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Rudy R. Negenborn

Also published under: R. R. Negenborn, Rudy Negenborn, R. Negenborn

Publications
97
Citations
1,634
Publications by Year
20062025
Co-Authors:
Show All Co-Authors (154)
Image of author Rudy R. Negenborn

Rudy R. Negenborn

Also published under: R. R. Negenborn, Rudy Negenborn, R. Negenborn

Affiliation

Department of Maritime and Transport Technology
Faculty of Mechanical Engineering
Delft University of Technology, Delft, The Netherlands

Publication Topics

Biography

Rudy R. Negenborn is currently a Full Professor of multimachine operations and logistics with the Delft University of Technology. He is also the Head of the Section T ransport Engineering and Logistics, Department of Maritime and Transport Technology, and the Researchlaboratory Autonomous Shipping. His work has been published in over 200 peer-reviewed academic publications. In addition, he leads international (H2020 and INTERREG) research consortia. His research interests include multiagent systems, distributed control, model predictive control, simulation of large-scale transport systems, and applications in networked transport systems. He is an Editor of the books Intelligent Infrastructures, Distributed Model Predictive Control Made Easy...
Publications
97
Citations
1,634
Publications by Year
20062025
Co-Authors:
Show All Co-Authors (154)
Author's Published Works

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An Intelligent Agent-Based Resilient Framework for Marine Vessel Mission Adaptations

Nikos Kougiatsos;Evelien L. Scheffers;Marcel C. van Benten;Dingena L. Schott;Peter de Vos;Rudy R. Negenborn;Vasso Reppa

IEEE Open Journal of Intelligent Transportation Systems
Year: 2025 | Volume: 6 | Journal Article |
Waterborne transport is very important for moving freight and passengers globally. To make this transport more efficient, vessel design must adapt to changing missions, regulations and the occurrence of malfunctions. This paper presents the design of an intelligent decision-support framework to assist marine engineers and vessel operators in updating the system and control architecture of marine v...Show More

An Intelligent Agent-Based Resilient Framework for Marine Vessel Mission Adaptations

Nikos Kougiatsos;Evelien L. Scheffers;Marcel C. van Benten;Dingena L. Schott;Peter de Vos;Rudy R. Negenborn;Vasso Reppa

Year: 2025 | Volume: 6 | Journal Article |

Dynamic Coordination of Multiple Movable Bridges and Vessels for Time-Efficient Inland Waterway Navigation

Pablo Segovia;Vicenç Puig;Rudy R. Negenborn;Vasso Reppa

IEEE Transactions on Intelligent Transportation Systems
Year: 2025 | Early Access Article |
This paper considers the presence of movable bridges in inland waterway transport, and presents a control framework for the joint dynamic coordination of bridge operations and autonomous vessel navigation to minimize waiting times of vessels at bridges. Simultaneous evolution of bridge occupancy and vessel position is captured by a control-oriented model that incorporates qualitative behavior in t...Show More

Dynamic Coordination of Multiple Movable Bridges and Vessels for Time-Efficient Inland Waterway Navigation

Pablo Segovia;Vicenç Puig;Rudy R. Negenborn;Vasso Reppa

Year: 2025 | Early Access Article |

Safe Adaptive Policy Transfer Reinforcement Learning for Distributed Multiagent Control

Bin Du;Wei Xie;Yang Li;Qisong Yang;Weidong Zhang;Rudy R. Negenborn;Yusong Pang;Hongtian Chen

IEEE Transactions on Neural Networks and Learning Systems
Year: 2025 | Volume: 36, Issue: 1 | Journal Article |
Cited by: Papers (2)
Multiagent reinforcement learning (RL) training is usually difficult and time-consuming due to mutual interference among agents. Safety concerns make an already difficult training process even harder. This study proposes a safe adaptive policy transfer RL approach for multiagent cooperative control. Specifically, a pioneer and follower off-policy policy transfer learning (PFOPT) method is presente...Show More

Safe Adaptive Policy Transfer Reinforcement Learning for Distributed Multiagent Control

