Manuela Tufo - Academia.edu (original) (raw)

Papers by Manuela Tufo

Research paper thumbnail of A linear time varying model predictive control approach to the integrated vehicle dynamics control problem in autonomous systems

2007 46th IEEE Conference on Decision and Control, 2007

A Model Predictive Control (MPC) approach for controlling active front steering, active braking a... more A Model Predictive Control (MPC) approach for controlling active front steering, active braking and active differentials in an autonomous vehicle is presented. We formulate a predictive control problem in order to best follow a given path by controlling the front steering angle, brakes and traction at the four wheels independently, while fulfilling various physical and design constraints. At each time step a trajectory is assumed to be known over a finite horizon, and an MPC controller computes the system inputs in order to best follow the desired trajectory on slippery roads at a given entry speed. We start from the results presented in [1], [2] and formulate the MPC problem based on successive on-line linearization of the nonlinear vehicle model (LTV MPC). Simulative results are presented, interpreted and compared against LTV MPC schemes which make use only of steering and/or braking.

Research paper thumbnail of A novel cooperative adaptive cruise control approach: Theory and hardware in the loop experimental validation

22nd Mediterranean Conference on Control and Automation, 2014

In this paper we propose and experimentally validate within an ad hoc Hardware In the Loop (HIL) ... more In this paper we propose and experimentally validate within an ad hoc Hardware In the Loop (HIL) environment a novel approach for the control of a fleet of vehicles. In particular, the Cooperative Adaptive Cruise Control (CACC) for vehicles platooning is extended to the case when, due to the recent advances on vehicular wireless technologies, each vehicle can communicate not only with its follower but also with a subset of vehicles in the fleet. In so doing, a network of dynamical system emerges, and it is shown that the platooning problem is equivalent to find a control algorithm so that the resulting network is asymptotically stable. It is analytically shown that the decentralized control algorithm guarantee exponential stability despite heterogeneous time-varying communication delays which are unavoidable when wireless protocol are used. Finally, experimental results show the effectiveness and the robustness of the control approach also to variations of the leader velocity, as well as to generic topologies of the underlining network emerging from the communication features.

Research paper thumbnail of Extended Cooperative Adaptive Cruise Control

2014 IEEE Intelligent Vehicles Symposium Proceedings, 2014

ABSTRACT In this paper the Cooperative Adaptive Cruise Control strategy for vehicles platooning i... more ABSTRACT In this paper the Cooperative Adaptive Cruise Control strategy for vehicles platooning is extended to the case when each vehicle can communicate with a subset of vehicles in the fleet. The control objective is to guarantee that the fleet moves forward with a given spacing policy at the leader velocity. To this aim each vehicle decides its control action using information from all neighboring vehicles through wireless communication. In so doing, a network of dynamical systems is formed, and it is shown that achieving platooning is equivalent to find a control algorithm so that the resulting network is asymptotically stable. A network protocol able to deal with heterogeneous time-varying communication delays is then proposed to solve the problem. A consistent proof of stability of the closed-loop system is provided and numerical results confirm the effectiveness of the approach and its robustness with respect to variations of the leader velocity, as well as to generic topologies of the underlying network emerging from the communication features.

Research paper thumbnail of Integrating model to support decision making

2013 IEEE 12th International Conference on Intelligent Software Methodologies, Tools and Techniques (SoMeT), 2013

ABSTRACT The aim of the paper is to investigate the integration of different analytical and simul... more ABSTRACT The aim of the paper is to investigate the integration of different analytical and simulations tools to support people to make decisions, and to show how the relationships among the different methods can be advantageous to solve specific problems. ORM (object - role modeling), PN (Petri Nets) and SD (System Dynamics) have been combined to capture the static and dynamic aspects of system.

