arXiv subjects

Daniele Bortoluzzi

Publications and source records attributed to Daniele Bortoluzzi.

6 recordsLinked to original sources

arXiv2026

Exploiting Aggregate Programming in a Multi-Robot Service Prototype

Multi-robot systems are becoming increasingly relevant within diverse application domains, such as healthcare, exploration, and rescue missions. However, building such systems is still a significant challenge, since it adds the complexities of the physical nature of robots and their environments to those inherent in coordinating any distributed (multi-agent) system. Aggregate Programming (AP) has recently emerged as a promising approach to engineering resilient, distributed systems with proximity-based communication, and is notably supported by practical frameworks. In this paper we present a prototype of a multi-robot service system, which adopts AP for the design and implementation of its coordination software. The prototype has been validated both with simulations, and with tests in a University library.

cs.DC↗

arXiv2026

Lambdas at the Far Edge: a Tale of Flying Lambdas and Lambdas on Wheels

Aggregate Programming (AP) is a paradigm for programming the collective behaviour of sets of distributed devices, possibly situated at the network far edge, by relying on asynchronous proximity-based interactions. The eXchange Calculus (XC), a recently proposed foundational model for AP, is essentially a typed lambda calculus extended with an operator (the exchange operator) providing an implicit communication mechanism between neighbour devices. This paper provides a gentle introduction to XC and to its implementation as a C++ library, called FCPP. The FCPP library and toolchain has been mainly developed at the Department of Computer Science of the University of Turin, where Stefano Berardi spent most of his academic career conducting outstanding research about logical foundation of computer science and transmitting his passion for research to students and young researchers, often exploiting typed lambda calculi. An FCCP program is essentially a typed lambda term, and FCPP has been used to write code that has been deployed on devices at the far edge of the network, including rovers and (soon) Uncrewed Aerial Vehicles (UAVs); hence the title of the paper.

cs.DC↗

arXiv2021

Estimation of the electrostatic effects in the LISA-Pathfinder critical test mass dynamics via the method of moments

LISA-Pathfinder is an ESA space mission flown between 2015 and 2017 to demonstrate a technological maturity sufficient for building a gravitational waves telescope in space, such as the Laser Interferometer Space Antenna (LISA). A pair of cubic test masses is hosted inside the LISA-Pathfinder spacecraft and shielded from any force other than the interplanetary gravitational field. The purity of the shielding gives the performance of the mission. There are a number of aspects that had to be confirmed in-flight. One of them is the transition phase from the launch configuration, when the test masses are locked, to the science free-falling configuration. Each test mass is initially released from the mechanical constraints via a dedicated mechanism and then captured by an electrostatic control system. In fact, each test mass is surrounded by a set of electrodes for actuation and sensing purposes. The performance criterion of the release is the final velocity of the test mass relative to the spacecraft, with an upper threshold set to 5 $μm/s$. The LISA-Pathfinder first in-flight release velocities highlighted an unexpected dynamics with large linear and angular velocities. The electrostatic control was successful, but only relying on a manual procedure that cannot be considered as baseline for LISA. This paper helps investigating the in-flight non-compliance by dealing with the modeling of the electrostatic environment around each test mass and its contribution to the release and capture dynamics. The electrostatic model is based on the method of moments, a boundary element numerical technique suitable for estimating forces and capacitances between conductors. We also provide a short overview of the method, which can be used for the analysis of other phenomena within LISA and for the design of future gravitational waves telescopes and space projects.

astro-ph.IM↗

arXiv2019

LISA Pathfinder

Since the 2017 Nobel Prize in Physics was awarded for the observation of gravitational waves, it is fair to say that the epoch of gravitational wave astronomy (GWs) has begun. However, a number of interesting sources of GWs can only be observed from space. To demonstrate the feasibility of the Laser Interferometer Space Antenna (LISA), a future gravitational wave observatory in space, the LISA Pathfinder satellite was launched on December, 3rd 2015. Measurements of the spurious forces accelerating an otherwise free-falling test mass, and detailed investigations of the individual subsystems needed to achieve the free-fall, have been conducted throughout the mission. This overview article starts with the purpose and aim of the mission, explains satellite hardware and mission operations and ends with a summary of selected important results and an outlook towards LISA. From the LISA Pathfinder experience, we can conclude that the proposed LISA mission is feasible.

astro-ph.IM↗

arXiv2018

LISA Pathfinder Platform Stability and Drag-free Performance

The science operations of the LISA Pathfinder mission has demonstrated the feasibility of sub-femto-g free-fall of macroscopic test masses necessary to build a LISA-like gravitational wave observatory in space. While the main focus of interest, i.e. the optical axis or the $x$-axis, has been extensively studied, it is also of interest to evaluate the stability of the spacecraft with respect to all the other degrees of freedom. The current paper is dedicated to such a study, with a focus set on an exhaustive and quantitative evaluation of the imperfections and dynamical effects that impact the stability with respect to its local geodesic. A model of the complete closed-loop system provides a comprehensive understanding of each part of the in-loop coordinates spectra. As will be presented, this model gives very good agreements with LISA Pathfinder flight data. It allows one to identify the physical noise source at the origin and the physical phenomena underlying the couplings. From this, the performances of the stability of the spacecraft, with respect to its geodesic, are extracted as a function of frequency. Close to $1 mHz$, the stability of the spacecraft on the $X_{SC}$, $Y_{SC}$ and $Z_{SC}$ degrees of freedom is shown to be of the order of $5.0\ 10^{-15} m\ s^{-2}/\sqrt{Hz}$ for X and $4.0 \ 10^{-14} m\ s^{-2}/\sqrt{Hz}$ for Y and Z. For the angular degrees of freedom, the values are of the order $3\ 10^{-12} rad\ s^{-2}/\sqrt{Hz}$ for $Θ_{SC}$ and $3\ 10^{-13} rad\ s^{-2}/\sqrt{Hz}$ for $H_{SC}$ and $Φ_{SC}$.

astro-ph.IM↗

arXiv2017

Laser Interferometer Space Antenna

Following the selection of The Gravitational Universe by ESA, and the successful flight of LISA Pathfinder, the LISA Consortium now proposes a 4 year mission in response to ESA's call for missions for L3. The observatory will be based on three arms with six active laser links, between three identical spacecraft in a triangular formation separated by 2.5 million km. LISA is an all-sky monitor and will offer a wide view of a dynamic cosmos using Gravitational Waves as new and unique messengers to unveil The Gravitational Universe. It provides the closest ever view of the infant Universe at TeV energy scales, has known sources in the form of verification binaries in the Milky Way, and can probe the entire Universe, from its smallest scales near the horizons of black holes, all the way to cosmological scales. The LISA mission will scan the entire sky as it follows behind the Earth in its orbit, obtaining both polarisations of the Gravitational Waves simultaneously, and will measure source parameters with astrophysically relevant sensitivity in a band from below $10^{-4}\,$Hz to above $10^{-1}\,$Hz.

astro-ph.IM↗