Publications

AuthorTitleYearJournal/ProceedingsReftypeDOI/URL
Bemporad, A., Borrelli, F. and Morari, M. Piecewise linear optimal controllers for hybrid systems 2000 American Control Conference, 2000. Proceedings of the
Vol. 2, pp. 1190-1194 
inproceedings  
Bemporad, A., Borrelli, F. and Morari, M. Optimal controllers for hybrid systems: stability and piecewise linear explicit form 2000 Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Vol. 2, pp. 1810-1815 
inproceedings  
Bemporad, A., Borrelli, F. and Morari, M. The explicit solution of constrained LP-based receding horizon control 2000 Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Vol. 1, pp. 632-637 
inproceedings  
Borrelli, F., Baotic, M., Bemporad, A. and Morari, M. Efficient on-line computation of constrained optimal control 2001 Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Vol. 2, pp. 1187-1192 
inproceedings  
Borrelli, F., Bemporad, A., Fodor, M. and Hrovat, D. A Hybrid Approach to Traction Control 2001 Hybrid Systems: Computation and Control, pp. 162-174  inproceedings  
Bemporad, A., Borrelli, F. and Morari, M. Robust Model Predictive Control: Piecewise Linear Explicit Solution 2001 Proceedings of the European Control Conference, pp. 939-944  inproceedings  
Bemporad, A., Borrelli, F., Glielmo, L. and Vasca, F. Hybrid Control of Dry Clutch Engagement 2001 Proceedings of the European Control Conference  inproceedings  
Bemporad, A., Borrelli, F., Glielmo, L. and Vasca, F. Optimal Piecewise-Linear Control of Dry Clutch Engagement 2001 3rd IFAC Workshop: Advances in Automotive Control  inproceedings  
Wenger, L. and Borrelli, F. The application of constrained optimal control to active automotive suspensions 2002 Decision and Control, 2002, Proceedings of the 41st IEEE Conference on, pp. 881-886  inproceedings  
Bemporad, A., Borrelli, F. and Morari, M. On the Optimal Control Law for Linear Discrete Time Hybrid Systems 2002 Hybrid Systems: Computation and Control, pp. 105-119  inproceedings  
Bemporad, A., Borrelli, F. and Morari, M. Model Predictive Control Based on Linear Programming - The Explicit Solution 2002 IEEE Transactions on Automatic Control
Vol. 47(12), pp. 1974-1985 
article  
Grieder, P., Borrelli, F., Torrisi, F. and Morari, M. Computation of the constrained infinite time linear quadratic regulator 2003 American Control Conference, 2003. Proceedings of the 2003
Vol. 6, pp. 4711-4716 
inproceedings  
Borrelli, F., Baotic, M., Bemporad, A. and Morari, M. An efficient algorithm for computing the state feedback optimal control law for discrete time hybrid systems 2003 American Control Conference, 2003. Proceedings of the 2003
Vol. 6, pp. 4717-4722 
inproceedings  
Bemporad, A., Borrelli, F. and Morari, M. Min-Max Control of Constrained Uncertain Discrete-Time Linear Systems 2003 IEEE Transactions on Automatic Control
Vol. 48(9), pp. 1600-1606 
article  
Borrelli, F., Bemporad, A. and Morari, M. A Geometric Algorithm for Multi-Parametric Linear Programming 2003 Journal of Optimization Theory and Applications
Vol. 118(3), pp. 515-540 
article  
Borrelli, F. Constrained Optimal Control of Linear and Hybrid Systems 2003
Vol. 290 
book  
Morari, M., Baotic, M. and Borrelli, F. Hybrid Systems Modeling and Control 2003 European Journal of Control
Vol. 9(2-3), pp. 177-189 
article  
Keviczky, T., Borrelli, F. and Balas, G.J. A study on decentralized receding horizon control for decoupled systems 2004 American Control Conference, 2004. Proceedings of the 2004
Vol. 6, pp. 4921-4926 
inproceedings  
Borrelli, F., Keviczky, T. and Balas, G. Collision-free UAV formation flight using decentralized optimization and invariant sets 2004 Decision and Control, 2004. CDC. 43rd IEEE Conference on
Vol. 1, pp. 1099-1104 
inproceedings  
Keviczky, T., Borrelli, F. and Balas, G.J. Hierarchical design of decentralized receding horizon controllers for decoupled systems 2004 Decision and Control, 2004. CDC. 43rd IEEE Conference on
Vol. 2, pp. 1592-1597 
inproceedings  
Grieder, P., Borrelli, F., Torrisi, F. and Morari, M. Computation of the Constrained Infnite Time Linear Quadratic Regulator 2004 Automatica
Vol. 40, pp. 701-708 
article  
Keviczky, T., Borrelli, F. and Balas, G.J. Stability analysis of decentralized RHC for decoupled systems 2005 Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on, pp. 1689-1694  inproceedings  
Borrelli, F., Keviczky, T. and Stewart, G. Decentralized Constrained Optimal Control Approach to Distributed Paper Machine Control 2005 Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on, pp. 3037-3042  inproceedings  
Borrelli, F., Keviczky, T., Fregene, K. and Balas, G.J. Decentralized Receding Horizon Control of Cooperative Vechicle Formations 2005 Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on, pp. 3955-3960  inproceedings  
Borrelli, F., Baotic, M., Bemporad, A. and Morari, M. Dynamic Programming for Constrained Optimal Control of Discrete-Time Hybrid Systems 2005 Automatica
Vol. 41, pp. 1709-1721 
article  
Borrelli, F., Keviczky, T., Balas, G.J., Stewart, G., Fregene, K. and Godbole, D. Hybrid Decentralized Control of Large Scale Systems 2005 Hybrid Systems: Computation and Control  inproceedings  
