On this page you can find a list of my publications. You can also find my publications on https://www.researchgate.net/profile/Mario_Zanon.

Journal:

  1. I. Batkovic, A. Gupta, M. Zanon and P. Falcone. Experimental Validation of Safe MPC for Autonomous Driving in Uncertain Environments. IEEE Transactions on Control Systems Technology, 2023 (in press)
  2. I. Batkovic, M. Ali, P. Falcone and M. Zanon. Safe Trajectory Tracking in Uncertain Environments. IEEE Transactions on Automatic Control, 2023 (in press)
  3. S. K. Mulagaleti, A. Bemporad and M. Zanon. Computation of Input Disturbance Sets for Constrained Output Reachability. IEEE Transactions on Automatic Control, 2023 (in press)
  4. S. Gros and M. Zanon. Economic MPC of Markov Decision Processes: Dissipativity in Undiscounted Infinite-Horizon Optimal Control. Automatica, 2022
  5. M. Zanon and A. Bemporad. Constrained Control and Observer Design by Inverse Optimality. IEEE Transactions on Automatic Control, 2022
  6. S. Gros and M. Zanon. Learning for MPC with Stability & Safety Guarantees. Automatica, 2022
  7. R. Hult, M. Zanon, S. Gros, and P. Falcone. A Semi-Distributed Interior Point Algorithm for Optimal Coordination of Automated Vehicles at Intersections. IEEE Transactions on Control Systems Technology, 2022
  8. S. K. Mulagaleti, A. Bemporad and M. Zanon. Input Constraint Sets for Robust Regulation of Linear Systems. IEEE Transactions on Automatic Control, 2022
  9. J. C. Lemaitre, D. Pasetto, M. Zanon, E. Bertuzzo, L. Mari, S. Miccoli, R. Casagrandi, M. Gatto, A. Rinaldo. Optimal control of the spatial allocation of COVID-19 vaccines: Italy as a case study. PLOS Computational Biology, 2022
  10. M. Zanon, S. Gros and M. Palladino. Stability-Constrained Markov Decision Processes Using MPC. Automatica, 2022
  11. M. Zanon and S. Gros. A New Dissipativity Condition for Asymptotic Stability of Discounted Economic MPC. Automatica, 2022
  12. M. Bahraini, M. Zanon, P. Falcone and A. Colombo. Scheduling and Robust Invariance in Networked Control Systems. IEEE Transactions on Automatic Control, 2022
  13. M. Bahraini, M. Zanon, A. Colombo and P. Falcone. Optimal scheduling and control for constrained multi-agent networked control systems. Optimal Control Applications and Methods (OCAM), 2022
  14. S. K. Mulagaleti, A. Bemporad and M. Zanon. Data-driven synthesis of Robust Invariant Sets and Controllers. IEEE Control System Letters, 2022
  15. D. Masti, M. Zanon and A. Bemporad. Tuning LQR controllers: a sensitivity-based approach. IEEE Control System Letters, 2021
  16. N. Rathod, A. Bratta, M. Focchi, M. Zanon, O. A. V. Magaña, C. Semini, and A. Bemporad. Model Predictive Control with Environment Adaptation for Legged Locomotion. IEEE Access, 2021
  17. N. Vallarano, M. Bruno, E. Marchese, G. Trapani, F. Saracco, G. Cimini, M. Zanon, T. Squartini. Fast and scalable likelihood maximization for Exponential Random Graph Models. Scientific Reports, 2021
  18. M. Zanon. A Gauss-Newton-Like Hessian Approximation for Economic NMPC. IEEE Transactions on Automatic Control, 2021
  19. M. Zanon and S. Gros. Safe Reinforcement Learning Using Robust MPC. IEEE Transactions on Automatic Control, 2021
  20. I. Batkovic, U. Rosolia, M. Zanon and P. Falcone. A Robust Scenario MPC Approach for Uncertain Multi-modal Obstacles. IEEE Control System Letters, 2021
  21. M. Bahraini, M. Zanon, A. Colombo and P. Falcone. Optimal Control Design for Perturbed Constrained Networked Control Systems. IEEE Control System Letters, 2021
