Publications       Rudy Negenborn
Full Professor, Head of Section
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Publications: All (Google Scholar), in pictures, or by area of interest:
   
multi-agent systems, model predictive control, hybrid systems
multi-vessel systems, sustainability, synchromodality

logistics, intermodal transport, container transport
transport over water, control of ships

transportation networks, inter-terminal transport
water networks, power networks, gas networks

Books
   
1. B. Ranjbar-Sahraei, R.R. Negenborn. Research Positioning & Trend Identification -- A data-analytics toolbox, Delft University of Technology, 2017.  
2. F. Corman, S. Voss, R.R. Negenborn (Eds.). Computational Logistics, Springer International Publishing, Switzerland, 2015. ISBN: 978-3-319-24263-7.  
3. C. Ocampo-Martinez, R.R. Negenborn (Eds.). Transport of Water versus Transport over Water, Springer International Publishing, Switzerland, 2015. ISBN: 978-3-319-16132-7.  
4. J.M. Maestre, R.R. Negenborn (Eds.). Distributed Model Predictive Control Made Easy, Springer, Dordrecht, The Netherlands, 2014. ISBN: 978-94-007-7005-8.  
5. R.R. Negenborn, Z. Lukszo, H. Hellendoorn (Eds.). Intelligent Infrastructures, Springer, Dordrecht, The Netherlands, 2010. ISBN: 978-90-481-3597-4.  

Journal publications (latest)
   
109.Collaborative planning for intermodal transport with eco-label preferences. Y. Zhang, A. Heinold, F. Meisel, R.R. Negenborn, B. Atasoy. Accepted for publication in Transportation Research Part D: Transport and Environment, 2022.   
108.A Logit mixture model estimating the heterogeneous mode choice preferences of shippers based on aggregate data. A. Nicolet, R.R. Negenborn, B. Atasoy. IEEE Open Journal of Intelligent Transportation Systems, 2022. Open access.   
107.Multi-objective cooperative control for a ship-towing system in congested water traffic environments. Z. Du, R.R. Negenborn, V. Reppa. Accepted for publication in IEEE Transactions on Intelligent Transportation Systems, 2022.   
106.Distributed nonlinear trajectory optimization for multi-robot motion planning. L. Ferranti, L. Lyons, R.R. Negenborn, T. Keviczky, J. Alonso-Mora. Accepted for publication in IEEE Transactions on Control Systems Technology, 2022.   
105.Energy-efficient routing of a multi-robot station: A flexible time-space network approach. J. Xin, C. Meng, A. D’Ariano, F. Schulte, J. Peng, R.R. Negenborn. Accepted for publication in IEEE Transactions on Automation Science and Engineering, 2022.   
104.COLREGS-Compliant collision avoidance for physically coupled multi-vessel systems with distributed MPC. Z. Du, R.R. Negenborn, V. Reppa. Ocean Engineering, vol. 260, no. 111917, 2022. Open access.   
103.Synchromodal transport planning considering heterogeneous and vague preferences of shippers. Y. Zhang, X. Li, E. van Hassel, R.R. Negenborn, B. Atasoy. Transportation Research Part E: Logistics and Transportation Review, vol. 164, no. 102827, August 2022. Open access.   
