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Research Overview

Demos 

 Presentations

Publications

Research Overview

Model Predictive control strategies for autonomous vehicles

Secure control of cyber-physical systems (CPS) 

Fault-Tolerant Control

Networked Control Systems

Publications

Journal Refeered papers (*=student)

  1. M. Cersullo*, C. Tiriolo*, W Lucia, and G. Franze’, " A detection strategy for setpoint attacks against differential-drive robots," I​IEEE Transactions on Control of Network Systems (CONES), 2025     
  2. M. Attar* and W. Lucia, "A data-driven safety preserving control architecture for constrained cyber-physical systems," International Journal of Robust and Nonlinear Control, DOI:10.1002/rnc.7654, 2024    ​ 
  3. F. Stabile*, W. Lucia, A. Youssef, G. Franzè, " A Verifiable Computing Scheme for Encrypted Control Systems," IEEE Control System Letters (L-CSS), ​DOI 10.1109/LCSYS.2023.3286774, DOI 10.1109/LCSYS.2024.3407636, 2024     
  4. C. Tiriolo*, W. Lucia, "​​A Set-Theoretic Control Approach to the Trajectory Tracking Problem for Input-Output Linearized Wheeled Mobile Robots," IEEE Control System Letters (L-CSS), ​​DOI 10.1109/LCSYS.2023.3286774, 2023    
  5. M. Attar*, W. Lucia, "​​​Data-Driven Robust Backward Reachable Sets for Set-Theoretic Model Predictive Control," IEEE Control System Letters (L-CSS), ​​DOI 10.1109/LCSYS.2023.3286776, 2023   
  6. G. A. Franca dos Santos, E.B. Castelan, W. Lucia, W."On the design of constrained PI-like output-feedback tracking controllers via robust positive invariance and bilinear programming," IEEE Control System Letters (L-CSS), Vol. 7, pp. 1429-1434, 2023     
  7. W. Lucia,  J, G. Ernesto*, E. B. Castelan, "Set-theoretic output feedback control: a bilinear programming approach," Automatica, 2023 (to appear)      
  8. M. Attar*, W. Lucia, "An Active Detection Strategy Based on Dimensionality Reduction for False Data Injection Attacks in Cyber-Physical Systems,"  IEEE Transactions on Control of Network Systems (CONES), DOI: ​10.1109/TCNS.2023.3244103, 2023     
  9. G. Franzè, D. Famularo, W. Lucia, F. Tedesco, "Cyber-physical systems subject to false data injections: a model predictive control framework for resilience operations", Automatica, DOI: 10.1016/j.automatica.2023.110957, 2023        
  10. C. Tiriolo*, W. Lucia, "​On the Design of Control Invariant Regions for Feedback Linearized Car-Like Vehicles," IEEE Control System Letters (L-CSS), ​10.1109/LCSYS.2022.3224680, 2022     
  11.  A. Rahiminejad*, M. Ghafouri, R. Atallah, W. Lucia, M. Debbabi, and A. Mohammadi. Resilience enhancement of islanded microgrids by diversification, reconfiguration, and der placement/sizing. International Journal of Electrical Power and Energy Systems, 2022 (Accepted) 
  12. C. Tiriolo*, G. Franze', W. Lucia, "A Receding Horizon Trajectory Tracking Strategy for Input-Constrained Differential-Drive Robots via Feedback-Linearization", IEEE Transactions on Control Systems Technology (TCST), DOI: 10.1109/TCST.2022.3219298, 2022         
  13. K. Gheitasi*, W. Lucia, "A worst-case approach to safety and reference tracking for cyber-physical systems under network attacks", IEEE Transactions on Automatic Control (TAC), DOI: 10.1109/TAC.2022.3205867, 2022.     ​ 
  14. W. Lucia, G. Franze' and B. Sinopoli, "A supervisor-based control architecture for constrained cyber-physical systems subject to network attacks," IEEE Transactions on Control of Network Systems (CONES), DOI: 10.1109/TCNS.2022.3182098, 2022.   ​​       ​ 