Borrelli, F., Falcone, P., Keviczky, T., Asgari, J. and Hrovat, D. MPC-Based Approach to Active Steering for Autonomous Vehicle Systems 2005 International Journal Vehicle Autonomous Systems
Vol. 3(2/3/4), pp. 265-291 
article  
Borrelli, F., Falcone, P. and Vecchio, C.D. Event-Based Receding Horizon Control for Two-Stages Multi-Product Production Plants 2006 American Control Conference, 2006, pp. 562-567  inproceedings  
Keviczky, T., Fregene, K., Borrelli, F., Balas, G. and Godbole, D. Coordinated autonomous vehicle formations: decentralization, control synthesis and optimization 2006 American Control Conference, 2006  inproceedings  
Keviczky, T., Vanek, B., Borrelli, F. and Balas, G.J. Hybrid decentralized receding horizon control of vehicle formations 2006 American Control Conference, 2006  inproceedings  
Keviczky, T., Falcone, P., Borrelli, F., Asgari, J. and Hrovat, D. Predictive control approach to autonomous vehicle steering 2006 American Control Conference, 2006  inproceedings  
Borrelli, F., Subramanian, D., Raghunathan, A. and Biegler, L. MILP and NLP Techniques for centralized trajectory planning of multiple unmanned air vehicles 2006 American Control Conference, 2006  inproceedings  
Avni, O., Borrelli, F., Katzir, G., Rivlin, E. and Rotstein, H. Scanning the Environment with Two Independent Cameras - Biologically Motivated Approach 2006 Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on, pp. 5297-5302  inproceedings  
Borrelli, F. and Keviczky, T. Distributed LQR Design for Dynamically Decoupled Systems 2006 Decision and Control, 2006 45th IEEE Conference on, pp. 5639-5644  inproceedings  
Avni, O., Borrelli, F., Katzir, G., Rivlin, E. and Rotstein, H. Using Dynamic Optimization for Reproducing the Chameleon Visual System 2006 Decision and Control, 2006 45th IEEE Conference on, pp. 1770-1775  inproceedings  
Borrelli, F., Bemporad, A., Fodor, M. and Hrovat, D. An MPC/Hybrid System Approach to Traction Control 2006 IEEE Transactions on Control Systems Technology
Vol. 14(3), pp. 541-552 
article  
Falcone, P., Borrelli, F., Asgari, J., Tseng, H.E. and Hrovat, D. Towards Real-Time Model Predictive Control Approach for Autonomous Active Steering 2006 8th International Symposium on Advanced Vehicle Control, Taipei, Taiwan  inproceedings  
Keviczky, T., Borrelli, F. and Balas, G.J. Decentralized Receding Horizon Control for Large Scale Dynamically Decoupled Systems 2006 Automatica
Vol. 42(12), pp. 2105-2115 
article  
Falcone, P., Borrelli, F., Asgari, J., Tseng, H.E. and Hrovat, D. A Real-Time Model Predictive Control Approach for Autonomous Active Steering 2006 First IFAC Workshop on Nonlinear Model Predictive Control for Fast Systems  inproceedings  
Falcone, P., Asgari, F.B.J., Tseng, H.E. and Hrovat, D. Predictive Active Steering Control for Autonomous Vehicle Systems 2007 IEEE Transactions on Control Systems Technology
Vol. 15(3), pp. 566-580 
article  
Falcone, P., Tufo, M., Borrelli, F., Asgariand, J. and Tseng, H.E. A linear time varying model predictive control approach to the integrated vehicle dynamics control problem in autonomous systems 2007 Decision and Control, 2007 46th IEEE Conference on, pp. 2980-2985  inproceedings  
Borrelli, F. and Morari, M. Offset free model predictive control 2007 Decision and Control, 2007 46th IEEE Conference on, pp. 1245-1250  inproceedings  
Falcone, P., Borrelli, F., Tseng, H.E., Asgari, J. and Hrovat, D. Integrated Braking and Steering Model Predictive Control Approach in Autonomous Vehicles 2007 Fifth IFAC Symposium on Advances of Automotive Control  inproceedings  
Borrelli, F., Falcone, P. and del Vecchio, C. Event-based receding horizon control for two-stage multi-product production plants 2007 Control Engineering Practice
Vol. 15(12), pp. 1556-1568 
article  
Keviczky, T., Borrelli, F. and Balas, G.J. Distributed Predictive Control: Synthesis, Stability and Feasibility 2007 Cooperative Control of Distributed Multi-Agent Systems, pp. 79-108  inproceedings  
Falcone, P., Borrelli, F., Asgari, J., Tseng, H.E. and Hrovat, D. A Model Predictive Control Approach for Combined Braking and Steering in Autonomous Vehicles 2007 15th Mediterranean Conference on Control and Automation  inproceedings  
Falcone, P., Borrelli, F., Tseng, E.H., Asgari, J. and Davor, H. Low Complexity MPC Schemes for Integrated Vehicle Dynamics Control Problems 2008 9th International Symposium on Advanced Vehicle Control (AVEC '08)  inproceedings  
Khout, N., Borrelli, F. and Hedrick, K. Utilization Of Intelligent Transport Systems Information To Increase Fuel Economy Through Engine Control 2008 15th World Congress on ITS  inproceedings  
Keviczky, T., Borrelli, F., Fregene, K., Godbole, D. and Balas, G.J. Decentralized Receding Horizon Control and Coordination of Autonomous Vehicle Formations 2008 Control Systems Technology, IEEE Transactions on
Vol. 16(1), pp. 19-33 
article  
Avni, O., Borrelli, F., Katzir, G., Rivlin, E. and Rotstein, H. Scanning the Environment with Two Independent Cameras - Biologically Motivated Approach 2008 Autonomus Robots
Vol. 24(3), pp. 285-302 
article  
Vibhor, B. and Borrelli, F. On a Property of a Class of Offset-Free Model Predictive Controllers 2008 American Control Conference, 2008  inproceedings  
