Thesis Files

Proactive Approach to Safe Automated Driving: Control of Evasive Maneuvers in Hazardous Scenarios download thesis TUDelft repository

Chapters 2-9 are based on publications. To access the files related to each chapter, please click on the corresponding link.

Iterative PWA Approximation via Cut-Based Domain Partitioning

L. Gharavi, B. De Schutter, S. Baldi (2023). Parametric Piecewise-Affine Approximation of Nonlinear Systems: A Cut-Based Approach. IFAC-PapersOnLine 56(2), pp. 6666-66771. IFAC link

PWA Approximation of Multi-Dimensional Nonlinear Systems

L. Gharavi, B. De Schutter, S. Baldi (2024). Iterative Cut-Based PWA Approximation of Multi-Dimensional Nonlinear Systems. Under review. arXiv link

H4MPC: A Hybridization Toolbox for MPC

L. Gharavi, B. De Schutter, S. Baldi (2024). H4MPC: A Hybridization Toolbox for Model Predictive Control in Automated Driving. IEEE International Conference on Advanced Motion Control (AMC), pp. 1-6. IEEE link

Hybridization Toolbox for Model Predictive Control code link

Sensitivity Analysis for PWA Approximations of NLPs

L. Gharavi, C. Liu, B. De Schutter, S. Baldi (2024). Sensitivity Analysis for Piecewise-Affine Approximations of Nonlinear Programs with Polytopic Constraints. IEEE Control Systems Letters 8, pp. 1271-1276. IEEE link arXiv link

Design and Numerical Analysis of Hybridization Benchmark for NMPC

L. Gharavi, B. De Schutter, S. Baldi (2023). Efficient MPC for Emergency Evasive Maneuvers, Part I: Hybridization of the Nonlinear Problem. Under review. arXiv link

Comparative Assessment of Hybridization in Vehicle Control

L. Gharavi, B. De Schutter, S. Baldi (2023). Efficient MPC for Emergency Evasive Maneuvers, Part II: Comparative Assessment for Hybrid Control. Under review. arXiv link

Proactive Collision Avoidance with Stochastic Obstacle Behavior

L. Gharavi, A. Dabiri, J. Verkuijlen, B. De Schutter, S. Baldi (2024). Proactive Emergency Collision Avoidance for Automated Driving in Highway Scenarios. IEEE Transactions on Control Systems Technology, early access. IEEE link arXiv link

Proactive Motion Planning Codes for Emergency Collision Avoidance in Highway Scenarios code link

Conservative vs. Proactive Collision Avoidance youtube link