Research paper thumbnail of S2-MOVE: Smart and Social Move

Abstract—In this position paper we present S2-MOVE (Smart

Research paper thumbnail of Automazione Delle Operazioni DI Validazione, Debugging e Testing Su Tutte Le Fasi Del Ciclo DI Vita Del Software, Per Applicazioni Sviluppate Su Dispositivi Mobili, Web e Personal Computer (M3)

Research paper thumbnail of Improving Test Suites Via a Novel Testing with Model Learning Approach

2018 IEEE 27th International Conference on Enabling Technologies: Infrastructure for Collaborative Enterprises (WETICE), 2018

The integrity and reliability of reactive systems are very important and, in order to ensure them... more The integrity and reliability of reactive systems are very important and, in order to ensure them, an intensive testing procedure is required. This paper is concerned with the challenge of automatically producing test sets for black-box systems and proposes a testing with model learning technique to achieve functional coverage in the absence of specifications. The testing technique probes the system behaviour with tests, uses the test results to learn a behavioural model of the SUT, generates further tests on the learned model and refines it via inductive learning. The proposed inductive learning algorithm is based on Evidence Driven State Merging and introduces a novel heuristic approach according to the order in which state pairs are chosen for merging that drastically reduces the number of required merge operations. The effectiveness of the proposed testing technique is measured in terms of achieved functional coverage and test depth considering as a case study the event-based fu...

Research paper thumbnail of Social and Smart Mobility for Future Cities: the S 2 -Move project

The main idea behind S2-Move, a social innovation project financed by the Italian Ministry of Edu... more The main idea behind S2-Move, a social innovation project financed by the Italian Ministry of Education, Research and University, is to supply soft real- time information exchange among citizens, public administrations and transportation systems by exploiting Information and Communication Technologies. In this paper, we describe the technological S2-Move infrastructure and the mobility services used to demonstrate the potentialities of the project.

Research paper thumbnail of Distributed Leader-Tracking for Autonomous Connected Vehicles in Presence of Input Time-Varying Delay

2018 26th Mediterranean Conference on Control and Automation (MED)

In this paper, the leader tracking problem for a platoon of connected vehicles in presence of hom... more In this paper, the leader tracking problem for a platoon of connected vehicles in presence of homogeneous time-varying Vehicle-to-Vehicle communication delays is addressed. To this aim, the platoon is recast as a network of multiagent systems and consensus is achieved by leveraging a delayed distributed strategy that complements the standard linear diffusive control protocol with additional distributed integral and derivative actions. The asymptotic stability of the closed-loop delayed system is hence analytically proven by exploiting the Lyapunov-Krasovskii theory. Stability conditions are expressed as a set of Linear Matrix Inequalities, whose solution allows the proper tuning of proportional, derivative and integral gains such as to counteract the presence of the time-varying input delay. An exemplar tracking maneuver is considered for evaluating the performance of a connected vehicles fleet and the numerical results confirm the effectiveness of the theoretical derivation.

Research paper thumbnail of A Forward-Collision Warning System for Electric Vehicles: Experimental Validation in Virtual and Real Environment

Energies, 2021

Driver behaviour and distraction have been identified as the main causes of rear end collisions. ... more Driver behaviour and distraction have been identified as the main causes of rear end collisions. However a promptly issued warning can reduce the severity of crashes, if not prevent them completely. This paper proposes a Forward Collision Warning System (FCW) based on information coming from a low cost forward monocular camera for low end electric vehicles. The system resorts to a Convolutional Neural Network (CNN) and does not require the reconstruction of a complete 3D model of the surrounding environment. Moreover a closed-loop simulation platform is proposed, which enables the fast development and testing of the FCW and other Advanced Driver Assistance Systems (ADAS). The system is then deployed on embedded hardware and experimentally validated on a test track.

