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Dr. Walter Lucia

SHORT BIO

I am currently an Assistant Professor at the Concordia Institute for Information Systems Engineering, Concordia University, Canada.  I received an M.Sc. in automation engineering (2011) and a Ph.D. in Systems and Computer Engineering (2015) from the University of Calabria, Italy, under the supervision of Professor Giuseppe Franze'.  In 2013, I was a visiting research scholar in the ECE Department at Northeastern University (USA),  where I worked with Professor Mario Sznaier. In 2015, I was visiting postdoctoral researcher in the ECE Department at Carnegie Mellon University (USA),  where I collaborated with Professor Bruno Sinopoli. My current research interests include control of unmanned vehicles, switching systems, fault-tolerant control, model predictive control, and resilient control of cyber-physical systems. Since July 2017, I am the Chair of the IEEE Systems, Man and Cybernetics Society, Montreal Chapter

LATEST  RELEVANT NEWS:

  • June 2018: Journal Paper "A Hybrid Command Governor Scheme for Rotating Wings Unmanned Aerial Vehicles,"  Under Minor Review for   IEEE Transactions on Control System Technology journal.
  • May 2018 Conference Paper "Verification and Control of Hybrid Systems Under Safety Requirements,"  accepted for IFAC Symposium on Robust Control Design (ROCOND'18)
  • March 2018: 3 Conference Papers have been submitted to the IEEE Conference on Decision and Control (CDC 2018).
  • January 2018: Journal Paper "A supervisor-based control architecture for constrained cyber-physical systems subject to network attacks,"  Under Review for   IEEE Transactions on Automatic Control journal.
  • October 2017: Journal Paper, "A Set-theoretic Reconfiguration Feedback Control Scheme Against Simultaneous Stuck Actuators,"  accepted for publication in the   IEEE Transactions on Automatic Control journal.
  • July 2017 : Conference Paper "Multi-vehicle formation control in uncertain environments," accepted for IEEE Conference on Decision and Control  (CDC 2017), Melbourne (Australia), December, 2017.
  • May 2017 : Journal Paper “Command Governor for constrained switched systems with scheduled model transition dwell times,”  accepted for publication  in the International Journal of Robust and Nonlinear Control, 2017.

Research Interests

  • Low demanding model predictive control strategies for autonomous vehicles
  • Control of switching/switched systems
  • Model predictive control strategies for hybrid systems
  • Fault tolerant control
  • Secure control of cyber-physical systems
  • Networked Control Systems

obstacle_avoidance

Low demanding model predictive control strategies for autonomous vehicles

Development of computational low demanding control strategies, based on model predictive ideas and set-theoretic control concepts, to deal with obstacle avoidance problems characterizing moving unmanned vehicles in dynamic environments.

switching systems

Control of switching/switched systems

Development of control strategies, based on transition dwell time and supervised control concepts, to deal with plants characterized by a finite collection of switching/switched dynamical models.

hybrid system

Model predictive control strategies for hybrid systems

Development of event-driven set-theoretic control scheme for hybrid plants (with both continuous and discrete dynamics).

FTC

Fault tolerant control

Development of model predictive based reconfigurable control schemes for plant subject to stuck actuators and disturbances.

cps

Secure control of cyber-physical systems (CPS) 

Development of control strategies capable to face and mitigate security and reliability problems affecting the modern networked distributed large-scale dynamical systems.

NCS

Networked Control Systems

Development of control strategies for systems where plant and controller are spatially distributed. All the sensor and controller information are transmitted via a communication channel that might be subject to time-varying delays and packet dropouts.

Students

Students currently under my supervision:

  • Maryam Bagherzadeh (MSc Student in Electrical & Computer Engineering). Research Interests: Autonomous Vehicles, Model Predictive Control.
  • Mohsen  Ghaderi (MSc Student in Electrical & Computer Engineering). Research Interests: Fault-Tolerant Control and Control Allocation Problem.
  • Kian Gheitasi (PhD Student in Information & System Engineering): Secure and Resilient Control of Cyber-Physical Systems and Autonomous Vehicles.

