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Paolo FALCONE

Professore Associato
Dipartimento di Ingegneria "Enzo Ferrari"


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Pubblicazioni

2022 - Optimal scheduling and control for constrained multi-agent networked control systems [Articolo su rivista]
Bahraini, M.; Zanon, M.; Colombo, A.; Falcone, P.
abstract

In this paper, we study optimal control and communication schedule co-design for multi-agent networked control systems, with assuming shared parallel communication channels and uncertain constrained linear time-invariant discrete-time systems. To that end, we specify the communication demand for each system using an associated robust control invariant set and reachability analysis. We use these communication demands and invariant sets to formulate tube-based model predictive control and offline/online communication schedule co-design problems. Since the scheduling part includes an infinite dimension integer problem, we propose heuristics to find suboptimal solutions that guarantee robust constraints satisfaction and recursive feasibility. The effectiveness of our approach is illustrated through numerical simulations.


2022 - Optimization-Based Coordination of Mixed Traffic at Unsignalized Intersections Based on Platooning Strategy [Relazione in Atti di Convegno]
Faris, M.; Falcone, P.; Sjoberg, J.
abstract

This paper considers a coordination problem for Connected and Automated Vehicles (CAVs) in mixed traffic at unsignalized intersections. In such a setting, the behavior of the Human-Driven Vehicles (HDVs) is difficult to predict, thus challenging the formulation and the solution of the coordination problem. To solve this problem, we propose a coordination strategy, where CAVs are used as both sensors and actuators in mixed platoons. A timeslot-based approach is used to coordinate the occupancy of the intersection and to compensate for the HDVs behavior. The proposed approach has a bi-level optimization structure built upon the Model Predictive Control (MPC) framework that decides the crossing order and computes the vehicles' commands. In simulations, we show that the choice of the HDV prediction model heavily affects the coordination by evaluating the performance of two different HDV models: car-following and constant velocity, where the latter demonstrates more consistent results in the presence of deviation of the HDVs' behavior from a nominal model.


2021 - A Robust Scenario MPC Approach for Uncertain Multi-Modal Obstacles [Articolo su rivista]
Batkovic, I.; Rosolia, U.; Zanon, M.; Falcone, P.
abstract

Motion planning and control algorithms for autonomous vehicles need to be safe, and consider future movements of other road users to ensure collision-free trajectories. In this letter, we present a control scheme based on Model Predictive Control (MPC) with robust constraint satisfaction where the constraint uncertainty, stemming from the road users' behavior, is multimodal. The method combines ideas from tube-based and scenario-based MPC strategies in order to approximate the expected cost and to guarantee robust state and input constraint satisfaction. In particular, we design a feedback policy that is a function of the disturbance mode and allows the controller to take less conservative actions. The effectiveness of the proposed approach is illustrated through two numerical simulations, where we compare it against a standard robust MPC formulation.


2021 - A Semidistributed Interior Point Algorithm for Optimal Coordination of Automated Vehicles at Intersections [Articolo su rivista]
Hult, R.; Zanon, M.; Gros, S.; Falcone, P.
abstract

In this article, we consider the optimal coordination of automated vehicles at intersections under fixed crossing orders. We formulate the problem using direct optimal control and exploit the structure to construct a semidistributed primal-dual interior-point algorithm to solve it by parallelizing most of the computations. Differently from standard distributed optimization algorithms, where the optimization problem is split, in our approach we split the linear algebra steps, such that the algorithm takes the same steps as a fully centralized one, while still performing computations in a distributed fashion. We analyze the communication requirements of the algorithm, and propose an approximation scheme which can significantly reduce the data exchange. We demonstrate the effectiveness of the algorithm in hard but realistic scenarios, which show that the approximation leads to reductions in communicated data of almost 99% of the exact formulation, at the expense of less than 1% suboptimality.


2021 - Cooperative Intersection Crossing Over 5G [Articolo su rivista]
Maria Castiglione, Luca; Falcone, Paolo; Petrillo, Alberto; Pietro Romano, Simon; Santini, Stefania
abstract


2021 - Modelling and Control of Test-Scenarios for Validation of Autonomous Driving Functions [Relazione in Atti di Convegno]
Acosta, Am; Falcone, P
abstract

This paper presents a modelling and control framework for the coordination of leader-follower, multi-agent mobile systems, where the followers have to coordinate with a leading agent that is externally controlled. The problem setting is motivated by an experimental validation problem for a passenger vehicle (the leader), which has to be exposed to a traffic scenario by controlling a number of mobile test-targets (the followers) resembling the surrounding road users. The proposed control approach, which builds on reachability analysis and predictive control, allows to control the followers through the stages of the scenario, while satisfying the constraints imposed by the physical limitations of the followers, provided that the motion of the leader complies with certain bounds. Simulation results illustrate the proposed framework.


