Rudy R. Negenborn       Rudy Negenborn
Full Professor, Head of Section
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Publications: All, in pictures, or by area of interest:
   
multi-agent systems, model predictive control, hybrid systems

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

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

Category: Control of ships
   
80.Z. He, C. Liu, X. Chu, R.R. Negenborn, Q. Wu. Dynamic anti-collision A-star algorithm for multi-ship encounter situations. Applied Ocean Research, vol. 118, no. 102995, January 2022. Available online: December 2021.   
79.Z. Du, R.R. Negenborn, V. Reppa. Multi-vessel cooperative speed regulation for ship manipulation in towing scenario. In IFAC PapersOnLine 15(16) (IFAC CAMS'21), Oldenburg, Germany, pp. 384-389, September 2021.   
78.A. Haseltalab, F. Wani, R.R. Negenborn. Multi-level model predictive control for all-electric ships with hybrid power generation. International Journal of Electrical Power and Energy Systems, vol. 135, no. 107484, February 2022. Open access.   
77.A. Haseltalab, L. van Biert, H.D. Shapra, B.T.W. Mestemaker, R.R. Negenborn. Component sizing and energy management for SOFC-based ship power systems. Energy Conversion and Management, vol. 245, no. 114625, October 2021. Open access.   
76.X. Wang, U. Shipurkar, A. Haseltalab, H. Polinder, F. Claeys, R.R. Negenborn. Sizing and control of a hybrid ship propulsion system using multi-objective double-layer optimization. IEEE Access, vol. 9, pp. 72587-72601, 2021. Open access.   
75.Z. Du, V. Reppa, R.R. Negenborn. MPC-based COLREGS compliant collision avoidance for a multi-vessel ship-towing system. Accepted for the 2021 European Control Conference (ECC'21), Rotterdam, The Netherlands, June/July 2021.   
74.Z. Du, R.R. Negenborn, V. Reppa. Cooperative multi-agent control for autonomous ship towing under environmental disturbances. IEEE/CAA Journal of Automatica Sinica, vol. 8, no. 8, pp. 1365-1379, August 2021.   
73.M. van Pampus, A. Haseltalab, V. Garofano, V. Reppa, Y. Deinema, R.R. Negenborn. Distributed leader-follower formation control for autonomous vessels based on model predictive control. Accepted for the 2021 European Control Conference (ECC'21), Rotterdam, The Netherlands, June/July 2021.   
72.C. Armenta, S. Delprat, R.R. Negenborn, A. Haseltalab, J. Lauber, M. Dambrine. Computational reduction of optimal hybrid vehicle energy management. In Proceedings of the 2021 American Control Conference (ACC'21), New Orleans, Louisiana, pp. 1444-1449, May 2021. Published in IEEE Control Systems Letters.   
71.K. Wang, H. Xu, J. Li, L. Huang, R. Ma, X. Jiang, Y. Yuan, N.A. Mwero, P. Sun, R.R. Negenborn, X. Yan. A novel dynamical collaborative optimization method of ship energy consumption based on a spatial and temporal distribution analysis of voyage data. Applied Ocean Research, vol. 112, no. 102657, July 2021.   
70.C. Armenta, S. Delprat, R.R. Negenborn, A. Haseltalab, J. Lauber, M. Dambrine. Computational reduction of optimal hybrid vehicle energy management. IEEE Control Systems Letters, vol. 6, pp. 25-30, 2022. Date of publication: December 23, 2020.   
69.A. Haseltalab, V. Garofano, M. Raheel Afzal, N. Faggioni, S. Li, J. Liu, F. Ma, M. Martelli, Y. Singh, P. Slaets, X. You, R.R. Negenborn. The Collaborative Autonomous Shipping Experiment (CASE): Motivations, theory, infrastructure, and experimental challenges. In Proceedings of the 2020 International Ship Control Systems Symposium (iSCSS 2020), Delft, The Netherlands, October 2020. 16 pp. Open access.   
68.J. Ye, V. Reppa, M. Godjevac, R.R. Negenborn. Construction mode detection for autonomous offshore heavy lift operations. Safety Science, vol. 133, no. 104991, January 2021.   
67.Y. Huang, L. Chen, R.R. Negenborn, P.H.A.J.M. van Gelder. A ship collision avoidance system for human-machine cooperation during collision avoidance. Ocean Engineering, vol. 217, no. 107913, 2020. Open access.   