102.A multi-objective maintenance strategy optimization framework for offshore wind farms considering uncertainty. M. Li, X. Jiang, J. Carroll, R.R. Negenborn. Accepted for publication in Applied Energy, 2022.   
101.Synchromodal transport planning with flexible services: Mathematical model and heuristic algorithm. Y. Zhang, W. Guo, R.R. Negenborn, B. Atasoy. Transportation Research Part C: Emerging Technologies, vol. 140, no. 103711, 2022.   
100.A collaborative berth planning model for disruption recovery. X. Lyu, R.R. Negenborn, X. Shi, F. Schulte. IEEE Open Journal of Intelligent Transportation Systems, vol. 3, pp. 153-164, 2022. Open access.   
99.A business class for autonomous mobility-on-demand: Modeling service quality contracts in dynamic ridesharing systems. B.A. Beirigo, R.R. Negenborn, J. Alonso-Mora, F. Schulte. Transportation Research Part C: Emerging Technologies, vol. 136, no. 103520, 2022. Open access.   
98.Large-scale collaborative vehicle routing. J. Los, F. Schulte, M. Gansterer, R.F. Hartl, M.T.J. Spaan, R.R. Negenborn. Annals of Operations Research, 2022. Open access.   
97.Global synchromodal shipment matching problem with dynamic and stochastic travel times: A reinforcement learning approach. W. Guo, B. Atasoy, R.R. Negenborn. Annals of Operations Research, 2021.   
96.Multi-level model predictive control for all-electric ships with hybrid power generation. A. Haseltalab, F. Wani, R.R. Negenborn. International Journal of Electrical Power and Energy Systems, vol. 135, no. 107484, February 2022. Open access.   
95.Preference-based multi-objective optimization for synchromodal transport. Y. Zhang, B. Atasoy, R.R. Negenborn. Transportation Research Record, 2021. Open access.   
94.Scenario-based defense mechanism against vulnerabilities in Lagrange-based DMPC. J.M. Maestre, P. Velarde, H. Ishii, R.R. Negenborn. Control Engineering Practice, vol. 114, no. 104879, 2021. Open access.   
93.Mixed-integer nonlinear programming for energy-efficient container handling: formulation and customized genetic algorithm. J. Xin, C. Meng, A. D'Ariano, D. Wang, R.R. Negenborn. Transactions on Intelligent Transportation Systems, 2021. Early access online.   
92.Component sizing and energy management for SOFC-based ship power systems. A. Haseltalab, L. van Biert, H.D. Shapra, B.T.W. Mestemaker, R.R. Negenborn. Energy Conversion and Management, vol. 245, no. 114625, October 2021. Open access.   
91.Global synchromodal transport with dynamic and stochastic shipment matching. W. Guo, B. Atasoy, W.W.A. Beelaerts van Blokland, R.R. Negenborn. Transportation Research Part E: Logistics and Transportation Review, vol. 152, no. 102404, August 2021. Open access.   
90.Sizing and control of a hybrid ship propulsion system using multi-objective double-layer optimization. X. Wang, U. Shipurkar, A. Haseltalab, H. Polinder, F. Claeys, R.R. Negenborn. IEEE Access, vol. 9, pp. 72587-72601, 2021. Open access.   