Baotic, M., Borrelli, F., Bemporad, A. and Morari, M. Efficient On-Line Computation of Constrained Optimal Control 2008 SIAM Journal on Control and Optimization
Vol. 5, pp. 2470-2489 
article  
Borrelli, F. and Keviczky, T. Distributed LQR Design for Identical Dynamically Decoupled Systems 2008 IEEE Transaction on Automatic Control
Vol. 53, pp. 862-875 
article  
Falcone, P., Borrelli, F., Tseng, H.E., Asgari, J. and Hrovat, D. A Hierarchical Model Predictive Control Framework for Autonomous Vehicles 2008 American Control Conference, 2008  inproceedings  
Falcone, P., Borrelli, F., Tseng, H.E., Asgari, J. and Hrovat, D. Linear Time Varying Model Predictive Control and its Application to Active Steering Systems: Stability Analisys and Experimental Validation 2008 International Journal of Robust and Nonlinear Control
Vol. 18(8), pp. 862-875 
article  
Stewart, G. and Borrelli, F. A Model Predictive Control Framework for Industrial Turbodiesel Engine Control 2008 Decision and Control, 2008 47th IEEE Conference on  inproceedings  
Khout, N., Borrelli, F. and Hedrick, K. Integrating Traffic Data and Model Predictive Control to Improve Fuel Economy 2009 12th IFAC Symposium on Control in Transportation Systems. Redondo Beach, California  inproceedings  
Falcone, P., Borrelli, F., Pekar, J. and Stewart, G. Reference Governor for Constrained Piecewise Affine Systems 2009 The European Control Conference 2009, Budapest, Hungary  inproceedings  
Ma, Y., Borrelli, F., Hencey, B., Packard, A. and Bortoff, S. Model Predictive Control of Thermal Energy Storage in Building Cooling Systems 2009 Decision and Control, 2009 48th IEEE Conference on  inproceedings  
Bageshwar, V. and Borrelli, F. On a Property of a Class of Offset-Free Model Predictive Controllers 2009 IEEE Transaction on Automatic Control
Vol. 54/3, pp. 663-669 
article  
Borrelli, F., Falcone, P., Pekar, J. and Stewart, G. Reference Governor for Constrained Piecewise Affine Systems 2009 Journal of Process Control
Vol. 19(8), pp. 1229-1237 
article  
Borrelli, F., Baotic, M., Pekar, J. and Stewart, G. On the Complexity of Explicit MPC Laws 2009 The European Control Conference 2009, Budapest, Hungary  inproceedings  
Borrelli, F., Vecchio, C.D. and Parisio, A. Robust Invariant Sets for Constrained Storage Systems 2009 Automatica
Vol. 45(12), pp. 2930-2936 
article  
F.Borrelli, Pekar, J., Baotic, M. and Stewart, G. On the Computation of Linear Model Predictive Control Laws 2009 Decision and Control, 2009 48th IEEE Conference on  inproceedings  
Maeder, U., Borrelli, F. and Morari, M. Linear Offset Free Model Predictive Control 2009 Automatica
Vol. 45(10), pp. 2214-2222 
article  
Ma, Y., Borrelli, F., Hencey, B., Coffey, B., Bengea, S. and Haves, P. Model predictive control for the operation of building cooling systems 2010 American Control Conference (ACC), 2010, pp. 5106-5111  inproceedings  
Baric, M. and Borrelli, F. Decentralized robust control invariance for a network of integrators 2010 American Control Conference (ACC), 2010, pp. 3939-3944  inproceedings  
Borrelli, F., Baotic, M., Pekar, J. and Stewart, G. On the computation of linear model predictive control laws 2010 Automatica
Vol. 46(6), pp. 1035-1041 
article  
Erdogan, G., Borrelli, F., Tebano, R., Audisio, G., Lori, G. and Sannazzaro, J. Development Of A New Lateral Stability Control System Enhanced With Accelerometer Based Tire Sensors 2010 ASME Conference Proceedings, Dynamic Systems and Control Conference, Cambridge, MA  inproceedings  
Falcone, P., Borrelli, F., Tseng, E. and Hrovat, D. On Low Complexity Predictive Approaches to Control of Autonomous Vehicles 2010
Vol. 402Automotive Model Predictive Control, pp. 211-230 
inproceedings  
Falcone, P., Borrelli, F., Tseng, H.E., Asgari, J. and Hrovat, D. Experimental Validation of Nonlinear Predictive Algorithms for Steering and Braking Coordination in Limit Handling Maneuvers 2010 10th International Symposium on Advanced Vehicle Control (AVEC '10)  inproceedings  
Gao, Y., Lin, T., Borrelli, F., Tseng, E. and Hrovat, D. Predictive Control Of Autonomous Ground Vehicles With Obstacle Avoidance On Slippery Roads 2010 ASME Conference Proceedings, Dynamic Systems and Control Conference, Cambridge, MA  inproceedings  
Palmieri, G., M.Baric and Borrelli, F. Constrained Robust Design of Lateral Vehicle Dynamics Control Systems 2010 10th International Symposium on Advanced Vehicle Control (AVEC '10)  inproceedings  
Stewart, G., Borrelli, F., Germann, J.P.D., Pachner, D. and Kihas, D. Toward a Systematic Design for Turbocharged Engine Control 2010
Vol. 402Automotive Model Predictive Control, pp. 211-230 
inproceedings  
Yudong, M., Anderson, G. and Borrelli, F. A distributed predictive control approach to building temperature regulation 2011 American Control Conference (ACC), 2011, pp. 2089-2094  inproceedings  
Kelman, A., Ma, Y. and Borrelli, F. Analysis of local optima in predictive control for energy efficient buildings 2011 Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on, pp. 5125-5130  inproceedings DOI  
Baric, M. and Borrelli, F. Distributed Averaging with Flow Constraints 2011 American Control Conference (ACC), 2011
Vol. PP(99), pp. 1 
inproceedings DOI  