2021 - Optimal Control Design for Perturbed Constrained Networked Control Systems [Articolo su rivista]
Bahraini, M.; Zanon, M.; Colombo, A.; Falcone, P.
abstract

This letter focuses on an optimal control design problem for a class of perturbed networked control systems where a number of systems, subject to state and input constraints, share a communication network with limited bandwidth. We first formulate an optimal control design problem with a constant feedback gain in order to minimize the communication demand for each system while guaranteeing satisfaction of state and input constraints; we show that this optimization problem is very hard to solve. Then, we formulate the same optimal control design problem with a non-constant feedback gain; we argue that this problem is less difficult and results in a lower, or equal, communication demand in comparison to the design with the constant feedback gain. We illustrate and compare these optimal control designs by a simple example.


2021 - Scheduling and Robust Invariance in Networked Control Systems [Articolo su rivista]
Bahraini, M.; Zanon, M.; Falcone, P.; Colombo, A.
abstract

In Networked Control Systems (NCS), impairments of the communication channel can be disruptive to stability and performance. In this paper, we consider the problem of scheduling the access to limited communication resources for a number of decoupled systems subject to state and input constraints, whose loops need to be closed over the network. The schedule must be designed to robustly preserve the invariance property of each system, which in turn guarantees constraint satisfaction. To that end, we first focus on systematic offline scheduling design to preserve robust invariance, and afterwards on online scheduling design with the aim of improving performance and compensating for packet losses while guaranteeing recursive schedulability.


2020 - Computation of robust control invariant sets with predefined complexity for uncertain systems [Articolo su rivista]
Gupta, A.; Koroglu, H.; Falcone, P.
abstract

This paper presents an algorithm that computes polytopic robust control-invariant (RCI) sets for rationally parameter-dependent systems with additive disturbances. By means of novel linear matrix inequalities (LMI) feasibility conditions for invariance along with a newly developed method for volume maximization, an iterative algorithm is proposed for the computation of RCI sets with maximized volumes. The obtained RCI sets are symmetric around the origin by construction and have a user-defined level of complexity. Unlike many similar approaches, the proposed algorithm directly computes the RCI sets without requiring control inputs to be in a specific feedback form. In fact, a specific control input is obtained from the LMI problem for each extreme point of the RCI set. The outcomes of the proposed algorithm can be used to construct a piecewise-affine controller based on offline computations.


2020 - Experimental Validation of a Semi-Distributed SQP Method for Optimal Coordination of Automated Vehicles at Intersections [Articolo su rivista]
Hult, Robert; Zanon, Mario; Frison, Gianluca; Gros, Sébastien; Falcone, Paolo
abstract


2020 - Optimization-based Coordination of Connected, Automated Vehicles at Intersections [Articolo su rivista]
Hult, Robert; Mario, Zanon; Gros, Sébastien; Wymeersch, Henk; Falcone, Paolo
abstract


2020 - ParkPredict: Motion and Intent Prediction of Vehicles in Parking Lots [Relazione in Atti di Convegno]
Shen, X.; Batkovic, I.; Govindarajan, V.; Falcone, P.; Darrell, T.; Borrelli, F.
abstract

We investigate the problem of predicting driver behavior in parking lots, an environment which is less structured than typical road networks and features complex, interactive maneuvers in a compact space. Using the CARLA simulator, we develop a parking lot environment and collect a dataset of human parking maneuvers. We then study the impact of model complexity and feature information by comparing a multi-modal Long Short-Term Memory (LSTM) prediction model and a Convolution Neural Network LSTM (CNN-LSTM) to a physics-based Extended Kalman Filter (EKF) baseline. Our results show that 1) intent can be estimated well (roughly 85% top-1 accuracy and nearly 100% top-3 accuracy with the LSTM and CNN-LSTM model); 2) knowledge of the human driver's intended parking spot has a major impact on predicting parking trajectory; and 3) the semantic representation of the environment improves long term predictions.