  22. S. K. Mulagaleti, A. Bemporad and M. Zanon. Computation of Least-Conservative State-Constraint Sets for Decentralized MPC with Dynamic and Constraint Coupling. IEEE Control System Letters, 2021
  23. J. De Schutter, M. Zanon and M. Diehl. TuneMPC – A Tool for Economic Tuning of Tracking (N)MPC Problems. IEEE Control System Letters, 2020
  24. R. Hult, M. Zanon, S. Gros, H. Wymeersch and P. Falcone. Optimization-based Coordination of Connected, Automated Vehicles at Intersections. Vehicle System Dynamics, 2020
  25. R. Hult, M. Zanon, G. Frison, S. Gros and P. Falcone. Experimental Validation of a Semi-Distributed SQP Method for Optimal Coordination of Automated vehicles at Intersections. Optimal Control Applications and Methods, 2020
  26. S. Gros, M. Zanon, R. Quirynen, A. Bemporad and M. Diehl. From Linear to Nonlinear MPC: bridging the gap via the Real-Time Iteration. International Journal of Control, 2020
  27. S. Gros and M. Zanon. Data-driven Economic NMPC using Reinforcement Learning. IEEE Transactions on Automatic Control, 2020
  28. R. Hult, M. Zanon, S. Gros and P. Falcone. Optimal Coordination of Automated Vehicles at Intersections: Theory and Experiments. IEEE Transactions on Control Systems Technology, 2019
  29. J. Vasilj, S. Gros, D. Jakus and M. Zanon. Day-ahead scheduling and real-time Economic MPC of CHP unit in Micro-grid with Smart buildings. IEEE Transactions on Smart Grid, 2019
  30. S. Gros and M. Zanon. Numerical Optimal Control With Periodicity Constraints in the Presence of Invariants. IEEE Transactions on Automatic Control, 2018
  31. M. Zanon and T. Faulwasser. Economic MPC without terminal constraints: Gradient-correcting end penalties enforce stability. Journal of Process Control, 2018
  32. M. Zanon, T. Charalambous, H. Wymeersch and P. Falcone. Optimal Scheduling of Downlink Communication for a Multi-Agent System with a Central Observation Post. IEEE Control System Letters, 2018
  33. R. Verschueren, M. Zanon, R. Quirynen and M. Diehl. A Sparsity Preserving Convexification Procedure for Indefinite Quadratic Programs Arising in Direct Optimal Control. SIAM Journal on Optimization, 2017
  34. S. Gros and M. Zanon. Penalty Functions for Handling Large Deviation of Quadrature States in NMPC. IEEE Transactions on Automatic Control, 2017
  35. M. Zanon, L. Grüne and M. Diehl. Periodic optimal control, dissipativity and MPC. IEEE Transactions on Automatic Control, 2017
  36. M. Zanon, S. Gros and M. Diehl. A Tracking MPC Formulation that is Locally Equivalent to Economic MPC. Journal of Process Control, 2016
  37. K. Worthmann, M. W. Mehrez, M. Zanon, G. K. I. Mann, R. G. Gosine and M. Diehl. Model Predictive Control of Nonholonomic Mobile Robots without Stabilizing Constraints and Costs. IEEE Transactions on Control Systems Technology, 2016
  38. R. Quirynen, M. Vukov, M. Zanon and M. Diehl. Autogenerating Microsecond Solvers for Non-Standard Nonlinear MPC: a Tutorial Using Acado Integrators. Optimal Control Applications and Methods, 2015
  39. M. Zanon, S. Gros and M. Diehl. Indefinite Linear MPC and Approximated Economic MPC for Nonlinear Systems. Journal of Process Control, 2014
  40. M. Zanon, S. Gros, J. Andersson and M. Diehl. Airborne Wind Energy Based on Dual Airfoils. IEEE Transactions on Control Systems Technology, 2013

Conference:

  1. M. R. Wahlgreen, M. Zanon and J. B. Jørgensen. Performance Quantification of a Nonlinear Model Predictive Controller by Parallel Monte Carlo Simulations of a Closed-loop System. Proceedings of the European Control Conference (ECC) Conference, 2023 (accepted)
