Stefano Di Cairano

Stefano Di Cairano
Stefano's Quick Links

  • Biography

    Stefano's interests are model predictive control, constrained control, networked control systems, optimization algorithms, stochastic systems, and their applications to automotive, aerospace, logistics, and factory automation. Stefano is a member of the IEEE CSS Conference Editorial Board, and the Chair of the IEEE CSS Technical Committee on Automotive Controls.

  • Recent News & Events

    •  NEWS    MERL researchers present 9 papers at ACC 2024
      Date: July 10, 2024 - July 12, 2024
      Where: Toronto, Canada
      MERL Contacts: Ankush Chakrabarty; Vedang M. Deshpande; Stefano Di Cairano; Christopher R. Laughman; Arvind Raghunathan; Abraham P. Vinod; Yebin Wang; Avishai Weiss
      Research Areas: Artificial Intelligence, Control, Dynamical Systems, Machine Learning, Multi-Physical Modeling, Optimization, Robotics
      Brief
      • MERL researchers presented 9 papers at the recently concluded American Control Conference (ACC) 2024 in Toronto, Canada. The papers covered a wide range of topics including data-driven spatial monitoring using heterogenous robots, aircraft approach management near airports, computation fluid dynamics-based motion planning for drones facing winds, trajectory planning for coordinated monitoring using a team of drones and a ground carrier vehicle, ensemble Kalman smoothing-based model predictive control for motion planning for autonomous vehicles, system identification for Lithium-ion batteries, physics-constrained deep Kalman filters for vapor compression systems, switched reference governors for constrained systems, and distributed road-map monitoring using onboard sensors.

        As a sponsor of the conference, MERL maintained a booth for open discussions with researchers and students, and hosted a special session to discuss highlights of MERL research and work philosophy.

        In addition, Abraham Vinod served as a panelist at the Student Networking Event at the conference. The student networking event provides an opportunity for all interested students to network with professionals working in industry, academia, and national laboratories during a structured event, and encourages their continued participation as the future leaders in the field.
    •  
    •  NEWS    MERL at the International Conference on Robotics and Automation (ICRA) 2024
      Date: May 13, 2024 - May 17, 2024
      Where: Yokohama, Japan
      MERL Contacts: Anoop Cherian; Radu Corcodel; Stefano Di Cairano; Chiori Hori; Siddarth Jain; Devesh K. Jha; Jonathan Le Roux; Diego Romeres; William S. Yerazunis
      Research Areas: Artificial Intelligence, Machine Learning, Optimization, Robotics, Speech & Audio
      Brief
      • MERL made significant contributions to both the organization and the technical program of the International Conference on Robotics and Automation (ICRA) 2024, which was held in Yokohama, Japan from May 13th to May 17th.

        MERL was a Bronze sponsor of the conference, and exhibited a live robotic demonstration, which attracted a large audience. The demonstration showcased an Autonomous Robotic Assembly technology executed on MELCO's Assista robot arm and was the collaborative effort of the Optimization and Robotics Team together with the Advanced Technology department at Mitsubishi Electric.

        MERL researchers from the Optimization and Robotics, Speech & Audio, and Control for Autonomy teams also presented 8 papers and 2 invited talks covering topics on robotic assembly, applications of LLMs to robotics, human robot interaction, safe and robust path planning for autonomous drones, transfer learning, perception and tactile sensing.
    •  

    See All News & Events for Stefano

  • Research Highlights

  • Internships with Stefano

    • CA0055: Internship - Human-Collaborative Loco-Manipulation Robots

      MERL seeks graduate students passionate about robotics to contribute to the development of a framework for legged robots with manipulator arms to collaborate with human in executing various tasks. The work will involve multi-domain research including planning and control, manipulation, and possibly vision/perception. The methods will be implemented and evaluated in high performance simulators and (time-permitting) in actual robotic platforms. The results of the interns are expected to be published in top-tier robotic conferences and/or journal.

      The internship should start in January 2025 (exact date is flexible) with an expected duration 3-6 months depending on agreed scope and intermediate progress.

      Required Specific Experience

      • Current/Past enrollment in a PhD program in Mechanical, Aerospace, Electrical Engineering, with a concentration in Robotics
      • 2+ years of research in at least some of: machine learning, optimization, control, path planning, computer vision
      • Experience in design and simulation tools for robotics such as ROS, Mujoco, Gazebo, Isaac Lab
      • Strong programming skills in Python and/or C/C++

      Additional Desired Experience

      • Development of planning and control methods in robotic hardware platforms
      • Acquisition and processing of multimodal sensor data, including force/torque and proprioceptive sensors
      • Prior experience in human-robot interaction, legged locomotion, mobile manipulation

    • CA0114: Internship - Trajectory planning for drones with controllable sensors

      MERL is seeking an outstanding intern to collaborate with the Control for Autonomy team in the development of trajectory generation for mobile robots, e.g., drones, equipped with controllable sensors, for information acquisition tasks. The project objective is to optimize drone trajectories and the control of on board sensors (e.g., field of view, pointing angle, etc.) to maximize the amount of information acquired about specified monitored targets while reducing the mission duration. The ideal candidate is expected to be working towards a PhD with a strong emphasis on trajectory generation and control, optimization-based control and planning algorithms and constrained control. Strong programming skills in at least one among Matlab, Python, Julia, C/C++ are required. Experience with experimental drone platforms such as crazyflie, and related software frameworks, such as ROS, are desired. The expected start date is in the late Spring/Early Summer 2025, for a duration of 3-6 months.

      Required Specific Experience

      • Currently enrolled in a PhD program in Aerospace, Electrical, Mechanical Engineering, Computer Science, Applied Math or a related field
      • 2+ years of research in at least some of: optimization-based trajectory generation, convex and non-convex optimization, sensor modeling, information-aware planning
      • Strong programming skills in at least one among Matlab, Python, Julia, or C/C++
      • Validation of drone planning and control in simulations. Experience with drone experiments is a plus.

    • CA0119: Internship - Autonomous Vehicle Planning and Control

      MERL is seeking a highly skilled and self-motivated intern to work on motion planning of articulated vehicles. The ideal candidate should have solid backgrounds in established path/motion planning algorithms (A*, D*, graph-search) and optimization-based control for ground and articulated vehicles. Excellent coding skills in MATLAB/Simulink and publication records are necessary. Experience with CasADi and dSPACE is a plus. Ph.D. students in robotics, computer science, control, electrical engineering, or related areas are encouraged to apply. Start date for this internship is flexible, and the expected duration is about 4-6 months.

    See All Internships at MERL

  • MERL Publications

    •  Vinod, A.P., Safaoui, S., Summers, T., Yoshikawa, N., Di Cairano, S., "Decentralized, Safe, Multi-agent Motion Planning for Drones Under Uncertainty via Filtered Reinforcement Learning", IEEE Transactions on Control Systems Technology, DOI: 10.1109/​TCST.2024.3433229, Vol. 32, No. 6, pp. 2492-2499, January 2025.
      BibTeX TR2024-136 PDF
      • @article{Vinod2025jan,
      • author = {Vinod, Abraham P. and Safaoui, Sleiman and Summers, Tyler and Yoshikawa, Nobuyuki and Di Cairano, Stefano}},
      • title = {Decentralized, Safe, Multi-agent Motion Planning for Drones Under Uncertainty via Filtered Reinforcement Learning},
      • journal = {IEEE Transactions on Control Systems Technology},
      • year = 2025,
      • volume = 32,
      • number = 6,
      • pages = {2492--2499},
      • month = jan,
      • doi = {10.1109/TCST.2024.3433229},
      • url = {https://www.merl.com/publications/TR2024-136}
      • }
    •  Quirynen, R., Safaoui, S., Di Cairano, S., "Real-time Mixed-Integer Quadratic Programming for Vehicle Decision Making and Motion Planning", IEEE Transactions on Control Systems Technology, September 2024.
      BibTeX TR2024-123 PDF
      • @article{Quirynen2024sep,
      • author = {Quirynen, Rien and Safaoui, Sleiman and Di Cairano, Stefano}},
      • title = {Real-time Mixed-Integer Quadratic Programming for Vehicle Decision Making and Motion Planning},
      • journal = {IEEE Transactions on Control Systems Technology},
      • year = 2024,
      • month = sep,
      • url = {https://www.merl.com/publications/TR2024-123}
      • }
    •  Safaoui, S., Vinod, A.P., Chakrabarty, A., Quirynen, R., Yoshikawa, N., Di Cairano, S., "Safe multi-agent motion planning under uncertainty for drones using filtered reinforcement learning", IEEE Transactions on Robotics, DOI: 10.1109/​TRO.2024.3387010, Vol. 40, pp. 2529-2542, July 2024.
      BibTeX TR2024-048 PDF Video
      • @article{Safaoui2024jul,
      • author = {Safaoui, Sleiman and Vinod, Abraham P. and Chakrabarty, Ankush and Quirynen, Rien and Yoshikawa, Nobuyuki and Di Cairano, Stefano},
      • title = {Safe multi-agent motion planning under uncertainty for drones using filtered reinforcement learning},
      • journal = {IEEE Transactions on Robotics},
      • year = 2024,
      • volume = 40,
      • pages = {2529--2542},
      • month = jul,
      • doi = {10.1109/TRO.2024.3387010},
      • url = {https://www.merl.com/publications/TR2024-048}
      • }
    •  Huang, Y., Greiff, M., Vinod, A.P., Di Cairano, S., "Leveraging Computational Fluid Dynamics in UAV Motion Planning", American Control Conference (ACC), DOI: 10.23919/​ACC60939.2024.10644753, July 2024, pp. 375-381.
      BibTeX TR2024-050 PDF Video
      • @inproceedings{Huang2024jul,
      • author = {Huang, Yunshen and Greiff, Marcus and Vinod, Abraham P. and Di Cairano, Stefano}},
      • title = {Leveraging Computational Fluid Dynamics in UAV Motion Planning},
      • booktitle = {American Control Conference (ACC)},
      • year = 2024,
      • pages = {375--381},
      • month = jul,
      • publisher = {IEEE},
      • doi = {10.23919/ACC60939.2024.10644753},
      • url = {https://www.merl.com/publications/TR2024-050}
      • }
    •  Kim, T., Vinod, A.P., Di Cairano, S., "Decoupled Trajectory Planning for Monitoring UAVs and UGV Carrier by Reachable Sets", American Control Conference (ACC), DOI: 10.23919/​ACC60939.2024.10644642, July 2024, pp. 587-593.
      BibTeX TR2024-092 PDF
      • @inproceedings{Kim2024jul,
      • author = {Kim, Taewan and Vinod, Abraham P. and Di Cairano, Stefano}},
      • title = {Decoupled Trajectory Planning for Monitoring UAVs and UGV Carrier by Reachable Sets},
      • booktitle = {American Control Conference (ACC)},
      • year = 2024,
      • pages = {587--593},
      • month = jul,
      • publisher = {IEEE},
      • doi = {10.23919/ACC60939.2024.10644642},
      • url = {https://www.merl.com/publications/TR2024-092}
      • }
    See All MERL Publications for Stefano