Kelman, A. and Borrelli, F. Bilinear Model Predictive Control of a HVAC System Using Sequential Quadratic Programming 2011 Proceedings of the 2011 IFAC workd Congress  inproceedings  
Palmieri, G., M.Baric, Glielmo, L., H.Tseng and Borrelli, F. Robust vehicle lateral stabilization via set-based methods for uncertain piecewise affine systems: Experimental results 2011 Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on, pp. 3252-3257  inproceedings  
Palmieri, G., M.Baric, Glielmo, L. and Borrelli, F. Robust Vehicle Lateral Stabilization via Set-Based Methods for Uncertain Piecewise Affine Systems 2011 Proceedings of the 2011 IFAC workd Congress  inproceedings  
T. Kelman, Y.M. and Borrelli, F. Analysis of local optima in predictive control for energy efficient buildings 2011 Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on, pp. 3252-3257  inproceedings  
Ma, Y., Borrelli, F., Hencey, B., Coffey, B., Bengea, S. and Haves, P. Model Predictive Control for the Operation of Building Cooling Systems 2012 Control Systems Technology, IEEE Transactions on(99), pp. 1-8  article  
Gray, A., Ali, M., Gao, Y., Hedrick, J. and Borrelli, F. Semi-Autonomous Vehicle Control for Road Departure and Obstacle Avoidance 2012 Proceedings of the IFAC Conference on Control of Transportation Systems  inproceedings  
Gray, A., Ali, M., Gao, Y., Hedrick, J. and Borrelli, F. Integrated Threat Assessment and Control Design for Roadway Departure Avoidance 2012 Proceedings of the Intelligent Transportation Systems Conference  inproceedings  
Gray, A., Gao, Y., Lin, T., Hedrick, J.K., Tseng, E. and Borrelli, F. Predictive Control for Agile Semi-Autonomous Ground Vehicles using Motion Primitives 2012 Proceedings of the American Control Conference (ACC)  inproceedings  
Baric, M. and Borrelli, F. Decentralized Robust Control Invariance for a Network of Storage Devices 2012 Automatic Control, IEEE Transactions on
Vol. 4(57), pp. 1018-1024 
article DOI  
C. Danielson F. Borrelli, D.O.D.A.M.K. and Phillips, T. Balancing of Battery Networks via Constrained Optimal Control 2012 Proceedings of the American Control Conference (ACC)  inproceedings  
Chuang, F. and Borrelli, F. Sufficient Conditions for Complexity Reduction in Min-Max Control of Constrained Uncertain Linear Systems 2012 Proceedings of the 51th IEEE Conference on Decision and Control Conference (CDC)  inproceedings  
Danielson, C. and Borrelli, F. Symmetric Explicit Model Predictive Control 2012 IFAC Conference on Nonlinear Model Predictive Control  inproceedings  
Kelman, A. and Borrelli, F. Parallel Nonlinear Predictive Control 2012 Proceedings of the 50th Allerton Conference on Communication, Control, and Computing  inproceedings  
Kelman, A., Ma, Y. and Borrelli, F. Analysis of Local Optima in Predictive Control for Energy Efficient Buildings 2012 Journal of Building Performance Simulation
Vol. 1, pp. 99 
article  
Matusko, J. and Borrelli, F. Scenario-Based Approach to Stochastic Linear Predictive Control 2012 Proceedings of the 51th IEEE Conference on Decision and Control Conference (CDC)  inproceedings  
Ma, Y., Kelman, A., Daly, A. and Borrelli, F. Predictive Control for Energy Efficient Buildings with Thermal Storage: Modeling, Simulation, and Experiments 2012 Control Systems Magazine, IEEE
Vol. 32(1), pp. 44-64 
article  
Ma, Y., Richter, S. and Borrelli, F. Distributed Model Predictive Control for Building Temperature Regulation 2012 Control and Optimization with Differential-Algebraic Constraints  inproceedings  
R. Vasudevan V. Shia, Y.G.R.C.-N.R.B. and Borrelli, F. Safe Semi-Autonomous Control with Enhanced Driver Modeling 2012 Proceedings of the American Control Conference (ACC)  inproceedings  
Gao, Y., Gray, A., Frasch, J.V., Lin, T., Tseng, E., Hedrick, J.K. and Borrelli, F. Spatial Predictive Control for Agile Semi-Autonomous Ground Vehicles 2012 Proceedings of the 2012 International Symposium on Advanced Vehicle Control  inproceedings  
Y. Ma, S.V. and Borrelli, F. Fast Stochastic MPC with Optimal Risk Allocation Applied to Building Control Systems 2012 Proceedings of the 51th IEEE Conference on Decision and Control Conference (CDC)  inproceedings  
A. Gray M. Ali, Y.G.J.H. and Borrelli, F. A Unified Approach to Threat Assessment and Control for Automotive Active Safety 2013 Intelligent Transportation Systems, IEEE Transactions on
Vol. 14(3), pp. 1490-1499 
article  
Cairano, S.D. and Borrelli, F. Constrained tracking with guaranteed error bounds 2013 Proc. 52nd IEEE Conf. Decision and Control, pp. 3800-3805  inproceedings DOI  
Carvalho, A., Palmieri, G., Tseng, H., Glielmo, L. and Borrelli, F. Robust vehicle stability control with an uncertain driver model 2013 Control Conference (ECC), 2013 European, pp. 440-445  inproceedings URL 
Carvalho, A., Gao, Y., Gray, A., Tseng, H. and Borrelli, F. Predictive control of an autonomous ground vehicle using an iterative linearization approach 2013 Intelligent Transportation Systems - (ITSC), 2013 16th International IEEE Conference on, pp. 2335-2340  inproceedings DOI URL 
C. Danielson F. Borrelli, D.O.D.A. and Phillips, T. Constrained Flow Control in Storage Networks: Capacity Maximization and Balancing 2013 Automatica
Vol. -(-), pp. - 
article  
