%0 Conference Paper
%B {15th IEEE International Conference on Control & Automation IEEE ICCA 2019, July 16-19, 2019. Edinburgh, Scotland}
%D 2019
%T Inspection Trajectory Planning for 3D Structures under a Mixed-Integer Framework
%A Stoican, Florin
%A Prodan, Ionela
%A Grotli, Esten Ingar
%A Nguyen Ngoch Thinh
%B {15th IEEE International Conference on Control & Automation IEEE ICCA 2019, July 16-19, 2019. Edinburgh, Scotland}
%P 1349–1354
%G eng
%R 10.1109/ICCA.2019.8899514
%0 Conference Paper
%B {European Control Conference (ECC'19), June 25-28, 2019. Naples, Italy.}
%D 2019
%T Navigation in a Multi-Obstacle Environment. From Partition of the Space to a Zonotopic-Based MPC
%A Ioan, Daniel
%A Olaru, Sorin
%A Prodan, Ionela
%A Stoican, Florin
%A Niculescu, Silviu-Iulian
%B {European Control Conference (ECC'19), June 25-28, 2019. Naples, Italy.}
%P 1772 – 1777 (6 pages)
%G eng
%R 10.23919/ECC.2019.8796080
%0 Conference Paper
%B {2019 American Control Conference July 10 - 12, Philadelphia, PA, USA}
%D 2019
%T Complexity Bounds for Obstacle Avoidance within a Zonotopic Framework
%A Ioan, Daniel
%A Olaru, Sorin
%A Prodan, Ionela
%A Stoican, Florin
%A Niculescu, Silviu-Iulian
%B {2019 American Control Conference July 10 - 12, Philadelphia, PA, USA}
%P 335–340
%G eng
%R 10.23919/ACC.2019.8814976
%0 Journal Article
%J IEEE Control Systems Letters
%D 2019
%T From Obstacle-Based Space Partitioning to Corridors and Path Planning. A Convex Lifting Approach
%A Ioan, Daniel
%A Olaru, Sorin
%A Prodan, Ionela
%A Stoican, Florin
%A Niculescu, Silviu-Iulian
%B IEEE Control Systems Letters
%I IEEE
%V 4
%P 79–84
%G eng
%R 10.1109/LCSYS.2019.2922414
%0 Conference Paper
%B {15th IEEE International Conference on Control & Automation IEEE ICCA 2019, July 16-19, 2019. Edinburgh, Scotland}
%D 2019
%T Parametrized Hyperplane Arrangements for Control Design with Collision Avoidance Constraints
%A Ioan, Daniel
%A Olaru, Sorin
%A Prodan, Ionela
%A Stoican, Florin
%A Niculescu, Silviu-Iulian
%B {15th IEEE International Conference on Control & Automation IEEE ICCA 2019, July 16-19, 2019. Edinburgh, Scotland}
%P 1591–1596
%G eng
%R 10.1109/ICCA.2019.8899977
%0 Journal Article
%J {I}nt. {J}. of {R}obust and {N}onlinear {C}ontrol
%D 2018
%T Exact and overapproximated guarantees for corner cutting avoidance in a multiobstacle environment
%A Stoican, Florin
%A Prodan, Ionela
%A Grotli, Esten Ingar
%B {I}nt. {J}. of {R}obust and {N}onlinear {C}ontrol
%I {WILEY} (111 {RIVER} {ST}, {HOBOKEN} 07030-5774, {NJ} {USA})}, % qcat = {\textcolor{red}{Q1} (Automation & Control Systems - 11/61); \textcolor{red}{Q1} (Engineering, Electrical& Electronic - 41/260); \textcolor{red}{Q1} (Mathematics, Applied - 4/252)
%P 4528-4548
%G eng
%R 10.1002/rnc.4248
%0 Conference Paper
%B 10th {I}nternational-{F}ederation-of-{A}utomatic-{C}ontrol ({IFAC}) {S}ymposium on {F}ault {D}etection, {S}upervision and {S}afety for {T}echnical {P}rocesses ({SAFEPROCESS})
%D 2018
%T Hierarchical Control with Guaranteed Fault Diagnosability
%A Stoican, Florin
%A Petzke, Felix
%A Prodan, Ionela
%A Streif, Stefan