  15. A. M. Naseri*, W. Lucia, and A. Youssef, "Encrypted cloud-based set-theoretic model predictive control," IEEE Control System Letters (L-CSS), 10.1109/LCSYS.2022.3182295, 2022.      
  16. M. Babahaji*, S. Blouin, W. Lucia, M. M. Asadi, H. Mahboubi, and A. G. Aghdam, "Estimation of the connectivity of random graphs through q-learning techniques," Journal of Radio Frequency Identification, Vol. 6, pp. 2469-7281, 2022. 
  17. A. M. Naseri*, W. Lucia and A. Youssef , "​​ Confidentiality Attacks against Encrypted Control Systems ", ​Cyber-Physical Systems, 2022 (Accepted).     
  18. K. Gheitasi* and W. Lucia, "​ Undetectable Finite-Time Covert Attack on Constrained Cyber-Physical Systems", ​IEEE Transactions on Control of Network Systems, 202.        
  19. W. Lucia, A. Youssef, "Key Agreement Scheme for Cyber-Physical Systems," IEEE Transactions on Systems, Man, and Cybernetics: systems, DOI: 10.1109/TSMC.2021.3121205, 2021.       
  20.  A. C. e Sousa,  W. Lucia,  V. J. S. Leite,  L. F. P. Silva,  "Command Governor strategy based on region of attraction," Journal of Control, Automation and Electrical Systems, 2021.
  21. M. Bagherzadeh*, S. Savehshemshaki*, W. Lucia, "Guaranteed Collision-Free Reference Tracking in Constrained Multi Unmanned Vehicle Systems," IEEE Transactions on Automatic Control (TAC), 10.1109/TAC.2021.3093280, 2021.         
  22. W. Lucia, A. Youssef, "Covert Channels in Stochastic Cyber-Physical Systems," IET Cyber-Physical Systems: Theory & Applications, DOI: 10.1049/cps2.12020, 2021.       
  23. G. Franze, W. Lucia, and F. Tedesco, "Resilient model predictive control for constrained networked systems subject to severe attacks on the communication channels," IEEE Transactions on Automatic Control (TAC), DOI: 10.1109/TAC.2021.3084237, 2021.   
  24. K. Gheitasi* and W. Lucia, "A safety preserving control architecture for cyber-physical systems," International Journal of Robust and Nonlinear Control, 10.1002/rnc.54232, 2021.    ​ 
  25. W. Lucia, G. Franze', and D. Famularo, "A receding horizon event-driven control strategy for intelligent traffic management," Discrete Event Dynamic Systems: Theory and Applications, http://dx.doi.org/10.1007/s10626-020-00337-7, 2021.     
  26. G. Franze', W. Lucia, and A, Venturino*, "A distributed model predictive control strategy for constrained multi-vehicle systems moving in unknown environments," IEEE Transactions on Intelligent Vehicles, Vol. 6, No. 2, pp. 343-352, 2021.    
  27. M. Ghaderi*, K. Gheitasi*, and W. and Lucia, "A blended active detection strategy for intelligent cyber-attacks in networked control systems," IEEE Transactions on Control of Network Systems, Vol. 8, No. 1, pp. 168-176, 2021.      
  28. A.  Abdelwahab*, W. Lucia, and A. Youssef, "Covert channels in cyber-physical systems," IEEE Control Systems Letters (L-CSS), Vol. 5, pp. 1273-1278. 2020.           
  29. W. Lucia and A. Youssef, "Wyner wiretap-like encoding scheme for cyber-physical systems," IET Cyber-Physical Systems: Theory & Applications, Vol 5. No. 4, pp. 359-365, 2020.    
  30. W. Lucia,  K. Gheitasi*, and M. Ghaderi*, "Setpoint attacks detection in cyber-physical systems,"  IEEE Transactions on Automatic Control (TAC), Vol. 66, No. 5, pp. 2332-2338, 2020.      