Research paper thumbnail of Distributed Robust PID Control for leader tracking in uncertain connected ground vehicles with V2V communication delay

IEEE/ASME Transactions on Mechatronics

Research paper thumbnail of Cooperative Shock Waves Mitigation in Mixed Traffic Flow Environment

IEEE Transactions on Intelligent Transportation Systems

Research paper thumbnail of A control strategy for reducing traffic waves in delayed vehicular networks

2016 IEEE 55th Conference on Decision and Control (CDC), 2016

Research paper thumbnail of A fleet management service for smart cities: The S2-move project

2016 IEEE International Smart Cities Conference (ISC2), 2016

Research paper thumbnail of An Integrated Embedded Solution for Driving Support

Smart SysTech 2014; European Conference on Smart Objects, Systems and Technologies, 2014

Research paper thumbnail of On convergence and robustness of the Extended Cooperative Cruise Control

53rd IEEE Conference on Decision and Control, 2014

Research paper thumbnail of Trusted Information and Security in Smart Mobility Scenarios: The Case of S2-Move Project

Lecture Notes in Computer Science, 2013

Research paper thumbnail of Design of a Platoon Management Strategy and Its Hardware-In-the Loop Validation

2014 IEEE 79th Vehicular Technology Conference (VTC Spring), 2014

Research paper thumbnail of S2-MOVE: Smart and Social Move

Proceedings of UBIROADS'2012, IEEE Global Information Infrastructure Symposium GIIS'2012

In this position paper we present S 2-MOVE (Smart and Social Move), a social innovation project f... more In this position paper we present S 2-MOVE (Smart and Social Move), a social innovation project funded by MIUR (Italian Ministry of Education, Research and University). S 2-MOVE is based on a new conception of urban community, that allows citizens to share data and decisions in a smart and innovative way. In order to implement this new vision of urban mobility, called smart mobility, a deep integration among citizens, private and public transportation systems and ICT is required. In this new social and challenging scenario, citizens are not just customers of a service, but they produce and share information to obtain a common goal: a smart and efficient mobility, for everyone. S 2-MOVE proposes an architecture able to collect, update, and process real-time and heterogeneous information from various electronic devices (tablets, smartphones, electronic control devices in vehicles) and from the actors of the urban scenario (public/private transportation vehicles, pedestrians, infrastructures). Mining such information allows to produce new knowledge which is then made available again to the citizens through specific services. The urban mobility issues to which S 2-MOVE can offer a contribution, are linked to two crucial aspects: continuous and shared monitoring for real-time management of urban traffic and an interactive mobile information service for drivers. In this position paper, after introducing the rationale of the project, we describe the main technological aspects involved in the design and in the implementation of the S 2-MOVE architecture. Then, we present a proof of the control approach used to create and manage fleets of vehicles and we provide some preliminary results obtained using simulation.

Research paper thumbnail of S2-MOVE: Smart and Social Move

Proceedings of UBIROADS'2012, IEEE Global Information Infrastructure Symposium GIIS'2012

In this position paper we present S 2-MOVE (Smart and Social Move), a social innovation project f... more In this position paper we present S 2-MOVE (Smart and Social Move), a social innovation project funded by MIUR (Italian Ministry of Education, Research and University). S 2-MOVE is based on a new conception of urban community, that allows citizens to share data and decisions in a smart and innovative way. In order to implement this new vision of urban mobility, called smart mobility, a deep integration among citizens, private and public transportation systems and ICT is required. In this new social and challenging scenario, citizens are not just customers of a service, but they produce and share information to obtain a common goal: a smart and efficient mobility, for everyone. S 2-MOVE proposes an architecture able to collect, update, and process real-time and heterogeneous information from various electronic devices (tablets, smartphones, electronic control devices in vehicles) and from the actors of the urban scenario (public/private transportation vehicles, pedestrians, infrastructures). Mining such information allows to produce new knowledge which is then made available again to the citizens through specific services. The urban mobility issues to which S 2-MOVE can offer a contribution, are linked to two crucial aspects: continuous and shared monitoring for real-time management of urban traffic and an interactive mobile information service for drivers. In this position paper, after introducing the rationale of the project, we describe the main technological aspects involved in the design and in the implementation of the S 2-MOVE architecture. Then, we present a proof of the control approach used to create and manage fleets of vehicles and we provide some preliminary results obtained using simulation.

