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Unifying Control and Verification of Cyber-Physical Systems

Deliverables

First version of the data management plan

UnCoVerCPS is fully committed to the Open Research Data pilot. Besides ensuring accessibility of the results, this task will also evaluate the reproducibility of results of publications. The task leader will also make sure that after each presentation in consortium meetings, the partners have to be able to describe how the results can be reproduced. The assessment of the provided tools and data is assessed according to discoverability, accessibility, assessability, usability beyond intended purpose, and interoperability according to Annex 2 of the Guidelines on Data Management in Horizon 2020.

Final version of the data management plan

This is an extension of the first version of the data management plan. A detailed description of the data management plan can be found in deliverable 6.2.

Report on pre-computation of reachable sets and advances in reachability analysis

This report presents the results of tasks 3.1 and 3.2. First, it described advances in the reachability analysis of nonlinear systems. Seond, it details how to generate and select partial reference trajectories and how to pre-compute reachable sets for them using the latest advances in reachability analysis.

Report on conformance testing in the development process

The report describes how conformance testing has been realized according to Task 1.3. We describe the various analysis and modelling techniques and tools for conformance testing, identify the issues that need to be solved to achieve their applicability in industry and propose solutions to these issues. We also evaluate these solutions by applying them to the proposed realisations of cyber-physical systems as described in WP5.

Assessment of languages and tools for the automatic formalisation of system requirements

As outlined in task 1.4. this deliverable comprises the selection of a requirements modeling language that will allow us to reason about formal properties of a cyber-physical system, the creation of user interfaces to input the requirements, and a process which describes how a safety requirement about the whole system can be represented in UnCoVerCPS. Multiple tools for representing requirements will be studied and results reported, e.g. AutoFocus 9, SCADE, and Simulink.

Report on application models

The report presents the obtained mathematical models for wind turbines, smart grids, and automated driving. The report includes preliminary simulation results of those models.

Report on interleaving online control and reachability computation for certified behaviour of cyber-physical systems

This deliverable documents the results obtained in task 2.4 on combining online control and online reachability computations for efficient decision-making in uncertain environments. The report will describe the developed techniques for embedding reachable set computation and constraint generation into model-predictive controllers for CPS. Furthermore, it will elaborate on the results of interleaving and complementing local safety computations and local trajectory optimization for real-time efficiency. The extensions to stochastic settings and the exemplary application to at least one of the case studies considered in WP5 will be covered.

First report on dissemination and exploitation

This is the first summary of the dissimination and exploitation efforts in UnCoVerCPS.

Second report on dissemination and exploitation

This is the second summary of the dissimination and exploitation efforts in UnCoVerCPS.

Report on conformance testing of application models

The report describes the results of conformance testing of previous WPs, i.e. to what extend the proposed models match the actual behavior of the selected use cases. The report also contains the validation of results from the offline and on-the-fly verification in complex tasks like the control of a wind turbine, robust and fault-tolerant control of smart grids, verified automated driving, and planning in human-robot collaborative manufacturing. Simulation and experiment results are presented as means of verification.

Assessment of the certifiability for the relevant safety standards

This document describes the safety impacts due to the introduction of code generation and verification of hydrid controllers. Safety is adressed by standards such as ISO 26262, IEC 61508, EN 50128 or DO-178C, and their objectives/requirements are analyzed with respect to the UnCoVerCPS approach at application level.

Theoretical foundation for combining zonotopes and support functions

This report explores the theoretical foundation for combining zonotopes and support functions in reachability analysis, as outlined in task 4.3.

Report on application simulation data and experimental results

This report will detail the application set-up and the simulation results showing how our approach meets the criteria for safety in the specific applications: wind turbines, automated vehicles, smart girds, and manufacturing in the food industry. The report will also detail the experimental results obtained and detail how well these align with the expected results obtained from the simulations.

Report on compositional verification, and incremental verification in interaction with online controller adaptation

This report presents the results of tasks 3.3 and 3.4. We first present how verification results can be obtained in a compositional way as described in task 3.3. The computational aspect is a further key technology to scale the methods up towards industrial applications. A special focus of the computational aspects will be on power systems as described in WP 5 since they are usually to large to verify monolithically. Second, it investigates how incremental verification and controller synthesis can be carried out and interwoven online to obtain control strategies that fulfil the given specifications.

