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Gioele Zardini

Gioele Zardini
ETH Zurich | ETH Zürich · Department of Mechanical and Process Engineering

Master of Science

About

19
Publications
1,405
Reads
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32
Citations
Introduction
I am a Ph.D. Student in Prof. Emilio Frazzoli's group, at the Institute for Dynamic Systems and Control, ETH Zurich. I received my BSc. and MSc. in Mechanical Engineering with focus in Robotics and Control from ETH Zurich in 2017 and 2019, respectively. During my master's studies, I worked six months in Singapore at nuTonomy (former Aptiv, now Motional) and wrote my master's thesis at Stanford University, in Prof. Marco Pavone's Autonomous Systems Lab.

Publications

Publications (19)
Article
Challenged by urbanization and increasing travel needs, existing transportation systems need new mobility paradigms. In this article, we present the emerging concept of autonomous mobility-on-demand, whereby centrally orchestrated fleets of autonomous vehicles provide mobility service to customers. We provide a comprehensive review of methods and t...
Preprint
When designing autonomous systems, we need to consider multiple trade-offs at various abstraction levels, and the choices of single (hardware and software) components need to be studied jointly. In this work we consider the problem of designing the control algorithm as well as the platform on which it is executed. In particular, we focus on vehicle...
Article
Modern applications require robots to comply with multiple, often conflicting rules and to interact with the other agents. We present Posetal Games as a class of games in which each player expresses a preference over the outcomes via a partially ordered set of metrics. This allows one to combine hierarchical priorities of each player with the inter...
Preprint
Full-text available
Modern applications require robots to comply with multiple, often conflicting rules and to interact with the other agents. We present Posetal Games as a class of games in which each player expresses a preference over the outcomes via a partially ordered set of metrics. This allows one to combine hierarchical priorities of each player with the inter...
Preprint
Full-text available
Challenged by urbanization and increasing travel needs, existing transportation systems call for new mobility paradigms. In this article, we present the emerging concept of Autonomous Mobility-on-Demand, whereby centrally orchestrated fleets of autonomous vehicles provide mobility service to customers. We provide a comprehensive review of methods a...
Preprint
Full-text available
Lenses are an important tool in applied category theory. While individual lenses have been widely used in applications, many of the mathematical properties of the corresponding categories of lenses have remained unknown. In this paper, we study the category of small categories and asymmetric delta lenses, and prove that it has several good exactnes...
Preprint
Full-text available
Increasing urbanization and exacerbation of sustainability goals threaten the operational efficiency of current transportation systems and confront cities with complex choices with huge impact on future generations. At the same time, the rise of private, profit-maximizing Mobility Service Providers leveraging public resources, such as ride-hailing...
Preprint
Full-text available
A compositional sheaf-theoretic framework for the modeling of complex event-based systems is presented. We show that event-based systems are machines, with inputs and outputs, and that they can be composed with machines of different types, all within a unified, sheaf-theoretic formalism. We take robotic systems as an exemplar of complex systems and...
Preprint
Full-text available
Designing cyber-physical systems is a complex task which requires insights at multiple abstraction levels. The choices of single components are deeply interconnected and need to be jointly studied. In this work, we consider the problem of co-designing the control algorithm as well as the platform around it. In particular, we leverage a monotone the...
Preprint
Full-text available
We consider the problem of formally co-designing embodied intelligence as a whole, from hardware components such as chassis and sensors to software modules such as control and perception pipelines. We propose a principled approach to formulate and solve complex embodied intelligence co-design problems, leveraging a monotone co-design theory. The me...
Preprint
The design of future mobility solutions (autonomous vehicles, micromobility solutions, etc.) and the design of the mobility systems they enable are closely coupled. Indeed, knowledge about the intended service of novel mobility solutions would impact their design and deployment process, whilst insights about their technological development could si...
Preprint
Full-text available
A compositional sheaf-theoretic framework for the modeling of complex event-based systems is presented. We show that event-based systems are machines, with inputs and outputs, and that they can be composed with machines of different types, all within a unified, sheaf-theoretic formalism. We take robotic systems as an exemplar of complex systems and...
Preprint
Full-text available
The design of autonomous vehicles (AVs) and the design of AV-enabled mobility systems are closely coupled. Indeed, knowledge about the intended service of AVs would impact their design and deployment process, whilst insights about their technological development could significantly affect transportation management decisions. This calls for tools to...
Preprint
Full-text available
The design of Autonomous Vehicles (AVs) and the design of AVs-enabled mobility systems are closely coupled. Indeed, knowledge about the intended service of AVs would impact their design and deployment process, whilst insights about their technological development could significantly affect transportation management decisions. This calls for tools t...

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