Research paper thumbnail of A linear time varying model predictive control approach to the integrated vehicle dynamics control problem in autonomous systems

2007 46th IEEE Conference on Decision and Control, 2007

A Model Predictive Control (MPC) approach for controlling active front steering, active braking a... more A Model Predictive Control (MPC) approach for controlling active front steering, active braking and active differentials in an autonomous vehicle is presented. We formulate a predictive control problem in order to best follow a given path by controlling the front steering angle, brakes and traction at the four wheels independently, while fulfilling various physical and design constraints. At each time step a trajectory is assumed to be known over a finite horizon, and an MPC controller computes the system inputs in order to best follow the desired trajectory on slippery roads at a given entry speed. We start from the results presented in [1], [2] and formulate the MPC problem based on successive on-line linearization of the nonlinear vehicle model (LTV MPC). Simulative results are presented, interpreted and compared against LTV MPC schemes which make use only of steering and/or braking.

Research paper thumbnail of A novel cooperative adaptive cruise control approach: Theory and hardware in the loop experimental validation

22nd Mediterranean Conference on Control and Automation, 2014

In this paper we propose and experimentally validate within an ad hoc Hardware In the Loop (HIL) ... more In this paper we propose and experimentally validate within an ad hoc Hardware In the Loop (HIL) environment a novel approach for the control of a fleet of vehicles. In particular, the Cooperative Adaptive Cruise Control (CACC) for vehicles platooning is extended to the case when, due to the recent advances on vehicular wireless technologies, each vehicle can communicate not only with its follower but also with a subset of vehicles in the fleet. In so doing, a network of dynamical system emerges, and it is shown that the platooning problem is equivalent to find a control algorithm so that the resulting network is asymptotically stable. It is analytically shown that the decentralized control algorithm guarantee exponential stability despite heterogeneous time-varying communication delays which are unavoidable when wireless protocol are used. Finally, experimental results show the effectiveness and the robustness of the control approach also to variations of the leader velocity, as well as to generic topologies of the underlining network emerging from the communication features.

Research paper thumbnail of Extended Cooperative Adaptive Cruise Control

2014 IEEE Intelligent Vehicles Symposium Proceedings, 2014

ABSTRACT In this paper the Cooperative Adaptive Cruise Control strategy for vehicles platooning i... more ABSTRACT In this paper the Cooperative Adaptive Cruise Control strategy for vehicles platooning is extended to the case when each vehicle can communicate with a subset of vehicles in the fleet. The control objective is to guarantee that the fleet moves forward with a given spacing policy at the leader velocity. To this aim each vehicle decides its control action using information from all neighboring vehicles through wireless communication. In so doing, a network of dynamical systems is formed, and it is shown that achieving platooning is equivalent to find a control algorithm so that the resulting network is asymptotically stable. A network protocol able to deal with heterogeneous time-varying communication delays is then proposed to solve the problem. A consistent proof of stability of the closed-loop system is provided and numerical results confirm the effectiveness of the approach and its robustness with respect to variations of the leader velocity, as well as to generic topologies of the underlying network emerging from the communication features.

Research paper thumbnail of Integrating model to support decision making

2013 IEEE 12th International Conference on Intelligent Software Methodologies, Tools and Techniques (SoMeT), 2013

ABSTRACT The aim of the paper is to investigate the integration of different analytical and simul... more ABSTRACT The aim of the paper is to investigate the integration of different analytical and simulations tools to support people to make decisions, and to show how the relationships among the different methods can be advantageous to solve specific problems. ORM (object - role modeling), PN (Petri Nets) and SD (System Dynamics) have been combined to capture the static and dynamic aspects of system.