Bin Du;Wei Xie;Yang Li;Qisong Yang;Weidong Zhang;Rudy R. Negenborn;Yusong Pang;Hongtian Chen

Year: 2025 | Volume: 36, Issue: 1 | Journal Article |

Model Predictive Trajectory Optimization and Control for Autonomous Surface Vessels Considering Traffic Rules

Anastasios Tsolakis;Rudy R. Negenborn;Vasso Reppa;Laura Ferranti

IEEE Transactions on Intelligent Transportation Systems
Year: 2024 | Volume: 25, Issue: 8 | Journal Article |
Cited by: Papers (1)
This paper presents a rule-compliant trajectory optimization method for the guidance and control of Autonomous Surface Vessels. The method builds on Model Predictive Contouring Control and incorporates the International Regulations for Preventing Collisions at Sea relevant to motion planning. We use these rules for traffic situation assessment and to derive traffic-related constraints that are ins...Show More

Model Predictive Trajectory Optimization and Control for Autonomous Surface Vessels Considering Traffic Rules

Anastasios Tsolakis;Rudy R. Negenborn;Vasso Reppa;Laura Ferranti

Year: 2024 | Volume: 25, Issue: 8 | Journal Article |

Follow-the-Leader Guidance, Navigation, and Control of Surface Vessels: Design and Experiments

Benedetto Piaggio;Vittorio Garofano;Silvia Donnarumma;Angelo Alessandri;Rudy Negenborn;Michele Martelli

IEEE Journal of Oceanic Engineering
Year: 2023 | Volume: 48, Issue: 4 | Journal Article |
Cited by: Papers (2)
A novel follow-the-leader approach for azimuth-driven vessels is devised and experimentally tested in a model-scale outdoor scenario. The vessels are equipped with global navigation satellite and inertial navigation systems. A line-of-sight algorithm ensures the yaw-check ability of the follower vessel along the leader's path, while a speed-regulation allows to track its velocity. Track generation...Show More

Follow-the-Leader Guidance, Navigation, and Control of Surface Vessels: Design and Experiments

Benedetto Piaggio;Vittorio Garofano;Silvia Donnarumma;Angelo Alessandri;Rudy Negenborn;Michele Martelli

Year: 2023 | Volume: 48, Issue: 4 | Journal Article |

Distributed Situational Awareness for Maritime Autonomous Surface Ships in Mixed Waterborne Transport: An Ontology-based Framework

Rongxin Song;Eleonora Papadimitriou;R.R. Negenborn;P.H.A.J.M. Van Gelder

2023 7th International Conference on Transportation Information and Safety (ICTIS)
Year: 2023 | Conference Paper |
Cited by: Papers (1)
The safety of maritime autonomous surface ships (MASS) in mixed waterborne transport system (MWTS) depends on effective situational awareness (SA) distribution among MASS, manned ships, and various stakeholders, such as Vessel Traffic Service (VTS), Remote Control Center (RCC) and Fairway Shipping Agency. This paper focuses on the research question: How can situational awareness be effectively dis...Show More

Distributed Situational Awareness for Maritime Autonomous Surface Ships in Mixed Waterborne Transport: An Ontology-based Framework

Rongxin Song;Eleonora Papadimitriou;R.R. Negenborn;P.H.A.J.M. Van Gelder

Year: 2023 | Conference Paper |

Distributed Dynamic Coordination Control for Offshore Platform Transportation Under Ocean Environmental Disturbances

Zhe Du;Rudy R. Negenborn;Vasso Reppa

IEEE Transactions on Control Systems Technology
Year: 2023 | Volume: 31, Issue: 5 | Journal Article |
Cited by: Papers (1)
Transportation of a large offshore platform from inland waters to the open sea is a hazardous and challenging mission. With the development of the autonomous surface vessel (ASV), the problem of large floating object transportation has a chance to be solved by applying multiple physical-connected autonomous tugboats. This article proposes a distributed dynamic coordination control scheme for a mul...Show More

Distributed Dynamic Coordination Control for Offshore Platform Transportation Under Ocean Environmental Disturbances

