Coordinated Control of Robotic Swarms in Unknown Environments

This thesis gathers the work carried out by the author in the last three years of research and it concerns the study and implementation of algorithms to coordinate and control a swarm of mobile robots moving in unknown environments. In particular, the author's attention is focused on two different approaches in order to solve two different problems. The first algorithm considered in this work deals with the possibility of decomposing a main complex task in many simple subtasks by exploiting the decentralized implementation of the so called \emph{Null Space Behavioral} paradigm. This approach to the problem of merging different subtasks with assigned priority is slightly modified in order to handle critical situations that can be detected when robots are moving through an unknown environment. In fact, issues can occur when one or more robots got stuck in local minima: a smart strategy to avoid deadlock situations is provided by the author and the algorithm is validated by simulative analysis. The second problem deals with the use of concepts borrowed from \emph{graph theory} to control a group differential wheel robots by exploiting the Laplacian solution of the consensus problem. Constraints on the swarm communication topology have been introduced by the use of a range and bearing platform developed at the Distributed Intelligent Systems and Algorithms Laboratory (DISAL), EPFL (Lausanne, CH) where part of author's work has been carried out. The control algorithm is validated by demonstration and simulation analysis and, later, is performed by a team of four robots engaged in a formation mission. To conclude, the capabilities of the algorithm based on the local solution of the consensus problem for differential wheel robots are demonstrated with an application scenario, where nine robots are engaged in a hunting task.

The genetic signature of Neolithic in Greece

The Neolithic is characterized by the transition from a subsistence economy, based on hunting and gathering, to one based on food producing. This important change was paralleled by one of the most significant demographic increase in the recent history of European populations. The earliest Neolithic sites in Europe are located in Greece. However, the debate regarding the colonization route followed by the Middle-eastern farmers is still open. Based on archaeological, archaeobotanical, craniometric and genetic data, two main hypotheses have been proposed. The first implies the maritime colonization of North-eastern Peloponnesus from Crete, whereas the second points to an island hopping route that finally brought migrants to Central Greece. To test these hypotheses using a genetic approach, 206 samples were collected from the two Greek regions proposed as the arrival point of the two routes (Korinthian district and Euboea). Expectations for each hypothesis were compared with empirical observations based on the analysis of 60 SNPs and 26 microsatellite loci of Y-chromosome and mitochondrial DNA hypervariable region I. The analysis of Y-chromosome haplogroups revealed a strong genetic affinity of Euboea with Anatolian and Middle-eastern populations. The inferences of the time since population expansion suggests an earlier usage of agriculture in Euboea. Moreover, the haplogroup J2a-M410, supposed to be associated with the Neolithic transition, was observed at higher frequency and variance in Euboea showing, for both these parameters, a decreasing gradient moving from this area. The time since expansion estimates for J2a-M410 was found to be compatible with the Neolithic and slightly older in Euboea. The analysis of mtDNA resulted less informative. However, a higher genetic affinity of Euboea with Anatolian and Middle-eastern populations was confirmed. These results taken as a whole suggests that the most probable route followed by Neolithic farmers during the colonization of Greece was the island hopping route.

Celti e Reti tra V e I sec. a.C. Oggetti tipo LaTène all'interno della cerchia culturale Fritzens-Sanzeno (arco alpino centro-orientale)

The study of the objects LaTène type found in middle-eastern alpine region (Trentino Alto Adige-Südtirol, Engadina, North Tirol, Voralberg and Villach basin) is aimed to a better comprehension of the complex net of relationships established among the Celts, settled both in the central Europe territories and, since the IV century b.C., in the Po Plain, and the local populations. The ancient authors, who called the inhabitants of this area Raeti, propose for this territory the usual pattern according to which, the population of a region was formed consequently to a migration or was caused by the hunting of pre-existing peoples. The archaeologists, in the last thirty years, recognized a cultural facies typical of the middle-eastern alpine territory during the second Iron Age, and defined that as Fritzens-Sanzeno culture (from the sites of Fritzens, Inn valley, and Sanzeno, Non Valley). The so-called Fritzens-Sanzeno culture spread out without breaks from the material culture of the final Bronze Age and the first Iron Age. This local substratum, characterized by a ceramic repertoire strongly standardized, by peculiar architectural solutions and by a particular typology of rural sacred places (Brandopferplätze), accepted, above all during the second Iron Age, the strong influences coming from the Etruscan world and from the Celtic one (evident in the presence of objects of ornament, of glass artefacts, of elements of the weaponry and of coins). The objects LaTène type become, with different degrees of reliability, important markers of the relationships existing between the Celts and the Raeti, although the ways of interaction (cultural influence, people's movements, commercial exchanges, gifts among élites etc.) is not still clear. The revision of published data and the study of unpublished materials allows to define a rich and articulated picture both to chronological level and to territorial one.

Il cane e l'uomo nella cultura e nel diritto dell'alto medioevo

Attraverso l’indagine di fonti altomedievali come le Leges dei barbari si è potuto valutare, da un punto di vista pragmatico e fattuale, l’intenzione umana – a volte incidentale e pure difficoltosa – di inquadrare e definire il rapporto con un animale domestico come il cane, che continua e si evolve tra Antichità ed Alto Medioevo e senza una cesura netta. Per completare il quadro culturale e storico-sociale della ricerca, oltre alla trattatistica antica e alla letteratura medievale sugli animali, si è passato in rassegna espressioni documentarie come i capitularia mundana ed ecclasiastica, che hanno destato ulteriore interesse in quanto in esse sussiste il riflesso di un’attenzione tutta “altomedievale” per il cane e per quell’attività che da millenni lega l’uomo a questo animale: la caccia. L’argomento venatorio presuppone l’associazione con il cane nella quasi totalità dei provvedimenti sulla caccia, trasmettendo testimonianze stimabili del connubio homo cum canibus. Ne risulta ora un’amicitia, ora un legame impedito come nelle continue interdizioni venatorie rivolte agli ecclesiastici, uomini – e donne – di Chiesa che andavano a caccia. Pur non fornendo le stesse informazioni minuziose sui cani delle Leggi dei barbari, i capitularia propongono suggestivi scorci di un mondo in cui la caccia, forse la sola attività attraverso cui uomo e cane condividono le medesime trepidazioni primordiali, non era violenza gratuita ma un fondamento della cultura, soprattutto, ma non solo, di ambito aristocratico.