Publications       Rudy Negenborn
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Centralization or decentralization: A comparative analysis of port regulation modes


"This paper studies the comparison of two kinds of port regulation modes - the centralization mode and the decentralization mode - using principal-agent theory and dynamic game theory. The optimal tariffs, port capacities and port efficiency levels under these two regulation modes are determined. The theoretical results are applied to the container terminals in Port of Shanghai in China. Sensitivit..." [More...]

S. Zheng, R.R. Negenborn. Centralization or decentralization: A comparative analysis of port regulation modes. Transportation Research Part E: Logistics and Transportation Review, vol. 69, pp. 21-40, September 2014.   


Distributed model predictive control -- An overview and roadmap of future research opportunities


"This is a position article on the current state of the art in distributed Model Predictive Control (MPC) and our view on its future potential. We present results from a recent survey of 35 distributed MPC approaches. For this, we propose a way in which distributed MPC approaches can be categorized for comparison. We also link the potential that these approaches have to the domain of other fields s..." [More...]

R.R. Negenborn, J.M. Maestre. Distributed model predictive control -- An overview and roadmap of future research opportunities. IEEE Control Systems Magazine, vol. 34, no. 4, pp. 87-97, August 2014.   


Intermodal freight transport planning - A receding horizon control approach


"This paper investigates intermodal freight transport planning problems among deep-sea terminals and inland terminals in hinterland haulage for a horizontally fully integrated intermodal freight transport operator at the tactical container flow level. An intermodal freight transport network (IFTN) model is first developed to capture the key characteristics of intermodal freight transport such as t..." [More...]

L. Li, R.R. Negenborn, B. De Schutter. Intermodal freight transport planning - A receding horizon control approach. Transportation Research Part C, vol. 60, pp. 77-95, 2015.   


Survey on autonomous surface vessels: Part II - Categorization of 60 prototypes and future applications


"Autonomous Surface Vessels (ASVs) have been developed for more than 20 years. Many ASV projects have been successfully realized, and as many are still under development. In literature there is a lack in research about different applications and suitable environments for the deployment of ASV. In our previous paper [44], we introduced the emerging concept of autonomous vessels. A multi-layer multi-..." [More...]

M. Schiaretti, L. Chen, R.R. Negenborn. Survey on autonomous surface vessels: Part II - Categorization of 60 prototypes and future applications. In Proceedings of the 8th International Conference on Computational Logistics (ICCL 2017), Southampton, UK, pp. 234-252, October 2017.   


Supervisory nonlinear MPC for emergency voltage control using pattern search


"The design of a higher-layer controller using model predictive control (MPC) is considered. The higher-layer controller uses MPC to determine set-points for controllers in a lower control layer. In this paper the use of an object-oriented model of the system for making predictions is proposed. When employing such an object-oriented prediction model the MPC problem is a nonlinear, non-smooth optimi..." [More...]

R.R. Negenborn, S. Leirens, B. De Schutter, J. Hellendoorn. Supervisory nonlinear MPC for emergency voltage control using pattern search. Control Engineering Practice, vol. 17, no. 7, pp. 841-848, July 2009.   


Closed-loop coordination of inland vessels operations in large seaports using hybrid logic-based Benders decomposition


"This paper addresses two coordination problems that exist in the waterborne transport in large seaports, the long time of stay of inland vessels and insufficient terminal and quay crane planning with respect to their sailing schedules. A novel coordination model is proposed and tackled using logic-based Benders decomposition and Large Neighborhood Search. In addition, a closed-loop perspective is ..." [More...]

S. Li, R.R. Negenborn, G. Lodewijks. Closed-loop coordination of inland vessels operations in large seaports using hybrid logic-based Benders decomposition. Transportation Research Part E: Logistics and Transportation Review, vol. 97, pp. 1-21, January 2017.   


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