  2. M. R. Wahlgreen, J. B. Jørgensen and M. Zanon. Model Predictive Control Tuning by Monte Carlo Simulation and Controller Matching. Proceedings of the Chemical Process Control (CPC) Conference, 2023 (accepted)
  3. S. Menchetti, M. Zanon and A. Bemporad. Linear Observer Learning by Temporal Difference. Proceedings of the Conference on Decision and Control (CDC), 2022
  4. S. Abdufattokhov, M. Zanon and A. Bemporad. Learning Convex Terminal Costs for Complexity Reduction in MPC. Proceedings of the Conference on Decision and Control (CDC), 2021
  5. M. Zanon and S. Gros. On the Similarity Between Two Popular Tube MPC Formulations. Proceedings of the European Control Conference (ECC), 2021
  6. S. Gros and M. Zanon. Reinforcement Learning based on MPC and the Stochastic Policy Gradient Method. Proceedings of the American Control Conference (ACC), 2021
  7. S. Gros and M. Zanon. Bias Correction in Reinforcement Learning via the Deterministic Policy Gradient Method for MPC-Based Policies. Proceedings of the American Control Conference (ACC), 2021
  8. M. Zanon, T. Faulwasser and S. Gros. Practical Economic MPC. Proceedings in Applied Mathematics and Mechanics (PAMM), 2021
  9. M. Zanon, V. Kungurtsev and S. Gros. Reinforcement Learning Based on Real-Time Iteration NMPC. Proceedings of the World Congress of the International Federation of Automatic Control, 2020
  10. S. Gros and M. Zanon. Reinforcement Learning for Mixed-Integer Problems Based on MPC. Proceedings of the World Congress of the International Federation of Automatic Control, 2020
  11. S. Gros, M. Zanon and A. Bemporad. Safe Reinforcement Learning via Projection on a Safe Set: How to Achieve Optimality? Proceedings of the World Congress of the International Federation of Automatic Control, 2020
  12. S. Mulagaleti, M. Zanon and A. Bemporad. Dynamic Output Disturbance Models for Robust Constraint Satisfaction. Proceedings of the World Congress of the International Federation of Automatic Control, 2020
  13. S. Shin, T. Faulwasser, M. Zanon and V. M. Zavala. A Parallel Decomposition Scheme for Solving Long-Horizon Optimal Control Problems. Proceedings of the Conference on Decision and Control (CDC), 2019
  14. M. Zanon, S. Gros and A. Bemporad. Practical Reinforcement Learning of Stabilizing Economic MPC. Proceedings of the European Control Conference (ECC), 2019
  15. R. Hult, M. Zanon, S. Gros and P. Falcone. Optimal Coordination of Automated Vehicles at Intersections with Turns. Proceedings of the European Control Conference (ECC), 2019
  16. I. Batkovic, M. Zanon, M. Ali and P. Falcone. Real-Time Constrained Trajectory Planning and Vehicle Control for Proactive Autonomous Driving with Road Users. Proceedings of the European Control Conference (ECC), 2019
  17. M. Bahraini, M. Zanon, A. Colombo and P. Falcone. Receding-horizon robust online communication scheduling for constrained networked control systems. Proceedings of the European Control Conference (ECC), 2019
  18. R. Hult, M. Zanon, S. Gros and P. Falcone. An MIQP-based heuristic for Optimal Coordination of Vehicles at Intersections. Proceedings of the Conference on Decision and Control (CDC), 2018
  19. T. Faulwasser and M. Zanon. Asymptotic Stability of Economic NMPC: The Importance of Adjoints. Proceedings of the IFAC Conference on Nonlinear Model Predictive Control (NMPC), 2018