Report on distributed model predictive control for cyber-physical systems and efficient computation

This deliverable will document the results achieved in tasks 2.2 and 2.3. These tasks concern Model Predictive Control (MPC) of a cyber-physical system composed of interacting, possibly hybrid, subsystems that may operate in an uncertain environment. The goal is to derive distributed control schemes where each subsystem repetitively solves online a local control problem, while accounting for the other subsystems through time-varying and uncertain constraints. Stability and performance results will be investigated for the subsystems and the overall networked system. When the adopted description of the uncertainty is probabilistic, then, the control problem to be solved online naturally reduces to a constrained stochastic optimization problem, which will be addressed using jointly randomized and robust optimization techniques. Computational aspects related to the online implementation of the proposed distributed MPC solutions will be addressed by combining approximation methods ( e.g., model abstraction, constraint convexification, multiple time scale resolution) in an efficient scheme preserving stability while meeting real-time constraints posed by the online implementation.

Final report on dissemination and exploitation

This is the final summary of the dissimination and exploitation efforts in UnCoVerCPS.

Extension of the SCADE language for continuous modelling

This document describes the extensions to the SCADE Suite notation and/or Simplorer tool languages to support all together the description of discrete and continuous behaviors.

Report on behaviour prediction for cyber-physical systems

The report describes how the behavior prediction has been realized according to task 2.1. We describe the basic theory on how one can predict all possible behaviors of dynamic objects when the system dynamics and set-based uncertainties are given. The report will also show applications on the proposed realisations of cyber-physical systems as described in WP 5.

Report on modelling of networked cyber-physical system for verification and control

This document summarizes the main results on modeling, identification, and refinement techniques for networked cyber-physical systems, as obtained in the tasks 1.1 and 1.2. The report starts from a review of the state-of-the-art on such techniques before the project started, and describes the modeling framework for networked CPS as established in UnCoVerCPS. We detail which particular model properties are essential for the particular purposes of online control and verification, and we focus on coping with model uncertainties, real-time execution, and networked structures. The modeling procedures will be illustrated for the applications addressed in WP5.

Report on reachability analysis of nonlinear systems and compositional verification

We present new results on reachability analysis of nonlinear systems as described in task 3.1. Reachability analysis is a key technology for formal verification of cyber-physical systems. Reachability analysis of nonlinear systems is considered with a special focus on scalability and on reducing the overapproximation of the obtained results. The computational aspect is a further key technology to scale the methods up towards industrial applications.

Website

Our project website will be hosted by the Cyber-Physical Systems Virtual Organization (CPS-VO), see http://cps-vo.org/. The website will provide preprints of publications, benchmark examples, software tools developed within the project, a forum, and links to dissemination activities.

UnCoVerCPS tool chain

UnCoVerCPS proposes to assemble a tool chain composed of the following tools: • SCADE and Simplorer developed at Esterel Technologies. They are used to develop the model and the plant description and are used for certified code generation; • SpaceEx developed at Université Joseph Fourier Grenoble 1 and CORA developed at Technische Universität München. The interaction with SpaceEx and CORA tools increases the verification capabilities by identifying the reachable states of cyber-physical systems. Both tools will be the basis for new tools that can verify systems on-the-fly: SpaceExonl and CORAonl ; • DMPC-HS newly developed at Universität Kassel and ScenarioMPC newly developed at Politecnico di Milano. These tools are use for the development of model predictive controllers. DMPC-HS is applied to non-stochastic systems, while ScenarioMPC is applied to stochastic systems; • the newly developed tools ConfTest (Bosch) for conformance testing and formalSpec (GE) to formalise specifications. The deliverable comprises the following elements from WP4 (incl. tasks and participants): - Translation scheme from SCADE/Simplorer to hybrid automata, including a hybrid automata code generator prototype (T4.2, ET,UJF) - C++ library for zonotopes to be included in SpaceEx (T4.3, TUM,UJF) - Exchange formats and the associated APIs between the tools SCADE, Simplorer, SpaceEx, CORA, formalSpec, and ConfTest (T4.4, ET,UJF,TUM,GE) - C code generator prototype for SCADE with extensions (T4.6, ET) The interaction between the tools SCADE, Simplorer, SpaceEx, CORA, formalSpec, and ConfTest is to be demonstrated and tested on a set of applications as described in task 4.5 (UKS, PoliMi, UJF, TUM).

