%0 Book Section %B Hybrid Systems: Computation and Control %D 2001 %T Hybrid Feedback Control for Path Tracking by a Bounded-Curvature Vehicle %A A. Balluchi %A P. Souères %A A. Bicchi %E Di Benedetto, M. D. %E A. L. Sangiovanni-Vincentelli %K Autonomous Vehicles %K Hybrid and Embedded Control Systems %K Nonlinear Control Systems %B Hybrid Systems: Computation and Control %S Lecture Notes in Computer Science %I Springer-Verlag %C Heidelberg, Germany %V 2034 %P 133-146 %G eng %0 Journal Article %J Int. Journal of Control %D 2001 %T Optimal feedback control for line tracking with a bounded-curvature vehicle %A P. Souères %A A. Balluchi %A A. Bicchi %K Autonomous Vehicles %K Hybrid and Embedded Control Systems %K Nonlinear Control Systems %B Int. Journal of Control %V 74 %P 1009-1019 %8 July %G eng %0 Conference Paper %B Proc. 39th IEEE Conference on Decision and Control %D 2000 %T Hybrid Tracking Control for Spark-Ignition Engines %A A. Balluchi %A A. Bicchi %A C. Caterini %A C. Rossi %A A. L. Sangiovanni-Vincentelli %K Automotive %K Autonomous Vehicles %K Hybrid and Embedded Control Systems %B Proc. 39th IEEE Conference on Decision and Control %C Sydney, NSW, Australia %V 4 %P 3126-31 %8 December %G eng %0 Journal Article %J IEEE Trans. Intelligent Transportation Systems %D 2000 %T On optimal cooperative conflict resolution for air traffic management systems %A A. Bicchi %A L. Pallottino %K Air Traffic Management Systems %K Autonomous Vehicles %K Hybrid and Embedded Control Systems %K Nonlinear Control Systems %X

In this paper, we consider optimal resolution of air traffic conflicts. Aircraft are assumed to cruise within a given altitude layer, and are modeled as a kinematic system with constant velocity and curvature bounds. Aircraft can not get closer to each other than a predefined safety distance. For such system of multiple aircraft, we consider the problem of planning optimal paths among given waypoints. Necessary conditions for optimality of solutions are derived, and used to devise a parameterization of possible trajectories that turns into efficient numerical solutions to the problem. Simulation results for a realistic aircraft conflict scenario are provided. A decentralized implementation of the optimal conflict resolution scheme is introduced that may allow free-flight coordination in a cooperative airspace management scheme. Impact of decentralization on performance and safety is finally discussed with the help of extensive simulations.

%B IEEE Trans. Intelligent Transportation Systems %V 1 %P 221-231 %8 December %G eng %0 Journal Article %J Algorithmica %D 2000 %T Planning Motions of Polyhedral Parts by Rolling %A A. Marigo %A M. Ceccarelli %A S. Piccinocchi %A A. Bicchi %K Hybrid and Embedded Control Systems %K Nonlinear Control Systems %K Quantized Control Systems %K Robot Hands %B Algorithmica %V 26 %P 560-576 %G eng %0 Conference Paper %B Proc. IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control %D 2000 %T Quantized Control Systems and Discrete Nonholonomy %A A. Bicchi %A A. Marigo %A B. Piccoli %K Hybrid and Embedded Control Systems %K Nonlinear Control Systems %K Quantized Control Systems %B Proc. IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control %I Elsevier %C Princeton, NJ, USA %G eng %0 Conference Paper %B Proc. IEEE Int. Conf. on Decision and Control %D 2000 %T Reachability Analysis for a Class of Quantized Control Systems %A A. Marigo %A B. Piccoli %A A. Bicchi %K Hybrid and Embedded Control Systems %K Nonlinear Control Systems %K Quantized Control Systems %B Proc. IEEE Int. Conf. on Decision and Control %C Sydney, AU %P 3963-3968 %8 December %G eng %0 Conference Paper %B Proc. 39th IEEE Conference on Decision and Control %D 2000 %T Stability and Robustness of Optimal Synthesis for Route Tracking by Dubins' Vehicles %A A. Balluchi %A A. Bicchi %A B. Piccoli %A P. Souères %K Autonomous Vehicles %K Hybrid and Embedded Control Systems %K Nonlinear Control Systems %B Proc. 39th IEEE Conference on Decision and Control %C Sydney, Australia %V 1 %P 581-6 %8 December %G eng %0 Journal Article %J International Journal of Applied Mathematics and Computer Science %D 1999 %T Decentralized Variable Structure Tracking for Systems with Time-Domain Dominance %A A. Balluchi %A A. Bicchi %K Hybrid and Embedded Control Systems %K Nonlinear Control Systems %B International Journal of Applied Mathematics and Computer Science %V 9 %P 265-291 %G eng %0 Conference Paper %B Proc. IFAC Workshop on Motion Control %D 1998 %T Decentralized Air Traffic Management Systems: Performance and Fault Tolerance %A A. Bicchi %A A. Marigo %A G. Pappas %A M. Pardini %A G. Parlangeli %A C. Tomlin %A S. Sastry %K Air Traffic Management Systems %K Autonomous Vehicles %K Hybrid and Embedded Control Systems %K Nonlinear Control Systems %B Proc. IFAC Workshop on Motion Control %G eng %0 Conference Paper %B Proc. IFAC International Workshop on Motion Control %D 1998 %T Hybrid Optimization Problems in Automotive Applications %A A. Balluchi %A A. Bicchi %A G. Padroni %A C. Rossi %A A. L. Sangiovanni-Vincentelli %K Automotive %K Hybrid and Embedded Control Systems %B Proc. IFAC International Workshop on Motion Control %C Grenoble, France %P 273-278 %8 September %G eng %0 Conference Paper %B Proc. IEEE Int. Conf. on Decision and Control %D 1998 %T Steering Driftless Nonholonomic Systems by Control Quanta %A A. Marigo %A A. Bicchi %K Hybrid and Embedded Control Systems %K Nonlinear Control Systems %K Quantized Control Systems %B Proc. IEEE Int. Conf. on Decision and Control %P 4164-4169 %G eng %0 Conference Paper %B Proc. IEEE Int. Conf. on Robotics and Automation %D 1997 %T Manipulation of polyhedral parts by rolling %A A. Marigo %A Y. Chitour %A A. Bicchi %K Hybrid and Embedded Control Systems %K Nonlinear Control Systems %K Quantized Control Systems %B Proc. IEEE Int. Conf. on Robotics and Automation %G eng %0 Conference Paper %B Proc. European Control Conference %D 1997 %T Necessary and Sufficient Dominance Conditions for Robust Decentralization of VS Tracking Control %A A. Balluchi %A A. Bicchi %K Hybrid and Embedded Control Systems %K Nonlinear Control Systems %B Proc. European Control Conference %G eng %0 Conference Paper %B Proc. Int. Conf. Decision and Control %D 1994 %T Closed loop smooth steering of unicycle-like vehicles %A M. Aicardi %A G. Casalino %A A. Balestrino %A A. Bicchi %K Autonomous Vehicles %K Hybrid and Embedded Control Systems %K Nonlinear Control Systems %B Proc. Int. Conf. Decision and Control %P 2455-2460 %G eng %0 Conference Paper %B Proc. Conf. on Decision and Control %D 1994 %T A Diagonal Dominance Condition for Robust Decentralized Variable Structure Control %A A. Bicchi %A A. Balluchi %A A. Balestrino %K Hybrid and Embedded Control Systems %K Nonlinear Control Systems %B Proc. Conf. on Decision and Control %P 2324-2329 %G eng %0 Conference Paper %B Proc. Int. Workshop on Variable Structure and Lyapunov Techniques %D 1994 %T Time-Domain Dominance Condition for Decentralized Variable Structure Control of Systems in Input-Output Form %A A. Bicchi %A A. Balluchi %A A. Balestrino %K Autonomous Vehicles %K Hybrid and Embedded Control Systems %K Nonlinear Control Systems %B Proc. Int. Workshop on Variable Structure and Lyapunov Techniques %C Benevento %G eng %0 Conference Paper %B Proc. Conference on Decision and Control %D 1993 %T Efficient Parallel Algorithm for Optimal Block Decomposition of Transfer Function Matrices for Decentralized Control of Large-Scale Systems %A A. Balluchi %A A. Balestrino %A A. Bicchi %K Hybrid and Embedded Control Systems %K Nonlinear Control Systems %B Proc. Conference on Decision and Control %G eng