66.C. Chen, F. Ma, J. Liu, R.R. Negenborn, Y. Liu, X. Yan. Controlling a cargo ship without human experience based on deep Q-network. Journal of Intelligent & Fuzzy Systems, vol. 39, no. 5, pp. 7363-7379, 2020.   
65.B. Piaggio, V. Garofano, S. Donnarumma, A. Alessandri, R.R. Negenborn, M. Martelli. Follow-the-Leader control strategy for azimuth propulsion system on surface vessels. In Proceedings of the 2020 International Ship Control Systems Symposium (iSCSS 2020), Delft, The Netherlands, October 2020. 12 pp. Open access.   
64.A. Haseltalab, L. van Biert, B.T.W. Mestemaker, R.R. Negenborn. Energy management for hybrid power generation using solid oxide fuel cell. In Proceedings of the 2020 International Ship Control Systems Symposium (iSCSS 2020), Delft, The Netherlands, October 2020. 8 pp. Open access.   
63.Z. Du, V. Reppa, R.R. Negenborn. Cooperative control of autonomous tugs for ship towing in ports. In Proceedings of the 21st IFAC World Congress (IFAC2020), Berlin, Germany, pp. 14671-14676, July 2020.   
62.  
61.Y. Huang, L. Chen, R.R. Negenborn, P.H.A.J.M. van Gelder. Collision avoidance systems for maritime autonomous surface ships considering uncertainty in ship dynamics. In Proceedings of the 21st IFAC World Congress (IFAC2020), Berlin, Germany, pp. 14815-14820, July 2020.   
60.A. Haseltalab, V. Garofano, M. van Pampus, R.R. Negenborn. Model predictive trajectory tracking control and thrust allocation for autonomous vessels. In Proceedings of the 21st IFAC World Congress (IFAC2020), Berlin, Germany, pp. 14733-14739, July 2020.   
59.J. Ye, V. Reppa, R.R. Negenborn. Backstepping control of heavy lift operations with crane vessels. In Proceedings of the 21st IFAC World Congress (IFAC2020), Berlin, Germany, pp. 14905-14910, July 2020.   
58.L. Wang, Q. Wu, J. Liu, S. Li, R.R Negenborn. Ship motion control based on AMBPS-PID algorithm. IEEE Access, vol. 7, no. 1, pp. 183656-183671, December 2019. Open access.   
57.K. Wang, J. Li, X. Yan, L. Huang, X. Jiang, Y. Yuan, R. Ma, R.R. Negenborn. A novel bi-level distributed dynamic optimization method of ship fleets energy consumption. Ocean Engineering, vol. 197, no. 106802, February 2020.   
56.L. Chen, J.J. Hopman, R.R. Negenborn. Distributed model predictive control for cooperative floating object transport with multi-vessel systems. Ocean Engineering, vol. 191 (2019), no. 106515, 2019.   
55.L. Wang, Q. Wu, J. Liu, S. Li, R.R. Negenborn. State-of-the-art research on motion control of maritime autonomous surface ships. Journal of Marine Science and Engineering, vol. 7, no. 12, December 2019. Open access.   
54.S. Li, J. Liu, R.R. Negenborn, F. Ma. Optimizing the joint collision avoidance operations of multiple ships from an overall perspective. Ocean Engineering, vol. 191 (2019), no. 106511, 2019.   
53.S. Xie, V. Garofano, X. Chu, R.R. Negenborn. Model predictive ship collision avoidance based on Q-learning beetle swarm antenna search and neural networks. Ocean Engineering, vol. 193, no. 106609, December 2019.   
52.Y. Huang, L. Chen, P. Chen, R.R. Negenborn, P.H.A.J.M. van Gelder. Ship collision avoidance methods: State-of-the-art. Safety Science, vol. 121 (2020), pp. 451-473, 2019.   
51.A. Haseltalab, R.R. Negenborn. Adaptive control for autonomous ships with uncertain model and unknown propeller dynamics. Control Engineering Practice, vol. 91, no. 104116, October 2019.   
50.T. Jonker, M.B. Duinkerken, N. Yorke-Smith, A. de Waal, R.R. Negenborn. Coordinated optimization of equipment operations in a container terminal. Flexible Services and Manufacturing, vol. 33, pp. 281-311, 2021. Published online: July 2019.   