Gray, A., Gao, Y., Hedrick, J. and Borrelli, F. Robust Predictive Control for semi-autonomous vehicles with an uncertain driver model 2013 Intelligent Vehicles Symposium (IV), 2013 IEEE, pp. 208-213  inproceedings DOI URL 
Gray, A., Gao, Y., Lin, T., Hedrick, J. and Borrelli, F. Stochastic predictive control for semi-autonomous vehicles with an uncertain driver model 2013 Intelligent Transportation Systems - (ITSC), 2013 16th International IEEE Conference on, pp. 2329-2334  inproceedings DOI URL 
Gray, A., Ali, M., Gao, Y., Hedrick, J. and Borrelli, F. A Unified Approach to Threat Assessment and Control for Automotive Active Safety 2013 IEEE Transactions on Intelligent Transportation Systems
Vol. 14(3), pp. 1490-1499 
article DOI URL 
S. Hong G. Erdogan, K.H. and Borrelli, F. Tyre/road friction coefficient estimation based on tyre sensors and lateral tyre deflection: modelling, simulations and experiments 2013 Vehicle System Dynamics
Vol. 51(5), pp. 627-647 
article  
Hong, S., Smith, T., Borrelli, F. and Hedrick, J. Vehicle inertial parameter identification using Extended and unscented Kalman Filters 2013 Intelligent Transportation Systems - (ITSC), 2013 16th International IEEE Conference on, pp. 1436-1441  inproceedings DOI URL 
Koehler, S. and Borrelli, F. Building temperature distributed control via explicit MPC and “Trim and Respond” methods 2013 Control Conference (ECC), 2013 European, pp. 4334-4339  inproceedings URL 
Lin, T., Tseng, E. and Borrelli, F. Modeling driver behavior during complex maneuvers 2013 American Control Conference (ACC), 2013, pp. 6448-6453  inproceedings DOI URL 
Preindl, M., Danielson, C. and Borrelli, F. Performance evaluation of battery balancing hardware 2013 Control Conference (ECC), 2013 European, pp. 4065-4070  inproceedings URL 
Turri, V., Carvalho, A., Tseng, H., Johansson, K. and Borrelli, F. Linear model predictive control for lane keeping and obstacle avoidance on low curvature roads 2013 Intelligent Transportation Systems - (ITSC), 2013 16th International IEEE Conference on, pp. 378-383  inproceedings DOI URL 
Bengea, S.C., Kelman, A.D., Borrelli, F., Taylor, R. and Narayanan, S. Implementation of model predictive control for an HVAC system in a mid-size commercial building 2014 HVAC Research
Vol. 20(1), pp. 121-135 
article DOI URL 
Carvalhoa, A., Gaoa, Y., Lefevrea, S. and Borrellia, F. Stochastic Predictive Control of Autonomous Vehicles in Uncertain Environments 2014 Proceedings of the 2014 International Symposium on Advanced Vehicle Control  inproceedings  
Chuang, F., Danielson, C. and Borrelli, F. Optimality of certainty equivalence in expected value problems for uncertain linear systems 2014 Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on, pp. 2822-2827  inproceedings DOI URL 
Danielson, C. and Borrelli, F. Identification of the symmetries of linear systems with polytopic constraints 2014 American Control Conference (ACC), 2014, pp. 4218-4223  inproceedings DOI URL 
Gao, Y., Gray, A., Tseng, H.E. and Borrelli, F. A tube-based robust nonlinear predictive control approach to semiautonomous ground vehicles 2014 Vehicle System Dynamics
Vol. 52(6), pp. 802-823 
article DOI URL 
Gao, Y., Gray, A., Carvalho, A., Tseng, H. and Borrelli, F. Robust nonlinear predictive control for semiautonomous ground vehicles 2014 American Control Conference (ACC), 2014, pp. 4913-4918  inproceedings DOI URL 
Kelman, A., Kong, J., Vichik, S., Chiang, K. and Borrelli, F. BLOM: The Berkeley Library for Optimization Modeling 2014 American Control Conference (ACC), 2014, pp. 2900-2905  inproceedings DOI URL 
Lefevre, S., Gao, Y., Vasquez, D., Tseng, H.E., Bajcsy, R. and Borrelli, F. Lane Keeping Assistance with Learning-Based Driver Model and Model Predictive Control 2014 12th International Symposium on Advanced Vehicle Control  inproceedings  
Shia, V., Gao, Y., Vasudevan, R., Campbell, K., Lin, T., Borrelli, F. and Bajcsy, R. Semiautonomous Vehicular Control Using Driver Modeling 2014 IEEE Transactions on Intelligent Transportation Systems
Vol. 15(6), pp. 2696-2709 
article DOI URL 
Veksler, A., Johansen, T.A., Borrelli, F. and Realfsen, B. Cartesian thrust allocation algorithm with variable direction thrusters, turn rate limits and singularity avoidance 2014 Proc. IEEE Conf. Control Applications (CCA), pp. 917-922  inproceedings DOI  
Vichik, S. and Borrelli, F. Solving linear and quadratic programs with an analog circuit 2014 Computers & Chemical Engineering
Vol. 70(0), pp. 160-171 
article DOI URL 
Vichik, S. and Borrelli, F. Fast solution of linear and Quadratic Programs with an analog circuit 2014 American Control Conference (ACC), 2014, pp. 2954-2959  inproceedings DOI URL 
Cairano, S.D. and Borrelli, F. Reference Tracking with Guaranteed Error Bound for Constrained Linear Systems 2015 IEEE Transactions on Automatic Control
Vol. PP(99), pp. 1 
article DOI  
Carvalho, A., Lefèvre, S., Schildbach, G., Kong, J. and Borrelli, F. Automated Driving: The Role of Forecasts and Uncertainty - A Control Perspective 2015 European Journal of Control
Vol. 24(0), pp. 14-32 
article DOI URL 
Danielson, C. and Borrelli, F. Symmetric Linear Model Predictive Control 2015 IEEE Transactions on Automatic Control
Vol. 60(5), pp. 1244-1259 
article DOI URL 
