Publications       Rudy Negenborn
Assistant Professor
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Publications: All, or by area of interest:
    multi-agent systems, model predictive control, hybrid systems,
transportation networks, water networks, power networks, gas networks,
kalman filters, reinforcement learning

Books
   
1. R.R. Negenborn, Z. Lukszo, H. Hellendoorn (Eds.). Intelligent Infrastructures, Springer, Dordrecht, The Netherlands, 2010. ISBN: 978-90-481-3597-4.  

Journal publications
   
8.P. Mc Namara, R.R. Negenborn, B. De Schutter, G. Lightbody. Optimal coordination of a multiple HVDC link system using centralised and distributed control. Accepted for publication in IEEE Transactions on Control Systems Technology, 2011.   
7.S. Roshany-Yamchi, M. Cychowski, R.R. Negenborn, B. De Schutter, K. Delaney, J. Connell. Kalman filter-based distributed predictive control of large-scale multi-rate systems: Application to power networks. Accepted for publication in IEEE Transactions on Control Systems Technology, 2011.   
6.I. Alvarado, D. Limon, D. Munoz de la Pena, J.M. Maestre, M.A. Ridao, H. Scheu, W. Marquardt, R.R. Negenborn, B. De Schutter, F. Valencia, J. Espinosa. A comparative analysis of distributed MPC techniques applied to the HD-MPC four-tank benchmark. Journal of Process Control, vol. 21, no. 5, pp. 800-815, June 2011.   
5.M. Houwing, R.R. Negenborn, B. De Schutter. Demand response with micro-CHP systems. Proceedings of the IEEE, vol. 99, no. 1, pp. 200-213, January 2011.   
4.R.R. Negenborn, P.J. van Overloop, T. Keviczky, B. De Schutter. Distributed model predictive control for irrigation canals. Networks and Heterogeneous Media, vol. 4, no. 2, pp. 359-380, June 2009.   
3.Z. Lukszo, M. Weijnen, R.R. Negenborn, B. De Schutter. Tackling challenges in infrastructure operation and control -- cross-sectoral learning for process and infrastructure engineers. International Journal of Critical Infrastructures, vol. 5, no. 4, pp. 308-322, 2009.   
2.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.   
1.R.R. Negenborn, B. De Schutter, J. Hellendoorn. Multi-Agent Model Predictive Control For Transportation Networks: Serial versus Parallel Schemes. Engineering Applications of Artificial Intelligence, vol. 21, no. 3, pp. 353-366, April 2008.   

Chapters in books
   
6.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.   
5.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.   
4.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.   
3.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.   
2.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.   
1.Z. Verwater-Lukszo, M.P.C. Weijnen, R.R. Negenborn, B. De Schutter, M. Ilic. Challenges for process system engineering in infrastructure operation and control. In 16th European Symposium on Computer Aided Process Engineering and 9th International Symposium on Process Systems Engineering (W. Marquardt, C. Pantelides, eds.), Elsevier, Amsterdam, The Netherlands, pp. 95-100, 2006.   

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).  