  20. N. Saraf, M. Zanon and A. Bemporad. A Fast NMPC Approach based on Bounded-Variable Nonlinear Least Squares. Proceedings of the IFAC Conference on Nonlinear Model Predictive Control (NMPC), 2018
  21. M. Zanon, R. Hult, S. Gros and P. Falcone. Experimental Validation of Distributed Optimal Vehicle Coordination. Proceedings of the European Control Conference (ECC), 2018
  22. R. Hult, M. Zanon, S. Gros and P. Falcone. Energy-Optimal Coordination of Autonomous Vehicles at Intersections. Proceedings of the European Control Conference (ECC), 2018
  23. I. Batkovic, M. Zanon, N. Lubbe and P. Falcone. A Computationally Efficient Model for Pedestrian Motion Prediction. Proceedings of the European Control Conference (ECC), 2018
  24. E. Malz, M. Zanon and S. Gros. A Quantification of the Performance Loss of Power Averaging in Airborne Wind Energy Farms. Proceedings of the European Control Conference (ECC), 2018
  25. J. Shi, Y. Zheng, Y. Jiang, M. Zanon, R. Hult and B. Houska. Distributed control algorithm for vehicle coordination at traffic intersections. Proceedings of the European Control Conference (ECC), 2018
  26. M. A. Nazari, A. Ozcelikkale, M. Zanon, T. Charalambous, J. Sjöberg and H. Wymeersch. Impact of Communication Frequency on Remote Control of Automated Vehicles. Proceedings of the IEEE International Symposium on Personal, Indoor and Mobile Radio Communications, 2018
  27. T. Charalambous, A. Ozcelikkale, M. Zanon, H. Wymeersch and P. Falcone. On the Resource Allocation Problem in Wireless Networked Control Systems. Proceedings of the Conference on Decision and Control (CDC), 2017
  28. M. Zanon, S. Gros, P. Falcone and H. Wymeersch. An Asynchronous Algorithm for Optimal Vehicle Coordination at Traffic Intersections. Proceedings of the World Congress of the International Federation of Automatic Control, 2017
  29. M. Zanon, S. Gros and M. Diehl. A Periodic Tracking MPC that is Locally Equivalent to Periodic Economic MPC. Proceedings of the World Congress of the International Federation of Automatic Control, 2017
  30. Y. Jiang, M. Zanon, R. Hult and B. Houska. A Distributed Algorithm for Optimal Vehicle Coordination at Traffic Intersecitons. Proceedings of the World Congress of the International Federation of Automatic Control, 2017
  31. R. Hult, M. Zanon, S. Gros and P. Falcone. Primal Decomposition of the Optimal Coordination of Vehicles at Traffic Intersections. Proceedings of the Conference on Decision and Control (CDC), 2016
  32. R. Verschueren, M. Zanon, R. Quirynen and M. Diehl. Time-optimal Race Car Driving using an Online Exact Hessian based Nonlinear MPC Algorithm. Proceedings of the European Control Conference (ECC), 2016
  33. S. Gros, M. Zanon and M. Diehl. Baumgarte Stabilisation over the SO(3) Rotation Group for Control. Proceedings of the Conference on Decision and Control (CDC), 2015
  34. K. Worthmann, M. W. Mehrez, M. Zanon, G. K. I. Mann, R. G. Gosine and M. Diehl. Regulation of Differential Drive Robots using Continuous Time MPC without Stabilizing Constraints or Costs. Proceedings of the IFAC Conference on Nonlinear Model Predictive Control (NMPC), 2015
  35. R. Quirynen, M. Zanon, A. Kozma and M. Diehl. A Compression Algorithm for Real-Time Distributed Nonlinear MPC. Proceedings of the European Control Conference (ECC), 2015
  36. A. Mohammadi, M. Diehl and M. Zanon. Estimation of Uncertain ARX models with Ellipsoidal Parameter Variability. Proceedings of the European Control Conference (ECC), 2015
