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Los, J. (author), Schulte, F. (author), Spaan, M.T.J. (author), Negenborn, R.R. (author)The trends of autonomous transportation and mobility on demand in line with large numbers of requests increasingly call for decentralized vehicle routing optimization. Multi-agent systems (MASs) allow to model fully autonomous decentralized decision making, but are rarely considered in current decision support approaches. We propose a multi...conference paper 2022
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Flexible Collision-free Platooning Method for Unmanned Surface Vehicle with Experimental ValidationsDu, B. (author), Lin, Bin (author), Xie, Wei (author), Zhang, Weidong (author), Negenborn, R.R. (author), Pang, Y. (author)This paper addresses the flexible formation problem for unmanned surface vehicles in the presence of obstacles. Building upon the leader-follower formation scheme, a hybrid line-of-sight based flexible platooning method is proposed for follower vehicle to keep tracking the leader ship. A fusion artificial potential field collision avoidance...conference paper 2022
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Tsolakis, A. (author), Benders, D. (author), de Groot, O.M. (author), Negenborn, R.R. (author), Reppa, V. (author), Ferranti, L. (author)This paper presents a rule-compliant trajectory optimization method for the guidance and control of autonomous surface vessels. The method builds on Model Predictive Contouring Control and incorporates the International Regulations for Preventing Collisions at Sea - known as COLREGs - relevant for motion planning. We use these traffic rules...journal article 2022
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Guo, Wenjing (author), Negenborn, R.R. (author), Atasoy, B. (author)This paper considers a coordinated global shipment matching problem in which a global operator receives shipment requests from shippers and three local operators provide local transport services in different geographical areas. While local operators make local matching decisions, the global operator combines the matched local services into...conference paper 2022
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Kougiatsos, N. (author), Negenborn, R.R. (author), Reppa, V. (author)This paper proposes a distributed model-based methodology for the detection and isolation of sensor faults in marine fuel engines. The proposed method considers a Mean Value First Principle model and a wide selection of heterogeneous sensors for monitoring the engine components. The detection of faults is realised based on residuals generated...journal article 2022
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Zhang, Y. (author), Atasoy, B. (author), Negenborn, R.R. (author)Decision-makers in synchromodal transport (ST) have different preferences toward different objectives, such as cost, time, and emissions. To solve the conflicts among objectives and obtain preferred solutions, a preference-based multi-objective optimization model is developed. In ST, containers need to be transferred across modes, therefore...journal article 2022
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Alves Beirigo, B. (author), Schulte, F. (author), Negenborn, R.R. (author)Current mobility services cannot compete on equal terms with self-owned mobility products concerning service quality. Because of supply and demand imbalances, ridesharing users invariably experience delays, price surges, and rejections. Traditional approaches often fail to respond to demand fluctuations adequately because service levels are,...journal article 2022
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Multi-Objective Cooperative Control for a Ship-Towing System in Congested Water Traffic EnvironmentsDu, Zhe (author), Negenborn, R.R. (author), Reppa, V. (author)This paper proposes a multi-objective cooperative control method for a ship-towing system in congested water traffic environments. The control objectives are to coordinate multiple autonomous tugboats for transporting a ship to: (i) follow the waypoints, (ii) adjust the heading, (iii) track the speed profile, and (iv) resolve collisions. The...journal article 2022
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Zhang, Y. (author), Heinold, Arne (author), Meisel, Frank (author), Negenborn, R.R. (author), Atasoy, B. (author)Sustainability is a common concern in intermodal transport. Collaboration among carriers may help in reducing emissions. In this context, this work establishes a collaborative planning model for intermodal transport and uses eco-labels (a series of different levels of emission ranges) to reflect shippers’ sustainability preferences. A...journal article 2022
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Xin, Jianbin (author), Qu, Yaoguang (author), Zhang, Fangfang (author), Negenborn, R.R. (author)Existing motion planning algorithms for multi-robot systems must be improved to address poor coordination and increase low real-time performance. This paper proposes a new distributed real-time motion planning method for a multi-robot system using Model Predictive Contouring Control (MPCC). MPCC allows separating the tracking accuracy and...journal article 2022