Conference papers (latest)
   
163.Assessing the role of mobile terminals to reduce container barge inefficiency in seaports. P. Shobayo, A. Nicolet, E. van Hassel, B. Atasoy, T. Vanelslander, R.R. Negenborn. Accepted for the Transport Research Arena Conference 2022 (TRA'22), Lisbon, Portugal, November 2022.   
162.ECMS for energy management of hybrid vessels via quasi-LPV control. C. Armenta, S. Delprat, G. Hawksley, R.R. Negenborn. Accepted for the International Ship Control Systems Symposium 2022 (ISCSS 2022), Delft, The Netherlands, November 2022.   
161.Constructing knowledge maps for situation awareness of maritime autonomous surface ships. R. Song, E. Papadimitriou, R.R. Negenborn, P.H.A.J.M. van Gelder. Accepted for the International Ship Control Systems Symposium 2022 (ISCSS 2022), Delft, The Netherlands, November 2022.   
160.COLREGs-aware trajectory optimization for autonomous surface vessels. A. Tsolakis, D. Benders, O. de Groot, R.R. Negenborn, V. Reppa, L. Ferranti. Accepted for the 14th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles (IEEE CAMS'22), Kongens Lyngby, Denmark, September 2022.   
159.Dynamic coordination of multiple vessels for offshore platform transportation. Z. Du, R.R. Negenborn, V. Reppa. Accepted for the 2022 IEEE Conference on Control Technology and Applications (IEEE CCTA'22), Trieste, Italy, August 2022.   
158.A Lagrangian relaxation heuristic approach for coordinated global intermodal transportation. W. Guo, R.R. Negenborn, B. Atasoy. Accepted for the 2022 IEEE International Conference on Automation Science and Engineering (IEEE CASE'22), Mexico City, Mexico, August 2022.   
157.Vessel passage scheduling through cascaded bridges using mixed-integer programming. P. Segovia, R.R. Negenborn, V. Reppa. Accepted for the 18th IFAC Workshop on Control Applications of Optimization (IFAC CAO'22), Gif-sur-Yvette, France, July 2022.   
156.Distributed model-based sensor fault diagnosis of marine fuel engines. N. Kougiatsos, R.R. Negenborn, V. Reppa. Accepted for the 11th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS 2022), Pafos, Cyprus, June 2022.   
155.Automatic failure diagnosis for flow control valves. E. Ruijs, X. Jiang, T. Park, R.R. Negenborn. Accepted for the 6th International Conference on Maritime Technology and Engineering (MARTECH2022), Lisbon, Portugal, May 2022.   
154.Multi-vessel cooperative speed regulation for ship manipulation in towing scenario. Z. Du, R.R. Negenborn, V. Reppa. In IFAC PapersOnLine 15(16) (IFAC CAMS'21), Oldenburg, Germany, pp. 384-389, September 2021.   
153.An auction-based multi-agent system for the pickup and delivery problem with autonomous vehicles and alternative locations. J. Los, F. Schulte, M.T.J. Spaan, R.R. Negenborn. In Proceedings of the 8th International Conference on Dynamics in Logistics (LDIC 2022), Bremen, Germany, pp. 244-260, February 2022. Best paper award.   
152.Strategic bidding in decentralized collaborative vehicle routing. J. Los, F. Schulte, M.T.J. Spaan, R.R. Negenborn. In Proceedings of the 8th International Conference on Dynamics in Logistics (LDIC 2022), Bremen, Germany, pp. 261-274, February 2022.   
151.Integrated mode choice and vehicle routing for container transport. R.B. Larsen, J.M. Sprokkereef, B. Atasoy, R.R. Negenborn. In Proceedings of the 24th IEEE Intelligent Transportation Systems Conference (IEEE ITSC'21), Indianapolis, Indiana, pp. 3348-3353, September 2021.   
150.Stochastic and dynamic routing with flexible deliveries for an e-grocer. P.S. Bouwstra, G. Correia, P. Bijl, R.R. Negenborn, B. Atasoy. In Proceedings of the 24th IEEE Intelligent Transportation Systems Conference (IEEE ITSC'21), Indianapolis, Indiana, pp. 3354-3359, September 2021.   
149.Influence of uncertainty on performance of opportunistic maintenance strategy for offshore wind farms. M. Li, X. Jiang, J. Carroll, R.R. Negenborn. In Proceedings of the IEEE/MTS Oceans'21 (OCEANS'21), Porto, Portugal, pp. 1-10, September 2021.   
148.MPC-based COLREGS compliant collision avoidance for a multi-vessel ship-towing system. Z. Du, V. Reppa, R.R. Negenborn. Accepted for the 2021 European Control Conference (ECC'21), Rotterdam, The Netherlands, June/July 2021.   
147.Distributed leader-follower formation control for autonomous vessels based on model predictive control. M. van Pampus, A. Haseltalab, V. Garofano, V. Reppa, Y. Deinema, R.R. Negenborn. Accepted for the 2021 European Control Conference (ECC'21), Rotterdam, The Netherlands, June/July 2021.   
146.Secure multi-party co-planning of barge departures. R.B. Larsen, R. Baksteen, B. Atasoy, R.R. Negenborn. In IFAC PapersOnline 54(2) (IFAC CTS'21), Lille, France, pp. 335-341, June 2021.   
145.Computational reduction of optimal hybrid vehicle energy management. C. Armenta, S. Delprat, R.R. Negenborn, A. Haseltalab, J. Lauber, M. Dambrine. In Proceedings of the 2021 American Control Conference (ACC'21), New Orleans, Louisiana, pp. 1444-1449, May 2021. Published in IEEE Control Systems Letters.   
144.Human aspects in collaborative order picking - Letting robotic agents learn about human discomfort. Y. Niu, F. Schulte, R.R. Negenborn. In Proceedings of the International Conference on Industry 4.0 and Smart Manufacturing 2020 (ISM 2020), Linz, Austria, pp. 877-886, November 2020. Best paper award. Published in Procedia Computer Science 180 (2021).   