Conference papers
   
34.T.A. van Vianen, D.L. Mooijman, J.A. Ottjes, R.R. Negenborn, G. Lodewijks. Simulation-based operational control of a dry bulk terminal. Accepted for the 2012 IEEE International Conference on Networking, Sensing and Control (ICNSC 2012), Beijing, China, April 2012.   
33.R.J.H.A. van Zijverden, R.R. Negenborn. Survey of approaches for integrated control of intermodal container terminals. Accepted for the 2012 IEEE IEEE International Conference on Networking, Sensing and Control (ICNSC 2012), Beijing, China, April 2012.   
32.S. Roshany-Yamchi, R.R. Negenborn, M. Cychowski, B. De Schutter, J. Connell, K. Delaney. Distributed model predictive control and estimation of large-scale multi-rate systems. In Proceedings of the 18th IFAC World Congress (IFAC WC'11), Milano, Italy, pp. 416-422, August-September 2011.   
31.P. Mc Namara, R.R. Negenborn, B. De Schutter, G. Lightbody. Coordination of a multiple link HVDC system using local communications based distributed model predictive control. In Proceedings of the 18th IFAC World Congress (IFAC WC'11), Milano, Italy, pp. 1558-1563, August-September 2011.   
30.G. Bajracharya, T. Koltunowicz, R.R. Negenborn, D. Djairam, B. De Schutter, J.J. Smit. Optimization of asset management of transformers based on predictive health model of paper degradation. In Proceedings of the 17th International Symposium on High Voltage Engineering (ISH 2011), Hannover, Germany, August 2011.   
29.S. Roshany-Yamchi, R.R. Negenborn, M. Cychowski, K. Delaney, J. Connell. A game theory approach to distributed multi-rate model predictive control. In Proceedings of the 22nd IET Irish Signals and Systems Conference (ISSC 2011), Dublin, Ireland, pp. 225-230, June 2011.   
28.H. van Ekeren, R.R. Negenborn, P.J. van Overloop, B. De Schutter. Hybrid model predictive control using time-instant optimization for the Rhine-Meuse Delta. In Proceedings of the 2011 IEEE International Conference on Networking, Sensing and Control (ICNSC 2011), Delft, The Netherlands, pp. 216-221, April 2011.   
27.P.J. van Overloop, R.R. Negenborn, D. Schwanenberg, B. De Schutter. Towards integrating water prediction and control technology. In Proceedings of the 2011 IEEE International Conference on Networking, Sensing and Control (ICNSC 2011), Delft, The Netherlands, pp. 80-85, April 2011.   
26.R.R. Negenborn, P.J. van Overloop, B. De Schutter. Coordination of local controllers in large-scale water systems. In Proceedings of the 9th International Conference on Hydroinformatics 2010 (HIC2010), Tianjin, China, pp. 2178-2185, September 2010.   
25.P.J. van Overloop, R.R. Negenborn, S.V. Weijs, W. Malda, M.R. Bruggers, B. De Schutter. Linking water and energy objectives in lowland areas through the application of model predictive control. In Proceedings of the 2010 IEEE International Conference on Control Applications (2010 CCA), Yokohama, Japan, pp. 1887-1891, September 2010.   
24.G. Bajracharya, T. Koltunowicz, R.R. Negenborn, D. Djairam, B. De Schutter, J.J. Smit. Optimization of transformer loading based on hot-spot temperature using a predictive health model. In Proceedings of the 2010 International Conference on Condition Monitoring and Diagnosis (CMD 2010), Tokyo, Japan, pp. 914-917, September 2010.   
23.S. Leirens, J.M. Giraldo, R.R. Negenborn, B. De Schutter. A pattern search method for improving the operation of sewer systems. In Proceedings of the 12th IFAC Large Scale Systems Symposium (LSS 2010), Villeneuve d'Ascq, France, July 2010.   
22.S. Leirens, C. Zamora, R.R. Negenborn, B. De Schutter. Coordination in urban water supply networks using distributed model predictive control. In Proceedings of the 2010 American Control Conference (ACC'10), Baltimore, Maryland, pp. 3957-3962, June 2010.   
21.R.R. Negenborn, A. Sahin, Z. Lukszo, B. De Schutter, M. Morari. A non-iterative cascaded predictive control approach for control of irrigation canals. In Proceedings of the 2009 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2009), San Antonio, Texas, pp. 3652-3657, October 2009.   
20.G. Bajracharya, T. Koltunowicz, R.R. Negenborn, Z. Papp, D. Djairam, B. De Schutter, J. J. Smit. Optimization of condition-based asset management using a predictive health model. In Proceedings of the 16th International Symposium on High Voltage Engineering (ISH 2009), Cape Town, South Africa, August 2009.   
19.M. Arnold, R.R. Negenborn, G. Andersson, B. De Schutter. Multi-area predictive control for combined electricity and natural gas systems. In Proceedings of the European Control Conference 2009 (ECC'09), Budapest, Hungary, pp. 1408-1413, August 2009.   
18.R.R. Negenborn, P.J. van Overloop, B. De Schutter. Coordinated model predictive reach control for irrigation canals. In Proceedings of the European Control Conference 2009 (ECC'09), Budapest, Hungary, pp. 1420-1425, August 2009.   