%B 10th {I}nternational-{F}ederation-of-{A}utomatic-{C}ontrol ({IFAC}) {S}ymposium on {F}ault {D}etection, {S}upervision and {S}afety for {T}echnical {P}rocesses ({SAFEPROCESS})
%I {E}lsevier
%P 1105-1110 (6 pages)
%G eng
%R 10.1016/j.ifacol.2018.09.729
%0 Conference Paper
%B 15th {I}nternational {C}onference on {C}ontrol, {A}utomation, {R}obotics and {V}ision, {ICARCV} 2018
%D 2018
%T Mixed-Integer Representations for Mission Constraints in a Multi-Agent Team
%A Stoican, Florin
%A Prodan, Ionela
%A Popescu, Dan
%A Ichim, Loretta
%A Vlsceanu, Emilian
%B 15th {I}nternational {C}onference on {C}ontrol, {A}utomation, {R}obotics and {V}ision, {ICARCV} 2018
%I {IEEE}
%P 562-567 (6 pages)
%@ 9781538695821
%G eng
%R 10.1109/ICARCV.2018.8580636
%0 Conference Paper
%B IFAC World Congress Conference
%D 2017
%T Reliable nonlinear control for quadcopter trajectory tracking through differential flatness
%A Nguyen, Thinh
%A Prodan, Ionela
%A Stoican, Florin
%A Lefevre, Laurent
%X his paper addresses the trajectory tracking problem for a quadcopter system under nominal and fault-affected scenarios, the latter case considers stuck actuator(s)). Differential flatness is employed for trajectory generation and control design. The particularity resides in that a full parametrization of the states and inputs is given without any assumptions or simplifications on the quadcopter dynamics. Furthermore, using the properties of flatness and a combination between computed torque control and feedback linearization, a two layer control design is proposed. The tracking performances and stability gurantees are analyzed for nominal and faulty functioning under extensive simulations.
%B IFAC World Congress Conference
%G eng
%0 Conference Paper
%B 25th {M}editerranean {C}onference on {C}ontrol and {A}utomation, {MED} 2017
%D 2017
%T Constrained trajectory generation for UAV systems using a B-spline parametrization
%A Stoican, Florin
%A Prodan, Ionela
%A Popescu, Dan
%A Ichim, Loretta
%B 25th {M}editerranean {C}onference on {C}ontrol and {A}utomation, {MED} 2017
%I {IEEE}
%P 613-618 (6 pages)
%@ 9781509045334
%G eng
%R 10.1109/MED.2017.7984185
%0 Conference Paper
%B 10th IFAC Conference on Control Applications in Marine Systems
%D 2016
%T Some remarks on potential field constructions in a multi-obstacle environment
%A Prodan, Ionela
%A Stoican, Florin
%A Grotli, Esten
%X This paper addresses a novel combination between mixed-integer representations and potential field constructions for typical multi-agent marine control problems. First, we prove that for any kind of repulsive functions applied over a function which we denote as sum function, the feasible domain is piece-wise affine (PWA). Next, concepts like hyperplane arrangements together with potential field approaches are used for providing an efficient description of the feasible non-convex domain. This combination offers an original and beneficent computation of control laws under non-convex constraints. Simulation results over a common application of obstacle avoidance, which can be extended for unmanned surface vehicles, prove the effectiveness of the proposed approach.