  • Other Publications

    •  S. Di Cairano, H. E. Tseng, D. Bernardini and A. Bemporad, "Vehicle Yaw Stability Control by Coordinated Active Front Steering and Differential Braking in the Tire Sideslip Angles Domain", IEEE Trans. Control Systems Technology, Vol. 21, No. 4, pp. 1236-1248, 2013.
      BibTeX
      • @Article{DiCairano2013,
      • author = {Di Cairano, S. and Tseng, H. E. and Bernardini, D. and Bemporad, A.},
      • title = {Vehicle Yaw Stability Control by Coordinated Active Front Steering and Differential Braking in the Tire Sideslip Angles Domain},
      • journal = {IEEE Trans. Control Systems Technology},
      • year = 2013,
      • volume = 21,
      • number = 4,
      • pages = {1236--1248}
      • }
    •  S. Di Cairano, W. Liang, I.V. Kolmanovsky, M.L. Kuang and A.M. Phillips, "Power Smoothing Energy Management and Its Application to a Series Hybrid Powertrain", IEEE Trans. Control Systems Technology, Vol. 21, No. 6, pp. 2091-2103, 2013.
      BibTeX
      • @Article{DiCairano2013a,
      • author = {Di Cairano, S. and Liang, W. and Kolmanovsky, I.V. and Kuang, M.L. and Phillips, A.M.},
      • title = {Power Smoothing Energy Management and Its Application to a Series Hybrid Powertrain},
      • journal = {IEEE Trans. Control Systems Technology},
      • year = 2013,
      • volume = 21,
      • number = 6,
      • pages = {2091--2103}
      • }
    •  S. Di Cairano, D. Bernardini, A. Bemporad and I.V. Kolmanovsky, "Stochastic MPC With Learning for Driver-Predictive Vehicle Control and its Application to HEV Energy Management", IEEE Trans. Control Systems Technology, 2013.
      BibTeX
      • @Article{di13stochastic,
      • author = {Di Cairano, S. and Bernardini, D. and Bemporad, A. and Kolmanovsky, I.V.},
      • title = {Stochastic MPC With Learning for Driver-Predictive Vehicle Control and its Application to HEV Energy Management},
      • journal = {IEEE Trans. Control Systems Technology},
      • year = 2013,
      • note = {in press, preprints available at ieeexplore.ieee.org}
      • }
    •  S. Zafeiropoulos and S. Di Cairano, "Vehicle Yaw Dynamics Control by Torque-based Assist Systems Enforcing Driver's Steering Feel Constraints", Proc. American Control Conf., 2013, pp. 6761-6766.
      BibTeX
      • @Inproceedings{di2012vehicle,
      • author = {Zafeiropoulos, S. and Di Cairano, S.},
      • title = {Vehicle Yaw Dynamics Control by Torque-based Assist Systems Enforcing Driver's Steering Feel Constraints},
      • booktitle = {Proc. American Control Conf.},
      • year = 2013,
      • pages = {6761--6766}
      • }
    •  S. Di Cairano, Maurice Heemels, Mircea Lazar and Alberto Bemporad, "Hybrid control lyapunov functions for the stabilization of hybridsystems", Proc. of Hybrid Systems: Computation and Control, 2013, pp. 73-82.
      BibTeX
      • @Inproceedings{di2013hybrid,
      • author = {Di Cairano, S. and Heemels, Maurice and Lazar, Mircea and Bemporad, Alberto},
      • title = {Hybrid control lyapunov functions for the stabilization of hybridsystems},
      • booktitle = {Proc. of Hybrid Systems: Computation and Control},
      • year = 2013,
      • pages = {73--82}
      • }
    •  S. Di Cairano, M. Brand and S.A. Bortoff, "Projection-free parallel quadratic programming for linear model predictive control", Int. J. Control, 2013.
      BibTeX
      • @Article{di2013parallel,
      • author = {Di Cairano, S. and Brand, M. and Bortoff, S.A.},
      • title = {Projection-free parallel quadratic programming for linear model predictive control},
      • journal = {Int. J. Control},
      • year = 2013,
      • note = {in press, preprints available at www.tandfonline.com}
      • }
    •  Ralph M Hermans, Mircea Lazar, Ilya V Kolmanovsky and S. bf Di Cairano, "Horizon-1 Predictive Control of Automotive Electromagnetic Actuators", IEEE Trans. Control Systems Technology, Vol. 21, No. 5, pp. 1652-1665, 2013.
      BibTeX
      • @Article{hermanshorizon,
      • author = {Hermans, Ralph M and Lazar, Mircea and Kolmanovsky, Ilya V and {Di Cairano}, S.},
      • title = {Horizon-1 Predictive Control of Automotive Electromagnetic Actuators},
      • journal = {IEEE Trans. Control Systems Technology},
      • year = 2013,
      • volume = 21,
      • number = 5,
      • pages = {1652--1665}
      • }
    •  J Júlvez, S Di Cairano, A Bemporad and C Mahulea, "Event-driven model predictive control of timed hybrid Petri nets", Int. J. Robust Nonlinear Control, 2013.
      BibTeX
      • @Article{julvez2013event,
      • author = {Julvez, J and Di Cairano, S and Bemporad, A and Mahulea, C},
      • title = {Event-driven model predictive control of timed hybrid Petri nets},
      • journal = {Int. J. Robust Nonlinear Control},
      • year = 2013,
      • note = {in press, preprints available at onlinelibrary.wiley.com}
      • }
    •  Hoseinali Borhan, Ardalan Vahidi, Anthony M Phillips, Ming L Kuang, Ilya V Kolmanovsky and S. Di Cairano, "MPC-based energy management of a power-split hybrid electric vehicle", IEEE Trans. Control Systems Technology, Vol. 20, No. 3, pp. 593-603, 2012.
      BibTeX
      • @Article{borhan2012mpc,
      • author = {Borhan, Hoseinali and Vahidi, Ardalan and Phillips, Anthony M and Kuang, Ming L and Kolmanovsky, Ilya V and Di Cairano, S.},
      • title = {MPC-based energy management of a power-split hybrid electric vehicle},
      • journal = {IEEE Trans. Control Systems Technology},
      • year = 2012,
      • volume = 20,
      • number = 3,
      • pages = {593--603}
      • }
    •  Constantin F Caruntu, Mircea Lazar, Rob H Gielen, PPJ van den Bosch and S. Di Cairano, "Lyapunov based predictive control of vehicle drivetrains over CAN", IFAC Control Eng. Practice, 2012.
      BibTeX
      • @Article{caruntu2012lyapunov,
      • author = {Caruntu, Constantin F and Lazar, Mircea and Gielen, Rob H and van den Bosch, PPJ and Di Cairano, S.},
      • title = {Lyapunov based predictive control of vehicle drivetrains over CAN},
      • journal = {IFAC Control Eng. Practice},
      • year = 2012,
      • note = {in press, preprints available at www.sciencedirect.com}
      • }
    •  S. Di Cairano and Ilya V Kolmanovsky, "Further developments and applications of network reference governor for constrained systems", Proc. American Control Conf., 2012, pp. 3907-3912.
      BibTeX
      • @Inproceedings{di2012further,
      • author = {Di Cairano, S. and Kolmanovsky, Ilya V},
      • title = {Further developments and applications of network reference governor for constrained systems},
      • booktitle = {Proc. American Control Conf.},
      • year = 2012,
      • pages = {3907--3912}
      • }
    •  S. Di Cairano, "An Industry Perspective on MPC in Large Volumes Applications: Potential Benefits and Open Challenges", IFAC Symp. Nonlinear Model Predictive Control, 2012, pp. 52-59.
      BibTeX
      • @Inproceedings{di2012industry,
      • author = {Di Cairano, S.},
      • title = {An Industry Perspective on MPC in Large Volumes Applications: Potential Benefits and Open Challenges},
      • booktitle = {IFAC Symp. Nonlinear Model Predictive Control},
      • year = 2012,
      • pages = {52--59}
      • }
    •  S. Di Cairano, Diana Yanakiev, Alberto Bemporad, Ilya V Kolmanovsky and Davor Hrovat, "Model predictive idle speed control: Design, analysis, and experimental evaluation", IEEE Trans. Control Systems Technology, Vol. 20, No. 1, pp. 84-97, 2012.
      BibTeX
      • @Article{di2012model,
      • author = {Di Cairano, S. and Yanakiev, Diana and Bemporad, Alberto and Kolmanovsky, Ilya V and Hrovat, Davor},
      • title = {Model predictive idle speed control: Design, analysis, and experimental evaluation},
      • journal = {IEEE Trans. Control Systems Technology},
      • year = 2012,
      • volume = 20,
      • number = 1,
      • pages = {84--97}
      • }
    •  S. Di Cairano, H Park and I Kolmanovsky, "Model Predictive Control approach for guidance of spacecraft rendezvous and proximity maneuvering", Int. J. Robust Nonlinear Control, Vol. 22, No. 12, pp. 1398-1427, 2012.
      BibTeX
      • @Article{di2012modelp,
      • author = {Di Cairano, S. and Park, H and Kolmanovsky, I},
      • title = {Model Predictive Control approach for guidance of spacecraft rendezvous and proximity maneuvering},
      • journal = {Int. J. Robust Nonlinear Control},
      • year = 2012,
      • volume = 22,
      • number = 12,
      • pages = {1398--1427}
      • }
    •  S. Di Cairano, J Doering, I V Kolmanovsky and D Hrovat, "MPC-based control of engine deceleration with open torque converter", Proc. 51st IEEE Conf. Decision and Control, 2012, pp. 3753-3758.
      BibTeX
      • @Inproceedings{di2012mpc,
