Alessandra De Rossi

Roberto Cavoretto, Alessandra De Rossi, Emma Perracchione et al.

In dynamical systems saddle points partition the domain into basins of attractions of the remaining locally stable equilibria. This problem is rather common especially in population dynamics models. Precisely, a particular solution of a dynamical system is completely determined by its initial condition and by the parameters involved in the model. Furthermore, when the omega limit set reduces to a point, the trajectory of the solution evolves towards the steady state. But, in case of multi-stability it is possible that several steady states originate from the same parameter set. Thus, in these cases the importance of accurately reconstruct the attraction basins follows. In this paper we focus on dynamical systems of ordinary differential equations presenting three stable equilibia and we design algorithms for the detection of the points lying on the manifolds determining the basins of attraction and for the reconstruction of such manifolds. The latter are reconstructed by means of the implicit partition of unity method which makes use of radial basis functions (RBFs) as local approximants. Extensive numerical test, carried out with a Matlab package made available to the scientific community, support our findings.

R. Cavoretto, A. De Rossi, E. Perracchione

In this paper we propose a new efficient interpolation tool, extremely suitable for large scattered data sets. The partition of unity method is used and performed by blending Radial Basis Functions (RBFs) as local approximants and using locally supported weight functions. In particular we present a new space-partitioning data structure based on a partition of the underlying generic domain in blocks. This approach allows us to examine only a reduced number of blocks in the search process of the nearest neighbour points, leading to an optimized searching routine. Complexity analysis and numerical experiments in two- and three-dimensional interpolation support our findings. Some applications to geometric modelling are also considered. Moreover, the associated software package written in \textsc{Matlab} is here discussed and made available to the scientific community.

Roberto Cavoretto, Alessandra De Rossi, Emma Perracchione

The Partition of Unity (PU) method, performed with local Radial Basis Function (RBF) approximants, has been proved to be an effective tool for solving large scattered data interpolation problems. However, in order to achieve a good accuracy, the question about how many points we have to consider on each local subdomain, i.e. how large can be the local data sets, needs to be answered. Moreover, it is well-known that also the shape parameter affects the accuracy of the local RBF approximants and, as a consequence, of the PU interpolant. Thus here, both the shape parameter used to fit the local problems and the size of the associated linear systems are supposed to vary among the subdomains. They are selected by minimizing an a priori error estimate. As evident from extensive numerical experiments and applications provided in the paper, the proposed method turns out to be extremely accurate also when data with non-homogeneous density are considered.

R. Cavoretto, A. De Rossi

In this paper we present an adaptive discretization technique for solving elliptic partial differential equations via a collocation radial basis function partition of unity method. In particular, we propose a new adaptive scheme based on the construction of an error indicator and a refinement algorithm, which used together turn out to be ad-hoc strategies within this framework. The performance of the adaptive meshless refinement scheme is assessed by numerical tests.

Giampietro Allasia, Roberto Cavoretto, Alessandra De Rossi

The Hermite-Birkhoff interpolation problem of a function given on arbitrarily distributed points on the sphere and other manifolds is considered. Each proposed interpolant is expressed as a linear combination of basis functions, the combination coefficients being incomplete Taylor expansions of the interpolated function at the interpolation points. The basis functions depend on the geodesic distance, are orthonormal with respect to the point-evaluation functionals, and have all derivatives equal zero up to a certain order at the interpolation points. A remarkable feature of such interpolants, which belong to the class of partition of unity methods, is that their construction does not require solving linear systems. Numerical tests are given to show the interpolation performance.

Roberto Cavoretto, Alessandra De Rossi, Emma Perracchione

In this paper we present a new algorithm for multivariate interpolation of scattered data sets lying in convex domains $Ω\subseteq \RR^N$, for any $N \geq 2$. To organize the points in a multidimensional space, we build a $kd$-tree space-partitioning data structure, which is used to efficiently apply a partition of unity interpolant. This global scheme is combined with local radial basis function approximants and compactly supported weight functions. A detailed description of the algorithm for convex domains and a complexity analysis of the computational procedures are also considered. Several numerical experiments show the performances of the interpolation algorithm on various sets of Halton data points contained in $Ω$, where $Ω$ can be any convex domain like a 2D polygon or a 3D polyhedron.