%B 10th IFAC Conference on Control Applications in Marine Systems
%C Trondheim, Norway
%8 09/2016
%G eng
%0 Conference Paper
%B 24th Mediterranean Conference on Control and Automation (MED)
%D 2016
%T Obstacle avoidance via B-spline parametrizations of flat trajectories
%A Stoican, Florin
%A Vlad-Mihai Ivanusca
%A Prodan, Ionela
%A Popescu, Dan
%X This paper considers the collision avoidance problem in a multi-agent multi-obstacle framework. The originality in solving this intensively studied problem resides in the proposed geometrical view combined with differential flatness for trajectory generation and B-splines for the flat output parametrization. Using some important properties of these theoretical tools we show that the constraints can be validated at all times. Exact and sub-optimal constructions of the collision avoidance optimization problem are provided. The results are validated through extensive simulations over standard autonomous aerial vehicle dynamics.
%B 24th Mediterranean Conference on Control and Automation (MED)
%C Athens, Greece
%8 06/2016
%G eng
%0 Generic
%D 2016
%T Interval model identification in the frequency domain by using mixed-integer representations
%A Stoican, Florin
%A Prodan, Ionela
%A Ocampo-Martinez, Carlos
%A Puig, Vicenc
%B 4th European Conference on Computational Optimization
%G eng
%0 Generic
%D 2016
%T Mixed integer representations in control design: theoretical results and applications
%A Stoican, Florin
%A Prodan, Ionela
%B 4th European Conference on Computational Optimization
%G eng
%0 Generic
%D 2016
%T A mixed-integer implementation of the corner cutting problem in a multi-obstacle environment
%A Stoican, Florin
%A Prodan, Ionela
%A Grotli, Esten Ingar
%B 4th European Conference on Computational Optimization
%G eng
%0 Book
%B SpringerBriefs in Electrical and Computer Engineering
%D 2016
%T Mixed-Integer Representations in Control Design
%A Prodan, Ionela
%A Stoican, Florin
%A Olaru, Sorin
%A Niculescu, Silviu Iulian
%B SpringerBriefs in Electrical and Computer Engineering
%I Springer
%G eng
%U http://link.springer.com/book/10.1007/978-3-319-26995-5
%R 10.1007/978-3-319-26995-5
%0 Conference Paper
%B 5th IFAC Conference on Nonlinear Model Predictive Control
%D 2015
%T On corner cutting in multi-obstacle avoidance problems
%A Stoican, Florin
%A Grotli, Esten
%A Prodan, Ionela
%A Oara, Cristian
%X One challenging and not extensively studied issue in obstacle avoidance is the corner cutting problem. Avoidance constraints are usually imposed at the sampling time without regards to the intra-sample behavior of the dynamics. This paper improves upon state of the art by describing a multi-obstacle environment via a hyperplane arrangement, provides a piecewise description of the forbidden regions and represents them into a combined mixed integer and predictive control formulation. Furthermore, over-approximation constraints which reduce to strictly binary conditions are discussed in detail. Illustrative proofs of concept, comparisons with the state of the art and simulation results over a classical multi-obstacle avoidance problem validate the benets of the proposed approach.
%B 5th IFAC Conference on Nonlinear Model Predictive Control
%C Seville, Spain
%8 09/2015
%G eng
%0 Conference Paper
%B 5th IFAC Conference on Nonlinear Model Predictive Control
%D 2015
%T On a fault tolerant strategy for efficient energy management in microgrid systems
%A Prodan, Ionela
%A Stoican, Florin
%A Zio, Enrico
%X This paper addresses the microgrid energy management problem within a coherent framework of control tools based on Mixed-Integer Linear Programming (MILP) and constrained Model Predictive Control (MPC). These help characterize the microgrid components’ dynamics and the overall system control architecture. A fault tolerant strategy is considered in order to ensure the proper amount of energy in the storage devices such that (together with the utility grid) the essential consumer demand is reliably covered. Simulation results on a particular microgrid architecture validate the proposed approach.