Research paper thumbnail of S2-MOVE: Smart and Social Move

Abstract—In this position paper we present S2-MOVE (Smart

Research paper thumbnail of Automazione Delle Operazioni DI Validazione, Debugging e Testing Su Tutte Le Fasi Del Ciclo DI Vita Del Software, Per Applicazioni Sviluppate Su Dispositivi Mobili, Web e Personal Computer (M3)

Research paper thumbnail of Improving Test Suites Via a Novel Testing with Model Learning Approach

2018 IEEE 27th International Conference on Enabling Technologies: Infrastructure for Collaborative Enterprises (WETICE), 2018

The integrity and reliability of reactive systems are very important and, in order to ensure them... more The integrity and reliability of reactive systems are very important and, in order to ensure them, an intensive testing procedure is required. This paper is concerned with the challenge of automatically producing test sets for black-box systems and proposes a testing with model learning technique to achieve functional coverage in the absence of specifications. The testing technique probes the system behaviour with tests, uses the test results to learn a behavioural model of the SUT, generates further tests on the learned model and refines it via inductive learning. The proposed inductive learning algorithm is based on Evidence Driven State Merging and introduces a novel heuristic approach according to the order in which state pairs are chosen for merging that drastically reduces the number of required merge operations. The effectiveness of the proposed testing technique is measured in terms of achieved functional coverage and test depth considering as a case study the event-based fu...

Research paper thumbnail of Social and Smart Mobility for Future Cities: the S 2 -Move project

The main idea behind S2-Move, a social innovation project financed by the Italian Ministry of Edu... more The main idea behind S2-Move, a social innovation project financed by the Italian Ministry of Education, Research and University, is to supply soft real- time information exchange among citizens, public administrations and transportation systems by exploiting Information and Communication Technologies. In this paper, we describe the technological S2-Move infrastructure and the mobility services used to demonstrate the potentialities of the project.

Research paper thumbnail of Distributed Leader-Tracking for Autonomous Connected Vehicles in Presence of Input Time-Varying Delay

2018 26th Mediterranean Conference on Control and Automation (MED)

In this paper, the leader tracking problem for a platoon of connected vehicles in presence of hom... more In this paper, the leader tracking problem for a platoon of connected vehicles in presence of homogeneous time-varying Vehicle-to-Vehicle communication delays is addressed. To this aim, the platoon is recast as a network of multiagent systems and consensus is achieved by leveraging a delayed distributed strategy that complements the standard linear diffusive control protocol with additional distributed integral and derivative actions. The asymptotic stability of the closed-loop delayed system is hence analytically proven by exploiting the Lyapunov-Krasovskii theory. Stability conditions are expressed as a set of Linear Matrix Inequalities, whose solution allows the proper tuning of proportional, derivative and integral gains such as to counteract the presence of the time-varying input delay. An exemplar tracking maneuver is considered for evaluating the performance of a connected vehicles fleet and the numerical results confirm the effectiveness of the theoretical derivation.

Research paper thumbnail of A Forward-Collision Warning System for Electric Vehicles: Experimental Validation in Virtual and Real Environment

Energies, 2021

Driver behaviour and distraction have been identified as the main causes of rear end collisions. ... more Driver behaviour and distraction have been identified as the main causes of rear end collisions. However a promptly issued warning can reduce the severity of crashes, if not prevent them completely. This paper proposes a Forward Collision Warning System (FCW) based on information coming from a low cost forward monocular camera for low end electric vehicles. The system resorts to a Convolutional Neural Network (CNN) and does not require the reconstruction of a complete 3D model of the surrounding environment. Moreover a closed-loop simulation platform is proposed, which enables the fast development and testing of the FCW and other Advanced Driver Assistance Systems (ADAS). The system is then deployed on embedded hardware and experimentally validated on a test track.