R. Cavoretto, A. De Rossi, G. E. Fasshauer et al.

The partition of unity (PU) method, performed with local radial basis function (RBF) approximants, has already been proved to be an effective tool for solving interpolation or collocation problems when large data sets are considered. It decomposes the original domain into several subdomains or patches so that only linear systems of relatively small size need to be solved. In research on such partition of unity methods, such subdomains usually consist of spherical patches of a fixed radius. However, for particular data sets, such as track data, ellipsoidal patches seem to be more suitable. Therefore, in this paper, we propose a scheme based on a priori error estimates for selecting the sizes of such variable ellipsoidal subdomains. We jointly solve for both these domain decomposition parameters and the anisotropic RBF shape parameters on each subdomain to achieve superior accuracy in comparison to the standard partition of unity method.

Roberto Cavoretto, Alessandra De Rossi, Roberta Freda et al.

Due to complexity and invisibility of human organs, diagnosticians need to analyze medical images to determine where the lesion region is, and which kind of disease is, in order to make precise diagnoses. For satisfying clinical purposes through analyzing medical images, registration plays an essential role. For instance, in Image-Guided Interventions (IGI) and computer-aided surgeries, patient anatomy is registered to preoperative images to guide surgeons complete procedures. Medical image registration is also very useful in surgical planning, monitoring disease progression and for atlas construction. Due to the significance, the theories, methods, and implementation method of image registration constitute fundamental knowledge in educational training for medical specialists. In this chapter, we focus on image registration of a specific human organ, i.e. the lung, which is prone to be lesioned. For pulmonary image registration, the improvement of the accuracy and how to obtain it in order to achieve clinical purposes represents an important problem which should seriously be addressed. In this chapter, we provide a survey which focuses on the role of image registration in educational training together with the state-of-the-art of pulmonary image registration. In the first part, we describe clinical applications of image registration introducing artificial organs in Simulation-based Education. In the second part, we summarize the common methods used in pulmonary image registration and analyze popular papers to obtain a survey of pulmonary image registration.

Alessandra De Rossi, Emma Perracchione

In this paper, we discuss the problem of constructing Radial Basis In this paper, we discuss the problem of constructing Radial Basis Function (RBF)-based Partition of Unity (PU) interpolants that are positive if data values are positive. More specifically, we compute positive local approximants by adding up several constraints to the interpolation conditions. This approach, considering a global approximation problem and Compactly Supported RBFs (CSRBFs), has been previously proposed. Here, the use of the PU technique enables us to intervene only locally and as a consequence to reach a better accuracy. This is also due to the fact that we select the optimal number of positive constraints by means of an a priori error estimate and we do not restrict to the use of CSRBFs. Numerical experiments and applications to population dynamics are provided to illustrate the effectiveness of the method in applied sciences.

Alessandra Rossi, Antonio Andriella, Silvia Rossi et al.

The aim of this workshop is to foster the exchange of insights on past and ongoing research towards effective and long-lasting collaborations between humans and robots. This workshop will provide a forum for representatives from academia and industry communities to analyse the different aspects of HRI that impact on its success. We particularly focus on AI techniques required to implement autonomous and proactive interactions, on the factors that enhance, undermine, or recover humans' acceptance and trust in robots, and on the potential ethical and legal concerns related to the deployment of such robots in human-centred environments. Website: https://sites.google.com/view/traits-hri-2022

Chiara Bosica, Roberto Cavoretto, Alessandra De Rossi et al.

The purpose of image registration is to determine a transformation such that the transformed version of the source image is similar to the target one. In this paper we focus on landmark-based image registration using radial basis functions (RBFs) transformations, in particular on the topology preservation of compactly supported radial basis functions (CSRBFs) transformations. In [1] the performances of Gneiting's and Wu's functions are compared with the ones of other well known schemes in image registration, as thin plate spline and Wendland's functions. Several numerical experiments and real-life cases with medical images show differences in accuracy and smoothness of the considered interpolation methods, which can be explained taking into account their topology preservation properties. Here we analyze analytically and experimentally the topology preservation performances of Gneiting's functions, comparing results with the ones obtained in [2], where Wendland's and Wu's functions are considered.

Roberto Cavoretto, Alessandra De Rossi, Adeeba Haider et al.

Kolmogorov-Arnold Networks (KANs) approximate multivariate functions using learnable univariate edge functions, typically parameterized by B-spline bases. Although effective, spline-based implementations can be computationally expensive. A modified version of KANs, called FastKAN, improves efficiency by replacing splines with Gaussian radial basis functions (RBFs), but it relies on a fixed kernel and shape parameter. In this work, we extend the RBF-based KAN framework by introducing a broader family of radial basis kernels and by initializing the kernel shape parameter using leave-one-out cross-validation (LOOCV). To the best of our knowledge, this is the first study that integrates LOOCV-based kernel scale estimation with deep KAN training. We also introduce Matérn and Wendland kernels into the KAN framework for the first time, enabling more flexible basis representations beyond the Gaussian kernel used in FastKAN. The LOOCV estimate provides a data-driven initialization of the kernel scale, which is subsequently refined during network training. The proposed adaptive RBF-KAN is evaluated on several two-dimensional benchmark functions. The results highlight the importance of kernel selection and adaptive shape parameters, with different kernels showing advantages for smooth functions, discontinuities, and oscillatory patterns. Overall, combining LOOCV-based initialization with adaptive kernel learning provides a practical strategy for improving RBF-based KAN models.