%B 5th IFAC Conference on Nonlinear Model Predictive Control
%C Seville, Spain
%8 09/2015
%G eng
%0 Conference Paper
%B 23rd Mediterranean Conference on Control and Automation (MED)
%D 2015
%T Flat trajectory generation for way-points relaxations and obstacle avoidance
%A Stoican, Florin
%A Prodan, Ionela
%A Dan, Popescu
%X This paper addresses some alternatives to classical trajectory generation for an autonomous vehicle which needs to pass through a priori given way-points. Using differential flatness for trajectory generation and B-splines for the flat output parametrization, the current study concentrates on constraint relaxations and on obstacle avoidance conditions. The results are validated through simulations over standard UAV dynamics.
%B 23rd Mediterranean Conference on Control and Automation (MED)
%C Torremolinos, Spain
%8 06/2015
%G eng
%0 Journal Article
%J Energy
%D 2015
%T Fault tolerant predictive control design for reliable microgrid energy management under uncertainties
%A Prodan, Ionela
%A Zio, Enrico
%A Stoican, Florin
%X This paper presents an extension of a MPC (Model Predictive Control) approach for microgrid energy management which takes into account electricity costs, power consumption, generation profiles, power and energy constraints as well as uncertainty due to variations in the environment. The approach is based on a coherent framework of control tools, like mixed-integer programming and soft constrained MPC, for describing the microgrid components dynamics and the overall system control architecture Fault tolerant strategies are inserted in order to ensure the proper amount of energy in the storage devices such that (together with the utility grid) the essential consumer demand is always covered. Simulation results on a particular microgrid architecture validate the proposed approach.
%B Energy
%V 91
%P 20-34
%G eng
%& 20
%R 10.1016/j.energy.2015.08.009
%0 Conference Paper
%B 18th International Conference on System Theory, Control and Computing
%D 2014
%T Geometrical interpretation on the coverage problems for a mobile agent
%A Stoican, Florin
%A Prodan, Ionela
%A Strutu, Mircea-Ionel
%A Popescu, Dan
%B 18th International Conference on System Theory, Control and Computing
%C Sinaia, Romania
%G eng
%0 Conference Paper
%B Proceedings of the 21st Mediterranean Conference on Control and Automation
%D 2013
%T A characterization of the relative positioning of mobile agents for full sensorial coverage in an augmented space with obstacles
%A Strutu, Mircea-Ionel
%A Stoican, Florin
%A Prodan, Ionela
%A Popescu, Dan
%A Olaru, Sorin
%X This paper addresses the coverage problem for a collection of agents and fixed obstacles (e.g., the “gallery” and the “patrolling” problems). A collection of sufficient conditions over the positions of the agents are provided such that whenever these are verified there is no “blind” region in the feasible space. These conditions are expressed by making use of hyperplane arrangements which lead to a mixed-integer formulation. Practical applications regarding the coverage problem inside an augmented space with obstacles validate these concepts and provide an efficient implementation (in terms of computing power).
%B Proceedings of the 21st Mediterranean Conference on Control and Automation
%C Platania-Chania, Crete, Grecee
%P 936-941
%8 25-28 June
%@ 978-1-4799-0995-7
%G eng
%M 13797348
%R 10.1109/MED.2013.6608834
%0 Conference Paper
%B Proceedings of the 2013 European Control Conference
%D 2013
%T Hyperplane Arrangements in Mixed-Integer Programming Techniques. Collision avoidance application with Zonotopic Sets
%A Stoican, Florin
%A Prodan, Ionela
%A Olaru, Sorin
%X The current paper addresses the problem of minimizing the computational complexity of optimization problems with non-convex and possibly non-connected feasible region of polyhedral type. Using hyperplane arrangements and Mixed-Integer Programming we provide an efficient description of the feasible region in the solution space. Moreover, we exploit the geometric properties of the hyperplane arrangements and adapt this description in order to provide an efficient solution of the mixed-integer optimization problem. Furthermore, a zonotopic representation of the sets appearing in the problem is considered. The advantages of this representation are highlighted and exploited through proof of concepts illustrations as well as simulation results.
