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## Journal papers

2023

Abhishek Dhar, Carl Hynén, Johan Löfberg, Daniel Axehill,
"Disturbance-Parametrized Robust Lattice-based Motion Planning",
IEEE Transactions on Intelligent Vehicles, (Epub ahead of print),
2023.

2022

Daniel Arnström, Alberto Bemporad, Daniel Axehill,
"A Dual Active-Set Solver for Embedded Quadratic Programming Using Recursive LDLT Updates",
IEEE Transactions on Automatic Control,
67(8):
4362-4369, 2022.

Daniel Arnström, Daniel Axehill,
"A Unifying Complexity Certification Framework for Active-Set Methods for Convex Quadratic Programming",
IEEE Transactions on Automatic Control,
67(6):
2758-2770, 2022.

Per Boström-Rost, Daniel Axehill, Gustaf Hendeby,
"PMBM Filter With Partially Grid-Based Birth Model With Applications in Sensor Management",
IEEE Transactions on Aerospace and Electronic Systems,
58(1):
530-540, 2022.

Daniel Arnström, Alberto Bemporad, Daniel Axehill,
"A Linear Programming Method Based on Proximal-Point Iterations With Applications to Multi-Parametric Programming",
IEEE Control Systems Letters,
6:
2066-2071, 2022.

2021

Per Boström-Rost, Daniel Axehill, Gustaf Hendeby,
"Sensor management for search and track using the Poisson multi-Bernoulli mixture filter",
IEEE Transactions on Aerospace and Electronic Systems,
57(5):
2771-2783, 2021.

Kristoffer Bergman, Oskar Ljungqvist, Daniel Axehill,
"Improved Path Planning by Tightly Combining Lattice-Based Path Planning and Optimal Control",
IEEE Transactions on Intelligent Vehicles,
6(1):
57-66, 2021.

Daniel Arnström, Alberto Bemporad, Daniel Axehill,
"Complexity Certification of Proximal-Point Methods for Numerically Stable Quadratic Programming",
IEEE Control Systems Letters,
5(4):
1381-1386, 2021.

2020

Daniel Arnström, Alberto Bemporad, Daniel Axehill,
"Exact Complexity Certification of a Nonnegative Least-Squares Method for Quadratic Programming",
IEEE Control Systems Letters,
4(4):
1036-1041, 2020.

2019

Oskar Ljungqvist, Niclas Evestedt, Daniel Axehill, Marcello Cirillo, Henrik Pettersson,
"A path planning and path-following control framework for a general 2-trailer with a car-like tractor",
Journal of Field Robotics,
36(8):
1345-1377, 2019.

Isak Nielsen, Daniel Axehill,
"Direct Parallel Computations of Second-Order Search Directions for Model Predictive Control",
IEEE Transactions on Automatic Control,
64(7):
2845-2860, 2019.

2018

Per Boström-Rost, Daniel Axehill, Gustaf Hendeby,
"On Global Optimization for Informative Path Planning",
IEEE Control Systems Letters,
2(4):
833-838, 2018.

Isak Nielsen, Daniel Axehill,
"Low-Rank Modifications of Riccati Factorizations for Model Predictive Control",
IEEE Transactions on Automatic Control,
63(3):
872-879, 2018.

2017

Erik Ward, Niclas Evestedt, Daniel Axehill, John Folkesson,
"Probabilistic Model for Interaction Aware Planning in Merge Scenarios",
IEEE Transactions on Intelligent Vehicles,
2(2):
133-146, 2017.

2015

Alexander Fuchs, Daniel Axehill, Manfred Morari,
"Lifted Evaluation of mp-MIQP Solutions",
IEEE Transactions on Automatic Control,
60(12):
3328-3331, 2015.

Daniel Axehill,
"Controlling the level of sparsity in MPC",
Systems & control letters (Print),
76:
1-7, 2015.

2014

Daniel Axehill, Thomas Besselmann, Davide Martino Raimondo, Manfred Morari,
"A parametric branch and bound approach to suboptimal explicit hybrid MPC",
Automatica,
50(1):
240-246, 2014.

2012

Daniel Axehill, Manfred Morari,
"An Alternative use of the Riccati Recursion for Efficient Optimization",
Systems & control letters (Print),
61(1):
37-40, 2012.

2010

Daniel Axehill, Lieven Vandenberghe, Anders Hansson,
"Convex Relaxations for Mixed Integer Predictive Control",
Automatica,
46(9):
1540-1545, 2010.

