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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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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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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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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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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), 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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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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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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Nandakumar, Lakshminarayanan (author), Ferrari, Riccardo M.G. (author), Keviczky, T. (author)Releasing state samples generated by a dynamical system model, for data aggregation purposes, can allow an adversary to perform reverse engineering and estimate sensitive model parameters. Upon identification of the system model, the adversary may even use it for predicting sensitive data in the future. Hence, preserving a confidential dynamical...journal article 2019
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Rostampour, Vahab (author), Ter Haar, Ole (author), Keviczky, T. (author)This paper presents a framework to carry out multi-area stochastic reserve scheduling (RS) based on an AC optimal power flow (OPF) model with high penetration of wind power using distributed consensus and the alternating direction method of multipliers (ADMM). We first formulate the OPF-RS problem using semidefinite programming (SDP) in...journal article 2019
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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
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Nandakumar, Lakshminarayanan (author), Tillem, G. (author), Erkin, Z. (author), Keviczky, T. (author)Smart grids promise a more reliable, efficient, economically viable, and environment-friendly electricity infrastructure for the future. State estimation in smart grids plays a pivotal role in system monitoring, reliable operation, automation, and grid stabilization. However, the power consumption data collected from the users during state...journal article 2019
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Rostampour, Vahab (author), Jaxa-Rozen, M. (author), Bloemendal, Martin (author), Kwakkel, J.H. (author), Keviczky, T. (author)Aquifer Thermal Energy Storage (ATES) is a building technology used to seasonally store thermal energy in the subsurface, which can reduce the energy use of larger buildings by more than half. The spatial layout of ATES systems is a key aspect for the technology, as thermal interactions between neighboring systems can degrade system performance....journal article 2019
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Sharifi K., Arman (author), Bregman, S.C. (author), Mohajerin Esfahani, P. (author), Keviczky, T. (author)In this paper, an event-triggering approach is proposed for a robust model predictive control method. The approach is applicable to constrained, linear time-invariant systems with bounded, additive disturbances. At each triggering instant, the triggering mechanism is designed online using a linear programming approach. Intuitively, the...conference paper 2019