Zhe Du;Rudy R. Negenborn;Vasso Reppa

Year: 2023 | Volume: 31, Issue: 5 | Journal Article |

Model Predictive Path Planning of AGVs: Mixed Logical Dynamical Formulation and Distributed Coordination

Jianbin Xin;Xuwen Wu;Andrea D’Ariano;Rudy Negenborn;Fangfang Zhang

IEEE Transactions on Intelligent Transportation Systems
Year: 2023 | Volume: 24, Issue: 7 | Journal Article |
Cited by: Papers (4)
Most of the existing path planning methods of automated guided vehicles (AGVs) are static. This paper proposes a new methodology for the path planning of a fleet of AGVs to improve the flexibility, robustness, and scalability of the AGV system. We mathematically describe the transport process as a dynamical system using an ad hoc mixed logical dynamical (MLD) model. Based on our MLD model, model p...Show More

Model Predictive Path Planning of AGVs: Mixed Logical Dynamical Formulation and Distributed Coordination

Jianbin Xin;Xuwen Wu;Andrea D’Ariano;Rudy Negenborn;Fangfang Zhang

Year: 2023 | Volume: 24, Issue: 7 | Journal Article |

Coordination and Optimization Control Framework for Vessels Platooning in Inland Waterborne Transportation System

Wei Tao;Man Zhu;Shengyong Chen;Xu Cheng;Yuanqiao Wen;Weidong Zhang;Rudy R. Negenborn;Yusong Pang

IEEE Transactions on Intelligent Transportation Systems
Year: 2023 | Volume: 24, Issue: 12 | Journal Article |
Cited by: Papers (8)
Vessels sailing in a single platoon could reduce resistance from the perspective of the whole platoon and the individual vessel, and contribute to improving energy benefits. Moreover, transportation energy costs and traffic efficiency are essential indicators for measuring waterborne transportation systems. We attempt to minimize transportation energy costs by coordinating platoon formation using ...Show More

Coordination and Optimization Control Framework for Vessels Platooning in Inland Waterborne Transportation System

Wei Tao;Man Zhu;Shengyong Chen;Xu Cheng;Yuanqiao Wen;Weidong Zhang;Rudy R. Negenborn;Yusong Pang

Year: 2023 | Volume: 24, Issue: 12 | Journal Article |

Distributed Nonlinear Trajectory Optimization for Multi-Robot Motion Planning

Laura Ferranti;Lorenzo Lyons;Rudy R. Negenborn;Tamás Keviczky;Javier Alonso-Mora

IEEE Transactions on Control Systems Technology
Year: 2023 | Volume: 31, Issue: 2 | Journal Article |
Cited by: Papers (14)
This work presents a method for multi-robot coordination based on a novel distributed nonlinear model predictive control (NMPC) formulation for trajectory optimization and its modified version to mitigate the effects of packet losses and delays in the communication among the robots. Our algorithms consider that each robot is equipped with an onboard computation unit to solve a local control proble...Show More

Distributed Nonlinear Trajectory Optimization for Multi-Robot Motion Planning

Laura Ferranti;Lorenzo Lyons;Rudy R. Negenborn;Tamás Keviczky;Javier Alonso-Mora

Year: 2023 | Volume: 31, Issue: 2 | Journal Article |

Energy-Efficient Routing of a Multirobot Station: A Flexible Time-Space Network Approach

Jianbin Xin;Chuang Meng;Andrea D’Ariano;Frederik Schulte;Jinzhu Peng;Rudy R. Negenborn

IEEE Transactions on Automation Science and Engineering
Year: 2023 | Volume: 20, Issue: 3 | Journal Article |
Cited by: Papers (5)
This paper investigates a novel routing problem of a multi-robot station in a manufacturing cell. In the existing literature, the objective is to minimize the cycle time or energy consumption separately. The routing problem considered in this paper aims to reduce the cycle time and energy consumption jointly for each robot while avoiding collisions between these robots. For this routing problem, w...Show More

Energy-Efficient Routing of a Multirobot Station: A Flexible Time-Space Network Approach

Jianbin Xin;Chuang Meng;Andrea D’Ariano;Frederik Schulte;Jinzhu Peng;Rudy R. Negenborn