  37. R. Verschueren, S. De Bruyne, M. Zanon, J. V. Frasch and M. Diehl. Towards Time-Optimal Race Car Driving Using Nonlinear MPC in Real Time. Proceedings of the Conference on Decision and Control (CDC), 2014
  38. M. Zanon, S. Gros and M. Diehl. Local Properties of NMPC, Dissipativity and Dynamic Programming. Proceedings of the Conference on Decision and Control (CDC), 2014
  39. M. Zanon, G. Horn, S. Gros and M. Diehl. Control of Dual-Airfoil Airborne Wind Energy Systems Based on Nonlinear MPC and MHE. Proceedings of the European Control Conference (ECC), 2014
  40. M. Zanon, S. Gros, J. Meyers and M. Diehl. Airborne Wind Energy: Airfoil-Airmass Interaction. Proceedings of the World Congress of the International Federation of Automatic Control, 2014
  41. M. Zanon, S. Gros and M. Diehl. A Lyapunov Function for Periodic Economic Optimizing Model Predictive Control. Proceedings of the Conference on Decision and Control (CDC), 2013
  42. M. Zanon, S. Gros and M. Diehl. Rotational Start-up of Tethered Airplanes Based on Nonlinear MPC and MHE. Proceedings of the European Control Conference (ECC), 2013
  43. J. V. Frasch, A. Gray, M. Zanon, H. J. Ferreau, S. Sager, F. Borrelli and M. Diehl. An Auto-generated Nonlinear MPC Algorithm for Real-Time Obstacle Avoidance of Ground Vehicles. Proceedings of the European Control Conference (ECC), 2013
  44. M. Zanon, J. V. Frasch and M. Diehl. Nonlinear Moving Horizon Estimation for Combined State and Friction Coefficient Estimation in Autonomous Driving.Proceedings of the European Control Conference (ECC), 2013
  45. S. Gros, M. Zanon and M. Diehl. Control of Airborne Wind Energy Systems Based on Nonlinear Model Predictive Control & Moving Horizon Estimation. Proceedings of the European Control Conference (ECC), 2013
  46. S. Gros, M. Zanon and M. Diehl. A Relaxation Strategy for the Optimization of Airborne Wind Energy Systems. Proceedings of the European Control Conference (ECC), 2013
  47. S. Gros, M. Zanon, M. Vukov and M. Diehl. Nonlinear MPC and MHE for Mechanical Multi-Body Systems with Application to Fast Tethered Airplanes. Proceedings of the IFAC Conference on Nonlinear Model Predictive Control (NMPC), 2012
  48. S. Gros, M. Zanon and M. Diehl. Orbit Control for a Power Generating Airfoil based on Nonlinear MPC. Proceedings of the American Control Conference (ACC), 2012

Book Chapters:

  1. I. Batkovic, M. Zanon and P. Falcone. Model Predictive Control for Safe Autonomous Driving Applications. AI-enabled Technologies for Autonomous and Connected Vehicles, Springer, (in press)
  2. T. Faulwasser and M. Zanon. Primal or dual terminal constraints in Economic MPC? Comparison and insights. Recent Advances in Model Predictive Control – Theory, Algorithms, and Applications, Springer, 2021
  3. M. Zanon, V. G. Palma, S. Rauski, I. Xausa and A. Boccia. Direct Optimal Control and Model Predictive Control. Optimal Control: Novel Directions and Applications, Springer, 2017
  4. M. Zanon, J. V. Frasch, M. Vukov, S. Sager and M. Diehl. Model Predictive Control of Autonomous Vehicles. Proceedings of the workshop on Optimization and Optimal Control of Automotive Systems, Springer, 2014
  5. M. Zanon, S. Gros and M. Diehl. Control of Rigid-Airfoil Airborne Wind Energy Systems. Airborne Wind Energy, Springer, 2013
  6. K. Geebelen, M. Vukov, A. Wagner, H. Ahmad, M. Zanon, S. Gros, D. Vandepitte, J. Swevers and M. Diehl. An experimental test setup for advanced estimation and control of an airborne wind energy system. Airborne Wind Energy, Springer, 2013
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