Chapters in books (latest)
   
15.R.R. Negenborn, D.L. Schott, F. Corman. Port equipment and technology. In Encyclopedia of Marine & Offshore Engineering (J. Carlton, P. Jukes, Y.S. Choo, eds.), Wiley, 2017. 9 pp.   
14.F. Corman, R.R. Negenborn. Accessibility of ports and networks. In Ports and Networks - Strategies, Operations and Perspectives (H. Geerlings, B.S. Kuipers, R.A. Zuidwijk, eds.), Edward Elgar Publishers, pp. 127-145, 2018.   
13.R.R. Negenborn, C. Ocampo-Martinez. Perspectives on transport of water versus transport over water. In Transport of Water versus Transport over Water (C. Ocampo-Martinez, R.R. Negenborn, eds.), Springer, pp. 1-10, 2015.   
12.X. Tian, R.R. Negenborn, P.J. van Overloop, J.M. Maestre, E. Mostert. Model predictive control for incorporating transport of water and transport over water in the dry season. In Transport of Water versus Transport over Water (C. Ocampo-Martinez, R.R. Negenborn, eds.), Springer, pp. 191-210, 2015.   
11.V. Puig, C. Ocampo-Martinez, R.R. Negenborn. Model predictive control for combined water supply and navigability/sustainability in river systems. In Transport of Water versus Transport over Water (C. Ocampo-Martinez, R.R. Negenborn, eds.), Springer, pp. 13-33, 2015.   
10.A.H. Thomsen, C.M. Weimer, R.R. Negenborn. Catullus: Poeta flagrans an doctus?. In Baetica Renascens (J.M. Maestre, J.G.M. Calas, et al., eds.), pp. 621-650, 2014.   
9.R.R. Negenborn, J.M. Maestre. On 35 Approaches for Distributed MPC Made Easy. In Distributed Model Predictive Control Made Easy (J.M. Maestre, R.R. Negenborn, eds.), Springer, Dordrecht, The Netherlands, pp. 1-37, 2014.   
8.J.L. Nabais, R.R. Negenborn, R.B. Carmona-Benitez, L.F. Mendonca, M.A. Botto. Hierarchical MPC for multiple commodity transportation networks. In Distributed Model Predictive Control Made Easy (J.M. Maestre, R.R. Negenborn, eds.), Springer, Dordrecht, The Netherlands, pp. 535-552, 2014.   
7.R.R. Negenborn. Decompositions of augmented Lagrange formulations for serial and parallel distributed MPC. In Distributed Model Predictive Control Made Easy (J.M. Maestre, R.R. Negenborn, eds.), Springer, Dordrecht, The Netherlands, pp. 437-450, 2014.   
6.S. Roshany-Yamchi, R.R. Negenborn, A.A. Cornelio. Nash-based distributed MPC for multi-rate systems. In Distributed Model Predictive Control Made Easy (J.M. Maestre, R.R. Negenborn, eds.), Springer, Dordrecht, The Netherlands, pp. 341-353, 2014.   
5.R.R. Negenborn, H. Hellendoorn. Intelligence in Transportation Infrastructures via Model-Based Predictive Control. In Intelligent Infrastructures (R.R. Negenborn, Z. Lukszo, H. Hellendoorn, eds.), Springer, Dordrecht, The Netherlands, pp. 3-24, 2010.   
4.P.J. van Overloop, R.R. Negenborn, B. De Schutter, N.C. van de Giesen. Predictive Control for National Water Flow Optimization in The Netherlands. In Intelligent Infrastructures (R.R. Negenborn, Z. Lukszo, H. Hellendoorn, eds.), Springer, Dordrecht, The Netherlands, pp. 439-461, 2010.   
3.R.R. Negenborn, G. Hug-Glanzmann, B. De Schutter, G. Andersson. A Novel Coordination Strategy for Multi-Agent Control using Overlapping Subnetworks with Application to Power Systems. In Efficient Modeling and Control of Large-Scale Systems (J. Mohammadpour, K.M. Grigoriadis, eds.), Springer, Norwell, Massachusetts, pp. 251-278, 2010.   
2.M. Arnold, R.R. Negenborn, G. Andersson, B. De Schutter. Distributed Predictive Control for Energy Hub Coordination in Coupled Electricity and Gas Networks. In Intelligent Infrastructures (R.R. Negenborn, Z. Lukszo, H. Hellendoorn, eds.), Springer, Dordrecht, The Netherlands, pp. 235-273, 2010.   
1.S. Leirens, R.R. Negenborn. Prevention of Emergency Voltage Collapses in Electric Power Networks using Hybrid Predictive Control. In Intelligent Infrastructures (R.R. Negenborn, Z. Lukszo, H. Hellendoorn, eds.), Springer, Dordrecht, The Netherlands, pp. 55-88, 2010.   

