This paper reports the results of a recently concluded R&D project, SCALS (Smart Cities Adaptive Lighting System), which aimed at the development of all hardware/software components of an adaptive urban smart lighting architecture allowing municipalities to manage and control public street lighting lamps. The system is capable to autonomously adjust street lamps’ brightness on the basis of the presence of vehicles (busses/trucks, cars, motorcycles and bikes) and/or pedestrians in specific areas or segments of the streets/roads of interest to reduce the energy consumption. The main contribution of this work is to design a low cost smart lighting system and, at same time, to define an IoT infrastructure where each lighting pole is an element of a network that can increase their amplitude. More generally, the proposed smart infrastructure can be viewed as the basis of a wider technological architecture aimed at offering value-added services for sustainable cities. The smart architecture combines various sub-systems (local controllers, motion sensors, video-cameras, weather sensors) and electronic devices, each of them in charge of performing specific operations: remote street segments lamp management, single street lamp brightness control, video processing for vehicles motion detection and classification, wireless and wired data exchanges, power consumptions analysis and traffic evaluation. Two pilot sites have been built up in the project where the smart architecture has been tested and validated in real scenarios. Experimental results show that energy savings of up to 80% are possible compared to a traditional street lamp system.

Over the last decade, the increased use of information and communication technology (ICT) in agriculture applications has led to the definition of the concept of precision farming or equivalently smart agriculture. In this respect, the latest progress in connectivity, automation, images analysis and artificial intelligence allow farmers to monitor all production phases and, due to the help of automatic procedures, determine better treatments for their farms. One of the main objectives of a smart agriculture system is to improve the yield of the field. From this point of view, the Internet of Things (IoT) paradigm plays a key role in precision farming applications due to the fact that the use of IoT sensors provides precise information about the health of the production. In this paper, the results of the recently concluded R&D project ENOTRIA TELLUS are reported. The project aimed at the development of all hardware/software components for implementing a precision farming architecture allowing the farmers to manage and monitor the vineyards’ health status. The smart architecture combines various sub-systems (web application, local controllers, unmanned aerial vehicles, multi-spectral cameras, weather sensors etc.) and electronic devices, each of them in charge of performing specific operations: remote data analysis, video processing for vegetation analysis, wireless data exchanges and weather and monitoring data evaluation. Two pilot sites were built where the smart architecture was tested and validated in real scenarios. Experimental activities show that the designed smart agriculture architecture allowed the farmers to properly schedule the various phases of cultivation and harvesting.

In underwater localization systems several sources of error may impact in different ways the accuracy of the final position estimates. Through simulations and statistical analysis it is possible to identify and characterize such sources of error and their relative importance. This is especially of use when an accurate localization system has to be designed within required accuracy prescriptions. This approach allows one to also investigate how much these sources of error influence the final position estimates achieved by an Extended Kalman Filter (EKF). This paper presents the results of experiments designed in a virtual environment used to simulate real acoustic underwater localization systems. The paper intends to analyze the main parameters that significantly influence the position estimates achieved by a Short Baseline (SBL) system. Specifically, the results of this analysis are presented for a proprietary localization system constituted by a surface platform equipped with four acoustic transducers used for the localization of an underwater target. The simulator here presented has the purpose of simulating the hardware system and modifying some of its design parameters, such as the base-line length and the errors on the GPS and Inertial Measurement Unit (IMU) units, in order to understand which parameters have to modify for improving the accuracy of the entire positioning system. It is shown that statistical analysis techniques can be of help in determining the best values of these parameters that permit to improve the performance of a real hardware system.