      • author = {Di Cairano, S. and Doering, J and Kolmanovsky, I V and Hrovat, D},
      • title = {MPC-based control of engine deceleration with open torque converter},
      • booktitle = {Proc. 51st IEEE Conf. Decision and Control},
      • year = 2012,
      • pages = {3753--3758}
      • }
    •  S. Di Cairano, Carlo A Pascucci and Alberto Bemporad, "The rendezvous dynamics under linear quadratic optimal control", Proc. 51st IEEE Conf. Decision and Control, 2012, pp. 6554-6559.
      BibTeX
      • @Inproceedings{di2012rendezvous,
      • author = {Di Cairano, S. and Pascucci, Carlo A and Bemporad, Alberto},
      • title = {The rendezvous dynamics under linear quadratic optimal control},
      • booktitle = {Proc. 51st IEEE Conf. Decision and Control},
      • year = 2012,
      • pages = {6554--6559}
      • }
    •  Emanuel Feru, Mircea Lazar, Rob H Gielen, Ilya V Kolmanovsky and S. Di Cairano, "Lyapunov-based constrained engine torque control using electronic throttle and variable cam timing", Proc. American Control Conf., 2012, pp. 2866-2871.
      BibTeX
      • @Inproceedings{feru2012lyapunov,
      • author = {Feru, Emanuel and Lazar, Mircea and Gielen, Rob H and Kolmanovsky, Ilya V and Di Cairano, S.},
      • title = {Lyapunov-based constrained engine torque control using electronic throttle and variable cam timing},
      • booktitle = {Proc. American Control Conf.},
      • year = 2012,
      • pages = {2866--2871}
      • }
    •  D Hrovat, S. Di Cairano, H E Tseng and I V Kolmanovsky, "The development of Model Predictive Control in Automotive industry: A survey", Proc. IEEE Conf. Control Applications, 2012, pp. 295-302.
      BibTeX
      • @Inproceedings{hrovat2012development,
      • author = {Hrovat, D and Di Cairano, S. and Tseng, H E and Kolmanovsky, I V},
      • title = {The development of Model Predictive Control in Automotive industry: A survey},
      • booktitle = {Proc. IEEE Conf. Control Applications},
      • year = 2012,
      • pages = {295--302},
      • organization = {IEEE}
      • }
    •  Vladimir Milic, S. Di Cairano, Josip Kasac, Alberto Bemporad and Zeljko Situm, "A numerical algorithm for nonlinear L2-gain optimal control with application to vehicle yaw stability control", Proc. 51st IEEE Conf. Decision and Control, 2012, pp. 5040-5045.
      BibTeX
      • @Inproceedings{milic2012numerical,
      • author = {Milic, Vladimir and Di Cairano, S. and Kasac, Josip and Bemporad, Alberto and Situm, Zeljko},
      • title = {A numerical algorithm for nonlinear L2-gain optimal control with application to vehicle yaw stability control},
      • booktitle = {Proc. 51st IEEE Conf. Decision and Control},
      • year = 2012,
      • pages = {5040--5045}
      • }
    •  Sergio Trimboli, S. Di Cairano, Alberto Bemporad and Ilya V Kolmanovsky, "Model predictive control with delay compensation for air-to-fuel ratio control" in Time Delay Systems: Methods, Applications and New Trends, Lect. Notes Control and Inf. Science, pp. 319-330, Springer, 2012.
      BibTeX
      • @Incollection{trimboli2012model,
      • author = {Trimboli, Sergio and Di Cairano, S. and Bemporad, Alberto and Kolmanovsky, Ilya V},
      • title = {Model predictive control with delay compensation for air-to-fuel ratio control},
      • booktitle = {Time Delay Systems: Methods, Applications and New Trends},
      • year = 2012,
      • series = {Lect. Notes Control and Inf. Science},
      • pages = {319--330},
      • publisher = {Springer}
      • }
    •  James Wollaeger, Sri Adarsh Kumar, Simona Onori, Dimitar Filev, Umit Ozguner, Giorgio Rizzoni and S. Di Cairano, "Cloud-computing based velocity profile generation for minimum fuel consumption: A dynamic programming based solution", Proc. American Control Conf., 2012, pp. 2108-2113.
      BibTeX
      • @Inproceedings{wollaeger2012cloud,
      • author = {Wollaeger, James and Kumar, Sri Adarsh and Onori, Simona and Filev, Dimitar and Ozguner, Umit and Rizzoni, Giorgio and Di Cairano, S.},
      • title = {Cloud-computing based velocity profile generation for minimum fuel consumption: A dynamic programming based solution},
      • booktitle = {Proc. American Control Conf.},
      • year = 2012,
      • pages = {2108--2113}
      • }
    •  Alberto Bemporad and S. Di Cairano, "Model-predictive control of discrete hybrid stochastic Automata", IEEE Trans. automatic Control, Vol. 56, No. 6, pp. 1307-1321, 2011.
      BibTeX
      • @Article{bemporad2011model,
      • author = {Bemporad, Alberto and Di Cairano, S.},
      • title = {Model-predictive control of discrete hybrid stochastic Automata},
      • journal = {IEEE Trans. automatic Control},
      • year = 2011,
      • volume = 56,
      • number = 6,
      • pages = {1307--1321},
      • publisher = {IEEE}
      • }
    •  Hoseinali Borhan, Ardalan Vahidi, Wei Liang, Anthony M Phillips, S. Di Cairano, Ming L Kuang and Ryan McGee, "Nonlinear model predictive control of a power-split hybrid electric vehicle: Influence of inclusion of powertrain dynamics", ASME Dynamic Systems and Control Conf., 2011.
      BibTeX
      • @Inproceedings{borhan2011nonlinear,
      • author = {Borhan, Hoseinali and Vahidi, Ardalan and Liang, Wei and Phillips, Anthony M and Di Cairano, S. and Kuang, Ming L and McGee, Ryan},
      • title = {Nonlinear model predictive control of a power-split hybrid electric vehicle: Influence of inclusion of powertrain dynamics},
      • booktitle = {ASME Dynamic Systems and Control Conf.},
      • year = 2011
      • }
    •  Constantin-Florin Caruntu, Mircea Lazar, S. Di Cairano, Rob H Gielen and PPJ van den Bosch, "Horizon-1 predictive control of networked controlled vehicle drivetrains", Proc. IFAC World Congress, 2011, pp. 3824-3830.
      BibTeX
      • @Inproceedings{caruntu2011horizon,
      • author = {Caruntu, Constantin-Florin and Lazar, Mircea and Di Cairano, S. and Gielen, Rob H and van den Bosch, PPJ},
      • title = {Horizon-1 predictive control of networked controlled vehicle drivetrains},
      • booktitle = {Proc. IFAC World Congress},
      • year = 2011,
      • pages = {3824--3830}
      • }
    •  Constantin Florin Caruntu, Andreea Elena Balau, Mircea Lazar, Paul van den Bosch and S. Di Cairano, "A predictive control solution for driveline oscillations damping", Proc. of Hybrid Systems: Computation and Control, 2011, pp. 181-190.
      BibTeX
      • @Inproceedings{caruntu2011predictive,
      • author = {Caruntu, Constantin Florin and Balau, Andreea Elena and Lazar, Mircea and van den Bosch, Paul and Di Cairano, S.},
      • title = {A predictive control solution for driveline oscillations damping},
      • booktitle = {Proc. of Hybrid Systems: Computation and Control},
      • year = 2011,
      • pages = {181--190}
      • }
    •  S. Di Cairano and Ilya V Kolmanovsky, "Constrained actuator coordination by virtual state governing", Proc. 50th IEEE Conf. Decision and Control and European Control Conf., 2011, pp. 5491-5496.
      BibTeX
      • @Inproceedings{di2011constrained,
      • author = {Di Cairano, S. and Kolmanovsky, Ilya V},
      • title = {Constrained actuator coordination by virtual state governing},
      • booktitle = {Proc. 50th IEEE Conf. Decision and Control and European Control Conf.},
      • year = 2011,
      • pages = {5491--5496}
      • }
    •  S. Di Cairano, W Liang, I V Kolmanovsky, M L Kuang and A M Phillips, "Engine power smoothing energy management strategy for a series hybrid electric vehicle", Proc. American Control Conf., 2011, pp. 2101-2106.
      BibTeX
      • @Inproceedings{di2011engine,
      • author = {Di Cairano, S. and Liang, W and Kolmanovsky, I V and Kuang, M L and Phillips, A M},
      • title = {Engine power smoothing energy management strategy for a series hybrid electric vehicle},
      • booktitle = {Proc. American Control Conf.},
      • year = 2011,
      • pages = {2101--2106}
      • }
    •  Hyeongjun Park, S. Di Cairano and Ilya V Kolmanovsky, "Linear Quadratic Model Predictive Control Approach to Spacecraft Rendezvous and Docking", AAS-AIAA Symp. Spaceflight Mechanics, 2011.
      BibTeX
      • @Inproceedings{park2011linear,
      • author = {Park, Hyeongjun and Di Cairano, S. and Kolmanovsky, Ilya V},
      • title = {Linear Quadratic Model Predictive Control Approach to Spacecraft Rendezvous and Docking},
      • booktitle = {AAS-AIAA Symp. Spaceflight Mechanics},
      • year = 2011
      • }
    •  Hyeongjun Park, S. Di Cairano and Ilya V Kolmanovsky, "Model predictive control for spacecraft rendezvous and docking with a rotating/tumbling platform and for debris avoidance", Proc. American Control Conf., 2011, pp. 1922-1927.
      BibTeX
      • @Inproceedings{park2011model,
      • author = {Park, Hyeongjun and Di Cairano, S. and Kolmanovsky, Ilya V},
