BibTeX]

   @article{barbetta2015arcade,
     author = {Barbetta, Marco and Boesso, Alessandro and Branz, Francesco and Carron, Andrea and Olivieri, Lorenzo and Prendin, Jacopo and Rodeghiero, Gabriele and Sansone, Francesco and Savioli, Livia and Spinello, Fabio and others},
     title = {ARCADE-R2 experiment on board BEXUS 17 stratospheric balloon},
     journal = {CEAS Space Journal},
     publisher = {Springer Vienna},
     year = {2015},
     volume = {7},
     number = {3},
     pages = {347--358}
   }
   

6. Andrea Carron, Marco Todescato, Ruggero Carli and Luca Schenato, “An asynchronous consensus-based algorithm for estimation from noisy relative measurements,” IEEE Transactions on Control of Network Systems, vol. 1, no. 3, pp. 283-295, 2014. [BibTeX]

   @article{carron2014asynchronous,
     author = {Carron, Andrea and Todescato, Marco and Carli, Ruggero and Schenato, Luca},
     title = {An asynchronous consensus-based algorithm for estimation from noisy relative measurements},
     journal = {IEEE Transactions on Control of Network Systems},
     publisher = {IEEE},
     year = {2014},
     volume = {1},
     number = {3},
     pages = {283--295}
   }
   

Journal Publications under review/in preparation

1. Kim Wabersich, Lukas Hewing, Andrea Carron and Melanie Zeilinger, “Probabilistic model predictive safety certification for reinforcement learning [under review],” IEEE Transactions on Neural Networks and Learning Systems. [pdf] [BibTeX]

   @article{Kim,
     author = {Wabersich, Kim and Hewing, Lukas and Carron, Andrea and Zeilinger, Melanie},
     title = {Probabilistic model predictive safety certification for reinforcement learning [under review]},
     journal = {IEEE Transactions on Neural Networks and Learning Systems}
   }
   

2. Andrea Carron, Kim Wabersich and Melanie Zeilinger, “Plug-and-Play Distributed Safe Learning for Linear Systems with Bounded Uncertainties [under review],” IEEE Transactions on Control of Network Systems. [BibTeX]

   @article{carronPnP,
     author = {Carron, Andrea and Wabersich, Kim and Zeilinger, Melanie},
     title = {Plug-and-Play Distributed Safe Learning for Linear Systems with Bounded Uncertainties [in preparation]},
     journal = {IEEE Transactions on Control of Network Systems}
   }
   

3. Andrea Carron and Melanie Zeilinger, “Model Predictive Coverage Control [in preparation].” [BibTeX]

   @article{carronMPCC,
     author = {Carron, Andrea and Zeilinger, Melanie},
     title = {Model Predictive Coverage Control [in preparation]}
   }
   

4. Marco Todescato, Andrea Carron, Ruggero Carli, Gianluigi Pillonetto and Luca Schenato, “Efficient Spatio-Temporal Gaussian Regression via Kalman Filtering [2nd review round].” Automatica. [pdf] [BibTeX]

   @article{todescatoKalman,
     author = {Todescato, Marco and Carron, Andrea and Carli, Ruggero and Pillonetto, Gianluigi and Schenato, Luca},
     title = {Efficient Spatio-Temporal Gaussian Regression via Kalman Filtering [2nd review round]}.
     journal = {Automatica}
   }
   

5. Simon Muntwiler, Kim P. Wabersich, Andrea Carron and Melanie N. Zeilinger, “Distributed Model Predictive Safety Certification for Learning-based Control [in prepration],” [pdf] [BibTeX]

   @conference{sdmpc,
     author = {Muntwiler, Simon and Wabersich, Kim P. and Carron, Andrea and Zeilinger, Melanie N.},
     title = {Distributed Model Predictive Safety Certification for Learning-based Control [in prepration]}
   }
   

6. Andrea Carron and Elisa Franco, “Analytical Solution of a Constrained Receding Horizon Control Problem with Auto Regressive State Predictions: Tracking and Distributed Two-Agents Game Applications [in preparation],” IET Control Theory and Applications. [BibTeX]