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Publications

An introduction to CORA 2015

Author(s): Matthias Althoff
Published in: ARCH14-15. 1st and 2nd International Workshop on Applied veRification for Continuous and Hybrid Systems, EPiC Series in Computing, Issue vol. 34, 2015, Page(s) 120-151

Benchmark problem: an air brake model for trains

Author(s): Luca Parolini, Simone Schuler and Adolfo Anta
Published in: ARCH14-15. 1st and 2nd International Workshop on Applied veRification for Continuous and Hybrid Systems, EPiC Series in Computing, Issue vol. 34, 2015, Page(s) 43-48

Industrial Examples of Formal Specifications for Test Case Generation

Author(s): Hendrik Roehm, Rainer, Gmehlich, Thomas Heinz, Jens Oehlerking and Matthias Woehrle
Published in: ARCH14-15. 1st and 2nd International Workshop on Applied veRification for Continuous and Hybrid Systems, EPiC Series in Computing, Issue vol.34, 2015, Page(s) 80-88

Reachability of Hybrid Systems in Space-Time

Author(s): Goran Frehse
Published in: EMSOFT '15: Proceedings of the 12th International Conference on Embedded Software, 2015, Page(s) 41-50

A switched control scheme to handle quantisation in the design of high-precision computing system components

Author(s): Federico Terraneo, Alberto Leva, Maria Prandini
Published in: Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems - ICCPS '15, 2015, Page(s) 250-251
DOI: 10.1145/2735960.2735991

Technology transfer process for autonomous mobility as cyberphysical systems – the H2020 UnCoVerCPS project

Author(s): Javier Sanchez Cubillo and Jesus Marcos Olaya
Published in: Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA). ESA/Estec Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 13th, May 11-13, Noordwijk, Netherlands, 2015

A model predictive control approach to aircraft motion control

Author(s): Luca Deori, Simone Garatti, Maria Prandini
Published in: 2015 American Control Conference (ACC), 2015, Page(s) 2299-2304
DOI: 10.1109/ACC.2015.7171075

An iterative scheme for the approximate linear programming solution to the optimal control of a Markov Decision Process

Author(s): Alessandro Falsone, Maria Prandini
Published in: 2015 European Control Conference (ECC), 2015, Page(s) 1200-1205
DOI: 10.1109/ECC.2015.7330703

Poli-RRT*: Optimal RRT-based planning for constrained and feedback linearisable vehicle dynamics

Author(s): Matteo Ragaglia, Maria Prandini, Luca Bascetta
Published in: 2015 European Control Conference (ECC), 2015, Page(s) 2521-2526
DOI: 10.1109/ECC.2015.7330917

A data-driven approach to stochastic constrained control of piecewise affine systems

Author(s): Riccardo Maria Vignali, Daniele Ioli, Maria Prandini
Published in: 2018 Annual American Control Conference (ACC), 2018, Page(s) 1424-1429
DOI: 10.23919/acc.2018.8430792

Hybrid control of manipulators in human-robot coexistence scenarios

Author(s): Andrea Casalino, Paolo Rocco, Maria Prandini
Published in: 2018 Annual American Control Conference (ACC), 2018, Page(s) 1172-1177
DOI: 10.23919/acc.2018.8431763

Optimally shaping the stationary distribution of a constrained discrete time stochastic linear system via disturbance compensation

Author(s): Alessandro Falsone, Luca Deori, Daniele Ioli, Simone Garatti, Maria Prandini
Published in: 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017, Page(s) 629-634
DOI: 10.1109/CDC.2017.8263731

A Smart Grid Energy Management Problem for Data-driven Design with Probabilistic Reachability Guarantees

Author(s): Daniele Ioli, Alessandro Falsone, Marianne Hartung, Axel Busboom, Maria Prandini
Published in: EPiC Series in Computing volume 48, 2017, Page(s) 2--17
DOI: 10.29007/5qvt

Linear programs for resource sharing among heterogeneous agents: The effect of random agent arrivals

Author(s): Alessandro Falsone, Kostas Margellos, Simone Garatti, Maria Prandini
Published in: 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017, Page(s) 3853-3858
DOI: 10.1109/CDC.2017.8264226