2020 - Platoon Control based on Predecessor and Delayed Leader Information via Minimized Headway Times [Relazione in Atti di Convegno]
Köroğlu, Hakan; Falcone, Paolo
abstract


2020 - Tree-Structured Polyhedral Invariant Set Calculations [Articolo su rivista]
Klintberg, Emil; Nilsson, Magnus; Gupta, Ankit; Mårdh Lars, Johannesson; Falcone, Paolo
abstract


2019 - A Data-driven Markovian Framework for Multi-agent Pedestrian Collision Risk Prediction [Relazione in Atti di Convegno]
Toytziaridis, Angelos; Falcone, Paolo; Sjöberg, Jonas
abstract


2019 - A Framework for Vehicle Lateral Motion Control With Guaranteed Tracking and Performance [Relazione in Atti di Convegno]
Gupta, Ankit; Nilsson, Magnus; Falcone, Paolo; Klintberg, Emil; Johannesson Mårdh, Lars
abstract


2019 - Computation of low-complexity control-invariant sets for systems with uncertain parameter dependence [Articolo su rivista]
Gupta, Ankit; Köroğlu, Hakan; Falcone, Paolo
abstract


2019 - Design and experimental validation of a distributed interaction protocol for connected autonomous vehicles at a road intersection [Articolo su rivista]
Di Vaio, Marco; Falcone, Paolo; Hult, Robert; Petrillo, Alberto; Salvi, Alessandro; Santini, Stefania
abstract


2019 - Full-complexity characterization of control-invariant domains for systems with uncertain parameter dependence [Articolo su rivista]
Gupta, Ankit; Falcone, Paolo
abstract


2019 - Optimal coordination of automated vehicles at intersections with turns [Relazione in Atti di Convegno]
Hult, Robert; Zanon, Mario; Gros, Sébastien; Falcone, Paolo
abstract


2019 - Optimal coordination of automated vehicles at intersections: Theory and experiments [Articolo su rivista]
Hult, Robert; Zanon, Mario; Gros, Sebastien; Falcone, Paolo
abstract


2019 - Real-time constrained trajectory planning and vehicle control for proactive autonomous driving with road users [Relazione in Atti di Convegno]
Batkovic, Ivo; Zanon, Mario; Ali, Mohammad; Falcone, Paolo
abstract


2019 - Receding-horizon robust online communication scheduling for constrained networked control systems [Relazione in Atti di Convegno]
Bahraini, Masoud; Zanon, Mario; Colombo, Alessandro; Falcone, Paolo
abstract


2018 - A computationally efficient model for pedestrian motion prediction [Relazione in Atti di Convegno]
Batkovic, Ivo; Zanon, Mario; Lubbe, Nils; Falcone, Paolo
abstract


2018 - An MIQP-based heuristic for Optimal Coordination of Vehicles at Intersections [Relazione in Atti di Convegno]
Hult, Robert; Zanon, Mario; Gros, Sebastien; Falcone, Paolo
abstract


2018 - Collision-aware communication for intersection management of automated vehicles [Articolo su rivista]
Erik, Steinmetz; Robert, Hult; Zhenhua, Zou; Ragne, Emardson; Brännström, Fredrik; Falcone, Paolo
abstract


2018 - Design and experimental validation of a cooperative driving control architecture for the grand cooperative driving challenge 2016 [Articolo su rivista]
Hult, Robert; Sancar Feyyaz, Emre; Jalalmaab, Mehdi; Vijayan, Arun; Severinson, Albin; Di Vaio, Marco; Falcone, Paolo; Fidan, Baris; Santini, Stefania
abstract


2018 - Energy-optimal coordination of autonomous vehicles at intersections [Relazione in Atti di Convegno]
Hult, Robert; Zanon, Mario; Gros, Sébastien; Falcone, Paolo
abstract


2018 - Experimental Validation of Distributed Optimal Vehicle Coordination [Relazione in Atti di Convegno]
Zanon, Mario; Hult, Robert; Gros, Sébastien; Falcone, Paolo
abstract


2018 - How to Stop Disagreeing and Start Cooperatingin the Presence of Asymmetric Packet Loss [Articolo su rivista]
Morales-Ponce, Oscar; Schiller Elad, M; Falcone, Paolo
abstract


2018 - Low-complexity explicit mpc controller for vehicle lateral motion control [Relazione in Atti di Convegno]
Gupta, Ankit; Falcone, Paolo
abstract


2018 - Measurement scheduling for control invariance in networked control systems [Relazione in Atti di Convegno]
Colombo, Alessandro; Bahraini, Masoud; Falcone, Paolo
abstract


2018 - Optimal scheduling of downlink communication for a multi-agent system with a central observation post [Articolo su rivista]
Zanon, Mario; Charalambous, Themistoklis; Wymeersch, Henk; Falcone, Paolo
abstract


2018 - Platoon Control Under a Novel Leader and Predecessor Following Scheme With the Use of an Advanced Aerodynamic Model [Articolo su rivista]
Köroğlu, Hakan; Maryam, Mirzaei; Falcone, Paolo; Siniša, Krajnović
abstract