49.L. Chen, Y. Huang, H. Zheng, J.J. Hopman, R.R. Negenborn. Cooperative multi-vessel systems in urban waterway networks. IEEE Transactions on Intelligent Transportation Systems, vol. 21, no. 8, pp. 3294-3307, 2019.   
48.A. Haseltalab, M. Ayala Botto, R.R. Negenborn. Model predictive DC voltage control for all-electric ships. Control Engineering Practice, vol. 90, pp. 133-147, September 2019.   
47.L. Chen, A. Haseltalab, V. Garofano, R.R. Negenborn. Eco-VTF: Fuel-efficient vessel train formations for all-electric autonomous ships. In Proceedings of the 2019 European Control Conference (ECC'19), Naples, Italy, pp. 2543-2550, June 2019.   
46.C. Liu, H. Zheng, R.R. Negenborn, X. Chu, S. Xie. Adaptive predictive path following control based on least squares support vector machines for underactuated autonomous vessels. Asian Journal of Control, pp. 432-448, January 2021. First published online: November 2019. Open access.   
45.A. Haseltalab, R.R. Negenborn. Model predictive maneuvering control and energy management for all-electric autonomous ships. Applied Energy, vol. 251, no. 113308, pp. 1-27, October 2019.   
44.S. Li, J. Liu, R.R. Negenborn. Distributed coordination for collision avoidance of multiple ships considering ship maneuverability. Ocean Engineering, vol. 181, pp. 212-226, June 2019.   
43.H. Zheng, J. Wu, W. Wu, R.R. Negenborn. Cooperative distributed predictive control for collision-free vehicle platoons. IET Intelligent Transport Systems, vol. 13, no. 5, pp. 816-824, May 2019.   
42.X. Yan, K. Wang, Y. Yuan, X. Jiang, R.R. Negenborn. Energy-efficient shipping: An application of big data analysis for optimizing engine speed of inland ships considering multiple environmental factors. Ocean Engineering, vol. 169, pp. 457-468, 2018.   
41.R.D. Geertsma, K. Visser, R.R. Negenborn. Adaptive pitch control for ships with diesel mechanical and hybrid propulsion. Applied Energy, vol. 228, pp. 2490-2509, 2018. Open Access.   
40.S. Li, R.R. Negenborn, J. Liu. Stimulating inland waterway transport between seaports and the hinterland from a coordination perspective. In Proceedings of the 9th International Conference on Computational Logistics (ICCL 2018), Vietri sul Mare, Italy, pp. 67-85, October 2018.   
39.L. Chen, J.J. Hopman, R.R. Negenborn. Distributed model predictive control for vessel train formations of cooperative multi-vessel systems. Transportation Research Part C: Emerging Technologies, vol. 92, pp. 101-118, July 2018.   
38.M. Kalikatzarakis, R.D. Geertsma, E.J. Boonen, K. Visser, R.R. Negenborn. Ship energy management for hybrid propulsion and power supply with shore charging. Control Engineering Practice, vol. 76, pp. 133-154, July 2018.   
37.A. Haseltalab, M. Ayala Botto, R.R. Negenborn. On-board voltage regulation for all-electric DC ships. In Proceedings of the 11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS2018), Opatija, Croatia, pp. 341-347, September 2018.   
36.L. Ferranti, R.R. Negenborn, T. Keviczky, J. Alonso-Mora. Coordination of multiple vessels via distributed nonlinear model predictive control. In Proceedings of the 17th European Control Conference (ECC 2018), Limassol, Cyprus, pp. 2523-2528, June 2018.   
35.K. Wang, X. Yan, Y. Yuan, X. Jiang, X. Lin, R.R. Negenborn. Dynamic optimization of ship energy efficiency considering time-varying environmental factors. Transportation Research Part D: Transport and Environment, vol. 62, pp. 685-698, July 2018.   
34.C. Liu, R.R. Negenborn, X. Chu, H. Zheng. Predictive path following based on adaptive line-of-sight for underactuated autonomous surface vessels. Journal of Marine Science and Technology, vol. 23, no. 3, pp. 483-494, September 2018.   
33.R.D. Geertsma, R.R. Negenborn, K. Visser, J.J. Hopman. Pitch control for ships with diesel mechanical and hybrid propulsion: Modelling, validation and performance quantification. Applied Energy, vol. 206, pp. 1609-1631, 2017.   
32.H. Zheng, R.R. Negenborn, G. Lodewijks. Robust distributed predictive control of waterborne AGVs - a cooperative and cost-effective approach. IEEE Transactions on Cybernetics, vol. 48, no. 8, pp. 2449-2461, August 2018.   