A data-based approach to power capacity optimization

Author(s): Giorgio Manganini, Alessandro Falsone, Jan Siroky, Maria Prandini
Published in: 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017, Page(s) 1663-1668
DOI: 10.1109/CDC.2017.8263889

On decentralized convex optimization in a multi-agent setting with separable constraints and its application to optimal charging of electric vehicles

Author(s): Luca Deori, Kostas Margellos, Maria Prandini
Published in: 2016 IEEE 55th Conference on Decision and Control (CDC), 2016, Page(s) 6044-6049
DOI: 10.1109/CDC.2016.7799197

Constrained optimal control of stochastic switched affine systems using randomization

Author(s): Kostas Margellos, Alessandro Falsone, Simone Garatti, Maria Prandini
Published in: 2016 European Control Conference (ECC), 2016, Page(s) 2559-2554
DOI: 10.1109/ECC.2016.7810675

Distributed allocation of a shared energy storage system in a microgrid

Author(s): P. Dimitrov, L. Piroddi, M. Prandini
Published in: 2016 American Control Conference (ACC), 2016, Page(s) 3551-3556
DOI: 10.1109/ACC.2016.7525464

Energy management of a building cooling system with thermal storage: a randomized solution with feedforward disturbance compensation

Author(s): Daniele Ioli, Alessandro Falsone, Maria Prandini
Published in: 2016 American Control Conference (ACC), 2016, Page(s) 2346-2351
DOI: 10.1109/ACC.2016.7525268

A method for detecting relevant inputs while satisfying a reachability specification for piecewise affine systems

Author(s): Riccardo Vignali, Maria Prandini
Published in: 2016 IEEE Conference on Control Applications (CCA), 2016, Page(s) 538-543
DOI: 10.1109/CCA.2016.7587885

A chance-constrained approach to the quantized control of a heat ventilation and air conditioning system with prioritized constraints

Author(s): Brocchini, Caterina; Falsone, Alessandro; Manganini, Giorgio; Holub, Ondrej; Prandini, Maria
Published in: Issue 22, 2016

Proximal minimization based distributed convex optimization

Author(s): Kostas Margellos, Alessandro Falsone, Simone Garatti, Maria Prandini
Published in: 2016 American Control Conference (ACC), 2016, Page(s) 2466-2471
DOI: 10.1109/ACC.2016.7525287

Model reduction of discrete time hybrid systems: A structural approach based on observability

Author(s): Riccardo Vignali, Maria Prandini
Published in: 2016 International Workshop on Symbolic and Numerical Methods for Reachability Analysis (SNR), 2016, Page(s) 1-6
DOI: 10.1109/SNR.2016.7479381

Distributed constrained convex optimization and consensus via dual decomposition and proximal minimization

Author(s): Alessandro Falsone, Kostas Margellos, Simone Garatti, Maria Prandini
Published in: 2016 IEEE 55th Conference on Decision and Control (CDC), 2016, Page(s) 1889-1894
DOI: 10.1109/CDC.2016.7798540

A stochastic strategy integrating wind compensation for trajectory tracking in aircraft motion control

Author(s): Luca Deori, Simone Garatti, Maria Prandini
Published in: 2016 IEEE 55th Conference on Decision and Control (CDC), 2016, Page(s) 256-261
DOI: 10.1109/CDC.2016.7798279

A stochastic optimal control solution to the energy management of a microgrid with storage and renewables

Author(s): Andrea Belloni, Luigi Piroddi, Maria Prandini
Published in: 2016 American Control Conference (ACC), 2016, Page(s) 2340-2345
DOI: 10.1109/ACC.2016.7525267

A compositional framework for energy management of a smart grid: A scalable stochastic hybrid model for cooling of a district network

Author(s): Daniele Ioli, Alessandro Falsone, Simone Schuler, Maria Prandini
Published in: 2016 12th IEEE International Conference on Control and Automation (ICCA), 2016, Page(s) 389-394
DOI: 10.1109/ICCA.2016.7505308

Benchmark problem: an air brake model for trains

Author(s): Luca Parolini, Simone Schuler, Adolfo Anta
Published in: EPiC Series in Computing volume 34, 2015, Page(s) 43-36
DOI: 10.29007/1bln

Decentralized control of distributed discrete event systems with linear dependency structure

Author(s): Christian Hillmann, Olaf Stursberg
Published in: 2015 IEEE International Conference on Automation Science and Engineering (CASE), 2015, Page(s) 551-557
DOI: 10.1109/CoASE.2015.7294137