2008

Daniel Axehill, Anders Hansson, Fredrik Gunnarsson,
"A Low-Complexity High-Performance Preprocessing Algorithm for Multiuser Detection using Gold Sequences",
IEEE Transactions on Signal Processing,
56(9):
4377-4385, 2008.

## Book chapters

2014

Daniel Axehill, Anders Hansson,
"Parallel implementation of hybrid MPC",
Distributed Model Predictive Control Made Easy, Intelligent Systems, Control and Automation: Science and Engineering,
No. 69,
375-392, 2014.

## Conference papers

2023

Magnus Malmström, Isaac Skog, Daniel Axehill, Fredrik Gustafsson,
"On the validity of using the delta method for calculating the uncertainty of the predictions from an overparameterized model",
Special issue: 22nd IFAC World Congress, IFAC papersonline,
5843-5848, 2023.

Svante Gunnarsson, Urban Forsberg, Daniel Axehill,
"Reflections about reflections",
Proceedings of the 19th CDIO International Conference, Proceedings of the International CDIO Conference,
56-66, 2023.

2022

Daniel Arnström, Daniel Axehill,
"Lift, Partition, and Project: Parametric Complexity Certification of Active-Set QP Methods in the Presence of Numerical Errors",
2022 IEEE 61st Conference on Decision and Control (CDC), 2022 IEEE 61st Conference on Decision and Control (CDC),
4381-4387, 2022.

Shamisa Shoja, Daniel Arnström, Daniel Axehill,
"Exact Complexity Certification of a Standard Branch and Bound Method for Mixed-Integer Linear Programming",
Proceedings of 2022 Conference on Decision and Control (CDC), IEEE Conference on Decision and Control,
6298-6305, 2022.

Anja Hellander, Daniel Axehill,
"On a Traveling Salesman Problem with Dynamic Obstacles and Integrated Motion Planning",
2022 AMERICAN CONTROL CONFERENCE (ACC), 2022 American Control Conference (ACC),
4965-4972, 2022.

Carl Hynén, Daniel Axehill,
"On Integrating POMDP and Scenario MPC for Planning under Uncertainty - with Applications to Highway Driving",
2022 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV), IEEE Intelligent Vehicles Symposium,
1152-1160, 2022.

Shamisa Shoja, Daniel Arnström, Daniel Axehill,
"Overall Complexity Certification of a Standard Branch and Bound Method for Mixed-Integer Quadratic Programming",
2022 AMERICAN CONTROL CONFERENCE (ACC),
4957-4964, 2022.

Magnus Malmström, Isaac Skog, Daniel Axehill, Fredrik Gustafsson,
"Detection of outliers in classification by using quantified uncertainty in neural networks",
25th International Conference of Information Fusion,
2022.

Nordlöf Jonas, Gustaf Hendeby, Daniel Axehill,
"LiDAR-Landmark Modeling for Belief-Space Planning using Aerial Forest Data",
Proceedings of the 25th International Conference on Information Fusion (FUSION),
2022.

2021

Daniel Arnström, Daniel Axehill,
"Semi-Explicit Linear MPC Using a Warm-Started Active-Set QP Algorithm with Exact Complexity Guarantees",
2021 60TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC), IEEE Conference on Decision and Control,
2557-2562, 2021.

Magnus Malmström, Isaac Skog, Daniel Axehill, Fredrik Gustafsson,
"Modeling of the tire-road friction using neural networks including quantification of the prediction uncertainty",
2021 IEEE 24th International Conference on Information Fusion (FUSION),
737-742, 2021.

Jonas Nordlöf, Gustaf Hendeby, Daniel Axehill,
"Improved Virtual Landmark Approximation for Belief-Space Planning",
Proceedings of 2021 IEEE 24th International Conference on Information Fusion (FUSION),
813-820, 2021.

Daniel Arnström, Alberto Bemporad, Daniel Axehill,
"Complexity Certification of Proximal-Point Methods for Numerically Stable Quadratic Programming",
2021 AMERICAN CONTROL CONFERENCE (ACC), Proceedings of the American Control Conference,
947-952, 2021.

2020

Oskar Ljungqvist, Daniel Axehill, Henrik Pettersson,
"On sensing-aware model predictive path-following control for a reversing general 2-trailer with a car-like tractor",
2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE International Conference on Robotics and Automation ICRA,
8813-8819, 2020.

Oskar Ljungqvist, Daniel Axehill,
"A predictive path-following controller for multi-steered articulated vehicles",
IFAC PAPERSONLINE,
15725-15732, 2020.

Oskar Ljungqvist, Kristoffer Bergman, Daniel Axehill,
"Optimization-based motion planning for multi-steered articulated vehicles",
IFAC PAPERSONLINE,
15580-15587, 2020.

