The paper reviews the past and present results in the area of decentralized control of large-
scale complex systems. An emphasis is laid on decentralization, decomposition, and …

This paper proposes a robust control framework for lane-keeping and obstacle avoidance of
semiautonomous ground vehicles. It presents a systematic way of enforcing robustness …

We present a detailed study on the design of decentralized receding horizon control (RHC)
schemes for decoupled systems. We formulate an optimal control problem for a set of …

Two frameworks based on Model Predictive Control (MPC) for obstacle avoidance with
autonomous vehicles are presented. A given trajectory represents the driver intent. An MPC …

This paper presents a hierarchical control framework for the obstacle avoidance of
autonomous and semi-autonomous ground vehicles. The high-level planner is based on …

We consider a set of identical decoupled dynamical systems and a control problem where
the performance index couples the behavior of the systems. The coupling is described …

A Model Predictive Control (MPC) approach for controlling active front steering, active
braking and active differentials in an autonomous vehicle is presented. We formulate a …

This paper describes the application of a novel methodology for high-level control and
coordination of autonomous vehicle teams and its demonstration on high-fidelity models of …

A hierarchical framework based on Model Predictive Control (MPC) for autonomous vehicles
is presented. We formulate a predictive control problem in order to best follow a given path …

The series Advances in Industrial Control aims to report and encourage technology transfer
in control engineering. The rapid development of control technology has an impact on all …