A majority voting classifier with probabilistic guarantees

Author(s): Giorgio Manganini, Alessandro Falsone, Maria Prandini
Published in: 2015 IEEE Conference on Control Applications (CCA), 2015, Page(s) 1084-1089
DOI: 10.1109/CCA.2015.7320757

Computing maximizer trajectories of affine dynamics for reachability

Author(s): Goran Frehse
Published in: Decision and Control (CDC), 2015 IEEE 54th Annual Conference on, 2015, Page(s) 7454-7461
DOI: 10.1109/CDC.2015.7403397

A classification–based approach to the optimal control of affine switched systems

Author(s): Giorgio Manganini, Luigi Piroddi and Maria Prandini
Published in: Decision and Control (CDC), 2015 IEEE 54th Annual Conference on, 2015, Page(s) 2963 - 2968
DOI: 10.1109/CDC.2015.7402667

Stochastic control with input and state constraints: A relaxation technique to ensure feasibility

Author(s): Luca Deori, Simone Garatti and Maria Prandini
Published in: Decision and Control (CDC), 2015 IEEE 54th Annual Conference on, 2015, Page(s) 3786 - 3791
DOI: 10.1109/CDC.2015.7402807

An iterative scheme to hierarchically structured optimal energy management of a microgrid

Author(s): Daniele Ioli, Alessandro Falsone and Maria Prandini
Published in: Decision and Control (CDC), 2015 IEEE 54th Annual Conference on, 2015, Page(s) 5227 - 5232
DOI: 10.1109/CDC.2015.7403037

Contingency planning for automated vehicles

Author(s): Joao Salvado, Luis M.M. Custodio, Daniel Hess
Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 2853-2858
DOI: 10.1109/IROS.2016.7759442

Convex Interpolation Control with Formal Guarantees for Disturbed and Constrained Nonlinear Systems

Author(s): Bastian Schürmann, Matthias Althoff
Published in: Proceedings of the 20th International Conference on Hybrid Systems: Computation and Control - HSCC '17, 2017, Page(s) 121-130
DOI: 10.1145/3049797.3049800

Fault injection method for safety and controllability evaluation of automated driving

Author(s): Garazi Juez Uriagereka, Ray Lattarulo, Joshue Perez Rastelli, Estibaliz Amparan Calonge, Alejandra Ruiz Lopez, Huascar Espinoza Ortiz
Published in: 2017 IEEE Intelligent Vehicles Symposium (IV), 2017, Page(s) 1867-1872
DOI: 10.1109/IVS.2017.7995977

A two-layer decentralized approach to the optimal energy management of a building district with a shared thermal storage

Author(s): Ioli Daniele and Deori Luca and Falsone Alessandro and Prandini Maria
Published in: 20th World Congress of the International Federation of Automatic Control, 2017

On the connection between Nash equilibria and social optima in electric vehicle charging control games

Author(s): Luca Deori and Kostas Margellos and Maria Prandini
Published in: 20th World Congress of the International Federation of Automatic Control, 2017

Provably Safe Motion of Mobile Robots in Human Environments

Author(s): Stefan B. Liu and Matthias Althoff and Christian Heinzemann and Hendrik Roehm and Jens Oehlerking and Ingo Luetkebohle
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), 2017

Safe Cooperation of Automated Vehicles

Author(s): Heß, Daniel and Löper, Christian and Hesse, Tobias
Published in: AAET – Automatisiertes und vernetztes Fahren, Beiträge zum gleichnamigen 18. Braunschweiger Symposium vom 8. und 9. Februar 2017, 2017

A Multi-Criteria Decision-Making Scheme for Multi-Aircraft Conflict Resolution

Author(s): Yang, Yang; Prandini, Maria; Cao, Xianbin; Du, Wenbo
Published in: 20th World Congress of the International Federation of Automatic Control, 2017

ARCH-COMP17 Category Report: Continuous Systems with Nonlinear Dynamics

Author(s): X. Chen and M. Althoff and F. Immler
Published in: Proc. of the 4th International Workshop on Applied Verification for Continuous and Hybrid Systems, 2017

A Smart Grid Energy Management Problem for Data-driven Design with Probabilistic Reachability Guarantees