Kristoffer Bergman, Oskar Ljungqvist, Torkel Glad, Daniel Axehill,
"An Optimization-Based Receding Horizon Trajectory Planning Algorithm",
IFAC PAPERSONLINE,
15550-15557, 2020.

Daniel Arnström, Daniel Axehill,
"Exact Complexity Certification of an Early-Terminating Standard Primal Active-Set Method for Quadratic Programming",
IFAC PAPERSONLINE,
6509-6515, 2020.

Magnus Malmström, Isaac Skog, Daniel Axehill, Fredrik Gustafsson,
"Asymptotic Prediction Error Variance for Feedforward Neural Networks",
21st IFAC World Congress on Automatic Control - Meeting Societal Challenges, electronic meeting, UL 11-17, 2020, IFAC-PapersOnLine,
1108-1113, 2020.

Kristoffer Bergman, Oskar Ljungqvist, Torkel Glad, Daniel Axehill,
"An Optimization-Based Receding Horizon Trajectory Planning Algorithm",
IFAC-PapersOnLine,
15550-15557, 2020.

Kristoffer Bergman, Oskar Ljungqvist, Jonas Linder, Daniel Axehill,
"An Optimization-Based Motion Planner for Autonomous Maneuvering of Marine Vessels in Complex Environments",
2020 59th IEEE Conference on Decision and Control (CDC), IEEE Conference on Decision and Control,
5283-5290, 2020.

Nordlöf Jonas, Gustaf Hendeby, Daniel Axehill,
"Belief Space Planning using Landmark Density Information",
Proceedings of the 23rd International Conference on Information Fusion (FUSION),
2020.

Per Boström-Rost, Daniel Axehill, William Dale Blair, Gustaf Hendeby,
"Optimal Range and Beamwidth for Radar Tracking of Maneuvering Targets Using Nearly Constant Velocity Filters",
Proceedings of 2020 IEEE Aerospace Conference, IEEE Aerospace Conference,
2020.

2019

Daniel Arnström, Daniel Axehill,
"Exact Complexity Certification of a Standard Primal Active-Set Method for Quadratic Programming",
2019 IEEE 58TH CONFERENCE ON DECISION AND CONTROL (CDC), IEEE Conference on Decision and Control,
4317-4324, 2019.

Kristoffer Bergman, Oskar Ljungqvist, Daniel Axehill,
"Improved Optimization of Motion Primitives for Motion Planning in State Lattices",
2019 30TH IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV19), IEEE Intelligent Vehicles Symposium,
2307-2314, 2019.

Per Boström-Rost, Daniel Axehill, Gustaf Hendeby,
"Informative Path Planning in the Presence of Adversarial Observers",
2019 22th International Conference on Information Fusion (FUSION),
2019.

Per Boström-Rost, Daniel Axehill, Gustaf Hendeby,
"Informative Path Planning for Active Tracking of Agile Targets",
Proceedings of 2019 IEEE Aerospace Conference, IEEE AEROSPACE CONFERENCE,
1-11, 2019.

2018

Oskar Ljungqvist, Daniel Axehill, Johan Löfberg,
"On stability for state-lattice trajectory tracking control",
2018 Annual American Control Conference (ACC)<em></em>, American Control Conference (ACC),
5868-5875, 2018.

Olov Andersson, Oskar Ljungqvist, Mattias Tiger, Daniel Axehill, Fredrik Heintz,
"Receding-Horizon Lattice-based Motion Planning with Dynamic Obstacle Avoidance",
2018 IEEE Conference on Decision and Control (CDC), Conference on Decision and Control (CDC),
Vol. 2018,
4467-4474, 2018.

Kristoffer Bergman, Daniel Axehill,
"Combining Homotopy Methods and Numerical Optimal Control to Solve Motion Planning Problems",
Proceedings of the 29th IEEE Intelligent Vehicles Symposium,
347-354, 2018.

2017

Oskar Ljungqvist, Niclas Evestedt, Marcello Cirillo, Daniel Axehill, Olov Holmer,
"Lattice-based Motion Planning for a General 2-trailer system",
2017 28TH IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV 2017), IEEE Intelligent Vehicles Symposium,
819-824, 2017.

2016

Oskar Ljungqvist, Daniel Axehill, Anders Helmersson,
"Path following control for a reversing general 2-trailer system",
2016 IEEE 55TH CONFERENCE ON DECISION AND CONTROL (CDC), IEEE Conference on Decision and Control,
2455-2461, 2016.