PhD Thesis
   
1. R.R. Negenborn, Multi-Agent Model Predictive Control with Applications to Power Networks. PhD thesis, Delft University of Technology, Delft, The Netherlands, December 2007. ISBN 978-90-5584-093-9 (1st printing, December 2007). ISBN 978-90-7978-702-9 (2nd printing, September 2008).   Multi-Agent Model Predictive Control with Applications to Power Networks

Special Issues of Journals
   
4. R.R. Negenborn, F. Corman. Editorial: Computational logistics at work: Coordination and control in transport logistics. Transportation Research Part E, vol. 105, pp. 149-151, 2017.
3. R.R. Negenborn, R.G. Hekkenberg, K. Visser. Editorial: Autonomous Shipping in Focus. SWZ Maritime, Special Issue Autonomous Ships, vol. 2. 1p, 2017.
2. R.R. Negenborn, K. Visser. Editorial: What is driving fundamental research in marine engineering? SWZ Maritime, Special Issue Propulsion Systems, 2015, vol. 10. 2pp.
1. P.J. van Overloop, R.R. Negenborn, D. Schwanenberg. Introduction to the special issue on Water Prediction and Control Technology. Journal of Hydroinformatics, vol. 15, no. 2, pp. 229-231, 2013.

Msc Thesis
   
1. R.R. Negenborn. Robot Localization and Kalman Filters. Master's thesis INF/SCR-0309. Utrecht University, Utrecht, The Netherlands, 2003.  