Author(s): Daniele Ioli and Alessandro Falsone and Marianne Hartung and Axel Busboom and Maria Prandini
Published in: ARCH17. 4th International Workshop on Applied Verification of Continuous and Hybrid Systems, 2017

Fast optimizing control for non-convex state constraints using homotopy properties

Author(s): Damian Kontny, Olaf Stursberg
Published in: 2016 IEEE 55th Conference on Decision and Control (CDC), 2016, Page(s) 4894-4900
DOI: 10.1109/CDC.2016.7799017

Flat-RRT*: A sampling-based optimal trajectory planner for differentially flat vehicles with constrained dynamics

Author(s): BASCETTA, LUCA; PRANDINI, MARIA
Published in: 20th World Congress of the International Federation of Automatic Control, 2017

ARCH-COMP17 Category Report: Continuous and Hybrid Systems with Linear Continuous Dynamics

Author(s): M. Althoff and S. Bak and D. Cattaruzza and X. Chen and G. Frehse and R. Ray and S. Schupp
Published in: Proc. of the 4th International Workshop on Applied Verification for Continuous and Hybrid Systems, 2017

Optimal Control of Sets of Solutions to Formally Guarantee Constraints of Disturbed Linear Systems

Author(s): Schürmann, Bastian and Althoff, Matthias
Published in: Proc. of the American Control Conference, 2017

Overtaking maneuver for automated driving using virtual environments

Author(s): Lattarulo, R. and Marcano, M. and Perez, J.
Published in: Lecture Notes in Computer Science, 2017

Guaranteeing Constraints of Disturbed Nonlinear Systems Using Set-Based Optimal Control in Generator Space

Author(s): Schürmann, Bastian and Althoff, Matthias
Published in: Proc. of the 20th IFAC World Congress, 2017

Counterexample-guided refinement of template polyhedra

Author(s): Sergiy Bogomolov, Goran Frehse, Mirco Giacobbe, Thomas A. Henzinger
Published in: 23rd Int. Conf. on Tools and Algorithms for the Construction and Analysis of Systems (TACAS), 2017, Page(s) 589-606
DOI: 10.1007/978-3-662-54577-5_34

Ensuring Drivability of Planned Motions Using Formal Methods

Author(s): Schürmann, Bastian and Heß, Daniel and Eilbrecht, Jan and Stursberg, Olaf and Köster, Frank and Althoff, Matthias
Published in: Proc. of the Intelligent Transportation Systems Conference, 2017

Study of the Lane Change Maneuver: Automated Driving use Case

Author(s): Lattarulo, R. and Perez, J.
Published in: 16th International Conference on Computer Aided Systems Theory (EuroCAST), 2017

A complete modular framework for developing and testing automated driving controllers

Author(s): Lattarulo, R. and Perez, J. and Dendaluce, M.
Published in: 20th World Congress The International Federation of Automatic Control, 2017

Formal LPV Control for Transient Stability of Power Systems

Author(s): A. El-Guindy and K. Schaab and B. Schürmann and D. Han and O. Stursberg and M. Althoff
Published in: Proc. of the IEEE PES General Meeting, 2017

Online motion synthesis with minimal intervention control and formal safety guarantees

Author(s): Martijn J.A. Zeestraten, Aaron Pereira, Matthias Althoff, Sylvain Calinon
Published in: 2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2016, Page(s) 002116-002121
DOI: 10.1109/SMC.2016.7844552

Ultimate robust performance control of rigid robot manipulators using interval arithmetic

Author(s): Andrea Giusti, Matthias Althoff
Published in: 2016 American Control Conference (ACC), 2016, Page(s) 2995-3001
DOI: 10.1109/ACC.2016.7525375

Overapproximative arm occupancy prediction for human-robot co-existence built from archetypal movements

Author(s): Aaron Pereira, Matthias Althoff
Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 1394-1401
DOI: 10.1109/IROS.2016.7759228

Robust Control of Continuum Robots using Interval Arithmetic

Author(s): F. Hisch and A. Giusti and M. Althoff
Published in: Proc. of the 20th IFAC World Congress, 2017

Optimal energy management of a building cooling system with thermal storage: A convex formulation

Author(s): Daniele Ioli, Alessandro Falsone, Maria Prandini
Published in: IFAC-PapersOnLine, Issue 48/8, 2015, Page(s) 1150-1155, ISSN 2405-8963
DOI: 10.1016/j.ifacol.2015.09.123