Year: 2023 | Volume: 20, Issue: 3 | Journal Article |

Flexible Collision-free Platooning Method for Unmanned Surface Vehicle with Experimental Validations

Bin Du;Bin Lin;Wei Xie;Weidong Zhang;Rudy R. Negenborn;Yusong Pang

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2022 | Conference Paper |
Cited by: Papers (1)
This paper addresses the flexible formation problem for unmanned surface vehicles in the presence of obstacles. Building upon the leader-follower formation scheme, a hybrid line-of-sight based flexible platooning method is proposed for follower vehicle to keep tracking the leader ship. A fusion artificial potential field collision avoidance approach is tailored to generate optimal collision-free t...Show More

Flexible Collision-free Platooning Method for Unmanned Surface Vehicle with Experimental Validations

Bin Du;Bin Lin;Wei Xie;Weidong Zhang;Rudy R. Negenborn;Yusong Pang

Year: 2022 | Conference Paper |

Dynamic Coordination of Multiple Vessels for Offshore Platform Transportation

Zhe Du;Rudy R. Negenborn;Vasso Reppa

2022 IEEE Conference on Control Technology and Applications (CCTA)
Year: 2022 | Conference Paper |
Cited by: Papers (3)
This paper proposes a novel dynamic coordination control scheme for a physically connected multi-vessel towing system to transport an offshore platform. The transportation process is executed by four tugboats, and each of them has a leading or following role. To render the transportation faster, the roles of the tugboats can be switched in the towing process. The dynamic coordination decision mech...Show More

Dynamic Coordination of Multiple Vessels for Offshore Platform Transportation

Zhe Du;Rudy R. Negenborn;Vasso Reppa

Year: 2022 | Conference Paper |

A Lagrangian Relaxation Heuristic Approach for Coordinated Global Intermodal Transportation

Wenjing Guo;Rudy R. Negenborn;Bilge Atasoy

2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)
Year: 2022 | Conference Paper |
Cited by: Papers (1)
This paper considers a coordinated global shipment matching problem in which a global operator receives shipment requests from shippers and three local operators provide local transport services in different geographical areas. While local operators make local matching decisions, the global operator combines the matched local services into itineraries to provide integrated transport for shipments....Show More

A Lagrangian Relaxation Heuristic Approach for Coordinated Global Intermodal Transportation

Wenjing Guo;Rudy R. Negenborn;Bilge Atasoy

Year: 2022 | Conference Paper |

Multi-Objective Cooperative Control for a Ship-Towing System in Congested Water Traffic Environments

Zhe Du;Rudy R. Negenborn;Vasso Reppa

IEEE Transactions on Intelligent Transportation Systems
Year: 2022 | Volume: 23, Issue: 12 | Journal Article |
Cited by: Papers (8)
This paper proposes a multi-objective cooperative control method for a ship-towing system in congested water traffic environments. The control objectives are to coordinate multiple autonomous tugboats for transporting a ship to: (i) follow the waypoints, (ii) adjust the heading, (iii) track the speed profile, and (iv) resolve collisions. The problem is tackled by the design of multiple control age...Show More

Multi-Objective Cooperative Control for a Ship-Towing System in Congested Water Traffic Environments

Zhe Du;Rudy R. Negenborn;Vasso Reppa

Year: 2022 | Volume: 23, Issue: 12 | Journal Article |

A Logit Mixture Model Estimating the Heterogeneous Mode Choice Preferences of Shippers Based on Aggregate Data

Adrien Nicolet;Rudy R. Negenborn;Bilge Atasoy

IEEE Open Journal of Intelligent Transportation Systems
Year: 2022 | Volume: 3 | Journal Article |
Cited by: Papers (5)
Understanding the modal split in freight transportation is a key factor for the successful implementation of innovations. Mode choice models should then be as representative of reality as possible. The use of disaggregate shipment data can help to achieve it. However, shipment data are often unavailable due to confidentiality issues. As a result, numerous models using only aggregate data have been...Show More

A Logit Mixture Model Estimating the Heterogeneous Mode Choice Preferences of Shippers Based on Aggregate Data