2017 - An asynchronous algorithm for optimal vehicle coordination at traffic intersections [Relazione in Atti di Convegno]
Zanon, Mario; Gros, Sébastien; Wymeersch, Henk; Falcone, Paolo
abstract


2017 - Guaranteeing persistent feasibility of model predictive motion planning for autonomous vehicles [Relazione in Atti di Convegno]
Jalalmaab, Mehdi; Fidan, Baris; Jeon, Soo; Falcone, Paolo
abstract


2017 - On the Resource Allocation Problem in Wireless Networked Control Systems [Relazione in Atti di Convegno]
Themistoklis, Charalambous; Ayca, Ozcelikkale; Zanon, Mario; Falcone, Paolo; Wymeersch, Henk
abstract


2017 - Restricted-complexity characterization of control-invariant domains with application to lateral vehicle dynamics control [Relazione in Atti di Convegno]
Ankit, Gupta; Köroğlu, Hakan; Falcone, Paolo
abstract


2017 - Robust static output feedback synthesis for platoons under leader and predecessor feedback [Articolo su rivista]
Köroğlu, Hakan; Falcone, Paolo
abstract


2017 - Traffic Coordination at Road Intersections: Autonomous Decision-Making Algorithms Using Model-Based Heuristics [Articolo su rivista]
De Campos, G. R.; Falcone, P.; Hult, R.; Wymeersch, H.; Sjoberg, J.
abstract

This article focuses on the traffic coordination problem at traffic intersections. We present a decentralized coordination approach, combining optimal control with model-based heuristics. We show how model-based heuristics can lead to low-complexity solutions that are suitable for a fast online implementation, and analyze its properties in terms of efficiency, feasibility and optimality. Finally, simulation results for different scenarios are also presented.


2016 - Coordination of cooperative autonomous vehicles: Toward safer and more efficient road transportation [Articolo su rivista]
Hult, Robert; Campos Gabriel, R; Steinmetz, Erik; Hammarstrand, Lars; Falcone, Paolo; Wymeersch, Henk
abstract


2016 - Coordination of motion actuators in heavy vehicles using Model Predictive Control Allocation [Relazione in Atti di Convegno]
Sinigaglia, Andrea; Tagesson, Kristoffer; Falcone, Paolo; Jacobson, Bengt
abstract


2016 - Design, analysis, and experimental validation of a distributed protocol for platooning in the presence of time-varying heterogeneous delays [Articolo su rivista]
di Bernardo, Mario; Falcone, Paolo; Salvi, Alessandro; Santini, Stefania
abstract


2016 - Primal decomposition of the optimal coordination of vehicles at traffic intersections [Relazione in Atti di Convegno]
Hult, Robert; Zanon, Mario; Gros, Sèbastien; Falcone, Paolo
abstract


2016 - Vehicle lateral motion control with performance and safety guarantees [Relazione in Atti di Convegno]
Falcone, Paolo; Ni, Lei; Gupta, Ankit; Johannesson, Lars
abstract


2015 - A control matching model predictive control approach to string stable vehicle platooning [Articolo su rivista]
Kianfar, Roozbeh; Falcone, Paolo; Fredriksson, Jonas
abstract


2015 - A cooperative conflict resolution technique for traffic intersections [Relazione in Atti di Convegno]
de Campos Gabriel, Rodrigues; Falcone, Paolo; Jonas, Sjöberg
abstract


2015 - A novel technique for very accurate three-dimensional monitoring of structural vibrations and displacement by remote radar sensors [Relazione in Atti di Convegno]
Giunta, G.; Monti-Guarnieri, A.; D'Aria, D.; Speziali, F.; Falcone, P.; Maggi, L.; Amoroso, G.
abstract

The possibility of remotely sensing vibrations and displacements of industrial and civil infrastructures by exploiting electro-magnetic energy, has received new interest in the last years. In fact, preliminary experiments demonstrate that such a technique, not yet being fully investigated, is quite promising and could provide very accurate results with respect to the system currently being used (e.g. accelerometers). In fact, a radar sensor is able to provide a very accurate estimation of the Line of Sight displacements by continuously monitoring the distance between targets lying on the structures, and radar itself. This paper provides an insight into the potentialities of such a technique for accurate three-dimensional monitoring of structural vibrations and displacements.