Research paper thumbnail of Distributed Robust PID Control for leader tracking in uncertain connected ground vehicles with V2V communication delay

IEEE/ASME Transactions on Mechatronics

Research paper thumbnail of Cooperative Shock Waves Mitigation in Mixed Traffic Flow Environment

IEEE Transactions on Intelligent Transportation Systems

Research paper thumbnail of A control strategy for reducing traffic waves in delayed vehicular networks

2016 IEEE 55th Conference on Decision and Control (CDC), 2016

Research paper thumbnail of A fleet management service for smart cities: The S2-move project

2016 IEEE International Smart Cities Conference (ISC2), 2016

Research paper thumbnail of An Integrated Embedded Solution for Driving Support

Smart SysTech 2014; European Conference on Smart Objects, Systems and Technologies, 2014

Research paper thumbnail of On convergence and robustness of the Extended Cooperative Cruise Control

53rd IEEE Conference on Decision and Control, 2014

Research paper thumbnail of Trusted Information and Security in Smart Mobility Scenarios: The Case of S2-Move Project

Lecture Notes in Computer Science, 2013

Research paper thumbnail of Design of a Platoon Management Strategy and Its Hardware-In-the Loop Validation

2014 IEEE 79th Vehicular Technology Conference (VTC Spring), 2014

Research paper thumbnail of S2-MOVE: Smart and Social Move

Proceedings of UBIROADS'2012, IEEE Global Information Infrastructure Symposium GIIS'2012

In this position paper we present S 2-MOVE (Smart and Social Move), a social innovation project f... more In this position paper we present S 2-MOVE (Smart and Social Move), a social innovation project funded by MIUR (Italian Ministry of Education, Research and University). S 2-MOVE is based on a new conception of urban community, that allows citizens to share data and decisions in a smart and innovative way. In order to implement this new vision of urban mobility, called smart mobility, a deep integration among citizens, private and public transportation systems and ICT is required. In this new social and challenging scenario, citizens are not just customers of a service, but they produce and share information to obtain a common goal: a smart and efficient mobility, for everyone. S 2-MOVE proposes an architecture able to collect, update, and process real-time and heterogeneous information from various electronic devices (tablets, smartphones, electronic control devices in vehicles) and from the actors of the urban scenario (public/private transportation vehicles, pedestrians, infrastructures). Mining such information allows to produce new knowledge which is then made available again to the citizens through specific services. The urban mobility issues to which S 2-MOVE can offer a contribution, are linked to two crucial aspects: continuous and shared monitoring for real-time management of urban traffic and an interactive mobile information service for drivers. In this position paper, after introducing the rationale of the project, we describe the main technological aspects involved in the design and in the implementation of the S 2-MOVE architecture. Then, we present a proof of the control approach used to create and manage fleets of vehicles and we provide some preliminary results obtained using simulation.

Research paper thumbnail of S2-MOVE: Smart and Social Move

Proceedings of UBIROADS'2012, IEEE Global Information Infrastructure Symposium GIIS'2012

In this position paper we present S 2-MOVE (Smart and Social Move), a social innovation project f... more In this position paper we present S 2-MOVE (Smart and Social Move), a social innovation project funded by MIUR (Italian Ministry of Education, Research and University). S 2-MOVE is based on a new conception of urban community, that allows citizens to share data and decisions in a smart and innovative way. In order to implement this new vision of urban mobility, called smart mobility, a deep integration among citizens, private and public transportation systems and ICT is required. In this new social and challenging scenario, citizens are not just customers of a service, but they produce and share information to obtain a common goal: a smart and efficient mobility, for everyone. S 2-MOVE proposes an architecture able to collect, update, and process real-time and heterogeneous information from various electronic devices (tablets, smartphones, electronic control devices in vehicles) and from the actors of the urban scenario (public/private transportation vehicles, pedestrians, infrastructures). Mining such information allows to produce new knowledge which is then made available again to the citizens through specific services. The urban mobility issues to which S 2-MOVE can offer a contribution, are linked to two crucial aspects: continuous and shared monitoring for real-time management of urban traffic and an interactive mobile information service for drivers. In this position paper, after introducing the rationale of the project, we describe the main technological aspects involved in the design and in the implementation of the S 2-MOVE architecture. Then, we present a proof of the control approach used to create and manage fleets of vehicles and we provide some preliminary results obtained using simulation.