Media recognition
   
47. Op de miljoenensnelweg in de Rotterdamse haven is het doodstil, Algemeen Dagblad (AD), David Bremmer, August 8, 2022.
46. NWO grant for TU Delft project using ammonia as fuel for ships, SWZ Maritime, Mariska Buitendijk, June 7, 2022.
45. Onderzoek naar schoon varen op ammoniak, NWO Wetenschap, May 30, 2022.
44. "NWO Perspectief Award for Project using Ammonia as Fuel for Heavy Transport", TU Delft News, May 30, 2022.
43. "Deze Nieuwegeinse haven wil een belangrijke rol gaan spelen in (groen) vervoer over water in de regio", RTV Utrecht, M. van Ooijen, September 8, 2021.
42. "World's first crewless, zero emissions cargo ship will set sail in Norway", CNN World Edition, interview by R. Beighton, August 25, 2021.
41. "Autonomous Shipping-- The perspective of Maritime Business Service Providers", Rotterdam Maritime Capital, October 2021.
40. "Autonomous Shipping-- Maritime technology in Rotterdam", Rotterdam Maritime Capital, interview, September, 2021.
39. Vooruitkijken voor slimme logistiek, Home of Innovation, June 2021.
38. "Klaar voor de toekomst met smart shipping", Netherlands Forum Smart Shipping (SMASH), 2020.
37. "Dynamic Fleet Management - Improving the concept of mobility", R.R. Negenborn, F. Schulte, in The Future of Moving Forward, iCAVE, pp. 51-60, 2021.
36. "Robot Boats Leave Autonomous Cars in Their Wake", The Wall Street Journal, August 31, 2020.
35. "Onderzoeksprogramma NOVIMOVE combineert technische en logistieke innovaties", Binnenvaart Krant, June 4, 2020.
34. "Hoe kun je de binnenvaart verbeteren?", Delta, Jos Wassink, June 18, 2020.
33. "Een crisis zet dingen in beweging", Professorenstuk in De Slurf, TUDelft, 2020.
32. "Zelfvarend schip is de oplossing voor het personeelstekort in de binnenvaart", EenVandaag, Lyanne Ederveen, January 20, 2020.
31. "Laat schepen met elkaar praten", De Ingenieur, no. 7, Jim Heirbaut, July 2019.
30. "Waterborne platooning by smart vessels for smart shipping", A. Haseltalab, L. Chen, A. Colling, L. Borst, V. Garofano, R. Hekkenberg, R.R. Negenborn, The Naval Architect -- Special Issue Smart Ships, pp. 55-62, May 2019.
29. "Nieuwe Franse Watertaxi & autonomous ships at TU Delft", RTL Nieuws 19:30, May 31, 2018.
28. "Prof. Rudy Negenborn tells you more about Autonomous Vessels", TU Delft, June 2018.
27. "Varen er straks alleen nog onbemande containerschepen rond?", TROUW, June 2017.
26. "Nieuw researchlab voor zelfrijdende auto's in Delft geopend", TV Omroep West, June 2017.
25. "Autonomous Ships at TUDelft", BBC Arabic 4Tech Television, April 2017.
24. "De beste stuurlui zitten aan wal", EOS Magazine, Teake Zuidema, pp. 56-59, April 2017.
23. "Alle Hens van Dek - De opkomst van de autonome scheepvaart", De Ingenieur, no. 3, Jim Heirbaut, pp. 12-19, March 2017.
22. Special issue on Autonomous Ships, SWZ Magazine, February 2017.
21. "Het Brein van de TU", Delta, Tomas van Dijk, March 6, 2017.
20. "Het robotschip komt eraan", Algemeen Dagblad (AD), David Bremmer, December 23, 2016.
19. "Autonomous shipping as a possible solution to impending labour shortages in the shipping sector", Phys.org, December 2016.
18. "Met autonoom varen blijven alle stuurlui aan wal", NPO Radio 1 "Nieuws en Co", Marc-Robin Visscher, December 2016.
17. "Zelfvarend containerschip verwacht in 2030", BNR Nieuws radio, Kay Rutten, December 2016.
16. "Developing the Roboat", Delta, Jos Wassink, December 2016.
15. "Coming soon to a canal near you?", Delta, Brandon Hartley, October 2016.
14. "Robotbootjes / Dit gebeurt komend jaar in Delft", Delta, Tomas van Dijk, September 2016 / Delft Integraal, October 2016
13. "Over vijf tot zeven jaar proefprojecten met autonoom varen", Maritiem Nederland, Bart Stam, December 2015.
12. Special issue on Propulsion Systems, SWZ Magazine, October 2015.
11. Contribution to national news paper TROUW article on robotization of the Port of Rotterdam ("Robot rukt op in de Rotterdamse haven"), Niels Markus, November 10, 2015.
10. Public awarded "Public prize for best poster" to B. van Riessen, R.R. Negenborn, R. Dekker, at yearly port research event 2014.
9. Port of Rotterdam awarded "Best academic poster" prize to H. Zheng, R.R. Negenborn, G. Lodewijks, at yearly port research event, 2014.
8. Interview with R.R. Negenborn on supervision of PhD candidates for the documentary "We are not Paper Production Machines", and the accompagnying online magazine, Downsideup, 2015.
7. Algemeen Dagblad Dutch national newspaper reported on the solutions for problems in the Spoorzone (railway zone) in the center of Delft, 2014.
6. 15 online media reported outcomes of project on refrigerated transportation (in cooperation with NOMAD Power), 2014.
5. Interview with R.R. Negenborn, K. Visser, and R. Geertsma on hybrid ship systems for Delft Integraal, 2015.
4. Interview with R.R. Negenborn by Porto and Marine, Brazil, on challenges in the Port of Rotterdam, 2014.
3. Elmar Veerman. Containerbegrip -- 'Transport kan veel slimmer', Nederland van Boven -- Wetenschap 24/VPRO Noorderlicht Artikelen (December 12, 2011). Interview with Rudy Negenborn.  
2. Connie van Uffelen. Knappe koppen / Efficienter bezorgen, Delta (November 2010). Interview with Rudy Negenborn.  
1. Tomas van Dijk. Verkeersregelaar, Delta (February 2006). Interview with Rudy Negenborn.  

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