   @article{carronAR,
     author = {Carron, Andrea and Franco, Elisa},
     title = {Analytical Solution of a Constrained Receding Horizon Control Problem with Auto Regressive State Predictions: Tracking and Distributed Two-Agents Game Applications [in preparation]},
     journal = {IET Control Theory and Applications}
   }
   

Conference Publications

1. Lukas Hewing, Andrea Carron, Kim P. Wabersich and Melanie N. Zeilinger, “On a Correspondence between Probabilistic and Robust Invariant Sets for Linear Systems,” in Control Conference (ECC), 2018 European, 2018. [BibTeX]

   @inproceedings{hewingPIS,
     author = {Hewing, Lukas and Carron, Andrea and Wabersich, Kim P. and Zeilinger, Melanie N.},
     title = {On a Correspondence between Probabilistic and Robust Invariant Sets for Linear Systems},
     booktitle = {Control Conference (ECC), 2018 European},
     year = {2018}
   }
   

2. Rie B. Larsen, Andrea Carron and Melanie N. Zeilinger, “Safe Learning for Distributed Systems with Bounded Uncertainties,” in 20th IFAC World Congress, 2017. [BibTeX]

   @inproceedings{riedistributed,
     author = {Larsen, Rie B. and Carron, Andrea and Zeilinger, Melanie N.},
     title = {Safe Learning for Distributed Systems with Bounded Uncertainties},
     booktitle = {20th IFAC World Congress},
     year = {2017}
   }
   

3. Andrea Antonello, Andrea Carron, Ruggero Carli and Panagiotis Tsiotras, “Performance Analysis of Three Cost Policies for The Control of a Camera in Relative Circumnavigation Scenarios,” in 67th International Astronautical Congress, 2016. [BibTeX]

   @inproceedings{antonelloperformance,
     author = {Antonello, Andrea and Carron, Andrea and Carli, Ruggero and Tsiotras, Panagiotis},
     title = {Performance Analysis of Three Cost Policies for The Control of a Camera in Relative Circumnavigation Scenarios},
     booktitle = {67th International Astronautical Congress},
     year = {2016}
   }
   

4. Marco Todescato, Andrea Carron, Ruggero Carli, Antonio Franchi and Luca Schenato, “Multi-robot localization via GPS and relative measurements in the presence of asynchronous and lossy communication,” in Control Conference (ECC), 2016 European, pp. 2527-2532, 2016. [BibTeX]

   @inproceedings{todescato2016multi,
     author = {Todescato, Marco and Carron, Andrea and Carli, Ruggero and Franchi, Antonio and Schenato, Luca},
     title = {Multi-robot localization via GPS and relative measurements in the presence of asynchronous and lossy communication},
     booktitle = {Control Conference (ECC), 2016 European},
     year = {2016},
     pages = {2527--2532}
   }
   

5. Andrea Carron, Marco Todescato, Ruggero Carli, Luca Schenato and Gianluigi Pillonetto, “Machine learning meets Kalman Filtering,” in Decision and Control (CDC), 2016 IEEE 55th Conference on, pp. 4594-4599, 2016. [BibTeX]

   @inproceedings{carron2016machine,
     author = {Carron, Andrea and Todescato, Marco and Carli, Ruggero and Schenato, Luca and Pillonetto, Gianluigi},
     title = {Machine learning meets Kalman Filtering},
     booktitle = {Decision and Control (CDC), 2016 IEEE 55th Conference on},
     year = {2016},
     pages = {4594--4599}
   }
   

6. Andrea Carron, Rushabh Patel and Francesco Bullo, “Hitting time for doubly-weighted graphs with application to robotic surveillance,” in Control Conference (ECC), 2016 European, pp. 661-665, 2016. [BibTeX]

   @inproceedings{carron2016hitting,
     author = {Carron, Andrea and Patel, Rushabh and Bullo, Francesco},
     title = {Hitting time for doubly-weighted graphs with application to robotic surveillance},
     booktitle = {Control Conference (ECC), 2016 European},
     year = {2016},
     pages = {661--665}
   }
   