  31. G. Franze', D. Famularo, W. Lucia, and F. Tedesco, "A resilient control strategy for cyber-physical systems subject to denial of service attacks: A leader-follower set-theoretic approach," IEEE/CAA Journal of Automatica Sinica, 2020 (Accepted).
  32. M. Bagherzadeh*, W. Lucia,  "A Set-Theoretic Model Predictive Control Approach for Transient Stability in Smart Grid," IET Control Theory & Applications, 2019 (Accepted).
  33. G. Franze',  F. Tedesco, and W. Lucia, "Resilient control for cyber-physical systems subject to replay attacks," IEEE Control Systems Letters, Vol. 3, No. 4, pp. 984-989, 2019.
  34. D.  Famularo, G. Franzè, W. Lucia, and C. Manna, "A reconfiguration control framework for constrained  systems with sensor stuck faults," International Journal of Robust and Nonlinear Control,  Vol. 29, No. 4, pp. 1150-1164, 2019.
  35. W. Lucia, G. Franzè and M. Sznaier, "A Hybrid Command Governor Scheme for Rotating Wings Unmanned Aerial Vehicles," IEEE Transactions on Control System Technology, Vol. 28, No. 2, pp. 361-375,  2018.
  36. W. Lucia, D. Famularo and G. Franzè, “A set-theoretic reconfiguration feedback control scheme against simultaneous stuck positions on the actuation channels,"  IEEE Transactions on Automatic Control, Vol. 68, No. 8, pp. 2558-2565, 2018. 
  37. Franzè, W. Lucia, and F. Tedesco, “A Distributed Model Predictive Control Scheme for Leader-Follower Multi-Agent Systems,”  International Journal of Control,  Vol. 91, No. 2, pp. 1-14, 2018. 
  38. E. Bou-Harb, W. Lucia, N. Forti, S. Weerakkody, N. Ghani, B. Sinopoli. "Cyber Meets Control: A Novel Federated Approach for Resilient CPS Leveraging Real Cyber Threat Intelligence", IEEE Communication Magazine, Vol. 55, No. 5, pages 198-204, 2017. 
  39. G. Franzè and W. Lucia, “Stabilization and reference tracking for constrained switching systems: a predictive control approach", International Journal of Adaptive Control and Signal Processing, Vol 31, No 12, pp. 1871-1884, 2017. 
  40. G. Franzè, A. Casavola, D. Famularo and W. Lucia, "Distributed Receding Horizon Control of Constrained Networked Leader-Follower Formations subject to Packet Dropouts," IEEE Transactions on Control System Technology, DOI: 10.1109/TCST.2017.2723869, 2017. 
  41. G. Franzè, W. Lucia, and F. Tedesco, “Command Governor for constrained switched systems with scheduled model transition dwell times,”  International Journal of Robust and Nonlinear Control, Vol. 27, No. 18, pp. 4949-4967, 2017. 
  42. W. Lucia,  F. Tedesco . "A networked-based receding horizon scheme for constrained LPV systems,"  European Journal of Control, Vol. 25, pages 69–75 2015.
  43. L. D'Alfonso, W. Lucia, P. Muraca, P. Pugliese, "Mobile robot localization via EKF and UKF: a comparison based on real data", Robotics and Autonomous Systems, Vol. 74, Part A, pages 122-127, 2015. 
  44. G. Franzè and W. Lucia, ``A receding horizon control strategy for autonomous vehicles in dynamic environments," IEEE Transactions on Control System Technology, Vol. 24, No. 2, pages 695-702. , 2016. 
  45. G. Franze and W. Lucia, "An obstacle avoidance model predictive control scheme for mobile robots subject to nonholonomic constraints: a sum-of-squares approach," Journal of The Franklin Institute, Vol. 352, No. 6, pages 2358-2380, 2015. 
  46. G. Franzè  and W. Lucia, ``The obstacle avoidance motion planning problem for autonomous vehicles: a low-demanding receding horizon control scheme," Systems &Control Letters, Vol. 77, pages 1-10, 2015.