      • title = {Model predictive control for spacecraft rendezvous and docking with a rotating/tumbling platform and for debris avoidance},
      • booktitle = {Proc. American Control Conf.},
      • year = 2011,
      • pages = {1922--1927}
      • }
    •  Hyeongjun Park, S. Di Cairano and Ilya V Kolmanovsky, "Model Predictive Control of spacecraft docking with a non-rotating platform", Proc. IFAC World Congress, 2011, pp. 8485-8490.
      BibTeX
      • @Inproceedings{park2011modelp,
      • author = {Park, Hyeongjun and Di Cairano, S. and Kolmanovsky, Ilya V},
      • title = {Model Predictive Control of spacecraft docking with a non-rotating platform},
      • booktitle = {Proc. IFAC World Congress},
      • year = 2011,
      • pages = {8485--8490}
      • }
    •  Giulio Ripaccioli, Daniele Bernardini, S. Di Cairano, Alberto Bemporad and I V Kolmanovsky, "A stochastic model predictive control approach for series hybrid electric vehicle power management", Proc. American Control Conf., 2010, pp. 5844-5849.
      BibTeX
      • @Inproceedings{Ripaccioli2010stochastic,
      • author = {Ripaccioli, Giulio and Bernardini, Daniele and Di Cairano, S. and Bemporad, Alberto and Kolmanovsky, I V},
      • title = {A stochastic model predictive control approach for series hybrid electric vehicle power management},
      • booktitle = {Proc. American Control Conf.},
      • year = 2010,
      • pages = {5844--5849}
      • }
    •  Alberto Bemporad, S. Di Cairano, Erik Henriksson and Karl Henrik Johansson, "Hybrid model predictive control based on wireless sensor feedback: An experimental study", Int. J. Robust Nonlinear Control, Vol. 20, No. 2, pp. 209-225, 2010.
      BibTeX
      • @Article{bemporad2010hybrid,
      • author = {Bemporad, Alberto and Di Cairano, S. and Henriksson, Erik and Johansson, Karl Henrik},
      • title = {Hybrid model predictive control based on wireless sensor feedback: An experimental study},
      • journal = {Int. J. Robust Nonlinear Control},
      • year = 2010,
      • volume = 20,
      • number = 2,
      • pages = {209--225}
      • }
    •  M Bichi, Giulio Ripaccioli, S. Di Cairano, Daniele Bernardini, Alberto Bemporad and I V Kolmanovsky, "Stochastic model predictive control with driver behavior learning for improved powertrain control", Proc. 49th IEEE Conf. Decision and Control, 2010, pp. 6077-6082.
      BibTeX
      • @Inproceedings{bichi2010stochastic,
      • author = {Bichi, M and Ripaccioli, Giulio and Di Cairano, S. and Bernardini, Daniele and Bemporad, Alberto and Kolmanovsky, I V},
      • title = {Stochastic model predictive control with driver behavior learning for improved powertrain control},
      • booktitle = {Proc. 49th IEEE Conf. Decision and Control},
      • year = 2010,
      • pages = {6077--6082}
      • }
    •  H Ali Borhan, Chen Zhang, Ardalan Vahidi, Anthony M Phillips, Ming L Kuang and S. Di Cairano, "Nonlinear model predictive control for power-split hybrid electric vehicles", Proc. 49th IEEE Conf. Decision and Control, 2010, pp. 4890-4895.
      BibTeX
      • @Inproceedings{borhan2010nonlinear,
      • author = {Borhan, H Ali and Zhang, Chen and Vahidi, Ardalan and Phillips, Anthony M and Kuang, Ming L and Di Cairano, S.},
      • title = {Nonlinear model predictive control for power-split hybrid electric vehicles},
      • booktitle = {Proc. 49th IEEE Conf. Decision and Control},
      • year = 2010,
      • pages = {4890--4895}
      • }
    •  S. Di Cairano and H E Tseng, "Driver-assist steering by active front steering and differential braking: design, implementation and experimental evaluation of a switched model predictive control approach", Proc. 49th IEEE Conf. Decision and Control, 2010, pp. 2886-2891.
      BibTeX
      • @Inproceedings{di2010driver,
      • author = {Di Cairano, S. and Tseng, H E},
      • title = {Driver-assist steering by active front steering and differential braking: design, implementation and experimental evaluation of a switched model predictive control approach},
      • booktitle = {Proc. 49th IEEE Conf. Decision and Control},
      • year = 2010,
      • pages = {2886--2891}
      • }
    •  S. Di Cairano and Alberto Bemporad, "Equivalent piecewise affine models of linear hybrid automata", IEEE Trans. automatic Control, Vol. 55, No. 2, pp. 498-502, 2010.
      BibTeX
      • @Article{di2010equivalent,
      • author = {Di Cairano, S. and Bemporad, Alberto},
      • title = {Equivalent piecewise affine models of linear hybrid automata},
      • journal = {IEEE Trans. automatic Control},
      • year = 2010,
      • volume = 55,
      • number = 2,
      • pages = {498--502}
      • }
    •  S. Di Cairano and Alberto Bemporad, "Model predictive control tuning by controller matching", IEEE Trans. automatic Control, Vol. 55, No. 1, pp. 185-190, 2010.
      BibTeX
      • @Article{di2010model,
      • author = {Di Cairano, S. and Bemporad, Alberto},
      • title = {Model predictive control tuning by controller matching},
      • journal = {IEEE Trans. automatic Control},
      • year = 2010,
      • volume = 55,
      • number = 1,
      • pages = {185--190}
      • }
    •  S. Di Cairano, Diana Yanakiev, Alberto Bemporad, Ilya Kolmanovsky and Davor Hrovat, "Model predictive powertrain control: an application to idle speed regulation" in automotive Model Predictive Control, Lect. Notes Control and Inf. Science, pp. 183-194, Springer, 2010.
      BibTeX
      • @Incollection{di2010modelp,
      • author = {Di Cairano, S. and Yanakiev, Diana and Bemporad, Alberto and Kolmanovsky, Ilya and Hrovat, Davor},
      • title = {Model predictive powertrain control: an application to idle speed regulation},
      • booktitle = {automotive Model Predictive Control},
      • year = 2010,
      • series = {Lect. Notes Control and Inf. Science},
      • pages = {183--194},
      • publisher = {Springer}
      • }
    •  S. Di Cairano and Ilya V Kolmanovsky, "Rate limited reference governor for network controlled systems", Proc. American Control Conf., 2010, pp. 3704-3709.
      BibTeX
      • @Inproceedings{di2010rate,
      • author = {Di Cairano, S. and Kolmanovsky, Ilya V},
      • title = {Rate limited reference governor for network controlled systems},
      • booktitle = {Proc. American Control Conf.},
      • year = 2010,
      • pages = {3704--3709}
      • }
    •  S. Di Cairano, H Eric Tseng, Daniele Bernardini and Alberto Bemporad, "Steering vehicle control by switched model predictive control", Proc. IFAC Work. Advances Automotive Controls, 2010, pp. 1-6.
      BibTeX
      • @Inproceedings{di2010steering,
      • author = {Di Cairano, S. and Tseng, H Eric and Bernardini, Daniele and Bemporad, Alberto},
      • title = {Steering vehicle control by switched model predictive control},
      • booktitle = {Proc. IFAC Work. Advances Automotive Controls},
      • year = 2010,
      • pages = {1--6}
      • }
    •  J B Siegel, A G Stefanopoulou, G Ripaccioli and S. bf Di Cairano, "Purge Scheduling for Dead-Ended Anode Operation of PEM Fuel Cells" in Control Handbook, 2nd Edition: Control System Applications, Levine, W., Eds., CRC Press, 2010.
      BibTeX
      • @Incollection{siegel2010purge,
      • author = {Siegel, J B and Stefanopoulou, A G and Ripaccioli, G and Di Cairano, S.},
      • title = {Purge Scheduling for Dead-Ended Anode Operation of PEM Fuel Cells},
      • booktitle = {Control Handbook, 2nd Edition: Control System Applications},
      • year = 2010,
      • editor = {Levine, W.},
      • publisher = {CRC Press}
      • }
    •  D. Bernardini, S. Di Cairano, A. Bemporad and H.E. Tsengz, "Drive-by-wire vehicle stabilization and yaw regulation: a hybrid Model Predictive Control design", Proc. 48th IEEE Conf. Decision and Control and Chinese Control Conf., 2009, pp. 7621-7626.
      BibTeX
      • @Inproceedings{Bernardini2009,
      • author = {Bernardini, D. and Di Cairano, S. and Bemporad, A. and Tsengz, H.E.},
      • title = {Drive-by-wire vehicle stabilization and yaw regulation: a hybrid Model Predictive Control design},
      • booktitle = {Proc. 48th IEEE Conf. Decision and Control and Chinese Control Conf.},
      • year = 2009,
      • pages = {7621--7626}
      • }
    •  R.M. Hermans, M. Lazar, S. Di Cairano and I. Kolmanovsky, "Low-complexity model predictive control of ElectroMagnetic actuators", Proc. IEEE Conf. EUROCON, 2009, pp. 1972-1977.
      BibTeX
      • @Inproceedings{Hermans2009,
      • author = {Hermans, R.M. and Lazar, M. and Di Cairano, S. and Kolmanovsky, I.},
      • title = {Low-complexity model predictive control of ElectroMagnetic actuators},
      • booktitle = {Proc. IEEE Conf. EUROCON},
      • year = 2009,