The relationship between estimating traffic flow and evaluating pollutant emissions lies in understanding how vehicular traffic patterns affect air quality. Traffic flow estimation is a complex field that involves a variety of analytical techniques to understand, predict, and manage the flow of vehicles on road networks. Different types of analyses commonly employed in this area are statistical analysis (e.g., descriptive statistics, inferential statistics, time series analysis), mathematical modeling (macroscopic models, microscopic models, mesoscopic models), computational methods (e.g., simulation modeling, machine learning, and AI techniques), geospatial analysis (e.g., geographic information systems (GISs), spatial data analysis), network analysis (e.g., graph theory and network flow models). In sensor network setups, the strategic placement of sensors is crucial, primarily due to the challenges posed by limited energy supplies, restricted storage capabilities, and the demands on processing and communication, all of which significantly impact maintenance costs and hardware limitations. To mitigate the burden on processing and communication, it is essential to deploy a limited number of sensors strategically. In practical applications, achieving an optimal layout of physical sensors (i.e., placing sensors within the network in such a way as to meet a specific optimality criterion, such as identifying the minimum number of sensors required to ensure the ability to design reliable state observers capable of reconstructing the network’s state based on the available data) is essential for the accurate monitoring of large-scale systems, including traffic flow or the distribution networks of water and gas. In the context of traffic systems, addressing the challenge of full link flow observability, that is, the ability to accurately monitor and assess the flow of entities (i.e., vehicles) across all the links or pathways within a network, entails selecting the smallest number of traffic sensors from a larger set to install. The goal is to choose a subset of p sensors, which may include redundancies, from a pool of $n>>p$ potential sensors. This is conducted to maintain the structural observability of the entire traffic network. This concept pertains to deducing the complete internal state (traffic volume on each road link in the network) from external outputs and inputs (measurements from sensors). The traditional concept of system observability serves as a criterion for sensor placement. This article presents the development of a simulated annealing heuristic to address the selection problem. The selected sensors are then applied to construct a Luenberger observer, a mathematical construct used in control theory to accurately estimate the internal state of a dynamic system based on its inputs and outputs. Numerical simulations are carried out to demonstrate the effectiveness of this method, and a performance analysis using a digital twin of a transport network, designed using the Aimsun Next software, are also carried out to assess traffic flow and associated pollutant emissions. In particular, we examine a traffic network comprising 21 roads. We address the sensor selection problem by identifying an optimal set of six sensors, which facilitates the design of a Luenberger observer. This observer enables the reconstruction of traffic flow across the network with minimal estimation error. Furthermore, by integrating this observer with data from the Aimsun Next software, we assess the pollutant emissions related to traffic flow. The results indicate a high accuracy in estimating pollutant levels.

This paper presents the design and validation of a model-based $H_{\infty }$ vehicle lateral controller for autonomous vehicles in a simulation environment. The controller was designed so that the position and orientation tracking errors are minimized and so that the vehicle is able to follow a trajectory computed in real-time by exploiting proper video-processing and lane-detection algorithms. From a computational point of view, the controller is obtained by solving a suitable LMI optimization problem and ensures that the closed-loop system is robust with respect to variations in the vehicle’s longitudinal speed. In order to show the effectiveness of the proposed control strategy, simulations have been undertaken by taking advantage of a co-simulation environment jointly developed in Matlab/Simulink © and Carsim 8 ©. The simulation activity shows that the proposed control approach allows for good control performance to be achieved.

This paper presents the design and implementation of BAICal (Intelligent Autonomous Buoy by the University of Calabria), an autonomous surface vehicle (ASV) developed at the Autonomous Systems Lab (LASA) of the Department of Computer Science, Modeling, Electronics, and Systems Engineering (DIMES), University of Calabria. The basic project was born as a research program in marine robotics with multiple applications, either in the sea or in lake/river environments, for data monitoring, search and rescue operations and diver support tasks. Mechanical and hardware designs are discussed by considering a three-degree-of-freedom (3DoF) dynamical model of the vehicle. An extension to the typical guidance, navigation, and control (GNC) software architecture is presented. The software design and the implementation of a manager module (M-GNC architecture) that allows the vehicle to autonomously coordinate missions are described. Indeed, autonomous guidance and movement are only one of several more complex tasks that mobile robots have to perform in a real scenario and that allow a long-term life cycle. Module-based software architecture is developed by using the Robot Operating System (ROS) framework that is suitable for different kinds of autonomous vehicles, such as aerial, ground, surface or underwater drones.