31.M. Schiaretti, L. Chen, R.R. Negenborn. Survey on autonomous surface vessels: Part I - A new detailed definition of autonomy levels. In Proceedings of the 8th International Conference on Computational Logistics (ICCL 2017), Southampton, UK, pp. 219-233, October 2017.   
30.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.   
29.R.D. Geertsma, R.R. Negenborn, K. Visser, J.J. Hopman. A quantitative comparison of hybrid diesel-electric and gas-turbine- electric propulsion for future frigates. In Proceedings of the 2017 IEEE Electric Ship Technologies Symposium (ESTS 2017), Arlington, Virginia, pp. 451-458, August 2017.   
28.K. Wang, X. Yuan, Y. Yuan, X. Jiang, G. Lodewijks, R.R. Negenborn. Study on route division for ship energy efficiency optimization based on big environment data. In Proceedings of the 2017 IEEE International Conference on Transportation Information and Safety (IEEE ICTIS 2017), Banff, Canada, pp. 111-116, August 2017.   
27.A. Haseltalab, R.R. Negenborn, G. Lodewijks. Adaptive control for a class of partially unknown non-Affine systems: Applied to autonomous waterborne vehicles. In Proceedings of the 20th IFAC World Congress (IFAC 2017 WC), Toulouse, France, pp. 4336-4341, July 2017.   
26.R.D. Geertsma, R.R. Negenborn, K. Visser, J.J. Hopman. Parallel control for hybrid propulsion of multifunction ships. In Proceedings of the 20th IFAC World Congress (IFAC 2017 WC), Toulouse, France, pp. 2332-2339, July 2017.   
25.A. Haseltalab, R.R. Negenborn. Predictive on-board power management for all-electric ships with DC distribution architecture. In Proceedings of Oceans'17 MTS/IEEE (OCEANS'17), Aberdeen, Scotland, June 2017. 8pp.   
24.K. Wang, X. Jiang, X. Yan, G. Lodewijks, Y. Yuan, R.R. Negenborn. PSO-based method for safe sailing route and efficient speeds decision-support for sea-going ships encountering accidents. In Proceedings of the 14th IEEE International Conference on Networking, Sensing and Control (ICNSC 2017), Calabria, Italy, May 2017. 6pp.   
23.C. Liu, R.R. Negenborn, H. Zheng, X. Chu. A state-compensation extended state observer for model predictive control. European Journal of Control, vol. 36, pp. 1-9, July 2017.   
22.R.D. Geertsma, R.R. Negenborn, K. Visser, J.J. Hopman. Design and control of hybrid power and propulsion systems for smart ships: A review of developments. Applied Energy, vol. 194, pp. 30-54, 2017. Open Access.   
21.B. van Riessen, R.R. Negenborn, R. Dekker. The cargo fare class mix problem for an intermodal corridor - Revenue management in synchromodal container transportation. Flexible Services and Manufacturing Journal, vol. 29, no. 3-4, pp. 634-658, December 2017. Published online: 16 March 2017.   
20.S. Li, R.R. Negenborn, G. Lodewijks. Planning inland vessel operations in large seaports using a two-phase approach. Computers and Industrial Engineering, vol. 106, pp. 41-57, April 2017.   
19.M.C.M. van Tol, M.B. Duinkerken, G. Lodewijks, R.R. Negenborn. Vessel routing for sweeping of marine litter in a port area. In Proceedings of the 2016 Autumn Simulation Multi-Conference (AutumnSim 2016), Beijing, China, pp. 344-355, October 2016.   
18.L. Chen, R.R. Negenborn, G. Lodewijks. Path planning for autonomous inland vessels using A*BG. In Proceedings of the 7th International Conference on Computational Logistics (ICCL 2016), Lisbon, Portugal, pp. 65-79, September 2016.   
17.S. Li, R.R. Negenborn, G. Lodewijks. A logic-based Benders decomposition approach to improve coordination of inland vessels for inter-terminal transport. In Proceedings of the 7th International Conference on Computational Logistics (ICCL 2016), Lisbon, Portugal, pp. 96-115, September 2016.   
16.H. Zheng, R.R. Negenborn, G. Lodewijks. Fast ADMM for distributed model predictive control of cooperative Waterborne AGVs. IEEE Transactions on Control Systems Technology, vol. 25, no. 4, pp. 1406-1413, July 2017.   