      • pages = {1972--1977}
      • }
    •  Alberto Bemporad, S. Di Cairano, Giancarlo Ferrari-Trecate, Michal Kvasnica, Manfred Morari and Simone Paoletti, "Tools for modeling, simulation, control, and verification of piecewise affine systems" in Handbook of Hybrid Systems Control: Theory, Tools, and Applications, pp. 297-324, Cambridge University Press, 2009.
      BibTeX
      • @Incollection{bemporad2009tools,
      • author = {Bemporad, Alberto and Di Cairano, S. and Ferrari-Trecate, Giancarlo and Kvasnica, Michal and Morari, Manfred and Paoletti, Simone},
      • title = {Tools for modeling, simulation, control, and verification of piecewise affine systems},
      • booktitle = {Handbook of Hybrid Systems Control: Theory, Tools, and Applications},
      • year = 2009,
      • pages = {297--324},
      • publisher = {Cambridge University Press}
      • }
    •  Luca Benvenuti, Andrea Balluchi, Alberto Bemporad, S. bf Di Cairano, Bengt Johansson, Rolf Johansson, Alberto Sangiovanni Vincentelli and Per Tunestal, "Automotive control" in Handbook of Hybrid Systems Control: Theory, Tools, and Applications, pp. 439-470, Cambridge University Press, 2009.
      BibTeX
      • @Incollection{benvenuti2009automotive,
      • author = {Benvenuti, Luca and Balluchi, Andrea and Bemporad, Alberto and {Di Cairano}, S. and Johansson, Bengt and Johansson, Rolf and Sangiovanni Vincentelli, Alberto and Tunestal, Per},
      • title = {Automotive control},
      • booktitle = {Handbook of Hybrid Systems Control: Theory, Tools, and Applications},
      • year = 2009,
      • pages = {439--470},
      • publisher = {Cambridge University Press}
      • }
    •  S. Di Cairano, Alberto Bemporad and Jorge Julvez, "Event-driven optimization-based control of hybrid systems with integral continuous-time dynamics", IFAC Automatica, Vol. 45, No. 5, pp. 1243-1251, 2009.
      BibTeX
      • @Article{di2009event,
      • author = {Di Cairano, S. and Bemporad, Alberto and Julvez, Jorge},
      • title = {Event-driven optimization-based control of hybrid systems with integral continuous-time dynamics},
      • journal = {IFAC Automatica},
      • year = 2009,
      • volume = 45,
      • number = 5,
      • pages = {1243--1251}
      • }
    •  S. Di Cairano and Alberto Bemporad, "Model predictive controller matching: Can MPC enjoy small signal properties of my favorite linear controller?", Proc. European Control Conf., 2009, pp. 2217-2222.
      BibTeX
      • @Inproceedings{di2009model,
      • author = {Di Cairano, S. and Bemporad, Alberto},
      • title = {Model predictive controller matching: Can MPC enjoy small signal properties of my favorite linear controller?},
      • booktitle = {Proc. European Control Conf.},
      • year = 2009,
      • pages = {2217--2222}
      • }
    •  RM Hermans, Mircea Lazar, S. Di Cairano and IV Kolmanovsky, "Low-complexity model predictive control of electromagnetic actuators with a stability guarantee", Proc. American Control Conf., 2009, pp. 2708-2713.
      BibTeX
      • @Inproceedings{hermans2009low,
      • author = {Hermans, RM and Lazar, Mircea and Di Cairano, S. and Kolmanovsky, IV},
      • title = {Low-complexity model predictive control of electromagnetic actuators with a stability guarantee},
      • booktitle = {Proc. American Control Conf.},
      • year = 2009,
      • pages = {2708--2713}
      • }
    •  Giulio Ripaccioli, Jason B Siegel, Anna G Stefanopoulou and S. Di Cairano, "Derivation and simulation results of a hybrid model predictive control for water purge scheduling in a fuel cell", ASME Dynamic Systems and Control Conf., 2009.
      BibTeX
      • @Inproceedings{ripaccioli2009derivation,
      • author = {Ripaccioli, Giulio and Siegel, Jason B and Stefanopoulou, Anna G and Di Cairano, S.},
      • title = {Derivation and simulation results of a hybrid model predictive control for water purge scheduling in a fuel cell},
      • booktitle = {ASME Dynamic Systems and Control Conf.},
      • year = 2009
      • }
    •  Giulio Ripaccioli, Alberto Bemporad, F Assadian, C Dextreit, S. Di Cairano and I V Kolmanovsky, "Hybrid modeling, identification, and predictive control: An application to hybrid electric vehicle energy management", Proc. of Hybrid Systems: Computation and Control, 2009, pp. 321-335.
      BibTeX
      • @Inproceedings{ripaccioli2009hybrid,
      • author = {Ripaccioli, Giulio and Bemporad, Alberto and Assadian, F and Dextreit, C and Di Cairano, S. and Kolmanovsky, I V},
      • title = {Hybrid modeling, identification, and predictive control: An application to hybrid electric vehicle energy management},
      • booktitle = {Proc. of Hybrid Systems: Computation and Control},
      • year = 2009,
      • series = {Lect. Notes Computer Science},
      • pages = {321--335},
      • publisher = {Springer}
      • }
    •  Sergio Trimboli, S. Di Cairano, Alberto Bemporad and Ilya V Kolmanovsky, "Model predictive control for automotive time-delay processes: an application to air-to-fuel ratio control", IFAC Worksh. Time Delay Systems, 2009, vol. 8, pp. 90-95.
      BibTeX
      • @Inproceedings{trimboli2009model,
      • author = {Trimboli, Sergio and Di Cairano, S. and Bemporad, Alberto and Kolmanovsky, Ilya V},
      • title = {Model predictive control for automotive time-delay processes: an application to air-to-fuel ratio control},
      • booktitle = {IFAC Worksh. Time Delay Systems},
      • year = 2009,
      • volume = 8,
      • number = 1,
      • pages = {90--95}
      • }
    •  S. Di Cairano, Mircea Lazar, Alberto Bemporad and M Heemels, "A control Lyapunov approach to predictive control of hybrid systems", Proc. of Hybrid Systems: Computation and Control, 2008, pp. 130-143.
      BibTeX
      • @Inproceedings{di2008control,
      • author = {Di Cairano, S. and Lazar, Mircea and Bemporad, Alberto and Heemels, M},
      • title = {A control Lyapunov approach to predictive control of hybrid systems},
      • booktitle = {Proc. of Hybrid Systems: Computation and Control},
      • year = 2008,
      • series = {Lect. Notes Computer Science},
      • pages = {130--143},
      • publisher = {Springer}
      • }
    •  S. Di Cairano, Alessandro Pasini, Alberto Bemporad and Richard M Murray, "Convergence properties of dynamic agents consensus networks with broken links", Proc. American Control Conf., 2008, pp. 1362-1367.
      BibTeX
      • @Inproceedings{di2008convergence,
      • author = {Di Cairano, S. and Pasini, Alessandro and Bemporad, Alberto and Murray, Richard M},
      • title = {Convergence properties of dynamic agents consensus networks with broken links},
      • booktitle = {Proc. American Control Conf.},
      • year = 2008,
      • pages = {1362--1367}
      • }
    •  S. Di Cairano, Karl Henrik Johansson, Alberto Bemporad and Richard M Murray, "Dynamic network state estimation in networked control systems", Proc. of Hybrid Systems: Computation and Control, 2008, pp. 144-157.
      BibTeX
      • @Inproceedings{di2008dynamic,
      • author = {Di Cairano, S. and Johansson, Karl Henrik and Bemporad, Alberto and Murray, Richard M},
      • title = {Dynamic network state estimation in networked control systems},
      • booktitle = {Proc. of Hybrid Systems: Computation and Control},
      • year = 2008,
      • series = {Lect. Notes Computer Science},
      • pages = {144--157},
      • publisher = {Springer}
      • }
    •  S. Di Cairano, "Model predictive control of hybrid dynamical systems: Stabilization, event-driven, and stochastic control", 2008, Ph. D. Thesis, Dipartimento Ingegneria dell'Informazione, Italy.
      BibTeX
      • @Phdthesis{di2008model,
      • author = {Di Cairano, S.},
      • title = {Model predictive control of hybrid dynamical systems: Stabilization, event-driven, and stochastic control},
      • school = {Ph. D. Thesis, Dipartimento Ingegneria dell'Informazione, Italy},
      • year = 2008
      • }
    •  S. Di Cairano, Diana Yanakiev, Alberto Bemporad, IV Kolmanovsky and Davor Hrovat, "An MPC design flow for automotive control and applications to idle speed regulation", Proc. 46th IEEE Conf. Decision and Control, 2008, pp. 5686-5691.
      BibTeX
      • @Inproceedings{di2008mpc,
      • author = {Di Cairano, S. and Yanakiev, Diana and Bemporad, Alberto and Kolmanovsky, IV and Hrovat, Davor},
      • title = {An MPC design flow for automotive control and applications to idle speed regulation},
      • booktitle = {Proc. 46th IEEE Conf. Decision and Control},
      • year = 2008,
      • pages = {5686--5691}
      • }
    •  A. Alessio and S. Di Cairano, "Tools for hybrid control design", 2007.
      BibTeX
      • @Misc{Alessio2007,
      • author = {Alessio, A. and Di Cairano, S.},
