Let's see what happens this weekend,but at this moment, it will be very hard to totally say that these are the teams that will be relegated from these teams you have mentioned because each of them's performances have improved despite not winning matches like that; it seems their performances are on the same level. No one of these teams will like to relegate, but surely a mistake must come: one of the two teams must join the relegation zone and surely relegate. So let just wait and see the teams that will fail to meet up with points this weekend out of this three teams in same points.
I think, if Udinese really improves their performance to get wins in the remaining matches this season, then Cagliari who is in 14th position with 32 points, will also still be threatened. But indeed, basically Verona, Frosinone, Empoli are currently above the relegation zone with the same points as 31 points, and there is still Udinese who is in the relegation zone with 29 points, so of course their competition will still continue. Because of course, they will also do their best to stay in Serie A. Therefore, if one of them fails to get good results, then of course that team will fall into the relegation zone. But even so, it looks like their competition will continue until last match of the season.