Regularized Jacobi Iteration for Decentralized Convex Quadratic Optimization With Separable Constraints

Author(s): Luca Deori, Kostas Margellos, Maria Prandini
Published in: IEEE Transactions on Control Systems Technology, 2018, Page(s) 1-9, ISSN 1063-6536
DOI: 10.1109/tcst.2018.2827990

A randomized approach to switched nonlinear systems identification

Author(s): Federico Bianchi, Maria Prandini, Luigi Piroddi
Published in: IFAC-PapersOnLine, Issue 51/15, 2018, Page(s) 281-286, ISSN 2405-8963
DOI: 10.1016/j.ifacol.2018.09.148

Distributed Constrained Optimization and Consensus in Uncertain Networks via Proximal Minimization

Author(s): Kostas Margellos, Alessandro Falsone, Simone Garatti, Maria Prandini
Published in: IEEE Transactions on Automatic Control, Issue 63/5, 2018, Page(s) 1372-1387, ISSN 0018-9286
DOI: 10.1109/TAC.2017.2747505

Price of anarchy in electric vehicle charging control games: When Nash equilibria achieve social welfare

Author(s): Luca Deori, Kostas Margellos, Maria Prandini
Published in: Automatica, Issue 96, 2018, Page(s) 150-158, ISSN 0005-1098
DOI: 10.1016/j.automatica.2018.06.043

Minimum Resource Commitment for Reachability Specifications in a Discrete Time Linear Setting

Author(s): Riccardo Vignali, Maria Prandini
Published in: IEEE Transactions on Automatic Control, Issue 62/6, 2017, Page(s) 3021-3028, ISSN 0018-9286
DOI: 10.1109/TAC.2016.2606082

On the connection between Nash equilibria and social optima in electric vehicle charging control games

Author(s): Luca Deori, Kostas Margellos, Maria Prandini
Published in: IFAC-PapersOnLine, Issue 50/1, 2017, Page(s) 14320-14325, ISSN 2405-8963
DOI: 10.1016/j.ifacol.2017.08.1871

A compositional modeling framework for the optimal energy management of a district network

Author(s): Daniele Ioli, Alessandro Falsone, Alessandro Vittorio Papadopoulos, Maria Prandini
Published in: Journal of Process Control, 2017, ISSN 0959-1524
DOI: 10.1016/j.jprocont.2017.10.005

Flat-RRT*: A sampling-based optimal trajectory planner for differentially flat vehicles with constrained dynamics 1 1Research was supported by the European Commission, H2020, under the project UnCoVerCPS, grant number 643921.

Author(s): Luca Bascetta, Iñigo Mendizabal Arrieta, Maria Prandini
Published in: IFAC-PapersOnLine, Issue 50/1, 2017, Page(s) 6965-6970, ISSN 2405-8963
DOI: 10.1016/j.ifacol.2017.08.1337

Trading performance for state constraint feasibility in stochastic constrained control: A randomized approach

Author(s): Luca Deori, Simone Garatti, Maria Prandini
Published in: Journal of the Franklin Institute, Issue 354/1, 2017, Page(s) 501-529, ISSN 0016-0032
DOI: 10.1016/j.jfranklin.2016.10.019

A two-layer decentralized approach to the optimal energy management of a building district with a shared thermal storage * *This research was supported by the European Commission under the project UnCoVerCPS, grant number 643921

Author(s): Daniele Ioli, Luca Deori, Alessandro Falsone, Maria Prandini
Published in: IFAC-PapersOnLine, Issue 50/1, 2017, Page(s) 8844-8849, ISSN 2405-8963
DOI: 10.1016/j.ifacol.2017.08.1540

FLOPSYNC-QACS: Quantization-aware clock synchronization for wireless sensor networks

Author(s): Federico Terraneo, Alessandro Vittorio Papadopoulos, Alberto Leva, Maria Prandini
Published in: Journal of Systems Architecture, Issue 80, 2017, Page(s) 77-84, ISSN 1383-7621
DOI: 10.1016/j.sysarc.2017.09.006

Multi-aircraft Conflict Detection and Resolution Based on Probabilistic Reach Sets