      • title = {Tools for hybrid control design},
      • year = 2007,
      • note = {Hybrid Systems: Computation and Control Conf., Poster presentation}
      • }
    •  A. Bemporad, S. Di Cairano, E. Henriksson and K. H. Johansson, "Hybrid model predictive control based on wireless sensor feedback: An experimental study", Proc. 46th IEEE Conf. Decision and Control, 2007, pp. 5062-5067.
      BibTeX
      • @Inproceedings{Bemporad2007,
      • author = {Bemporad, A. and Di Cairano, S. and Henriksson, E. and Johansson, K. H.},
      • title = {Hybrid model predictive control based on wireless sensor feedback: An experimental study},
      • booktitle = {Proc. 46th IEEE Conf. Decision and Control},
      • year = 2007,
      • pages = {5062--5067}
      • }
    •  Mohammed Aly, Joel W Burdick, Vanessa Carson, S. bf Di Cairano, Laura Lindzey, Jeremy Ma, Richard M Murray, Richard Petras, Sam Pfister and Dominic Rizzo, "Sensing, Navigation and Reasoning Technologies for the DARPA Urban Challenge," Tech. Rep., DARPA, 2007.
      BibTeX
      • @Techreport{aly2007sensing,
      • author = {Aly, Mohammed and Burdick, Joel W and Carson, Vanessa and {Di Cairano}, S. and Lindzey, Laura and Ma, Jeremy and Murray, Richard M and Petras, Richard and Pfister, Sam and Rizzo, Dominic},
      • title = {Sensing, Navigation and Reasoning Technologies for the DARPA Urban Challenge},
      • institution = {DARPA},
      • year = 2007,
      • note = {Available at citeseerx.ist.psu.edu}
      • }
    •  Alberto Bemporad, S. Di Cairano, Ilya V Kolmanovsky and Davor Hrovat, "Hybrid modeling and control of a multibody magnetic actuator for automotive applications", Proc. 46th IEEE Conf. Decision and Control, 2007, pp. 5270-5275.
      BibTeX
      • @Inproceedings{bemporad2007hybrid,
      • author = {Bemporad, Alberto and Di Cairano, S. and Kolmanovsky, Ilya V and Hrovat, Davor},
      • title = {Hybrid modeling and control of a multibody magnetic actuator for automotive applications},
      • booktitle = {Proc. 46th IEEE Conf. Decision and Control},
      • year = 2007,
      • pages = {5270--5275}
      • }
    •  S. Di Cairano, Alberto Bemporad, Ilya V Kolmanovsky and Davor Hrovat, "Model predictive control of magnetic automotive actuators", Proc. American Control Conf., 2007, pp. 5082-5087.
      BibTeX
      • @Inproceedings{di2007model,
      • author = {Di Cairano, S. and Bemporad, Alberto and Kolmanovsky, Ilya V and Hrovat, Davor},
      • title = {Model predictive control of magnetic automotive actuators},
      • booktitle = {Proc. American Control Conf.},
      • year = 2007,
      • pages = {5082--5087}
      • }
    •  S. Di Cairano, Alberto Bemporad and Angelita Caldelli, "Moving target detection and tracking in wireless sensor networks", Proc. European Control Conf., 2007.
      BibTeX
      • @Inproceedings{di2007moving,
      • author = {Di Cairano, S. and Bemporad, Alberto and Caldelli, Angelita},
      • title = {Moving target detection and tracking in wireless sensor networks},
      • booktitle = {Proc. European Control Conf.},
      • year = 2007
      • }
    •  Michael Epstein, Ling Shi, S. Di Cairano and Richard M Murray, "Control over a network: Using actuation buffers to reduce transmission frequency", Proc. European Control Conf., 2007, pp. 597-602.
      BibTeX
      • @Inproceedings{epstein2007control,
      • author = {Epstein, Michael and Shi, Ling and Di Cairano, S. and Murray, Richard M},
      • title = {Control over a network: Using actuation buffers to reduce transmission frequency},
      • booktitle = {Proc. European Control Conf.},
      • year = 2007,
      • pages = {597--602}
      • }
    •  S Di Cairano, Alberto Bemporad, I V Kolmanovsky and Davor Hrovat, "Model predictive control of magnetically actuated mass spring dampers for automotive applications", Int. J. Control, Vol. 80, No. 11, pp. 1701-1716, 2007.
      BibTeX
      • @Article{sdc07,
      • author = {Di Cairano, S and Bemporad, Alberto and Kolmanovsky, I V and Hrovat, Davor},
      • title = {Model predictive control of magnetically actuated mass spring dampers for automotive applications},
      • journal = {Int. J. Control},
      • year = 2007,
      • volume = 80,
      • number = 11,
      • pages = {1701--1716}
      • }
    •  Alberto Bemporad, S. Di Cairano and Jorge Júlvez, "Event-based model predictive control and verification of integral continuous-time hybrid automata", Proc. of Hybrid Systems: Computation and Control, 2006, pp. 93-107.
      BibTeX
      • @Inproceedings{bemporad2006event,
      • author = {Bemporad, Alberto and Di Cairano, S. and Julvez, Jorge},
      • title = {Event-based model predictive control and verification of integral continuous-time hybrid automata},
      • booktitle = {Proc. of Hybrid Systems: Computation and Control},
      • year = 2006,
      • series = {Lect. Notes Computer Science},
      • pages = {93--107},
      • publisher = {Springer}
      • }
    •  S. Di Cairano, Alberto Bemporad and Michal Kvasnica, "An architecture for data interchange of switched linear systems," Tech. Rep., Technical Report D 3.3. 1, HYCON NoE, 2006.
      BibTeX
      • @Techreport{cairano2006architecture,
      • author = {Di Cairano, S. and Bemporad, Alberto and Kvasnica, Michal},
      • title = {An architecture for data interchange of switched linear systems},
      • institution = {Technical Report D 3.3. 1, HYCON NoE},
      • year = 2006
      • }
    •  S. Di Cairano and Alberto Bemporad, "An equivalence result between linear hybrid automata and piecewise affine systems", Proc. 45th IEEE Conf. Decision and Control, 2006, pp. 2631-2636.
      BibTeX
      • @Inproceedings{di2006equivalence,
      • author = {Di Cairano, S. and Bemporad, Alberto},
      • title = {An equivalence result between linear hybrid automata and piecewise affine systems},
      • booktitle = {Proc. 45th IEEE Conf. Decision and Control},
      • year = 2006,
      • pages = {2631--2636}
      • }
    •  S. Di Cairano, Alberto Bemporad, Ilya V Kolmanovsky and Davor Hrovat, "Model predictive control of nonlinear mechatronic systems: An application to a magnetically atuated", IFAC Worksh. Analysis and Design of Hybrid Systems, 2006, pp. 241-246.
      BibTeX
      • @Inproceedings{di2006model,
      • author = {Di Cairano, S. and Bemporad, Alberto and Kolmanovsky, Ilya V and Hrovat, Davor},
      • title = {Model predictive control of nonlinear mechatronic systems: An application to a magnetically atuated},
      • booktitle = {IFAC Worksh. Analysis and Design of Hybrid Systems},
      • year = 2006,
      • pages = {241--246}
      • }
    •  Alberto Bemporad, S. Di Cairano and Jorge Júlvez, "Event-driven optimal control of integral continuous-time hybrid automata", Proc. 44th IEEE Conf. Decision and Control and European Control Conf., 2005, pp. 1409-1414.
      BibTeX
      • @Inproceedings{bemporad2005event,
      • author = {Bemporad, Alberto and Di Cairano, S. and Julvez, Jorge},
      • title = {Event-driven optimal control of integral continuous-time hybrid automata},
      • booktitle = {Proc. 44th IEEE Conf. Decision and Control and European Control Conf.},
      • year = 2005,
      • pages = {1409--1414}
      • }
    •  Alberto Bemporad, S. Di Cairano and Nicolo Giorgetti, "Model predictive control of hybrid systems with applications to supply chain management", Congress of ANIPLA, 2005, pp. 1-15.
      BibTeX
      • @Inproceedings{bemporad2005model,
      • author = {Bemporad, Alberto and Di Cairano, S. and Giorgetti, Nicolo},
      • title = {Model predictive control of hybrid systems with applications to supply chain management},
      • booktitle = {Congress of ANIPLA},
      • year = 2005,
      • pages = {1--15}
      • }
    •  Alberto Bemporad and S. Di Cairano, "Optimal control of discrete hybrid stochastic automata", Proc. of Hybrid Systems: Computation and Control, 2005, pp. 151-167.
      BibTeX
      • @Inproceedings{bemporad2005optimal,
      • author = {Bemporad, Alberto and Di Cairano, S.},
      • title = {Optimal control of discrete hybrid stochastic automata},
      • booktitle = {Proc. of Hybrid Systems: Computation and Control},
      • year = 2005,
      • series = {Lect. Notes Computer Science},
      • pages = {151--167},
      • publisher = {Springer}
      • }
    •  S. Di Cairano, "Optimal Control of Hybrid Systems with Stochastic Events", 2004, M.Sc Thesis, School of Engineering, Universita'di Siena, Italy.
      BibTeX
      • @Mastersthesis{bemporadoptimal,
      • author = {Di Cairano, S.},
      • title = {Optimal Control of Hybrid Systems with Stochastic Events},
      • school = {M.Sc Thesis, School of Engineering, Universita'di Siena, Italy},
      • year = 2004
      • }