7. Laura Bettiol, Francesco Branz, Andrea Carron, Matteo Duzzi and Alessandro Francesconi, “Numerical simulations and experimental tests results on a smart control system for membrane structures,” in 67th International Astronautical Congress, 2015. [BibTeX]

   @inproceedings{bettiol2015numerical,
     author = {Bettiol, Laura and Branz, Francesco and Carron, Andrea and Duzzi, Matteo and Francesconi, Alessandro},
     title = {Numerical simulations and experimental tests results on a smart control system for membrane structures},
     booktitle = {67th International Astronautical Congress},
     year = {2015}
   }
   

8. Andrea Carron, Marco Todescato, Ruggero Carli, Luca Schenato and Gianluigi Pillonetto, “Multi-agents adaptive estimation and coverage control using Gaussian regression,” in Control Conference (ECC), 2015 European, pp. 2490-2495, 2015. [BibTeX]

   @inproceedings{carron2015multi,
     author = {Carron, Andrea and Todescato, Marco and Carli, Ruggero and Schenato, Luca and Pillonetto, Gianluigi},
     title = {Multi-agents adaptive estimation and coverage control using Gaussian regression},
     booktitle = {Control Conference (ECC), 2015 European},
     year = {2015},
     pages = {2490--2495}
   }
   

9. S. Chiodini, A. Carron, M. Pertile, M. Todescato, E. Bertolutti, A. Bilato, A. Boscardin, G. Corrà, A. Correnti, R. Dalla Vecchia and others, “Morpheus: A Field Robotics Testbed for Soil Sampling and Autonoumus Navigation,” in 1st Symposium on Space Educational Activities, 2015. [BibTeX]

   @inproceedings{chiodini2015morpheus,
     author = {Chiodini, S and Carron, A and Pertile, M and Todescato, M and Bertolutti, E and Bilato, A and Boscardin, A and Corrà, G and Correnti, A and Dalla Vecchia, R and others},
     title = {Morpheus: A Field Robotics Testbed for Soil Sampling and Autonoumus Navigation},
     booktitle = {1st Symposium on Space Educational Activities},
     year = {2015}
   }
   

10. Francesco Branz, Andrea Antonello, Andrea Carron, Ruggero Carli and Alessandro Francesconi, “Kinematics and control of redundant robotic arm based on dielectric elastomer actuators,” in SPIE Smart Structures and Materials+ Nondestructive Evaluation and Health Monitoring, pp. 943023-943023, 2015. [BibTeX]

    @inproceedings{branz2015kinematics,
      author = {Branz, Francesco and Antonello, Andrea and Carron, Andrea and Carli, Ruggero and Francesconi, Alessandro},
      title = {Kinematics and control of redundant robotic arm based on dielectric elastomer actuators},
      booktitle = {SPIE Smart Structures and Materials+ Nondestructive Evaluation and Health Monitoring},
      year = {2015},
      pages = {943023--943023}
    }
    

11. Marco Todescato, Andrea Carron, Ruggero Carli and Luca Schenato, “Distributed localization from relative noisy measurements: a robust gradient based approach,” in Control Conference (ECC), 2015 European, pp. 1914-1919, 2015. [BibTeX]

    @inproceedings{todescato2015distributed,
      author = {Todescato, Marco and Carron, Andrea and Carli, Ruggero and Schenato, Luca},
      title = {Distributed localization from relative noisy measurements: a robust gradient based approach},
      booktitle = {Control Conference (ECC), 2015 European},
      year = {2015},
      pages = {1914--1919}
    }
    

12. Marco Barbetta, Francesco Branz, Andrea Carron, Lorenzo Olivieri, Jacopo Prendin, Francesco Sansone, Livia Savioli, Fabio Spinello and Alessandro Francesconi, “Data Retrieved by ARCADE-R2 Experiment On Board the BEXUS-17 Balloon,” in 22nd ESA Symposium on European Rocket and Balloon Programmes and Related Research, vol. 730, pp. 349-357, 2015. [BibTeX]