Niclas Evestedt, Oskar Ljungqvist, Daniel Axehill,
"Motion planning for a reversing general 2-trailer configuration using Closed-Loop RRT",
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Intelligent Robots and Systems,
Vol. 2016,
3690-3697, 2016.

Niclas Evestedt, Erik Ward, John Folkesson, Daniel Axehill,
"Interaction aware trajectory planning for merge scenarios in congested traffic situations",
2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC), Intelligent Transportation Systems,
Vol. 2016,
465-472, 2016.

Isak Nielsen, Daniel Axehill,
"Reduced Memory Footprint in Multiparametric Quadratic Programming by Exploiting Low Rank Structure",
55th Conference on Decision and Control (CDC), 2016 IEEE, IEEE Conference on Decision and Control,
3654-3661, 2016.

Niclas Evestedt, Oskar Ljungqvist, Daniel Axehill,
"Path tracking and stabilization for a reversing general 2-trailer configuration using a cascaded control approach",
Intelligent Vehicles Symposium (IV), 2016 IEEE,
1156-1161, 2016.

Isak Nielsen, Daniel Axehill,
"An O(log N) Parallel Algorithm for Newton Step Computations with Applications to Moving Horizon Estimation",
Proceedings of the 2016 European Control Conference,
1630-1636, 2016.

2015

Niclas Evestedt, Daniel Axehill, Marco Trincavelli, Fredrik Gustafsson,
"Sampling Recovery for Closed Loop Rapidly Expanding Random Tree using Brake Profile Regeneration",
Intelligent Vehicles Symposium (IV), 2015 IEEE, IEEE Intelligent Vehicles Symposium,
101-106, 2015.

Martin Skoglund, Gustaf Hendeby, Daniel Axehill,
"Extended Kalman Filter Modifications Based on an Optimization View Point",
18th International Conference of Information Fusion,
2015.

2014

Patrik Axelsson, Daniel Axehill, Torkel Glad, Mikael Norrlöf,
"Iterative Learning Control - From a Controllability Point of View",
Proceedings of Reglermöte 2014,
2014.

KeywordsBiBTeX

2013

Isak Nielsen, Daniel Ankelhed, Daniel Axehill,
"Low-rank Modifications of Riccati Factorizations with Applications to Model Predictive Control",
Proceedings of 52nd IEEE Conference on Decision and Control,
3684-3690, 2013.

2012

Daniel Axehill, Anders Hansson,
"Towards Parallel Implementation of Hybrid MPC: A Survey and Directions for Future Research",
Distributed decision making and control, Lecture Notes in Control and Information Sciences,
Vol. 417,
313-338, 2012.

2011

Jan Siroky, Miroslav Simandl, Daniel Axehill, Ivo Puncochar,
"An Optimization Approach to Resolve the Competing Aims of Active Fault Detection and Control",
Proceedings of the 50th IEEE Conference on Decision and Control,
3712-3717, 2011.

Daniel Axehill, Thomas Besselmann, Davide Raimondo, Manfred Morari,
"Suboptimal Explicit Hybrid MPC via Branch and Bound",
Proceedings of the 18th IFAC World Congress,
10281-10286, 2011.

2010

Daniel Axehill, Manfred Morari,
"Improved complexity analysis of branch and bound for hybrid MPC",
Proceedings of the 49th IEEE Conference on Decision and Control (CDC),
4216-4222, 2010.

Alexander Fuchs, Daniel Axehill, Manfred Morari,
"On the choice of the linear decision functions for point location in polytopic data sets - Application to Explicit MPC",
Proceedings of the 49th IEEE Conference on Decision and Control (CDC),
5283-5288, 2010.

2009

Martin Elfstadius, Daniel Gecer, Lars Nordström, Daniel Axehill,
"Method to detect and measure potential market power on electricity markets using the concept of monopolistic energy",
Proceedings of the Power Systems Conference and Exposition, 2009,
1-7, 2009.

2008

Daniel Axehill, Anders Hansson,
"A Dual Gradient Projection Quadratic Programming Algorithm Tailored for Model Predictive Control",
Proceedings of Reglermöte 2008,
202-209, 2008.

AbstractKeywordsBiBTeX

Daniel Axehill, Anders Hansson,
"A Dual Gradient Projection Quadratic Programming Algorithm Tailored for Model Predictive Control",
Proceedings of the 47th IEEE Conference on Decision and Control,
3057-3064, 2008.

2007

Daniel Axehill, Anders Hansson, Lieven Vandenberghe,
"Relaxations Applicable to Mixed Integer Predictive Control – Comparisons and Efficient Computations",
Proceedings of the 46th IEEE Conference on Decision and Control,
4103-4109, 2007.

