Publications by Type: Book Chapter

2015
RPI approximations of the mRPI set characterizing linear dynamics with zonotopic disturbances
F. Stoican, Oara, C., and Hovd, M., “RPI approximations of the mRPI set characterizing linear dynamics with zonotopic disturbances”, in Developments in Model-Based Optimization and Control, vol. 464, Springer, 2015, p. 361-377.
Trajectory Generation with Way-Point Constraints for UAV Systems
F. Stoican and Popescu, D., “Trajectory Generation with Way-Point Constraints for UAV Systems”, in Advances in Robot Design and Intelligent Control, vol. 371, Springer, 2015, p. 379-386.Abstract
This paper addresses some alternatives to classical trajectory generation for an unmanned aerial vehicle (UAV) which needs to pass through (or near) a priori given way-points. Using differential flatness for trajectory generation and B-splines for the flat output parameterization, the current study concentrates on flat descriptions which respect to UAV dynamics and verify way-point constraints.
2013
Mixed-Integer Programming Techniques in Distributed MPC Problems
I. Prodan, Stoican, F., Olaru, S., Stoica, C. N., and Niculescu, S. I., “Mixed-Integer Programming Techniques in Distributed MPC Problems”, in Distributed Model Predictive Control Made Easy, J. M. Maestre and Negenborn, R. R. New York: Springer, 2013, p. 273-288. Online infoAbstract
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.