    @inproceedings{barbetta2015data,
      author = {Barbetta, Marco and Branz, Francesco and Carron, Andrea and Olivieri, Lorenzo and Prendin, Jacopo and Sansone, Francesco and Savioli, Livia and Spinello, Fabio and Francesconi, Alessandro},
      title = {Data Retrieved by ARCADE-R2 Experiment On Board the BEXUS-17 Balloon},
      booktitle = {22nd ESA Symposium on European Rocket and Balloon Programmes and Related Research},
      year = {2015},
      volume = {730},
      pages = {349--357}
    }
    

13. Marco Barbetta, Alessandro Boesso, Francesco Branz, Andrea Carron, Lorenzo Olivieri, Jacopo Prendin, Gabriele Rodeghiero, Francesco Sansone, Livia Savioli, Fabio Spinello and others, “Autonomous Rendezvous, Control and Docking Experiment-Reflight 2,” in ESA/CNES Small Satellites Systems and Services Symposium, 2014. [BibTeX]

    @inproceedings{barbetta2014autonomous,
      author = {Barbetta, Marco and Boesso, Alessandro and Branz, Francesco and Carron, Andrea and Olivieri, Lorenzo and Prendin, Jacopo and Rodeghiero, Gabriele and Sansone, Francesco and Savioli, Livia and Spinello, Fabio and others},
      title = {Autonomous Rendezvous, Control and Docking Experiment-Reflight 2},
      booktitle = {ESA/CNES Small Satellites Systems and Services Symposium},
      year = {2014}
    }
    

14. Andrea Antonello, Francesco Sansone, Alessandro Francesconi, Ruggero Carli and Andrea Carron, “A novel approach to the simulation of on-orbit rendezvous and docking maneuvers in a laboratory environment through the aid of an anthropomorphic robotic arm,” in Metrology for Aerospace (MetroAeroSpace), 2014 IEEE, pp. 347-352, 2014. [BibTeX]

    @inproceedings{antonello2014novel,
      author = {Antonello, Andrea and Sansone, Francesco and Francesconi, Alessandro and Carli, Ruggero and Carron, Andrea},
      title = {A novel approach to the simulation of on-orbit rendezvous and docking maneuvers in a laboratory environment through the aid of an anthropomorphic robotic arm},
      booktitle = {Metrology for Aerospace (MetroAeroSpace), 2014 IEEE},
      year = {2014},
      pages = {347--352}
    }
    

15. Andrea Carron and Elisa Franco, “Receding horizon control of a two-agent system with competitive objectives,” in American Control Conference (ACC), 2013, pp. 2533-2538, 2013. [BibTeX]

    @inproceedings{carron2013receding,
      author = {Carron, Andrea and Franco, Elisa},
      title = {Receding horizon control of a two-agent system with competitive objectives},
      booktitle = {American Control Conference (ACC), 2013},
      year = {2013},
      pages = {2533--2538}
    }
    

16. Andrea Carron, Marco Todescato, Ruggero Carli and Luca Schenato, “Adaptive consensus-based algorithms for fast estimation from relative measurements,” in Estimation and Control of Networked Systems, vol. 4, no. 1, pp. 234-239, 2013. [BibTeX]

    @inproceedings{carron2013adaptive,
      author = {Carron, Andrea and Todescato, Marco and Carli, Ruggero and Schenato, Luca},
      title = {Adaptive consensus-based algorithms for fast estimation from relative measurements},
      booktitle = {Estimation and Control of Networked Systems},
      year = {2013},
      volume = {4},
      number = {1},
      pages = {234--239}
    }
    

17. Saverio Bolognani, Andrea Carron, Alberto Di Vittorio, Diego Romeres, Luca Schenato and Sandro Zampieri, “Distributed multi-hop reactive power compensation in smart micro-grids subject to saturation constraints,” in Decision and Control (CDC), 2012 IEEE 51st Annual Conference on, pp. 1118-1123, 2012. [BibTeX]

    @inproceedings{bolognani2012distributed,
      author = {Bolognani, Saverio and Carron, Andrea and Di Vittorio, Alberto and Romeres, Diego and Schenato, Luca and Zampieri, Sandro},
      title = {Distributed multi-hop reactive power compensation in smart micro-grids subject to saturation constraints},
      booktitle = {Decision and Control (CDC), 2012 IEEE 51st Annual Conference on},
      year = {2012},
      pages = {1118--1123}
    }