17.M. Arnold, R.R. Negenborn, G. Andersson, B. De Schutter. Model-based predictive control applied to multi-carrier systems. In Proceedings of the 2009 IEEE PES General Meeting (2009 IEEE PES GM '09), Calgary, Canada, June 2009. Paper 09GM1452.   
16.G. Bajracharya, T. Koltunowicz, R.R. Negenborn, Z. Papp, D. Djairam, J.J. Smit, B. De Schutter. Optimization of maintenance of power system equipment based on a predictive health model. In Proceedings of the 2009 IEEE Bucharest PowerTech (PT 2009), Bucharest, Romania, June 2009.   
15.M. Houwing, R.R. Negenborn, M.D. Ilic, B. De Schutter. Model predictive control of micro cogeneration fuel cell systems. In Proceedings of the 2009 IEEE International Conference on Networking, Sensing, and Control (ICNSC 2009), Okayama City, Japan, pp. 708-713, March 2009.   
14.R.R. Negenborn, M. Houwing, B. De Schutter, J. Hellendoorn. Model predictive control for residential energy resources using a mixed-logical dynamic model. In Proceedings of the 2009 IEEE International Conference on Networking, Sensing, and Control (ICNSC 2009), Okayama City, Japan, pp. 702-707, March 2009.   
13.M. Arnold, R.R. Negenborn, G. Andersson, B. De Schutter. Distributed control applied to combined electricity and natural gas infrastructures. In Proceedings of the International Conference on Infrastructure Systems 2008 (INFRA 2008), Rotterdam, The Netherlands, November 2008.   
12.R.R. Negenborn, B. De Schutter. A distributed model predictive control approach for the control of irrigation canals. In Proceedings of the International Conference on Infrastructure Systems 2008 (INFRA 2008), Rotterdam, The Netherlands, November 2008.   
11.R.R. Negenborn, M. Houwing, B. De Schutter, J. Hellendoorn. Adaptive prediction model accuracy in the control of residential energy resources. In Proceedings of the 2008 IEEE Multi-conference on Systems and Control (MSC 2008), San Antonio, Texas, pp. 311-316, September 2008.   
10.M. Houwing, R.R. Negenborn, B. De Schutter. Economic advantages of applying model predictive control to distributed energy resources: The case of micro-CHP systems. In Proceedings of the 16th Mediterranean Conference on Systems and Automation (MED'08), Ajaccio, France, pp. 1550-1555, June 2008.   
9.R.R. Negenborn, A.G. Beccuti, T. Demiray, S. Leirens, G. Damm, B. De Schutter, M. Morari. Supervisory hybrid model predictive control for voltage stability of power networks. In Proceedings of the American Control Conference 2007 (ACC 2007), New York, New York, pp. 5444-5449, July 2007.   
8.M. Houwing, R.R. Negenborn, P. Heijnen, B. De Schutter, J. Hellendoorn. Least-cost model predictive control of residential energy resources when applying mCHP. In Proceedings of Power Tech 2007 (PT 2007), Lausanne, Switzerland, July 2007.   
7.G. Glanzmann, R.R. Negenborn, G. Andersson, B. De Schutter, J. Hellendoorn. Multi-area control of overlapping areas in power systems for FACTS control. In Proceedings of Power Tech 2007 (PT 2007), Lausanne, Switzerland, July 2007.   
6.R.R. Negenborn, B. De Schutter, J. Hellendoorn. Efficient implementation of serial multi-agent model predictive control by parallelization. In Proceedings of the 2007 IEEE International Conference on Networking, Sensing, and Control (ICNSC 2007), London, UK, pp. 175-180, April 2007.   
5.R.R. Negenborn, B. De Schutter, J. Hellendoorn. Multi-agent model predictive control for transportation networks with continuous and discrete elements. In Proceedings of the 11th IFAC Symposium on Control in Transportation Systems (IFAC-CTS 2006), Delft, The Netherlands, pp. 609-614, August 2006.   
4.R.R. Negenborn, B. De Schutter, J. Hellendoorn. Multi-agent model predictive control for transportation networks: Serial versus parallel schemes. In Proceedings of the 12th IFAC Symposium on Information Control Problems in Manufacturing (INCOM 2006), Saint-Etienne, France, pp. 339-344, May 2006.   
3.R.R. Negenborn, B. De Schutter, J. Hellendoorn. Multi-agent model predictive control of transportation networks. In Proceedings of the 2006 IEEE International Conference on Networking, Sensing, and Control (ICNSC 2006), Ft. Lauderdale, Florida, pp. 296-301, April 2006.   
2.R.R. Negenborn, B. De Schutter, M.A. Wiering, J. Hellendoorn. Learning-based model predictive control for Markov decision processes. In Proceedings of the 16th IFAC World Congress, Prague, Czech Republic, July 2005. Paper 2106 / We-M16-TO/2.   
1.R.R. Negenborn, B. De Schutter, M.A. Wiering, J. Hellendoorn. Experience-based model predictive control using reinforcement learning. In Proceedings of the 8th TRAIL Congress 2004 --- A World of Transport, Infrastructure and Logistics --- CD-ROM, Rotterdam, The Netherlands, November 2004.   