15.H. Zheng, R.R. Negenborn, G. Lodewijks. Closed-loop scheduling and control of waterborne AGVs for energy-efficient Inter Terminal Transport. Transportation Research Part E: Logistics and Transportation Review, vol. 105, pp. 261-278, September 2017.   
14.H. Zheng, R.R. Negenborn, G. Lodewijks. Explicit use of probabilistic distributions in robust predictive control of waterborne AGVs - a cost-effective approach. In Proceedings of the 15th European Control Conference (ECC16), Aalborg, Denmark, pp. 1278-1283, June/July 2016.   
13.H. Zheng, R.R. Negenborn, G. Lodewijks. Predictive path following with arrival time awareness for waterborne AGVs. Transportation Research Part C, vol. 70, pp. 214-237, September 2016.   
12.A. Haseltalab, R.R. Negenborn, G. Lodewijks. Multi-level predictive control for energy management of hybrid ships in the presence of uncertainty and environmental disturbances. In Proceedings of the 14th IFAC Symposium on Control in Transportation Systems (IFAC CTS 2016), Istanbul, Turkey, pp. 90-95, May 2016.   
11.R.D. Geertsma, R.R. Negenborn, K. Visser, J.J. Hopman. Torque control for diesel mechanical and hybrid propulsion on naval vessels. In Proceedings of the 13th International Naval Engineering Conference and Exhibition 2016 (INEC 2016), Bristol, UK, pp. 476-492, April 2016.   
10.S. Li, R.R. Negenborn, G. Lodewijks. Approach integrating mixed-integer programming and constraint programming for planning rotations of inland vessels in a large seaport. Transportation Research Record, vol. 2549, pp. 1-8, 2016.   
9.H. Zheng, R.R. Negenborn, G. Lodewijks. Cooperative distributed collision avoidance based on ADMM for waterborne AGVs. In Proceedings of the 6th International Conference on Computational Logistics (ICCL'15), Delft, The Netherlands, pp. 181-194, September 2015.   
8.C. Liu, H. Zheng, R.R. Negenborn, X. Chu, L. Wang. Trajectory tracking control for underactuated surface vessels based on nonlinear Model Predictive Control. In Proceedings of the 6th International Conference on Computational Logistics (ICCL'15), Delft, The Netherlands, pp. 160-180, September 2015.   
7.S. Li, R.R Negenborn, G. Lodewijks. A two phase approach for inter-terminal transport of inland vessels using preference-based coordination rules. In Proceedings of the 6th International Conference on Computational Logistics (ICCL'15), Delft, The Netherlands, pp. 281-297, September 2015.   
6.S. Li, H. Zheng, R.R. Negenborn, G. Lodewijks. Coordination for efficient transport over water. In Proceedings of the 19th IEEE International Conference on Computer Supported Cooperative Work in Design (IEEE CSCWD'15), Calabria, Italy, pp. 389-394, May 2015.   
5.H. Zheng, R.R. Negenborn, G. Lodewijks. Model predictive control of a waterborne AGV at the operational level. In Proceedings of the International Maritime and Port Technology and Development Conference (MTEC 2014), Trondheim, Norway, pp. 99-108, October 2014.   
4.H. Zheng, R.R. Negenborn, G. Lodewijks. Trajectory tracking of autonomous vessels using model predictive control. In Proceedings of the 19th IFAC World Congress (IFAC WC'14), Cape Town, South Africa, pp. 8812-8818, August 2014.   
3.C. Liu, R.R. Negenborn, F. Ma, X. Chu, H. Zheng. Towards an Experimental Platform for Inland Waterway Ship Navigation. In Proceedings of the 2014 IEEE International Conference on Networking, Sensing, and Control (ICNSC 2014), Miami, Florida, pp. 707-712, April 2014.   
2.H. Zheng, R.R. Negenborn, G. Lodewijks. Survey of approaches for improving the intelligence of marine surface vehicles. In Proceedings of the 16th International IEEE Conference on Intelligent Transportation Systems (IEEE ITSC 2013), The Hague, The Netherlands, pp. 1217-1223, October 2013.   
1.S. Li, R.R. Negenborn, G. Lodewijks. Survey on planning problems in inland waterway transport: Current status and future perspectives. In Proceedings of the 16th International IEEE Conference on Intelligent Transportation Systems (IEEE ITSC 2013), The Hague, The Netherlands, pp. 1231-1237, October 2013.