Adrien Nicolet;Rudy R. Negenborn;Bilge Atasoy

Year: 2022 | Volume: 3 | Journal Article |

A Collaborative Berth Planning Approach for Disruption Recovery

Xiaohuan Lyu;Rudy R. Negenborn;Xiaoning Shi;Frederik Schulte

IEEE Open Journal of Intelligent Transportation Systems
Year: 2022 | Volume: 3 | Journal Article |
Cited by: Papers (9)
Traditionally, terminal operators create an initial berthing plan before the arrival of incoming vessels. This plan involves decisions on when and where to load or discharge containers for the calling vessels. However, disruptive unforeseen events (i.e., arrival delays, equipment breakdowns, tides, or extreme weather) interfere with the implementation of this initial plan. For terminals, berths an...Show More

A Collaborative Berth Planning Approach for Disruption Recovery

Xiaohuan Lyu;Rudy R. Negenborn;Xiaoning Shi;Frederik Schulte

Year: 2022 | Volume: 3 | Journal Article |

Mixed-Integer Nonlinear Programming for Energy-Efficient Container Handling: Formulation and Customized Genetic Algorithm

Jianbin Xin;Chuang Meng;Andrea D’Ariano;Dongshu Wang;Rudy R. Negenborn

IEEE Transactions on Intelligent Transportation Systems
Year: 2022 | Volume: 23, Issue: 8 | Journal Article |
Cited by: Papers (11)
Energy consumption is expected to be reduced while maintaining high productivity for container handling. This paper investigates a new energy-efficient scheduling problem of automated container terminals, in which quay cranes (QCs) and lift automated guided vehicles (AGVs) cooperate to handle inbound and outbound containers. In our scheduling problem, operation times and task sequences are both to...Show More

Mixed-Integer Nonlinear Programming for Energy-Efficient Container Handling: Formulation and Customized Genetic Algorithm

Jianbin Xin;Chuang Meng;Andrea D’Ariano;Dongshu Wang;Rudy R. Negenborn

Year: 2022 | Volume: 23, Issue: 8 | Journal Article |

Computational Reduction of Optimal Hybrid Vehicle Energy Management

Carlos Armenta;Sébastien Delprat;Rudy R. Negenborn;Ali Haseltalab;Jimmy Lauber;Michel Dambrine

IEEE Control Systems Letters
Year: 2022 | Volume: 6 | Journal Article |
Pontryagin's Minimum Principle is a way of solving hybrid powertrain optimal energy management. This letter presents an improvement of a classical implementation. The core of this improvement consists in relaxing the tolerance on some intermediate steps of the algorithm in order to reduce the number of iterations and thereby reducing the number of operations required to compute an optimal solution...Show More

Computational Reduction of Optimal Hybrid Vehicle Energy Management

Carlos Armenta;Sébastien Delprat;Rudy R. Negenborn;Ali Haseltalab;Jimmy Lauber;Michel Dambrine

Year: 2022 | Volume: 6 | Journal Article |

Influence of uncertainty on performance of opportunistic maintenance strategy for offshore wind farms

Mingxin Li;Xiaoli Jiang;James Carroll;Rudy R. Negenborn

OCEANS 2021: San Diego – Porto
Year: 2021 | Conference Paper |
Cited by: Papers (1)
The increasing capacity of offshore wind energy around the world brings challenges in Operation and Maintenance (O&M) management. Over the past years, many studies have focused on developing sound maintenance strategies in order to minimize maintenance cost or maximize availability. One of the promising maintenance strategies is opportunistic maintenance due to its potential to combine maintenance...Show More

Influence of uncertainty on performance of opportunistic maintenance strategy for offshore wind farms

Mingxin Li;Xiaoli Jiang;James Carroll;Rudy R. Negenborn

Year: 2021 | Conference Paper |

Distributed Leader-Follower Formation Control for Autonomous Vessels based on Model Predictive Control