Feng, J.(D., Chuang, F., Borrelli, F. and Bauman, F. Model predictive control of radiant slab systems with evaporative cooling sources 2015 Energy and Buildings
Vol. 87(0), pp. 199-210 
article DOI URL 
Chuang, F. and Borrelli, F. Dynamic State and Input Aggregation 2015 American Control Conference (ACC), 2015, pp. 2900-2905  inproceedings DOI URL 
Hong, S., Lee, C., Borrelli, F. and Hedrick, J. A Novel Approach for Vehicle Inertial Parameter Identification Using a Dual Kalman Filter 2015 IEEE Transactions on Intelligent Transportation Systems
Vol. 16(1), pp. 151-161 
article DOI URL 
Kong, J., M. Pfeifer, Schildbach, G. and Borrelli, F. Kinematic and Dynamic Vehicle Models for Autonomous Driving Control Design 2015 IEEE Intelligent Vehicles Symposium  inproceedings  
Lefèvre, S., Carvalho, A., Gao, Y., Tseng, H.E. and Borrelli, F. Driver models for personalised driving assistance 2015 Vehicle System Dynamics
Vol. 53(12), pp. 1705-1720 
article  
Ma, Y., Matusko, J. and Borrelli, F. Stochastic Model Predictive Control for Building HVAC Systems: Complexity and Conservatism 2015 IEEE Transactions on Control Systems Technology
Vol. 23(1), pp. 101-116 
article DOI URL 
Koehler, S. and Borrelli, F. A Primal-Dual Active-Set Method for Distributed Model Predictive Control 2015 American Control Conference (ACC), 2015  inproceedings DOI URL 
Lefevre, S., Carvalho, A. and Borrelli, F. Autonomous Car Following: A Learning-Based Approach 2015 IEEE Intelligent Vehicles Symposium  inproceedings  
Wyder, T., Schildbach, G., Lefevre, S. and Borrelli, F. A Bayesian Filter for Modeling Traffic at Stop Intersections 2015 IEEE Intelligent Vehicles Symposium  inproceedings  
Schildbach, G. and Borrelli, F. Scenario Model Predictive Control for Lane Change Assistance on Highways 2015 IEEE Intelligent Vehicles Symposium  inproceedings  
A. Carvalho A. Williams, S.L. and Borrelli, F. Autonomous cruise control with cut-in target vehicle detection 2016 13th International Symposium on Advanced Vehicle Control, AVEC16  inproceedings  
J. Gonzales F. Zhang, K.L. and Borrelli, F. Autonomous Drifting with Onboard Sensors 2016 13th International Symposium on Advanced Vehicle Control, AVEC16  inproceedings  
Koehler, S., Danielson, C. and Borrelli, F. A primal-dual active-set method for distributed model predictive control 2016 Optimal Control Applications and Methods, pp. n/a-n/a  article DOI URL 
Lefevre, S., Carvalho, A. and Borrelli, F. A Learning-Based Framework for Velocity Control in Autonomous Driving 2016 IEEE Transactions on Automation Science and Engineering
Vol. 13(1), pp. 32-42 
article DOI  
Maffei, A., Iannelli, L., Glielmo, L. and Borrelli, F. Asynchronous cooperative method for distributed model predictive control 2016 Proc. IEEE 55th Conf. Decision and Control (CDC), pp. 6946-6951  inproceedings DOI  
Rosolia, U. and Borrelli, F. Learning Model Predictive Control for iterative tasks. A Data-Driven Control Framework 2016 ArXiv e-prints  article  
S. Koehler, , Mehr, N., Horowitz, R. and Borrelli, F. Stable Hybrid Model Predictive Control for Ramp Metering 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC 2016)  inproceedings  
Sarah, K., Claus, D. and Francesco, B. A primal-dual active-set method for distributed model predictive control 2016 Optimal Control Applications and Methods
Vol. 38(3), pp. 399-419 
article DOI URL 
Schildbach, G. and Borrelli, F. A dynamic programming approach for nonholonomic vehicle maneuvering in tight environments 2016 2016 IEEE Intelligent Vehicles Symposium (IV), pp. 151-156  inproceedings DOI  
Schildbach, G., Soppert, M. and Borrelli, F. A collision avoidance system at intersections using Robust Model Predictive Control 2016 2016 IEEE Intelligent Vehicles Symposium (IV), pp. 233-238  inproceedings DOI  
Veksler, A., Johansen, T.A., Borrelli, F. and Realfsen, B. Dynamic Positioning With Model Predictive Control 2016 IEEE Transactions on Control Systems Technology
Vol. 24(4), pp. 1340-1353 
article DOI  
Vichik, S., Arcak, M. and Borrelli, F. Stability of an analog optimization circuit for quadratic programming 2016 Systems & Control Letters
Vol. 88, pp. 68-74 
article  
Z. Ercan A. Carvalho, S.L.F.B.H.T. and Gokasan, M. Torque-Based Steering Assistance for Collision Avoidance During Lane Changes 2016 13th International Symposium on Advanced Vehicle Control, AVEC16  inproceedings  
Bertoni, and Guanetti, Jacopo and Basso, Maria and Masoero, Marco and Cetinkunt, Sabri and Borrelli, Francesco An adaptive cruise control for connected energy-saving electric vehicle 2017 Proceedings 2017 IFAC World Congress  inproceedings  
Borrelli, F., Bemporad, A. and Morari, M. Predictive Control 2017   book URL 
Brunner, M., Rosolia, U., Gonzales, J. and Borrelli, F. Repetitive Learning Model Predictive Control: \An Autonomous Racing Example 2017 Proceedings 56th Conference on Decision and Control  inproceedings  
Bujarbaruah, M., Ercan, Z., Ivanovic, V., Tseng, H.E. and Borrelli, F. Torque Based Lane Change Assistance with Active Front Steering 2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC2017)  inproceedings  
Jelavic, E., Gonzales, J. and Borrelli, F. Autonomous Drift Parking using a Switched Control Strategy with Onboard Sensors 2017 Proceedings 2017 IFAC World Congress  inproceedings  