Author(s): Yang Yang, Jun Zhang, Kai-Quan Cai, Maria Prandini
Published in: IEEE Transactions on Control Systems Technology, Issue 25/1, 2017, Page(s) 309-316, ISSN 1063-6536
DOI: 10.1109/TCST.2016.2542046

Dual decomposition for multi-agent distributed optimization with coupling constraints

Author(s): Alessandro Falsone, Kostas Margellos, Simone Garatti, Maria Prandini
Published in: Automatica, Issue 84, 2017, Page(s) 149-158, ISSN 0005-1098
DOI: 10.1016/j.automatica.2017.07.003

Model reduction of switched affine systems

Author(s): Alessandro Vittorio Papadopoulos, Maria Prandini
Published in: Automatica, Issue 70, 2016, Page(s) 57-65, ISSN 0005-1098
DOI: 10.1016/j.automatica.2016.03.019

Decentralized Robust Control of Power Grids Using LPV-Models of DAE-Systems

Author(s): Konstantin Schaab, Olaf Stursberg
Published in: IFAC-PapersOnLine, Issue 48/26, 2015, Page(s) 218-223, ISSN 2405-8963
DOI: 10.1016/j.ifacol.2015.11.140

Robust Decentralized LPV Control for Transient Stability of Power Systems

Author(s): Konstantin Schaab, Olaf Stursberg
Published in: IFAC-PapersOnLine, Issue 48/30, 2015, Page(s) 566-571, ISSN 2405-8963
DOI: 10.1016/j.ifacol.2015.12.440

Policy Search for the Optimal Control of Markov Decision Processes: A Novel Particle-Based Iterative Scheme

Author(s): Giorgio Manganini, Matteo Pirotta, Marcello Restelli, Luigi Piroddi, Maria Prandini
Published in: IEEE Transactions on Cybernetics, Issue Issue: 99, 2015, Page(s) 1-13, ISSN 2168-2267
DOI: 10.1109/TCYB.2015.2483780

A randomized algorithm for nonlinear model structure selection

Author(s): Alessandro Falsone, Luigi Piroddi, Maria Prandini
Published in: Automatica, Issue 60, 2015, Page(s) 227-238, ISSN 0005-1098
DOI: 10.1016/j.automatica.2015.07.023

Dual decomposition for multi-agent distributed optimization with coupling constraints

Author(s): Alessandro Falsone and Kostas Margellos and Simone Garatti and Maria Prandini
Published in: IEEE Transactions on Control of Network Systems, 2016, ISSN 0005-1098

Finite time distributed averaging over gossip-constrained ring networks

Author(s): Alessandro Falsone, Kostas Margellos, Simone Garatti, Maria Prandini
Published in: IEEE Transactions on Control of Network Systems, 2017, Page(s) 1-1, ISSN 2325-5870
DOI: 10.1109/TCNS.2017.2653418

Energy Management of a Building Cooling System With Thermal Storage: An Approximate Dynamic Programming Solution

Author(s): Riccardo Maria Vignali, Francesco Borghesan, Luigi Piroddi, Martin Strelec, Maria Prandini
Published in: IEEE Transactions on Automation Science and Engineering, Issue 14/2, 2017, Page(s) 619-633, ISSN 1545-5955
DOI: 10.1109/TASE.2016.2635109

Robust control for voltage and transient stability of power grids relying on wind power

Author(s): Konstantin Schaab, Jannik Hahn, Maksim Wolkov, Olaf Stursberg
Published in: Control Engineering Practice, Issue 60, 2017, Page(s) 7-17, ISSN 0967-0661
DOI: 10.1016/j.conengprac.2016.12.003

A Randomized Approach to Probabilistic Footprint Estimation of a Space Debris Uncontrolled Reentry

Author(s): Alessandro Falsone, Maria Prandini
Published in: IEEE Transactions on Intelligent Transportation Systems, 2017, Page(s) 1-10, ISSN 1524-9050
DOI: 10.1109/TITS.2017.2654511

Untersuchung von Algorithmen zur Identifikation der Parameter nichtlinearer Fahrdynamikmodelle

Author(s): Sun, Wuqiang
Published in: 2015

Contingency Planning for Automated Vehicles in Urban Traffic

Author(s): Salvado, Joao
Published in: 2015

Parallel Best-First Heuristic Search applied to Cooperative Planning for Automated Vehicles

Author(s): Evgeny Agamirzov
Published in: 2016