Abstracts
   
7. J. Xin, R.R. Negenborn, G. Lodewijks. Multi-agent control for coordination of freight transport hubs. Accepted for the 31st Benelux Meeting on Systems and Control, Heijen, The Netherlands, March 2012.
6. L. Li, R.R. Negenborn, B. De Schutter. Multi-level control for intelligent intermodal transport networks. Accepted for the 31st Benelux Meeting on Systems and Control, Heijen, The Netherlands, March 2012.
5. R.R. Negenborn. Multi-agent control for coordination of transport hubs. Accepted for the Workshop on The Future of Automated Container Terminals (FACT2011), London, UK, April 2011.
4. D. Doan, T. Keviczky, R.R. Negenborn, B. De Schutter. An iterative approach for distributed model predictive control of irrigation canals. Book of Abstracts 14th Belgian-French-German Conference on Optimization Leuven (BFG'09), Leuven, Belgium, p. 70, September 2009.  
3. R.R. Negenborn, P.J. van Overloop, T. Keviczky, B. De Schutter. Distributed model predictive control for irrigation channels. Presented at the Workshop on Irrigation Channels and Related Problems, Maiori, Italy, October 2008.  
2. R.R. Negenborn, B. De Schutter, J. Hellendoorn. Multi-Agent Model Predictive Control of Transportation Networks, Book of Abstracts 25th Benelux Meeting on Systems and Control, Heeze, The Netherlands, March 2006.  
1. R.R. Negenborn, B. De Schutter, J. Hellendoorn. Multi-Agent Control of Large-Scale Network Systems, Book of Abstracts 24th Benelux Meeting on Systems and Control, Houffalize, Belgium, March 2005.  

Project reports
   
3. A. Kozma, C. Savorgnan, R.R. Negenborn, and B. De Schutter, "Report on or proceedings of a special session at an international conference," Deliverable D8.2.1, European FP7 STREP project HD-MPC, 16 pp., February 2010.
2. H. Scheu, J.C. Calderon, D. Doan, J.F. Garcia, R.R. Negenborn, A. Tarau, F.V. Arroyave, B. De Schutter, J.J. Espinosa, and W. Marquardt, "Report on assessment of existing coordination mechanisms for simple case studies, and on possible options for improving and extending these coordination mechanisms," Deliverable D3.3.1, European FP7 STREP project HD-MPC, 30 pp., December 2009.
1. B. De Schutter, R.R. Negenborn, M. Diehl, K. Gevaert, and C. Savorgnan, "Report on the set-up of a website including downloads of reports, presentations, open-source software and a database of benchmark problems," Deliverable D8.1.1, European FP7 STREP project HD-MPC, 11 pp., March 2009.

Technical reports
   
1. R.R. Negenborn, B. De Schutter, J. Hellendoorn. Multi-Agent Model Predictive Control: A Survey. Technical Report: 04-010. Delft Center for Systems and Control, TU Delft, Delft, The Netherlands, December 2004. Abstract.

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

Other publications
   
8. Elmar Veerman. Containerbegrip -- 'Transport kan veel slimmer', Nederland van Boven -- Wetenschap 24/VPRO Noorderlicht Artikelen (December 12, 2011). Interview with Rudy Negenborn.  
7. Connie van Uffelen. Knappe koppen / Efficienter bezorgen, Delta (November 2010). Interview with Rudy Negenborn.  
6. Rudy Negenborn. Answers to the questions: The results of the PhD Questionnaire. Het Proefschrift, Journal for PhD candidates at TU Delft, Autumn 2006 issue (TOC). Promood, Delft, The Netherlands (Autumn 2006).  
5. Rudy R. Negenborn. Multi-Agent Control for the Transportation Networks of the Future: Can you imagine living a whole day with no electricity at all?, Maxwell 9(4) (July 2006).  
4. Tomas van Dijk. Verkeersregelaar, Delta (February 2006). Interview with Rudy Negenborn.  
3. Promood. PhD Questionnaire 2005: The Results. Delft, The Netherlands (January 2006). Editor Rudy Negenborn.  
2. Promood. Het Proefschrift, Journal for PhD candidates at TU Delft, Autumn 2005 issue. Delft, The Netherlands (November 2005). Editor Rudy Negenborn.  
1. Rudy Negenborn. Multi-agent control of large-scale hybrid systems. Poster for DCSC Symposium: Challenges in the 21st Century, Delft Center for Systems and Control, TU Delft, Delft, The Netherlands (June 7-8, 2004).  


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