Alessandra De Rossi, Roberto Cavoretto, Emma Perracchione

In this paper the Partition of Unity Method (PUM) is efficiently performed using Radial Basis Functions (RBFs) as local approximants. In particular, we present a new space-partitioning data structure extremely useful in applications because of its independence from the problem geometry. Moreover, we study, in the context of wild herbivores in forests, an application of such algorithm. This investigation shows that the ecosystem of the considered natural park is in a very delicate situation, for which the animal population could become extinguished. The determination of the so-called sensitivity surfaces, obtained with the new fast and flexible interpolation tool, indicates some possible preventive measures to the park administrators.

Alessandra Rossi, Maria Di Maro, Antonio Origlia et al.

BRILLO (Bartending Robot for Interactive Long-Lasting Operations) project has the overall goal of creating an autonomous robotic bartender that can interact with customers while accomplishing its bartending tasks. In such a scenario, people's novelty effect connected to the use of an attractive technology is destined to wear off and, consequently, it negatively affects the success of the service robotics application. For this reason, providing personalised natural interaction while accessing its services is of paramount importance for increasing users' engagement and, consequently, their loyalty. In this paper, we present the developed three-layers ROS architecture integrating a perception layer managing the processing of different social signals, a decision-making layer for handling multi-party interactions, and an execution layer controlling the behaviour of a complex robot composed of arms and a face. Finally, user modelling through a beliefs layer allows for personalised interaction.

Alessandra Rossi, Patrick Holthaus, Sílvia Moros et al.

This workshop aimed for a deeper exploration of trust and acceptance in human-robot interaction (HRI) from a multidisciplinary perspective including robots' capabilities of sensing and perceiving other agents, the environment, and human-robot dynamics. The workshop was held online in conjunction with IEEE RO-MAN 2021 (see https://ro-man2021.org/). Three invited speakers and six position papers analysed/discussed different aspects of human-robot interaction that can affect, enhance, undermine, or recover humans' trust in robots, such as the use of social cues or behaviour transparency. The attendees of different backgrounds engaged in a dynamic conversation about the relevant challenges of effectively supporting the design and development of socially acceptable and trustable robots. Website: https://scrita.herts.ac.uk/2021/

Roberto Cavoretto, Alessandra De Rossi, Emma Perracchione et al.

In this paper we consider the problem of reconstructing separatrices in dynamical systems. In particular, here we aim at partitioning the domain approximating the boundaries of the basins of attraction of different stable equilibria. We start from the 2D case sketched in \cite{cavoretto11} and the approximation scheme presented in \cite{cavoretto11,C-D-P-V}, and then we extend the reconstruction scheme of separatrices in the cases of three dimensional models with two and three stable equilibria. For this purpose we construct computational algorithms and procedures for the detection and the refinement of points located on the separatrix manifolds that partition the phase space. The use of the so-called meshfree or meshless methods is used to reconstruct the separatrices.

R. Cavoretto, A. De Rossi, H. Qiao et al.

In image registration, a proper transformation should be topology preserving. Especially for landmark-based image registration, if the displacement of one landmark is larger enough than those of neighbourhood landmarks, topology violation will be occurred. This paper aim to analyse the topology preservation of some Radial Basis Functions (RBFs) which are used to model deformations in image registration. Matérn functions are quite common in the statistic literature (see, e.g. \cite{Matern86,Stein99}). In this paper, we use them to solve the landmark-based image registration problem. We present the topology preservation properties of RBFs in one landmark and four landmarks model respectively. Numerical results of three kinds of Matérn transformations are compared with results of Gaussian, Wendland's, and Wu's functions.

Roberto Cavoretto, Alessandra De Rossi, Emma Perracchione et al.

In dynamical systems saddle points partition the domain into basins of attractions of the remaining locally stable equilibria. This situation is rather common especially in population dynamics models, like prey-predator or competition systems. Focusing on squirrels population models with niche, in this paper we design algorithms for the detection and the refinement of points lying on the separatrix manifold partitioning the phase space. We consider both the two populations and the three populations cases. To reconstruct the separatrix curve and surface, we apply the Partition of Unity method, which makes use of Wendland's functions as local approximants.