Ercan, Z., Carvalho, A., Gokasan, M. and Borrelli, F. Modeling, Identification, and Predictive Control of a Driver Steering Assistance System 2017 IEEE Transactions on Human-Machine Systems
Vol. 47(5) 
article DOI  
Ercan, Z., Carvalho, A., Tseng, H.E., Gökaşan, M. and Borrelli, F. A predictive control framework for torque-based steering assistance to improve safety in highway driving 2017 Vehicle System Dynamics, pp. 1-22  article  
Ercan, Z., Gokasan, M. and Borrelli, F. An adaptive and predictive controller design for lateral control of an autonomous vehicle 2017 Proc. IEEE Int. Conf. Vehicular Electronics and Safety (ICVES), pp. 13-18  inproceedings DOI  
Zhang, F., Gonzales, J., Li, K. and Borrelli, F. Autonomous Drift Cornering with Mixed Open-loop and Closed-loop Control 2017 Proceedings IFAC World Congress  inproceedings  
Guanetti, Jacopo and Borrelli, Francesco Stochastic MPC for cloud-aided suspension control 2017 Proceedings 56th Conference on Decision and Control  inproceedings  
Lelouvier, Aaron and Guanetti, Jacopo and Borrelli, Francesco Eco-Platooning of Autonomous Electrical Vehicles Using Distributed Model Predictive Control 2017 20th International Conference on Intelligent Transportation Systems  inproceedings  
Rosolia, U., Carvalho, A. and Borrelli, F. Autonomous Racing using Learning Model Predictive Control 2017 Proceedings 2017 IFAC World Congress  inproceedings  
Rosolia, U. and Borrelli, F. Learning Model Predictive Control for Iterative Tasks: A Computationally Efficient Approach for Linear System 2017 Proceedings 2017 IFAC World Congress  inproceedings  
Rosolia, U., Zhang, X. and Borrelli, F. Robust Learning Model Predictive Control forUncertain Iterative Tasks: Learning From Experience 2017 Proceedings 56th Conference on Decision and Control  inproceedings  
Turri, Valerio and Kim, Yeojun and Guanetti, Jacopo and Johansson, Karl H. and Borrelli, Francesco A model predictive controller for non-cooperative eco-platooning 2017 Proceedings 2017 American Control Conference  inproceedings  
Vallon, C., Ercan, Z., Carvalho, A. and Borrelli, F. A machine learning approach for personalized autonomous lane change initiation and control 2017 2017 IEEE Intelligent Vehicles Symposium (IV)  inproceedings  
Zheng, Y., Li, S.E., Li, K., Borrelli, F. and Hedrick, J.K. Distributed Model Predictive Control for Heterogeneous Vehicle Platoons Under Unidirectional Topologies 2017 IEEE Transactions on Control Systems Technology
Vol. 25(3), pp. 899-910 
article DOI  
Cesari, G., Schildbach, G., Carvalho, A. and Borrelli, F. Scenario Model Predictive Control for Lane Change Assistance and Autonomous Driving on Highway 2017 IEEE Magazine on Intelligent Transportation Systems  article  
Bujarbaruah, M., Zhang, X., Rosolia, U. and Borrelli, F. Adaptive MPC for Iterative Tasks 2018 2018 IEEE Conference on Decision and Control (CDC), pp. 6322-6327  inproceedings DOI  
Bujarbaruah, M., Zhang, X., Tseng, E. and Borrelli, F. Adaptive MPC for Autonomous Lane Keeping 2018 International Symposium on Advanced Vehicle Control (AVEC)  inproceedings  
Firoozi, R., Nazari, S., Guanetti, J., O'Gorman, R. and Borrelli, F. Safe Adaptive Cruise Control with Road Grade Preview and V2V Communication 2018 CoRR
Vol. abs/1810.09000 
article URL 
Firoozi, R., Guanetti, J., Horowitz, R. and Borrelli, F. Vehicle Localization and Control on Roads with Prior Grade Map 2018 2018 IEEE Conference on Decision and Control (CDC), pp. 6982-6987  inproceedings DOI  
Guanetti, J., Kim, Y. and Borrelli, F. Control of connected and automated vehicles: State of the art and future challenges 2018 Annual Reviews in Control
Vol. 45, pp. 18-40 
article DOI URL 
Kim, Y., Zhang, X., Guanetti, J. and Borrelli, F. Robust Model Predictive Control with Adjustable Uncertainty Sets 2018 2018 IEEE Conference on Decision and Control (CDC), pp. 5176-5181  inproceedings DOI  
Koehler, S.M., Chuang, F., Ma, Y., Daly, A. and Borrelli, F. Distributed Model Predictive Control for Forced-Air Systems 2018 Intelligent Building Control Systems  article DOI URL 
Rosolia, U. and Borrelli, F. Learning Model Predictive Control for Iterative Tasks. A Data-Driven Control Framework 2018 IEEE Transactions on Automatic Control
Vol. 63(7), pp. 1883-1896 
article DOI  
Rosolia, U., Zhang, X. and Borrelli, F. Data-Driven Predictive Control for Autonomous Systems 2018 Annual Review of Control, Robotics, and Autonomous Systems
Vol. 1(1), pp. 259-286 
article DOI URL 
Rosolia, U., Zhang, X. and Borrelli, F. A Stochastic MPC Approach with Application to Iterative Learning 2018 2018 IEEE Conference on Decision and Control (CDC), pp. 5152-5157  inproceedings DOI  
Shin, D., Kim, B., Yi, K., Carvalho, A. and Borrelli, F. Human-Centered Risk Assessment of an Automated Vehicle Using Vehicular Wireless Communication 2018 IEEE Transactions on Intelligent Transportation Systems, pp. 1-15  article DOI  
Zhang, X., Liniger, A., Sakai, A. and Borrelli, F. Autonomous Parking Using Optimization-Based Collision Avoidance 2018 2018 IEEE Conference on Decision and Control (CDC), pp. 4327-4332  inproceedings DOI  
