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Berndt, Alexander (author), Van Duijkeren, Niels (author), Palmieri, Luigi (author), Kleiner, Alexander (author), Keviczky, T. (author)The trajectory planning for a fleet of automated guided vehicles (AGVs) on a roadmap is commonly referred to as the multi-agent path finding (MAPF) problem, the solution to which dictates each AGV's spatial and temporal location until it reaches its goal without collision. When executing MAPF plans in dynamic workspaces, AGVs can be...journal article 2024
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Zheng, Y. (author), Shyrokau, B. (author), Keviczky, T. (author)The acceptance of automated driving is under the potential threat of motion sickness. It hinders the passengers' willingness to perform secondary activities. In order to mitigate motion sickness in automated vehicles, we propose an optimization-based motion planning algorithm that minimizes the distribution of acceleration energy within the...journal article 2024
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de Groot, O.M. (author), Valk, Laurens (author), Keviczky, T. (author)In this work, we propose two cooperative passivity-based control methods for networks of mechanical systems. By cooperatively synchronizing the end-effector coordinates of the individual agents, we achieve cooperation between systems of different types. The underlying passivity property of our control approaches ensures that cooperation is...journal article 2023
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Li, Y. (author), Yorke-Smith, N. (author), Keviczky, T. (author)Towards integrating renewable electricity generation sources into the grid, an important facilitator is the energy flexibility provided by buildings' thermal inertia. Most of the existing research follows a single-step price- or incentive-based scheme for unlocking the flexibility potential of buildings. In contrast, this paper proposes a...conference paper 2023
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Li, Y. (author), Yorke-Smith, N. (author), Keviczky, T. (author)The efficacy of robust optimal control with adjustable uncertainty sets is verified in several domains under the perfect state information setting. This paper investigates constrained robust optimal control for linear systems with linear cost functions subject to uncertain disturbances and state measurement errors that are both residing in...journal article 2023
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Ferranti, L. (author), Lyons, L. (author), Negenborn, R.R. (author), Keviczky, T. (author), Alonso-Mora, J. (author)This work presents a method for multi-robot coordination based on a novel distributed nonlinear model predictive control (NMPC) formulation for trajectory optimization and its modified version to mitigate the effects of packet losses and delays in the communication among the robots. Our algorithms consider that each robot is equipped with an...journal article 2023
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Zheng, Y. (author), Shyrokau, B. (author), Keviczky, T. (author), Sakka, Monzer Al (author), Dhaens, Miguel (author)The benefits of automated driving can only be fully realized if the occupants are protected from motion sickness. Active suspensions hold the potential to raise the comfort level in automated passenger vehicles by enabling new functionalities in chassis control. One example is to actively lean the vehicle body toward the center of the corner...journal article 2022
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Charitidou, Maria (author), Keviczky, T. (author)Multiple robots are increasingly being considered in a variety of tasks requiring continuous surveillance of a dynamic area, examples of which are environmental monitoring, and search and rescue missions. Motivated by these applications, in this paper we consider the multi-robot persistent coverage control problem over a grid environment. The...journal article 2022
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Zheng, Y. (author), Shyrokau, B. (author), Keviczky, T. (author)Motion comfort is the basis of many societal benefits promised by automated driving and motion planning is primarily responsible for this. By planning the spatial trajectory and the velocity profile, motion planners can significantly enhance motion comfort, ideally without sacrificing time efficiency. Active suspensions can push the boundary...conference paper 2022
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Zheng, Y. (author), Shyrokau, B. (author), Keviczky, T. (author)The public acceptance of automated driving is influenced by multiple factors. Apart from safety being of top priority, comfort and time efficiency also have an impact on the popularity of automated vehicles. These two factors contradict each other as optimizing for one results in the degradation of the other. We investigate in this paper how...conference paper 2021
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Kerkhof, L. (author), Keviczky, T. (author)In the past, many greenhouse control algorithms have been developed. However, the majority of these algorithms rely on an explicit parametric model description of the greenhouse. These models are often based on physical laws such as conservation of mass and energy and contain many parameters which should be identified. Due to the complex and...conference paper 2021
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Rostampour, Vahab (author), Keviczky, T. (author)This paper presents a distributed computational framework for stochastic convex optimization problems using the so-called scenario approach. Such a problem arises, for example, in a large-scale network of interconnected linear systems with local and common uncertainties. Due to the large number of required scenarios to approximate the...review 2021
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Tsolakis, A. (author), Keviczky, T. (author)Nonholonomic mechanical systems encompass a large class of practically interesting robotic structures, such as wheeled mobile robots, space manipulators, and multi-fingered robot hands. However, few results exist on the cooperative control of such systems in a generic, distributed approach. In this work we extend a recently developed...journal article 2021
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de Groot, O.M. (author), Keviczky, T. (author)In this work we consider the problem of cooperative end-effector control between heterogeneous fully actuated agents when varying-time delays and/or packet loss are present. We couple agents via outputs encoded with task-space coordinates and velocities that are transformed into wave-variables to overcome the destabilising effects of the...journal article 2021
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Venkatasubramanian, Janani (author), Rostampour, Vahab (author), Keviczky, T. (author)This paper considers imbalance problems arising in Energy Management in Smart Grids (SG) as discrete-time stochastic linear systems subject to chance constraints, and proposes a Model Predictive Control (MPC) approach to solve them. It is well-known that handling the closed-loop constraint feasibility of such systems is in general difficult due...conference paper 2020
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Rostampour, Vahab (author), Ferrari, Riccardo M.G. (author), Teixeira, Andre M.H. (author), Keviczky, T. (author)In this article two limitations in current distributed model based approaches for anomaly detection in large-scale uncertain nonlinear systems are addressed. The first limitation regards the high conservativeness of deterministic detection thresholds, against which a novel family of set-based thresholds is proposed. Such set-based thresholds...journal article 2020
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Kaya, Oguzhan (author), Van Der Roest, Els (author), Vries, Dirk (author), Keviczky, T. (author)This paper presents the application of Hierarchical Model Predictive Control (HMPC) as an energy management framework for a multi-timescale mixed-energy system, i.e., Power-to-X (PtX). The goal of the energy managing controller is to minimize an economic objective by determining the energy flows within the system. HMPC enables a long-term...conference paper 2020
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Sharifi K., Arman (author), Bregman, S.C. (author), Mohajerin Esfahani, P. (author), Keviczky, T. (author)In this paper, we propose an event-based sampling policy to implement a constraint-tightening, robust MPC method. The proposed policy enjoys a computationally tractable design and is applicable to perturbed, linear time-invariant systems with polytopic constraints. In particular, the triggering mechanism is suitable for plants with no...journal article 2020
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Sharifi K., Arman (author), Mohajerin Esfahani, P. (author), Keviczky, T. (author)Treating optimization methods as dynamical systems can be traced back centuries ago in order to comprehend the notions and behaviors of optimization methods. Lately, this mindset has become the driving force to design new optimization methods. Inspired by the recent dynamical system viewpoint of Nesterov's fast method, we propose two classes...journal article 2020
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Boersma, S. (author), Doekemeijer, B.M. (author), Keviczky, T. (author), van Wingerden, J.W. (author)Active power control for wind farms is needed to provide ancillary services. One of these services is to track a power reference signal with a wind farm by dynamically de- and uprating the turbines. Due to the stochastic nature of the wind, it is necessary to take this stochastic behavior into account when evaluating control signals. In this...conference paper 2019