Conference Refeered papers (*=student)

  1. M. Bajelani*, W. Lucia, and K. van Heusden, "Set-theoretic direct data-driven predictive control," European Control Conference (ECC), 2025  
  2. G. Franze', W. Lucia, F Tedesco, "Resilience countermeasures for networked control systems under denial-of-service scenarios," IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes, 2024 (Accepted)
  3. G. A. Franca dos Santos*, E. B. Castelan, and W. Lucia, "A constrained tracking controller for ramp and sinusoidal reference signals using robust positive invariance," American Control Conference (ACC), 2024 (Accepted)     
  4. S. Rajkumar*, C. Tiriolo*, and W. Lucia, "Collision-free platooning of mobile robots through a set-theoretic predictive control approach," American Control Conference (ACC), 2024 (Accepted)    
  5. A. M. Naseri*, W. Lucia and A. Youssef , "​​An Observer-Based Key Agreement Schemefor Remotely Controlled Mobile Robots," IFAC World Congress (IFAC), 2023 (Accepted)       
  6. C. Tiriolo, G. Franze', W. Lucia, "An Obstacle-Avoidance Receding Horizon Control Scheme for Constrained Differential-Drive Robot via Dynamic Feedback Linearization," American Control Conference, 2023 (Accepted).       
  7. S. Savehshemshaki*, W. Lucia, "​A Robust Receding-Horizon Collision Avoidance Strategy for Constrained Unmanned Ground Vehicles Moving in Shared Planar Environments," IEEE Conference on Decision and Control (CDC), 2022 (Accepted).       ​ 
  8.  J. G. Ernesto*, E. B. Castellan, W Lucia, and G. A. Franca dos Santos*, "Alternative implementation to an incremental output-feedback design approach for constrained discrete-time parameter-varying systems," IFAC Workshop on Linear Parameter Varying Systems, (Joint SSSC, TDS, LPVS 2022), 2022. 
  9. M. Cersullo*, C. Tiriolo*, G. Franze', W. Lucia, "A detection strategy for setpoint attacks against differential-drive robots," IEEE International Conference on Automation Science and Engineering (CASE), 2022   ​   
  10. A. M. Naseri*, W. Lucia and A. Youssef , "​A Privacy Preserving Solution for Cloud-Enabled Set-Theoretic Model Predictive Control ," European Control Conference (ECC), pp. 894--899, 2022.    
  11. M. Babahaji, S. Blouin, W. Lucia, M. M. Asadi, H. Mahboubi, A. G. Aghdam, "Random graphs estimation using q-learning," IEEE International Conference on Wireless for Space and Extreme Environments (WiSEE), 2021. 
  12. A. M. Naseri*, W. Lucia, and M. Mannan, A. Youssef. "On securing cloud-hosted cyber-physical systems using trusted execution environments. International Conference on Autonomous Systems," IEEE International Conference on Autonomous Systems (ICAS 2021), 2021    
  13. G. Franze', W. Lucia, and F. Tedesco, "Covert Attack detection for constrained cyber-physical systems regulated by robust model predictive controllers," American Control Conference (ACC), 2021. 
  14. A. Abdelwahab*, W. Lucia, and A. Youssef, "Decoy-based moving target defense against cyber-physical attacks on smart grid," IEEE Electric Power and Energy Conference (EPEC), 2020.
  15. S. Savehshemshaki*,W. Lucia, "A receding horizon battery shortage prevention control strategy for electric unmanned vehicles," IEEE Conference on Control Technology and Applications (CCTA), pp. 108-113, 2020.      
  16. C. Tiriolo*, G. Franze', and W. Lucia, "A receding horizon control strategy for constrained differential-drive robots moving in static unknown environments," IEEE Conference on Control Technology and Applications (CCTA), pp. 261-266, 2020.        
  17. A. Abdelwahab*, W. Lucia, and A. Youssef, "Set-theoretic control for active detection of replay attacks with applications to smart grid," IEEE Conference on Control Technology and Applications (CCTA), pp. 1004-1009, 2020.
  18. W. Alqaisi*, Y. Kali, and W. Lucia, "Finite-time flight control of uncertain quadrotor uav based on modified non-singular fast terminal super-twisting control," IEEE Conference on Control Technology and Applications (CCTA), pp. 37-42, 2020.
  19. K. Gheitasi*, W. Lucia, "A finite-time stealthy covert attack against cyber-physical systems, "Int. Conference on Control, Decision and Information Technologies (CoDIT), pp. 347-352, 2020.
  20. A. Abdelwahab*, W. Lucia, and A. Youssef, "A dos-resilient set-theoretic controller for smart grid applications," IEEE PES General Meeting, pp. 1-5, 2020. 
  21. A. Sousa*, L. Silva, W. Lucia, C.J. Souza Leite, "Command Governor strategy based on region of attraction control switching, " Congresso brasileiro de automatica, Vol. 2, No. 1, 2020. 
  22. A. Venturino*, W. Lucia,  "A Distributed Model Predictive Control Strategy for Teams of Vehicles in Narrowed Environments," IEEE International Conference on Emerging Technologies and Factory Automation (EFTA), pp. 927-932, 2019. 