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Zhang, Y. (author), Guo, W. (author), Negenborn, R.R. (author), Atasoy, B. (author)As a critical feature of synchromodal transport (ST), service flexibility plays an important role in improving the utilization of resources to reduce costs, emissions, congestions, and delays. However, none of the existing studies considered flexible services under the framework of synchromodality. This paper develops a Mixed Integer Linear...journal article 2022
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Du, Zhe (author), Negenborn, R.R. (author), Reppa, V. (author)This paper proposes a distributed control scheme for autonomous tugboats to tow a ship in a restricted water traffic environment ensuring collision avoidance while being compliant with maritime regulation called COLREGS. The complex problem is cooperatively solved by addressing three sub-optimization problems. The first is to optimize the...journal article 2022
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Du, Zhe (author), Negenborn, R.R. (author), Reppa, V. (author)This paper proposes a novel dynamic coordination control scheme for a physically connected multi-vessel towing system to transport an offshore platform. The transportation process is executed by four tugboats, and each of them has a leading or following role. To render the transportation faster, the roles of the tugboats can be switched in...conference paper 2022
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van Biert, L. (author), Segovia Castillo, P. (author), Haseltalab, A. (author), Negenborn, R.R. (author)The maritime industry is actively exploring alternative fuels and drive train technology to reduce the emissions of hazardous air pollutants and greenhouse gases. High temperature solid oxide fuel cells (SOFCs) represent a promising technology to generate electric power on ships from a variety of renewable fuels with high efficiencies and no...journal article 2022
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Kougiatsos, N. (author), Negenborn, R.R. (author), Reppa, V. (author)Nowadays, marine vessels constitute safety-critical assets facilitating the transport of millions of passengers and tons of cargo worldwide. As such, they require a large number of heterogeneous sensors dispersed in the various on-board machinery for operational and condition monitoring of their vital systems, such as the propulsion system....journal article 2022
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Larsen, R.B. (author), Baksteen, Ruud (author), Atasoy, B. (author), Negenborn, R.R. (author)Container transport requires real-time control and a high degree of cooperation to alleviate disturbances and perform smoothly without unnecessary environmental impact and monetary losses. The involved operators are, however, often reluctant to cooperate as they fear loosing valuable information and autonomy, eventually leading their clients...journal article 2021
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Hurkmans, Sarah (author), Maknoon, M.Y. (author), Negenborn, R.R. (author), Atasoy, B. (author)In this paper, we address a multi-objective residential waste collection problem with an integrated territory planning and vehicle routing approach. Dividing the problem into territories enables drivers to carry out the same route every week so they get familiar with it and residents put out their bins at the appropriate time. Another benefit is...journal article 2021
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Armenta, Carlos (author), Delprat, Sebastien (author), Negenborn, R.R. (author), Haseltalab, A. (author), Lauber, Jimmy (author), Dambrine, Michel (author)Pontryagin’s Minimum Principle is a way of solving hybrid powertrain optimal energy management. This paper presents an improvement of a classical implementation. The core of this improvement consists in relaxing the tolerance on some intermediate steps of the algorithm in order to reduce the number of iterations and thereby reducing the...journal article 2021
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Niu, Y. (author), Schulte, F. (author), Negenborn, R.R. (author)Human aspects in collaboration of humans and robots, as common in warehousing, are considered increasingly important objectives in operations management. This work aims to let robots learn about human discomfort in collaborative order picking of robotic mobile fulfillment systems. To this end, a multi-agent reinforcement (MARL) approach that...journal article 2021
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Du, Zhe (author), Negenborn, R.R. (author), Reppa, V. (author)This paper proposes a multi-agent control scheme for multiple physically interconnected tugboats performing a ship towing process. These tugs are coordinated by two control layers. In the higher layer, the supervisory controller outputs the desired towing forces and reference trajectories for the tugs. This information is used by a tug's...journal article 2021