Visiting Scholar:

  • Flavia Grandinetti (MSc Student in Automation Engineering, University of Calabria). Research Interest: Formation Control of Unmanned Aerial Vehicles (UAV)

Prospective Students

I am currently looking for well-motivated Master and PhD students interested in working with me in at least one of the following research areas:

  • Secure Control of Cyber-Physical Systems with application to Smart Grids and Autonomous Vehicles;
  • Fault tolerant control;
  • Switching Systems;
  • Control of event-driven Hybrid Systems
A successful candidate should have strong background in Control Systems and  be well-skilled with Matlab.

Publications

Journals

  1. W. Lucia, G. Franzè and B. Sinopoli, "A supervisor-based control architecture for constrained cyber-physical systems subject to network attacks," 2018 (Under Review for IEEE Transactions on Automatic Control).
  2. W. Lucia, G. Franzè and M. Sznaier, "A Hybrid Command Governor Scheme for Rotating Wings Unmanned Aerial Vehicles," 2018. (Under minor review for IEEE Transactions on Control System Technology).
  3. D.  Famularo, G. Franzè, W. Lucia, and C. Manna, "A reconfiguration control framework for constrained  systems with sensor stuck faults,"  2018 (Under review for International Journal of Robust and Nonlinear Control).
  4. 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, DOI: 10.1109/TAC.2017.2766020, 2018.
  5. 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.
  6. 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.
  7. 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.
  8. 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.
  9. 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.
  10. W. Lucia,  F. Tedesco . "A networked-based receding horizon scheme for constrained LPV systems,"  European Journal of Control, Vol. 25, pages 69–75 2015.
  11. 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.
  12. 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.
  13. 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.
  14. 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.

Conferences

  1. 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), 2018 (Accepted ).
  2. G. Franzè, W. Lucia, "Multi-vehicle formation control in uncertain environments",  IEEE  Conference  on  Decision  and  Control  (CDC), 2017.
  3. 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, pages 1-5, 2016.
  4. G. Franze and W. Lucia, "A set-theoretic based control architecture for constrained switching systems," American Control Conference (ACC), pp. 685-690, 2016.
  5. D. Famularo, G. Franzè, and W. Lucia, "Multiple stuck positions actuator faults: a model predictive based reconfigurable control scheme,"  IEEE 54nd Conference on Decision and Control (CDC), pp. 5091-5096, 2015.
  6. A. Casavola, W. Lucia and F. Tedesco, “A networked-based MPC architecture for constrained LPV systems,” 1st IFAC Workshop on Linear Parameter Varying systems,  pp. 158-163, 2015.
  7. 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.
  8. 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 53nd Conference on Decision and Control (CDC), pp. 6135-6140, 2014.
  9. 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.
  10. G. Franze, W. Lucia, F. Tedesco and V. Scordamaglia, "A distributed obstacle avoidance MPC strategy for leader-follower formations," IEEE IFAC World Congress (IFAC), Vol 47, No. 3, pp. 2570-2575, 2014.
  11. G. Franze and W. Lucia," A model predictive control scheme for mobile robotic vehicles in dynamic environments," IEEE 52 nd Conference on Decision and Control (CDC), pp. 5752-5757, 2013.
  12. 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), 21st Mediterranean Conference on, pp. 1575-1582, 2013.
  13. 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.
  14. 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.
  15. 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.
  16. 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.

Teaching

smart grid

INSE 6630: Recent Developments in Information Systems Security

2018-2019 - Summer 1,  Concordia University. Topic: Security of Cyber-Physical Systems (CPS)

smart grid

ENGR 7401: Robotic Manipulators II: Control

2017-2018 - Winter Term,  Concordia University. (For the class project, we use RoboDK to off-line simulating and programming industrial robots)

smart grid

INSE 6640: Smart Grids and Control System Security

2016-2017 - Winter Term,  Concordia University. 2017-2018 - Fall Term,  Concordia University.

Contact Information

Email:  walter.lucia@concordia.ca
Phone: (514) 848-2424 Ext: 3982

Mailing Address:
Concordia Institute for Information Systems Engineering,
1455 de Maisonneuve Blvd. West, EV009.185
Montréal, Québec, Canada, H3G 1M8

Civic Address:
Concordia Institute for Information Systems Engineering
Concordia University 1515 St.Catherine Street West, EV.009.185
Montreal, Québec, Canada H3G 2W1