Bujarbaruah, M., Xiaojing, Z. and Borrelli, F. Adaptive MPC with Chance Constraints for FIR Systems 2018 American Control Conference  inproceedings  
Bae, S., Choi, Y., Kim, Y., Guanetti, J., Borrelli, F. and Moura, S. Real-time Ecological Velocity Planning for Plug-in Hybrid Vehicles with Partial Communication to Traffic Lights 2019 Proc. IEEE 58th Conf. Decision and Control (CDC), pp. 1279-1285  inproceedings DOI  
Felez, J., Kim, Y. and Borrelli, F. A Model Predictive Control Approach for Virtual Coupling in Railways 2019 IEEE Transactions on Intelligent Transportation Systems
Vol. 20(7), pp. 2728-2739 
article  
Guanetti, J., Kim, Y. and Borrelli, F. Eco-routing of connected plug-in hybrid electric vehicles 2019 Proc. IEEE 58th Conf. Decision and Control (CDC), pp. 2245-2250  inproceedings  
Kapania, N.R., Govindarajan, V., Borrelli, F. and Gerdes, J.C. A Hybrid Control Design for Autonomous Vehicles at Uncontrolled Crosswalks 2019 Proc. IEEE Intelligent Vehicles Symp. (IV), pp. 1604-1611  inproceedings  
Kim, Y., Guanetti, J. and Borrelli, F. Robust Eco Adaptive Cruise Control for Cooperative Vehicles 2019 Proc. 18th European Control Conf. (ECC), pp. 1214-1219  inproceedings  
Liao, Y. and Borrelli, F. An Adaptive Approach to Real-Time Estimation of Vehicle Sideslip, Road Bank Angles, and Sensor Bias 2019 IEEE Transactions on Vehicular Technology
Vol. 68(8), pp. 7443-7454 
article DOI  
Rosolia, U. and Borrelli, F. Learning How to Autonomously Race a Car: A Predictive Control Approach 2019 IEEE Transactions on Control Systems Technology, pp. 1-7  article  
Rosolia, U. and Borrelli, F. Sample-Based Learning Model Predictive Control for Linear Uncertain Systems 2019 Proc. IEEE 58th Conf. Decision and Control (CDC), pp. 2702-2707  inproceedings  
Rosolia, U., Zhang, X. and Borrelli, F. Simple Policy Evaluation for Data-Rich Iterative Tasks 2019 Proc. American Control Conf. (ACC), pp. 2855-2860  inproceedings  
Smith, S.W., Kim, Y., Guanetti, J., Kurzhanskiy, A.A., Arcak, M. and Borrelli, F. Balancing Safety and Traffic Throughput in Cooperative Vehicle Platooning 2019 Proc. 18th European Control Conf. (ECC), pp. 2197-2202  inproceedings  
Zhang, X., Bujarbaruah, M. and Borrelli, F. Safe and Near-Optimal Policy Learning for Model Predictive Control using Primal-Dual Neural Networks 2019 Proc. American Control Conf. (ACC), pp. 354-359  inproceedings DOI  
Bujarbaruah, M., Zhang, X., Tanaskovic, M. and Borrelli, F. Adaptive Stochastic MPC under Time Varying Uncertainty 2020 IEEE Transactions on Automatic Control, pp. 1-1  article DOI  
Bujarbaruah, M., Zheng, T., Shetty, A., Sehr, M. and Borrelli, F. Learning to Play Cup-and-Ball with Noisy Camera Observations 2020 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE), pp. 372-377  inproceedings DOI  
Bujarbaruah, M., Nair, S.H. and Borrelli, F. A Semi-Definite Programming Approach to Robust Adaptive MPC under State Dependent Uncertainty 2020 2020 European Control Conference (ECC), pp. 960-965  inproceedings DOI  
Rosolia, U. and Borrelli, F. Learning How to Autonomously Race a Car: A Predictive Control Approach 2020 IEEE Transactions on Control Systems Technology
Vol. 28(6), pp. 2713-2719 
article DOI  
Scianca, N., Rosolia, U. and Borrelli, F. Learning Model Predictive Control for Periodic Repetitive Tasks 2020 2020 European Control Conference (ECC), pp. 29-34  inproceedings DOI  
Shen, X., Zhang, X. and Borrelli, F. Autonomous Parking of Vehicle Fleet in Tight Environments 2020 2020 American Control Conference (ACC), pp. 3035-3040  inproceedings DOI  
Smith, S.W., Kim, Y., Guanetti, J., Li, R., Firoozi, R., Wootton, B., Kurzhanskiy, A.A., Borrelli, F., Horowitz, R. and Arcak, M. Improving Urban Traffic Throughput With Vehicle Platooning: Theory and Experiments 2020 IEEE Access
Vol. 8, pp. 141208-141223 
article DOI  
Suh, J., Choi, E.Y. and Borrelli, F. Vision-Based Race Track SLAM Based Only on Lane Curvature 2020 IEEE Transactions on Vehicular Technology
Vol. 69(2), pp. 1495-1504 
article  
Sun, C., Guanetti, J., Borrelli, F. and Moura, S. Optimal Eco-Driving Control of Connected and Autonomous Vehicles Through Signalized Intersections 2020 IEEE Internet of Things Journal, pp. 1  article  
Thananjeyan, B., Balakrishna, A., Rosolia, U., Li, F., McAllister, R., Gonzalez, J.E., Levine, S., Borrelli, F. and Goldberg, K. Safety Augmented Value Estimation from Demonstrations (SAVED): Safe Deep Model-Based RL for Sparse Cost Robotic Tasks 2020 IEEE Robotics and Automation Letters, pp. 1  article  
Vallon, C. and Borrelli, F. Data-Driven Hierarchical Predictive Learning in Unknown Environments 2020 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE), pp. 104-109  inproceedings DOI  
Vallon, C. and Borrelli, F. Task Decomposition for Iterative Learning Model Predictive Control 2020 2020 American Control Conference (ACC), pp. 2024-2029  inproceedings DOI  
Zhang, X., Bujarbaruah, M. and Borrelli, F. Near-Optimal Rapid MPC Using Neural Networks: A Primal-Dual Policy Learning Framework 2020 IEEE Transactions on Control Systems Technology, pp. 1-13  article DOI  
Zhang, X., Liniger, A. and Borrelli, F. Optimization-Based Collision Avoidance 2020 IEEE Transactions on Control Systems Technology, pp. 1-12  article DOI  
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