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  • MERL Issued Patents

    • Title: "System and Method for Parking an Autonomous Ego-Vehicle in a Dynamic Environment of a Parking Area"
      Inventors: Wang, Yebin .; Leu, Jessica; Di Cairano, Stefano
      Patent No.: 12,157,502
      Issue Date: Dec 3, 2024
    • Title: "System and Method for Indirect Data-Driven Control Under Constraints"
      Inventors: Vinod, Abraham; Mamakoukas, Giorgos; Di Cairano, Stefano
      Patent No.: 12,124,241
      Issue Date: Oct 22, 2024
    • Title: "Controller for Optimizing Motion Trajectory to Control Motion of One or More Devices"
      Inventors: Di Cairano, Stefano; Chakrabarty, Ankush; Quirynen, Rien; Srinivasan, Mohit; Yoshikawa, Nobuyuki; Mariyama, Toshisada
      Patent No.: 12,061,474
      Issue Date: Aug 13, 2024
    • Title: "System and Method for Controlling Autonomous Vehicle in Uncertain Environment"
      Inventors: Di Cairano, Stefano; Bonzanini, Angelo Domenico; Mesbah, Ali
      Patent No.: 12,060,085
      Issue Date: Aug 13, 2024
    • Title: "Method and System for Driving Condition-Agnostic Adaptation of Advanced Driving Assistance Systems"
      Inventors: Menner, Marcel; Di Cairano, Stefano; Berntorp, Karl; Ma, Ziyi
      Patent No.: 12,005,914
      Issue Date: Jun 11, 2024
    • Title: "Fail-Safe Vehicle Rendezvous in Case of Total Control Failure"
      Inventors: Weiss, Avishai; Marsillach, Daniel Aguilar; Di Cairano, Stefano; Kalabic, Uros
      Patent No.: 11,987,396
      Issue Date: May 21, 2024
    • Title: "System and Method for Calibrating Feedback Controllers"
      Inventors: Menner, Marcel; Berntorp, Karl; Di Cairano, Stefano
      Patent No.: 11,977,374
      Issue Date: May 7, 2024
    • Title: "Cooperative State Tracking of Multiple Vehicles using Individual and Joint Estimations"
      Inventors: Berntorp, Karl; Greiff, Marcus; Di Cairano, Stefano; Kim, Kyeong-Jin
      Patent No.: 11,947,022
      Issue Date: Apr 2, 2024
    • Title: "Method and System for Controlling Motion of an Electric Vehicle (EV)"
      Inventors: Menner, Marcel; Di Cairano, Stefano
      Patent No.: 11,897,341
      Issue Date: Feb 13, 2024
    • Title: "Controlling Machine Operating in Uncertain Environment Discoverable by Sensing"
      Inventors: Di Cairano, Stefano; Bonzanini, Angelo Domenico; Mesbah, Ali
      Patent No.: 11,886,196
      Issue Date: Jan 30, 2024
    • Title: "2022-LARGE-SCALE COOPERATIVE POSITIONING WITH GLOBAL NAVIGATION SATELLITE SYSTEM"
      Inventors: Greiff, Marcus; Berntorp, Karl; Di Cairano, Stefano
      Patent No.: 11,885,894
      Issue Date: Jan 30, 2024
    • Title: "Global Multi-Vehicle Decision Making System for Connected and Automated Vehicles in Dynamic Environment"
      Inventors: Quirynen, Rien; Di Cairano, Stefano; Ravikumar, Shreejith; Bhagat, Akshay; Zeino, Eyad
      Patent No.: 11,840,256
      Issue Date: Dec 12, 2023
    • Title: "Drift-Based Rendezvous Control"
      Inventors: Weiss, Avishai; Marsillach, Daniel Aguilar; Di Cairano, Stefano
      Patent No.: 11,834,203
      Issue Date: Dec 5, 2023
    • Title: "Abort-Safe Vehicle Rendezvous in Case of Partial Control Failure"
      Inventors: Weiss, Avishai; Di Cairano, Stefano; Marsillach, Daniel Aguilar; Kalabic, Uros
      Patent No.: 11,807,404
      Issue Date: Nov 7, 2023
    • Title: "Adaptive Control of Autonomous or Semi-Autonomous Vehicle"
      Inventors: Quirynen, Rien; Berntorp, Karl; Di Cairano, Stefano
      Patent No.: 11,753,023
      Issue Date: Sep 12, 2023
    • Title: "System and Method for Controlling Motion of a Vehicle"
      Inventors: Danielson, Claus; Chen, Di; Di Cairano, Stefano
      Patent No.: 11,731,655
      Issue Date: Aug 22, 2023
    • Title: "System and Method for Adaptive Control of Vehicle Dynamics"
      Inventors: Berntorp, Karl; Chakrabarty, Ankush; Di Cairano, Stefano
      Patent No.: 11,679,759
      Issue Date: Jun 20, 2023
    • Title: "Adaptive Optimization of Decision Making for Vehicle Control"
      Inventors: Di Cairano, Stefano; Quirynen, Rien; Sahin, Yunus Emre
      Patent No.: 11,650,590
      Issue Date: May 16, 2023
    • Title: "Probabilistic state tracking with multi-head measurement model"
      Inventors: Berntorp, Karl; Greiff, Marcus; Di Cairano, Stefano; Kim, Kyeong-Jin
      Patent No.: 11,644,579
      Issue Date: May 9, 2023
    • Title: "Sequential Convexification Method for Model Predictive Control of Nonlinear Systems with Continuous and Discrete Elements of Operations"
      Inventors: Quirynen, Rien; Di Cairano, Stefano
      Patent No.: 11,643,982
      Issue Date: May 9, 2023
    • Title: "System and Method for Wheel-Slip Prevention in Railway Vehicles with Pneumatic Brakes"
      Inventors: Danielson, Claus; Di Cairano, Stefano
      Patent No.: 11,584,341
      Issue Date: Feb 21, 2023
    • Title: "Control of Autonomous Vehicles Adaptive to User Driving Preferences"
      Inventors: Kalabic, Uros; Chakrabarty, Ankush; Di Cairano, Stefano
      Patent No.: 11,548,520
      Issue Date: Jan 10, 2023
    • Title: "Model-Based Control Under Uncertainty"
      Inventors: Berntorp, Karl; Di Cairano, Stefano
      Patent No.: 11,501,193
      Issue Date: Nov 15, 2022
    • Title: "Controller with Early Termination in Mixed-Integer Optimal Control Optimization"
      Inventors: Quirynen, Rien; Liang, Jiaming; Di Cairano, Stefano
      Patent No.: 11,340,899
      Issue Date: May 24, 2022
    • Title: "Adaptive Control of Vehicular Traffic"
      Inventors: Guo, Jianlin; Lee, Gilsoo; Kim, Kyeong-Jin; Orlik, Philip V.; Ahn, Heejin; Di Cairano, Stefano
      Patent No.: 11,328,589
      Issue Date: May 10, 2022
    • Title: "Adaptive Control of Autonomous or Semi-Autonomous Vehicle"
      Inventors: Berntorp, Karl; Di Cairano, Stefano; Menner, Marcel
      Patent No.: 11,327,492
      Issue Date: May 10, 2022
    • Title: "Nonlinear Optimization for Stochastic Predictive Vehicle Control"
      Inventors: Quirynen, Rien; Feng, Xuhui; Di Cairano, Stefano
      Patent No.: 11,327,449
      Issue Date: May 10, 2022
    • Title: "Nonlinear Model Predictive Control of Coupled Celestial System"
      Inventors: Weiss, Avishai; Di Cairano, Stefano; Malladi, BharaniPrabha
      Patent No.: 11,292,618
      Issue Date: Apr 5, 2022
    • Title: "Friction Adaptive Vehicle Control"
      Inventors: Berntorp, Karl; Quirynen, Rien; Di Cairano, Stefano
      Patent No.: 11,254,315
      Issue Date: Feb 22, 2022
    • Title: "Method and System for Determining Driver Intention in Semi-Autonomous Vehicle Steering"
      Inventors: Kalabic, Uros; Quirynen, Rien; Di Cairano, Stefano
      Patent No.: 11,167,795
      Issue Date: Nov 9, 2021
    • Title: "Active Set based Interior Point Optimization Method for Predictive Control"
      Inventors: Quirynen, Rien; Frey, Jonathan; Di Cairano, Stefano
      Patent No.: 11,163,273
      Issue Date: Nov 2, 2021
    • Title: "Joint Control of Vehicles Traveling on Different Intersecting Roads"
      Inventors: Guo, Jianlin; Ye, Fei; Kim, Kyeong-Jin; Orlik, Philip V.; Ahn, Heejin; Di Cairano, Stefano
      Patent No.: 11,145,197
      Issue Date: Oct 12, 2021
    • Title: "System and Method for Controlling Motion of Vehicle with Variable Speed"
      Inventors: Berntorp, Karl; Danielson, Claus; Weiss, Avishai; Di Cairano, Stefano
      Patent No.: 11,091,158
      Issue Date: Aug 17, 2021
    • Title: "Model Predictive Control of Systems with Continuous and Discrete Elements of Operations"
      Inventors: Quirynen, Rien; Hespanhol, Pedro; Di Cairano, Stefano
      Patent No.: 10,996,639
      Issue Date: May 4, 2021
    • Title: "System and Method for Controlling Lateral Motion of Vehicle"
      Inventors: Berntorp, Karl; Weiss, Avishai; Danielson, Claus; Di Cairano, Stefano
      Patent No.: 10,994,729
      Issue Date: May 4, 2021
    • Title: "System and Method for GNSS Ambiguity Resolution"
      Inventors: Berntorp, Karl; Weiss, Avishai; Di Cairano, Stefano
      Patent No.: 10,976,444
      Issue Date: Apr 13, 2021
    • Title: "MODEL PREDICTIVE CONTROL OF SPACECRAFT"
      Inventors: Weiss, Avishai; Zlotnik, David; Di Cairano, Stefano
      Patent No.: 10,967,991
      Issue Date: Apr 6, 2021
    • Title: "Model Predictive Control of Spacecraft"
      Inventors: Weiss, Avishai; Di Cairano, Stefano; Caverly, Ryan
      Patent No.: 10,934,025
      Issue Date: Mar 2, 2021
    • Title: "Loose Optical Fiber Tethering Of Multiple Satellites"
      Inventors: Parsons, Kieran; Weiss, Avishai; Orlik, Philip V.; Di Cairano, Stefano
      Patent No.: 10,892,826
      Issue Date: Jan 12, 2021
    • Title: "Method and Apparatus for Preconditioned Predictive Control of Vehicle Movement"
      Inventors: Quirynen, Rien; Kniazev, Andrei; Di Cairano, Stefano
      Patent No.: 10,877,445
      Issue Date: Dec 29, 2020