%B Proceedings of the 2013 European Control Conference
%C Zurich, Switzerland
%P 3155-3160
%8 17-19 July
%G eng
%M 13950603
%0 Book Section
%B Distributed Model Predictive Control Made Easy
%D 2013
%T Mixed-Integer Programming Techniques in Distributed MPC Problems
%A Prodan, Ionela
%A Stoican, Florin
%A Olaru, Sorin
%A Stoica, Cristina Nicoleta
%A Niculescu, Silviu Iulian
%E J.M. Maestre
%E R.R. Negenborn
%X This chapter proposes a distributed approach for the resolution of a multiagent problem under collision and obstacle avoidance conditions. Using hyperplane arrangements and mixed integer programming, we provide an efficient description of the feasible region verifying the avoidance constraints. We exploit geometric properties of hyperplane arrangements and adapt this description to the distributed scheme in order to provide an efficient Model Predictive Control (MPC) solution. Furthermore,we prove constraint validation for a hierarchical ordering of the agents.
%B Distributed Model Predictive Control Made Easy
%S Intelligent Systems, Control and Automation: Science and Engineering
%I Springer
%C New York
%P 273-288
%@ 978-94-007-7005-8
%G eng
%U http://www.distributedmpc.net/?p=130
%& 18
%0 Journal Article
%J Journal of Optimization Theory and Applications
%D 2012
%T Enhancements on the hyperplanes arrangements in mixed integer techniques
%A Prodan, Ionela
%A Stoican, Florin
%A Olaru, Sorin
%A Niculescu, Silviu Iulian
%X This paper is concerned with improvements in constraints handling for mixed-integer optimization problems. The novel element is the reduction of the number of binary variables used for expressing the complement of a convex (polytopic) region. As a generalization, the problem of representing the complement of a possibly not connected union of such convex sets is detailed. In order to illustrate the benefits of the proposed improvements, a typical control application, the control of multiagent systems using receding horizon optimization techniques, is considered.
%B Journal of Optimization Theory and Applications
%V 154
%P 549-572
%G eng
%N 2
%R 10.1007/s10957-012-0022-9
%0 Conference Paper
%B Proceedings of the 30th American Control Conference
%D 2011
%T On the hyperplanes arrangements in mixed-integer techniques
%A Stoican, Florin
%A Prodan, Ionela
%A Olaru, Sorin
%X This paper is concerned with the improved constraints handling in mixed-integer optimization problems. The novel element is the reduction of the number of binary variables used for expressing the complement of a convex (polytopic) region. As a generalization, the problem of representing the complement of a possibly non-connected union of such convex sets is detailed. In order to illustrate the benefits of the proposed improvements, a practical implementation, the problem of obstacle avoidance using receding horizon optimization techniques is considered.
%B Proceedings of the 30th American Control Conference
%C San Francisco, California, USA
%P 1898–1903
%8 29 June-1 July
%@ 978-1-4577-0080-4
%G eng
%M 12314231
%0 Conference Paper
%B Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference
%D 2011
%T Enhancements on the hyperplane arrangements in mixed integer techniques
%A Stoican, Florin
%A Prodan, Ionela
%A Olaru, Sorin
%X The current paper addresses the problem of optimizing a cost function over a non-convex and possibly non-connected feasible region. A classical approach for solving this type of optimization problem is based on Mixed integer technique. The exponential complexity as a function of the number of binary variables used in the problem formulation highlights the importance of reducing them. Previous work which minimize the number of binary variables is revisited and enhanced. Practical limitations of the procedure are discussed and a typical control application, the control of Multi-Agent Systems is exemplified.
%B Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference
%C Orlando, Florida, USA
%P 3986–3991
%8 12-15 December
%@ 978-1-61284-799-3
%G eng
%R 10.1109/CDC.2011.6161361