  23. M. Ghaderi*, K. Gheitasi*, W. Lucia,  "A Novel Control Architecture for the Detection of False Data Injection Attacks in Networked Control Systems," American Control Conference (ACC), pp. 139-144, 2019.
  24. K. Gheitasi*, M. Ghaderi*, W. Lucia,  "A Novel networked control scheme with safety guarantees for detection and mitigation of cyber-attacks," European Control Conference (ECC), pp. 1449-1454, 2019. 
  25. M. Bagherzadeh*, W. Lucia,  "Multi-vehicle reference tracking with guaranteed collision avoidance," European Control Conference (ECC), pp. 1574-1579, 2019. 
  26. G. Franze, W. Lucia, and F. Tedesco, "A leader-follower set-theoretic approach for cyber-physical systems against denial-of-service attacks," Int. Conference on Control Decision and Information Techologies (CoDIT) , pp. 73-78, 2019. 
  27. W. Lucia, K. Gheitasi*, and M. Ghaderi*, "A command governor based approach for detection of setpoint attacks in constrained cyber-physical systems," IEEE Conference on Decision and Control (CDC), pp. 4529-4534, 2018. 
  28. W. Lucia, K. Gheitasi*, and M. Bagherzadeh*, "A computational low-demanding model predictive control strategy for fast and robust transient stability in smart grid," IEEE Conference on Decision and Control (CDC), pp. 6013-6018, 2018. 
  29. Franzè,  W. Lucia. Distributed receding horizon control for rotating wings unmanned aerial vehicles: a time-varying topology strategy, "IEEE Conference on Decision and Control (CDC)," pp. 3329-3334, 2018. 
  30. W. Lucia, D. Famularo, G. Franzè, A. Furfaro, "Verification and Control of Hybrid Systems Under Safety Requirements,"  IFAC Symposium on Robust Control Design (ROCOND'18),  Vol. 51, No. 25, 61-66,2018. 
  31. G. Franzè, W. Lucia, "Multi-vehicle formation control in uncertain environments",  IEEE  Conference  on  Decision  and  Control  (CDC), pp. 6580-6585, 2017. 
  32. W. Lucia, B. Sinopoli, G. Franzè. "A set-theoretic approach for secure and resilient control of Cyber-Physical Systems," Science of Security for Cyber-Physical Systems Workshop, pp. 1-5, 2016. 
  33. G. Franze and W. Lucia, "A set-theoretic based control architecture for constrained switching systems," American Control Conference (ACC), pp. 685-690, 2016. 
  34. D. Famularo, G. Franzè, and W. Lucia, "Multiple stuck positions actuator faults: a model predictive based reconfigurable control scheme,"  IEEE Conference on Decision and Control (CDC), pp. 5091-5096, 2015. 
  35. A. Casavola, W. Lucia and F. Tedesco, “A networked-based MPC architecture for constrained LPV systems,” IFAC Workshop on Linear Parameter Varying systems,  pp. 158-163, 2015. 
  36. G. Franze, W. Lucia, and F. Tedesco, "A dwell-time based Command Governor approach for constrained switched systems," American Control Conference (ACC), pp. 1077-1082, 2015. 
  37. W. Lucia, G. Franze, and M. Sznaier, "An obstacle avoidance and motion planning command governor based scheme: the qball-x4 quadrotor case of study," IEEE Conference on Decision and Control (CDC), pp. 6135-6140, 2014. 
  38. G. Franze, W. Lucia and F. Tedesco. "A receding horizon scheme for discrete-time polytopic linear parameter varying systems in networked architectures." Journal of Physics: Conference Series, Vol. 570. No. 3. IOP Publishing, 2014. 
  39. G. Franze, W. Lucia, F. Tedesco and V. Scordamaglia, "A distributed obstacle avoidance MPC strategy for leader-follower formations," IFAC World Congress (IFAC), Vol 47, No. 3, pp. 2570-2575, 2014. 
  40. G. Franze and W. Lucia," A model predictive control scheme for mobile robotic vehicles in dynamic environments," IEEE Conference on Decision and Control (CDC), pp. 5752-5757, 2013. 
  41. W. Lucia, G. Franze, and P. Muraca, "An obstacle avoidance model predictive control scheme: A sum-of-squares approach," IEEE Conference on Control & Automation (MED), Mediterranean Conference on, pp. 1575-1582, 2013. 
  42. G. Franze, W. Lucia, and P. Muraca," An obstacle avoidance receding horizon control scheme for autonomous vehicles," American Control Conference (ACC), pp. 3948-3953, 2013. 
  43. D.Famularo, G. Franze and W. Lucia, "Networked control systems with state, input and communication constraints: A nonlinear approach," IEEE Conference on Decision and Control (CDC), pp. 38-43, 2013. 
  44. G. Cotugno, L. D'Alfonso, W. Lucia, P. Muraca and P. Pugliese," Extended and Unscented Kalman Filters for mobile robot localization and environment reconstruction," IEEE Mediterranean Control & Automation (MED), pp. 19-26, 2013. 
  45. L. D'Alfonso, W. Lucia, P. Muraca and P. Pugliese," Filters for mobile robots: EKF, UKF and sensor switching-experimental results," IEEE Control and Automation (ICCA), pp. 925-930, 2011.

Some Demos

Presentations