2015 - Advanced three dimensional monitoring of structural vibrations and displacements by remote radar sensing [Relazione in Atti di Convegno]
Giunta, G.; Monti-Guarnieri, A.; D'Aria, D.; Speziali, F.; Falcone, P.; Maggi, L.; Amoroso, G.
abstract

The possibility of remotely sensing vibrations and displacements of industrial and civil infrastructures by exploiting electro-magnetic energy, has received new interest in the last years. In fact, preliminary experiments demonstrate that such a technique, not yet being fully investigated, is quite promising and could provide very accurate results with respect to the system currently being used (e.g. accelerometers). In fact, a radar sensor is able to provide a very accurate estimation of the Line of Sight displacements by continuously monitoring the distance between targets lying on the structures, and radar itself. This paper provides an insight into the potentialities of such a technique for accurate three-dimensional monitoring of structural vibrations and displacements.


2015 - An approximate solution to the optimal coordination problem for autonomous vehicles at intersections [Relazione in Atti di Convegno]
Hult, Robert; Campos Gabriel, R; Falcone, Paolo; Wymeersch, Henk
abstract


2015 - Challenges for cooperative ITS: Improving road safety through the integration of wireless communications, control, and positioning [Relazione in Atti di Convegno]
Wymeersch, Henk; Rodrigues de Campos, Gabriel; Falcone, Paolo; Svensson, Lennart; Ström, Erik G.
abstract


2015 - Model predictive path planning with time-varying safety constraints for highway autonomous driving [Relazione in Atti di Convegno]
Jalalmaab, Mehdi; Fidan, Baris; Jeon, Soo; Falcone, Paolo
abstract


2015 - Receding horizon maneuver generation for automated highway driving [Articolo su rivista]
Nilsson, Julia; Falcone, Paolo; Ali, Mohammad; Jonas, Sjöberg
abstract


2015 - Robust static output feedback synthesis under an integral quadratic constraint on the states [Relazione in Atti di Convegno]
Köroğlu, Hakan; Scherer, Carsten; Falcone, Paolo
abstract


2015 - Safe transitions from automated to manual driving using driver controllability estimation [Articolo su rivista]
Nilsson, Josef; Falcone, Paolo; Vinter, Jonny
abstract


2015 - Traffic safety at intersections: a priority based approach for cooperative collision avoidance [Relazione in Atti di Convegno]
R Campos, Gabriel; Falcone, Paolo; Sjöberg, Jonas
abstract


2014 - A control matching-based predictive approach to string stable vehicle platooning [Relazione in Atti di Convegno]
Kianfar, Roozbeh; Falcone, Paolo; Fredriksson, Jonas
abstract


2014 - Collision avoidance at intersections: A probabilistic threat-assessment and decision-making system for safety interventions [Relazione in Atti di Convegno]
de Campos Gabriel, R; Runarsson Adam, H; Granum, Fredrik; Falcone, Paolo; Alenljung, Klas
abstract


2014 - Combined longitudinal and lateral control design for string stable vehicle platooning within a designated lane [Relazione in Atti di Convegno]
Kianfar, Roozbeh; Ali, Mohammad; Falcone, Paolo; Fredriksson, Jonas
abstract


2014 - Communication analysis for centralized intersection crossing coordination [Relazione in Atti di Convegno]
Steinmetz, Erik; Hult, Robert; de Campos Gabriel, Rodrigues; Wildemeersch, Matthias; Falcone, Paolo; Wymeersch, Henk
abstract


2014 - Controller synthesis for a homogenous platoon under leader and predecessor following scheme [Relazione in Atti di Convegno]
Köroğlu, Hakan; Falcone, Paolo
abstract


2014 - Cooperation with disagreement correction in the presence of communication failures [Relazione in Atti di Convegno]
Morales-Ponce, Oscar; Schiller Elad, M; Falcone, Paolo
abstract


2014 - Cooperative receding horizon conflict resolution at traffic intersections [Relazione in Atti di Convegno]
Campos Gabriel, R; Falcone, Paolo; Wymeersch, Henk; Hult, Robert; Jonas, Sjöberg
abstract


2014 - Joint synthesis of dynamic feed-forward and static state feedback for platoon control [Relazione in Atti di Convegno]
Koroglu, Hakan; Falcone, Paolo
abstract


2014 - New LMI conditions for static output feedback synthesis with multiple performance objectives [Relazione in Atti di Convegno]
Köroğlu, Hakan; Falcone, Paolo
abstract


2014 - State feedback synthesis for homogenous platoons under the leader and predecessor following scheme [Relazione in Atti di Convegno]
Köroğlu, Hakan; Falcone, Paolo
abstract


2013 - A distributed model predictive control approach to active steering control of string stable cooperative vehicle platoon [Relazione in Atti di Convegno]
Kianfar, Roozbeh; Falcone, Paolo; Fredriksson, Jonas
abstract