    • Title: "MODEL PREDICTIVE CONTROL OF SPACECRAFT"
      Inventors: Weiss, Avishai; Zlotnik, David; Di Cairano, Stefano
      Patent No.: 10,875,669
      Issue Date: Dec 29, 2020
    • Title: "Systems and Methods for Safe Decision Making of Autonomous Vehicles"
      Inventors: Berntorp, Karl; Di Cairano, Stefano; Ahn, Heejin
      Patent No.: 10,860,023
      Issue Date: Dec 8, 2020
    • Title: "RECEDING HORIZON REFERENCE GOVERNOR"
      Inventors: Goldsmith, Abraham M.; Di Cairano, Stefano; Kalabic, Uros
      Patent No.: 10,860,002
      Issue Date: Dec 8, 2020
    • Title: "Methods and Systems for Balanced Feasible and Stable Control"
      Inventors: Kalabic, Uros; Di Cairano, Stefano
      Patent No.: 10,807,638
      Issue Date: Oct 20, 2020
    • Title: "Controlling System Subject to Partially Hidden Actuator Dynamics"
      Inventors: Di Cairano, Stefano; Baethge, Tobias; Findeisen, Rolf
      Patent No.: 10,668,931
      Issue Date: Jun 2, 2020
    • Title: "Method and Apparatus for Preconditioned Predictive Control"
      Inventors: Quirynen, Rien; Kniazev, Andrei; Di Cairano, Stefano
      Patent No.: 10,613,490
      Issue Date: Apr 7, 2020
    • Title: "Systems and Methods for Intention-Based Steering of Vehicle"
      Inventors: Kalabic, Uros; Berntorp, Karl; Di Cairano, Stefano
      Patent No.: 10,589,784
      Issue Date: Mar 17, 2020
    • Title: "System and Method for Controlling a Vehicle Under Sensor Uncertainty"
      Inventors: Berntorp, Karl; Di Cairano, Stefano
      Patent No.: 10,408,638
      Issue Date: Sep 10, 2019
    • Title: "System and Method for Determining State of Stiffness of Tires of Vehicle"
      Inventors: Berntorp, Karl; Di Cairano, Stefano
      Patent No.: 10,370,004
      Issue Date: Aug 6, 2019
    • Title: "System and Method for Controlling Motion of Vehicle in Shared Environment"
      Inventors: Berntorp, Karl; Okamoto, Kazuhide; Di Cairano, Stefano
      Patent No.: 10,324,469
      Issue Date: Jun 18, 2019
    • Title: "System and Method for Controlling Redundant Actuators with Different Dynamics"
      Inventors: Kalabic, Uros; Goldsmith, Abraham M.; Di Cairano, Stefano
      Patent No.: 10,324,446
      Issue Date: Jun 18, 2019
    • Title: "Control of Redundant Laser Processing Machines"
      Inventors: Di Cairano, Stefano; Haghighat, Sohrab; Bortoff, Scott A.
      Patent No.: 10,307,863
      Issue Date: Jun 4, 2019
    • Title: "Model Predictive Control with Uncertainties"
      Inventors: Di Cairano, Stefano; Danielson, Claus
      Patent No.: 10,281,897
      Issue Date: May 7, 2019
    • Title: "Operation Aware Control of Processing Machine with Redundant Actuators"
      Inventors: Goldsmith, Abraham M.; Di Cairano, Stefano; Kalabic, Uros
      Patent No.: 10,216,168
      Issue Date: Feb 26, 2019
    • Title: "Concurrent Station Keeping, Attitude Control, and Momentum Management of Spacecraft"
      Inventors: Weiss, Avishai; Di Cairano, Stefano; Walsh, Alex
      Patent No.: 10,180,686
      Issue Date: Jan 15, 2019
    • Title: "System and Method for Controlling Multi-Zone Vapor Compression Systems"
      Inventors: Burns, Daniel J; Di Cairano, Stefano; Bortoff, Scott A.; Laughman, Christopher
      Patent No.: 10,174,957
      Issue Date: Jan 8, 2019
    • Title: "System and Method for Controlling Multi-Zone Vapor Compression System"
      Inventors: Burns, Daniel J; Zhou, Junqiang; Danielson, Claus; Di Cairano, Stefano
      Patent No.: 10,094,598
      Issue Date: Oct 9, 2018
    • Title: "Train Automatic Stopping Control with Quantized Throttle and Braking"
      Inventors: Danielson, Claus; Di Cairano, Stefano
      Patent No.: 10,093,331
      Issue Date: Oct 9, 2018
    • Title: "System and Method for Calibrating Parameters of Tires"
      Inventors: Berntorp, Karl; Di Cairano, Stefano
      Patent No.: 10,093,321
      Issue Date: Oct 9, 2018
    • Title: "Methods and Systems for Path Planning Using a Network of Safe-Sets"
      Inventors: Danielson, Claus; Weiss, Avishai; Berntorp, Karl; Di Cairano, Stefano
      Patent No.: 10,012,988
      Issue Date: Jul 3, 2018
    • Title: "System and Method for Determining State of Stiffness of Tires of Vehicle"
      Inventors: Berntorp, Karl; Di Cairano, Stefano
      Patent No.: 10,011,284
      Issue Date: Jul 3, 2018
    • Title: "Model Predictive Control with Uncertainties"
      Inventors: Di Cairano, Stefano; Weiss, Avishai
      Patent No.: 9,983,554
      Issue Date: May 29, 2018
    • Title: "System and Method for Controlling System"
      Inventors: Kniazev, Andrei; Zhu, Peizhen; Di Cairano, Stefano
      Patent No.: 9,958,840
      Issue Date: May 1, 2018
    • Title: "Model Predictive Control with Uncertainties"
      Inventors: Nikovski, Daniel N.; Di Cairano, Stefano; Zhao, Yiming
      Patent No.: 9,946,241
      Issue Date: Apr 17, 2018
    • Title: "System and Method for Controlling Motion of Vehicle"
      Inventors: Di Cairano, Stefano; Kalabic, Uros; Berntorp, Karl
      Patent No.: 9,915,948
      Issue Date: Mar 13, 2018
    • Title: "Model Predictive Control with Uncertainties"
      Inventors: Benosman, Mouhacine; Di Cairano, Stefano
      Patent No.: 9,897,984
      Issue Date: Feb 20, 2018
    • Title: "Model Predictive Control of Spacecraft"
      Inventors: Weiss, Avishai; Di Cairano, Stefano; Kalabic, Uros
      Patent No.: 9,874,879
      Issue Date: Jan 23, 2018
    • Title: "Automatic Train Stop Control System"
      Inventors: Di Cairano, Stefano; Ulusoy, Mehmet; Haghighat, Sohrab
      Patent No.: 9,840,261
      Issue Date: Dec 12, 2017
    • Title: "System and Method for Controlling Semi-Autonomous Vehicles"
      Inventors: Di Cairano, Stefano; Lan, Xiaodong
      Patent No.: 9,821,801
      Issue Date: Nov 21, 2017
    • Title: "Feasible Tracking Control of Machine"
      Inventors: Di Cairano, Stefano; Borrelli, Francesco
      Patent No.: 9,804,580
      Issue Date: Oct 31, 2017
    • Title: "System and Method for Explicit Model Predictive Control"
      Inventors: Goldsmith, Abraham M.; Di Cairano, Stefano
      Patent No.: 9,766,601
      Issue Date: Sep 19, 2017
    • Title: "Model Predictive Control of Spacecraft"
      Inventors: Weiss, Avishai; Di Cairano, Stefano; Kalabic, Uros
      Patent No.: 9,764,858
      Issue Date: Sep 19, 2017
    • Title: "Optimal Parameter Selection and Acceleration in ADMM for Multi-stage Stochastic Convex Quadratic Programs"
      Inventors: Raghunathan, Arvind U; Di Cairano, Stefano
      Patent No.: 9,760,534
      Issue Date: Sep 12, 2017
    • Title: "Method for Solving Quadratic Programs for Convex Sets with Linear Equalities by an Alternating Direction Method of Multipliers with Optimized Step Sizes"
      Inventors: Raghunathan, Arvind U; Di Cairano, Stefano
      Patent No.: 9,753,892
      Issue Date: Sep 5, 2017
    • Title: "Control of Processing Machines with Redundant Actuators"
      Inventors: Di Cairano, Stefano; Goldsmith, Abraham M.; Bortoff, Scott A.
      Patent No.: 9,744,620
      Issue Date: Aug 29, 2017
    • Title: "Method and System for Computing Reference Signals for Machines with Redundant Positioning"
      Inventors: Haghighat, Sohrab; Di Cairano, Stefano; Bortoff, Scott A.
      Patent No.: 9,696,709
      Issue Date: Jul 4, 2017
    • Title: "System and Method for Controlling of Vapor Compression System"
      Inventors: Burns, Dan; Jain, Neera; Laughman, Christopher; Di Cairano, Stefano; Bortoff, Scott A.
      Patent No.: 9,625,196
      Issue Date: Apr 18, 2017
    • Title: "MPC controller using parallel quadratic programming"
      Inventors: Di Cairano, Stefano; Brand, Matthew E.
      Patent No.: 9,618,912
      Issue Date: Apr 11, 2017
    • Title: "System and Method for Controlling Autonomous or Semi-Autonomous Vehicle"
      Inventors: Berntorp, Karl; Di Cairano, Stefano
      Patent No.: 9,568,915
      Issue Date: Feb 14, 2017
    • Title: "System and Method for Stopping Trains Using Simultaneous Parameter Estimation"
      Inventors: Di Cairano, Stefano; Haghighat, Sohrab; Cheng, Yongfang
      Patent No.: 9,499,183
      Issue Date: Nov 22, 2016
    • Title: "Automatic Train Stop Control System"
      Inventors: Di Cairano, Stefano; Ulusoy, Mehmet; Haghighat, Sohrab
      Patent No.: 9,387,866
      Issue Date: Jul 12, 2016
    • Title: "System and Method for Semi-Autonomous Driving of Vehicles"
      Inventors: Di Cairano, Stefano; Zafeiropoulos, Spyridon
      Patent No.: 9,199,667
      Issue Date: Dec 1, 2015
    • Title: "Determining Steering Angle of Steering Column of Vehicle"
      Inventors: Di Cairano, Stefano
      Patent No.: 9,073,569
      Issue Date: Jul 7, 2015
    • Title: "System and Method for Controlling Electric Power Steering System"
      Inventors: Di Cairano, Stefano; Zafeiropoulos, Spyridon
      Patent No.: 9,037,353
      Issue Date: May 19, 2015
    See All Patents for MERL