Fabio Morbidi

Nafiseh Jabbari Tofighi, Maxime Robic, Fabio Morbidi et al.

The advent of event-based cameras, with their low latency, high dynamic range, and reduced power consumption, marked a significant change in robotic vision and machine perception. In particular, the combination of these neuromorphic sensors with widely-available passive or active optical markers (e.g. AprilTags, arrays of blinking LEDs), has recently opened up a wide field of possibilities. This survey paper provides a comprehensive review on Event-Based Optical Marker Systems (EBOMS). We analyze the basic principles and technologies on which these systems are based, with a special focus on their asynchronous operation and robustness against adverse lighting conditions. We also describe the most relevant applications of EBOMS, including object detection and tracking, pose estimation, and optical communication. The article concludes with a discussion of possible future research directions in this rapidly-emerging and multidisciplinary field.

Fabio Morbidi

This paper studies a generalization of the standard continuous-time consensus protocol, obtained by replacing the Laplacian matrix of the communication graph with the so-called deformed Laplacian. The deformed Laplacian is a second-degree matrix polynomial in the real variable 's' which reduces to the standard Laplacian for 's' equal to unity. The stability properties of the ensuing deformed consensus protocol are studied in terms of parameter 's' for some special families of undirected and directed graphs, and for arbitrary graph topologies by leveraging the spectral theory of quadratic eigenvalue problems. Examples and simulation results are provided to illustrate our theoretical findings.