2013 - Autonomous cooperative driving: a velocity-based negotiation approach for intersection crossing [Relazione in Atti di Convegno]
de Campos Gabriel, Rodrigues; Falcone, Paolo; Jonas, Sjöberg
abstract


2013 - Driver performance in the presence of adaptive cruise control related failures: Implications for safety analysis and fault tolerance [Relazione in Atti di Convegno]
Nilsson, Josef; Strand, Niklas; Falcone, Paolo; Vinter, Jonny
abstract


2013 - Low speed maneuvering assistance for long vehicle combinations [Relazione in Atti di Convegno]
Hoel, Carl-Johan; Falcone, Paolo
abstract


2013 - Online driver behavior classification using probabilistic ARX models [Relazione in Atti di Convegno]
Sundbom, Malin; Falcone, Paolo; Jonas, Sjöberg
abstract


2013 - Predictive manoeuvre generation for automated driving [Relazione in Atti di Convegno]
Nilsson, Julia; Ali, Mohammad; Falcone, Paolo; Jonas, Sjöberg
abstract


2013 - Safety verification of automated driving systems [Articolo su rivista]
Kianfar, Roozbeh; Falcone, Paolo; Fredriksson, Jonas
abstract


2012 - Design and experimental validation of a cooperative driving system in the grand cooperative driving challenge [Articolo su rivista]
Kianfar, Roozbeh; Augusto, Bruno; Ebadighajari, Alireza; Hakeem, Usman; Nilsson, Josef; Raza, Ali; Tabar Reza, S; Irukulapati Naga, Vishnukanth; Englund, Cristofer; Falcone, Paolo; Stylianos, Papanastasiou; Lennart, Svensson; Henk, Wymeersch
abstract


2012 - Energy recuperation in fully electric vehicles subject to stability and drivability requirements [Relazione in Atti di Convegno]
Ólafsdóttir Jóna, Marín; Lidberg, Mathias; Falcone, Paolo; Iersel Sven, Van; Jansen, Sven
abstract


2012 - Predictive prevention of loss of vehicle control for roadway departure avoidance [Articolo su rivista]
Ali, Mohammad; Falcone, Paolo; Olsson, Claes; Sjoberg, Jonas
abstract


2012 - Reachability analysis of cooperative adaptive cruise controller [Relazione in Atti di Convegno]
Kianfar, Roozbeh; Falcone, Paolo; Fredriksson, Jonas
abstract


2012 - Threat assessment design under driver parameter uncertainty [Relazione in Atti di Convegno]
Ali, Mohammad; Falcone, Paolo; Sjöberg, Jonas
abstract


2011 - A receding horizon approach to string stable cooperative adaptive cruise control [Relazione in Atti di Convegno]
Kianfar, Roozbeh; Falcone, Paolo; Jonas, Fredriksson
abstract


2011 - Control and state estimation for energy recuperation in fully electric vehicles [Working paper]
Falcone, P; Lidberg, M; Òlafsdöttir, Jm; Jansen, Sth; van Iersel, S
abstract


2011 - Corrigendum to the paper "Linear Time Varying Model Predictive Control and its Application to Active Steering Systems: Stability Analysis and Experimental Validation" [Articolo su rivista]
Falcone, P; Borrelli, F; Asgari, J; Tseng, EH; Hrovat, D
abstract


2011 - Model-based threat assessment for lane guidance systems [Relazione in Atti di Convegno]
Ali, Mohammad; Falcone, Paolo; Jonas, Sjöberg
abstract


2011 - Model-based threat assessment in semi-autonomous vehicles with model parameter uncertainties [Relazione in Atti di Convegno]
Ali, M.; Falcone, P.; Sjoberg, J.
abstract

In this paper, we consider model-based threat assessment methods which rely on vehicle and driver mathematical models and are based on reachability analysis tools and set invariance theory. We focus on the parametric uncertainties of the driver mathematical model and show how these can be accounted for in the threat assessment. The novelty of the proposed methods lies in the inclusion of the driver model uncertainties in the threat assessment problem formulation and in their validation through experimental data. We show how different ways of accounting for the model uncertainties impact the capabilities and the effectiveness of the proposed algorithms in detecting hazardous driving situations. © 2011 IEEE.