Daniel Axehill, Lieven Vandenberghe, Anders Hansson,
"On Relaxations Applicable to Model Predictive Control for Systems with Binary Control Signals",
Proceedings of the 7th IFAC Symposium on Nonlinear Control Systems, LiTH-ISY-R,
Vol. 2771,
585-590, 2007.

2006

Daniel Axehill, Anders Hansson,
"Mixed Integer Predictive Control Using a Tailored Mixed Integer Dual Quadratic Programming Algorithm",
Proceedings of Reglermöte 2006,
2006.

AbstractKeywordsBiBTeX

Daniel Axehill, Anders Hansson,
"A Mixed Integer Dual Quadratic Programming Algorithm Tailored for MPC",
Proceedings of the 45th IEEE Conference on Decision and Control,
5693-5698, 2006.

2005

Daniel Axehill, Fredrik Gunnarsson, Anders Hansson,
"A Preprocessing Algorithm Applicable to the Multiuser Detection Problem",
Proceedings of Radiovetenskap och Kommunikation 2005,
2005.

AbstractKeywordsBiBTeX

2004

Daniel Axehill, Johan Sjöberg, Kristian Lindqvist,
"Adaptive Cruise Control for Heavy Vehicles",
Proceedings of Reglermöte 2004,
2004.

AbstractKeywordsBiBTeX

Daniel Axehill, Anders Hansson,
"A Preprocessing Algorithm for MIQP Solvers with Applications to MPC",
Proceeding of Reglermöte 2004,
2004.

AbstractKeywordsBiBTeX

Daniel Axehill, Anders Hansson,
"A Preprocessing Algorithm for MIQP Solvers with Applications to MPC",
Proceedings of the 43rd IEEE Conference on Decision and Control,
2497-2502, 2004.

## Theses

2008

Daniel Axehill,
"Integer Quadratic Programming for Control and Communication",
Linköping Studies in Science and Technology. Dissertations,
No. 1158,
2008.

2005

Daniel Axehill,
"Applications of Integer Quadratic Programming in Control and Communication",
Linköping Studies in Science and Technology. Thesis,
No. 1218,
2005.

## Reports

2014

Isak Nielsen, Daniel Axehill,
"A Parallel Riccati Factorization Algorithm with Applications to Model Predictive Control",
LiTH-ISY-R,
No. 3078,
2014.

Isak Nielsen, Daniel Axehill,
"An

*O*(log*N*) Parallel Algorithm for Newton Step Computation in Model Predictive Control", LiTH-ISY-R, No. 3073, 2014.2008

Daniel Axehill, Anders Hansson, Fredrik Gunnarsson,
"A Low-Complexity High-Performance Preprocessing Algorithm for Multiuser Detection using Gold Sequences",
LiTH-ISY-R,
No. 2840,
2008.

Daniel Axehill, Anders Hansson, Lieven Vandenberghe,
"Relaxations Applicable to Mixed Integer Predictive Control - Comparisons and Efficient Computations",
LiTH-ISY-R,
No. 2839,
2008.

Daniel Axehill, Anders Hansson,
"A Dual Gradient Projection Quadratic Programming Algorithm Tailored for Mixed Integer Predictive Control",
LiTH-ISY-R,
No. 2833,
2008.

2007

Daniel Axehill, Anders Hansson,
"A Mixed Integer Dual Quadratic Programming Algorithm Tailored for MPC",
LiTH-ISY-R,
No. 2761,
2007.

Daniel Axehill, Lieven Vandenberghe, Anders Hansson,
"On Relaxations Applicable to Model Predictive Control for Systems with Binary Control Signals",
LiTH-ISY-R,
No. 2771,
2007.

2005

Daniel Axehill, Fredrik Gunnarsson, Anders Hansson,
"A Preprocessing Algorithm Applicable to the Multiuser Detection Problem",
LiTH-ISY-R,
No. 2716,
2005.

2004

Daniel Axehill, Anders Hansson,
"A Preprocessing Algorithm for MIQP solvers with Applications to MPC",
LiTH-ISY-R,
No. 2607,
2004.

## Associate Professor in Automatic Control

**Phone:**- +46 13 28 40 42

**Mobile (private):**- +46 708 78 36 70

**E-mail:**- daniel.axehill@liu.se

**Address:**- Dept. of Electrical Engineering
- Linköping University
- SE-581 83 Linköping
- Sweden

**Visiting Address:**- Campus Valla
- Building B
- Room 2A:526 (in the A corridor on the ground floor between entrance 25 and 27)

Page responsible: Daniel Axehill

Last updated: 2012-10-25