M. J. van Pampus;A. Haseltalab;V. Garofano;V. Reppa;Y. H. Deinema;R. R. Negenborn

2021 European Control Conference (ECC)
Year: 2021 | Conference Paper |
Cited by: Papers (2)
Formation control of autonomous surface vessels (ASVs) has been studied extensively over the last few years since it offers promising advantages. In this paper, two control methods for distributed leader-follower formation control are proposed: A Nonlinear Model Predictive Control (MPC) method and an MPC method using Feedback Linearization. One agent per vessel performs planning and control. The a...Show More

Distributed Leader-Follower Formation Control for Autonomous Vessels based on Model Predictive Control

M. J. van Pampus;A. Haseltalab;V. Garofano;V. Reppa;Y. H. Deinema;R. R. Negenborn

Year: 2021 | Conference Paper |

MPC-based COLREGS Compliant Collision Avoidance for a Multi-Vessel Ship-Towing System

Zhe Du;Vasso Reppa;Rudy R. Negenborn

2021 European Control Conference (ECC)
Year: 2021 | Conference Paper |
Cited by: Papers (11)
Collision avoidance plays a vital role in autonomous vehicle systems. As the complexity and scale of missions increase, multi-vehicle systems are adopted in practice. However, there is limited research on collision avoidance of a physically interconnected multi-vessel system. This paper proposes a control scheme for tugboats to tow a ship in congested port areas ensuring collision avoidance that i...Show More

MPC-based COLREGS Compliant Collision Avoidance for a Multi-Vessel Ship-Towing System

Zhe Du;Vasso Reppa;Rudy R. Negenborn

Year: 2021 | Conference Paper |

Integrated Mode Choice and Vehicle Routing for Container Transport

Rie B. Larsen;Jasper M. Sprokkereef;Bilge Atasoy;Rudy R. Negenborn

2021 IEEE International Intelligent Transportation Systems Conference (ITSC)
Year: 2021 | Conference Paper |
Cited by: Papers (3)
It is desirable to improve the efficiency of container transport both from an economical and an environmental point of view, as increased efficiency decreases costs and emissions per transported container. Modern transport schemes, such as synchromodal transport, use a-modal bookings to increase the flexibility of the transport providers where the mode choice can be postponed until all demand for ...Show More

Integrated Mode Choice and Vehicle Routing for Container Transport

Rie B. Larsen;Jasper M. Sprokkereef;Bilge Atasoy;Rudy R. Negenborn

Year: 2021 | Conference Paper |

Stochastic and dynamic routing with flexible deliveries for an e-grocer

Pieter S. Bouwstra;Gonçalo Correia;Peter Bijl;Rudy R. Negenborn;Bilge Atasoy

2021 IEEE International Intelligent Transportation Systems Conference (ITSC)
Year: 2021 | Conference Paper |
The quality of the delivery service is a crucial asset for an e-grocer to create and maintain a loyal customer-base. With the rapid market growth of e-grocers over the last decade, there is an urgent need for e-grocer specific routing systems. Although stochastic and dynamic routing models are studied for a wide range of applications, e-grocer specific models are missing in the literature. This pa...Show More

Stochastic and dynamic routing with flexible deliveries for an e-grocer

Pieter S. Bouwstra;Gonçalo Correia;Peter Bijl;Rudy R. Negenborn;Bilge Atasoy

Year: 2021 | Conference Paper |

Computational reduction of optimal hybrid vehicle energy management

Carlos Armenta;Sébastien Delprat;Rudy R. Negenborn;Ali Haseltalab;Jimmy Lauber;Michel Dambrine

2021 American Control Conference (ACC)
Year: 2021 | Conference Paper |
Pontryagin's Minimum Principle is a way of solving hybrid powertrain optimal energy management. This paper presents an improvement of a classical implementation. The core of this improvement consists in relaxing the tolerance on some intermediate steps of the algorithm in order to reduce the number of iterations and thereby reducing the number of operations required to compute an optimal solution....Show More

Computational reduction of optimal hybrid vehicle energy management

Carlos Armenta;Sébastien Delprat;Rudy R. Negenborn;Ali Haseltalab;Jimmy Lauber;Michel Dambrine

Year: 2021 | Conference Paper |

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