2011 - Predictive threat assessment via reachability analysis and set invariance theory [Articolo su rivista]
Falcone, Paolo; Ali, Mohammad; Sjoberg, Jonas
abstract


2010 - Driver models to increase the potential of automotive active safety functions [Relazione in Atti di Convegno]
Sjöberg, J.; Coelingh, E.; Ali, M.; Brännström, M.; Falcone, P.
abstract


2010 - Experimental validation of nonlinear predictive algorithms for steering and braking coordination in limit handling maneuvers [Relazione in Atti di Convegno]
Falcone, Paolo; Borrelli, Francesco; Eric Tseng, H; Hrovat, Davor
abstract


2010 - On low complexity predictive approaches to control of autonomous vehicles [Capitolo/Saggio]
Falcone, Paolo; Borrelli, Francesco; Tseng Eric, H; Hrovat, Davor
abstract


2010 - Predictive yaw and lateral control in long heavy vehicles combinations [Relazione in Atti di Convegno]
Keshavarz Bahaghighat, M; Kharrazi, Sogol; Lidberg, Mathias; Falcone, Paolo; Bradschofield,
abstract


2010 - Set-Based Threat Assessment in Lane Guidance Applications [Relazione in Atti di Convegno]
Falcone, Paolo; Ali, Mohammad; Jonas, Sjöberg
abstract


2009 - A reference governor approach for constrained piecewise affine systems [Relazione in Atti di Convegno]
Falcone, Paolo; Borrelli, Francesco; Pekar, Jaroslav; Stewart, Greg
abstract


2009 - Experimental validation of integrated steering and braking model predictive control [Articolo su rivista]
Falcone, Paolo; Borrelli, Francesco; Tseng, H Eric; Asgari, Jahan; Hrovat, Davor
abstract


2009 - Predictive approaches to rear axle regenerative braking control in hybrid vehicles [Relazione in Atti di Convegno]
Falcone, P.; Pakazad, S. K.; Solyom, S.
abstract

We consider the problem of rear axle regenerative braking maximization in hybrid vehicles.We focus on cornering maneuvers on low friction surfaces, where excessive braking at the rear axle might induce vehicle instability. We present and compare two predictive control approaches, where the objective is maximizing the regenerative braking and distributing the friction braking at the four wheels, while (i) delivering the braking force requested by the driver, (ii) preserving vehicle stability and (iii) fulfilling system constraints, e.g., bounds on regenerative braking set by the hybrid powertrain. We present simulation results in combined braking and cornering manoeuvres, showing that the proposed approaches are able to effectively balance regenerative and friction braking, while preserving vehicle stability. ©2009 IEEE.


2009 - Reference governor for constrained piecewise affine systems [Articolo su rivista]
Borrelli, Francesco; Falcone, Paolo; Pekar, Jaroslav; Stewart, Greg
abstract


2009 - Regenerative Braking and Yaw Dynamics Optimal Control in Hybrid Vehicles [Relazione in Atti di Convegno]
Falcone, Paolo; Khoshfetrat Pakazad, Sina; Solyom, Stefan; Tseng, H Eric
abstract


2009 - Yaw control via combined braking and steering [Relazione in Atti di Convegno]
Vanek, Bàlint; Kulcsar, Balazs; Falcone, Paolo; Balas, Gary
abstract


2008 - A brief paper on improving active safety systems via hmi and dependability analysis [Relazione in Atti di Convegno]
Nilsson, Josef; Falcone, Paolo; Vinter, Jonny; Sjoberg, J; Nilsson, Lena; Jacobson, Jan
abstract


2008 - A hierarchical model predictive control framework for autonomous ground vehicles [Relazione in Atti di Convegno]
Falcone, Paolo; Borrelli, Francesco; Tseng, H Eric; Asgari, Jahan; Hrovat, Davor
abstract


2008 - A preliminary study on the effects of roll dynamics in predictive vehicle stability control [Relazione in Atti di Convegno]
Palmieri, Giovanni; Falcone, Paolo; Tseng, H Eric; Glielmo, Luigi
abstract


2008 - Adaptive output-feedback control of MIMO plants with unknown, time-varying state delay [Relazione in Atti di Convegno]
Mirkin, Boris; Gutman, Per-Olof; Falcone, Paolo
abstract


2008 - Effects of Roll Dynamics in Model Predictive Control for Autonomous Vehicles [Relazione in Atti di Convegno]
Falcone, Paolo; Palmieri, Giovanni; Tseng, H Eric; Glielmo, Luigi
abstract


2008 - Linear Time Varying Model Predictive Control and its Application to Active Steering Systems: Stability Analysis and Experimental Validation [Articolo su rivista]
Falcone, P; Borrelli, F; Asgari, J; Tseng, EH; Hrovat, D
abstract


2008 - Low complexity mpc schemes for integrated vehicle dynamics control problems [Relazione in Atti di Convegno]
Falcone, Paolo; Borrelli, Francesco; Asgari, J; Tseng, He; Hrovat, Davor
abstract


2008 - MPC-based yaw and lateral stabilisation via active front steering and braking [Articolo su rivista]
Falcone, Paolo; Eric Tseng, H; Borrelli, Francesco; Asgari, Jahan; Hrovat, Davor
abstract


2007 - A linear time varying model predictive control approach to the integrated vehicle dynamics control problem in autonomous systems [Relazione in Atti di Convegno]
Falcone, Paolo; Paolo and, Tufo; Manuela and, Borrelli; Francesco and, Asgari; Jahan and, Tseng; H, Eric
abstract


2007 - A model predictive control approach for combined braking and steering in autonomous vehicles [Relazione in Atti di Convegno]
Falcone, Paolo; Borrelli, Francesco; Asgari, Jahan; Eric Tseng, H; Hrovat, Davor
abstract


2007 - Event-based receding horizon control for two-stage multi-product production plants [Articolo su rivista]
Borrelli, Francesco; Falcone, Paolo; Del Vecchio, Carmen
abstract

In this paper a receding horizon control approach for multi-product production plants is presented. Specifically two-stage plants are considered. In the first stage, a set of parallel production lines generates intermediate products from raw materials. In the second stage, the intermediate products are assembled into final products. A set of buffers for the intermediate products connects the production lines and the assembly line thus allowing a continuous production flow. The focus is on plants where the switch between product types is less frequent than in the assembly line. The latter is mostly dictated by the external demand, while the first one is the main scheduling variable. A systematic event-based control approach using receding horizon control (RHC) techniques is proposed; specifically the production line flow is controlled in order to satisfy the time-varying request from the assembly line while minimizing the intermediate products storage and processing time. Experimental results underline the benefits resulting from the application of the proposed approach to a car engine manufacturing process. © 2007 Elsevier Ltd. All rights reserved.


2007 - Integrated braking and steering model predictive control approach in autonomous vehicles [Relazione in Atti di Convegno]
Falcone, Paolo; Eric Tseng, H; Asgari, Jahan; Borrelli, Francesco; Hrovat, Davor
abstract


2007 - Predictive active steering control for autonomous vehicle systems [Articolo su rivista]
Falcone, Paolo; Borrelli, Francesco; Asgari, Jahan; Tseng Hongtei, Eric; Hrovat, Davor
abstract


2006 - A real-time model predictive control approach for autonomous active steering [Relazione in Atti di Convegno]
Falcone, Paolo; Borrelli, Francesco; Asgari, Jahan; Tseng, H Eric; Hrovat, Davor
abstract


2006 - Event-based receding horizon control for two-stages multi-product production plants [Relazione in Atti di Convegno]
Borrelli, F.; Falcone, P.; Del Vecchio, C.
abstract

In this paper we present a receding horizon control approach for multi-product production plants. Two-stages multi-product plants are considered. In the first stage, a set of parallel production lines generates intermediate products from raw materials. In the second stage, intermediate products are assembled together into final products through an assembly line. A set of buffers for the intermediate products connects the production lines and the assembly line and allows a continuous production flow. We propose a systematic event-based and control-oriented approach to this class of problems. We employ receding horizon control (RHC) techniques to control the production line flow in order to satisfy the time-varying request from the assembly line and optimize a certain performance criterium which includes the minimization of the intermediate products storage and the reduction of the processing time. Experimental data show the benefits deriving from the application of the proposed approach to a process of car engine manufacturing. © 2006 IEEE.


2006 - Predictive control approach to autonomous vehicle steering [Relazione in Atti di Convegno]
Keviczky, Tamàs; Falcone, Paolo; Borrelli, Francesco; Asgari, Jahan; Hrovat, Davor
abstract


2005 - MPC-based approach to active steering for autonomous vehicle systems [Articolo su rivista]
Borrelli, Francesco; Falcone, Paolo; Keviczky, Tamas; Asgari, Jahan; Hrovat, Davor
abstract


2005 - Nicely nonlinear engine torque estimator [Relazione in Atti di Convegno]
Falcone, Paolo; Fiengo, Giovanni; Glielmo, Luigi
abstract


2005 - Receding horizon control for two-stages multi-product production plants [Relazione in Atti di Convegno]
Borrelli, Francesco; Falcone, Paolo; Del Vecchio, Carmen; Cibardo, Massimo; Canto, Santo
abstract


2003 - Torque generation model for diesel engine [Relazione in Atti di Convegno]
Falcone, Paolo; De Gennaro, M Carmela; Fiengo, Giovanni; Glielmo, Luigi; Santini, Stefania; Langthaler, Peter
abstract