Francesco Borrelli Curriculum Vitae

Francesco Borrelli Curriculum Vitae Date & place of birth: Languages: Army service: 17 December 1974, Milano, Italy Italian, English (fluent), German (basic) Exempted for High-Value Scientific Research Academic Degrees 2002, June Dr. Sc. Tech. from the Automatic Control Laboratory, Swiss Federal Institute of Technology ETH-Zurich (CH). Title of the dissertation: Discrete Time Constrained Optimal Control. Advisor: Prof. Manfred Morari. 2002, February Master in Information Technology (Nachdiplomstudium Informationstechnik), Swiss Federal Institute of Technology ETH-Zurich (CH). Final grade: 6.0/6.0 1998, December Italian Laurea cum laude in Electrical Engineering at the University Federico II, Neaples, Italy. 1993, June Scientific High School, Final grade: 60/60 Academic Appointments 2008, January-today Assistant Professor at the Mechanical Engineering Department of University of California Berkeley 2004, Jan.--2007, Dec. Assistant Professor at the Engineering Department of the Università del Sannio, Benevento, Italy. 2005, June--2007, Dec. Adjunct Assistant Professor at the Department of Aerospace Engineering and Mechanics, University of Minnesota, Minneapolis, USA. 2004, June Offered a tenure-track position as an assistant professor at the Department of Aerospace Engineering and Mechanics, University of Minnesota, Minneapolis, USA. Declined for personal reasons. 2003, March Contract Assistant Professor at the Department of Aerospace Engineering and Mechanics, University of Minnesota, Minneapolis, USA. Position sponsored by Honeywell Laboratories. 2002, July Post-Doc at Automatic Control Laboratory, Swiss Federal Institute of Technology, ETH- Zurich (CH). Professional Experience 2004, January-today Corporate Consultant for Honeywell Laboratories in Minneapolis, USA. Field: advanced control design for aerospace and automotive applications. 2004 March-today Consultant for Ford Research Laboratories in Dearborn, USA. Field: optimization based approach to vehicle dynamic control. Awards 2004, June Innovation Prize 2004 from the Electro-Swiss (Swiss Society of Electrical Engineers). 2002, December ETH Medal for the best thesis. Selected Research Grants 2004-2005 Real-time Multi-objective Mission Planner and Scheduler for Heterogeneous Unmanned Vehicles. Honeywell Laboratories, Minneapolis, MN, USA. 2004-2005 Formation Flying and Real-Time Trajectory Planning of Unmanned AirVehicles. Honeywell Laboratories, Minneapolis, MN, USA. 2004-2005 FMA Production Scheduling. FIAT-GM Engine Factory. Fabbrica Motori Auto, (Avellino, AV, Italy). Page 1 of 7

Page 2 of 7 2004-2005 The Application of Optimal Control to Active Steering Systems. Ford Research Laboratories (Dearborn, MI, USA). 2005-2006 Fast Nonlinear MPC for Chemical Process.. Honeywell Laboratories, Minneapolis, MN, USA. 2005-2007 Real-time MPC for Autonomous Vehicles. Ford Research Laboratories (Dearborn, MI, USA). 2005-2006 Advanced ESP Design. ELASIS- FIAT Research Center (Pomigliano, NA, Italy). 2005-2007 Marie-Curie Transfer of Knowledge on Hybrid and Embedded Systems. European Union, 6th Framework Program. Selected Invited Seminars and Workshops March 2007 --- International Workshop on Real Time Control of Hybrid Systems: Design, Implementation, Verification, and Validation. NSF International Research and Education Workshop, Budapest Hungary. December 2006 --- Nonlinear MPC for Fast Systems, WorkShop, IEEE Conference on Decision and Control (CDC), 2006, San Diego, USA. December 2005 ----- Distributed Optimal Control, Seminar, Swiss Federal Institute of Technology ETH-Zurich (CH) December 2005 ----- Airspace De-confliction, Tutorial Session, European Control Conference (ECC) & IEEE Conference on Decision and Control (CDC), 2005 December, 2005 Seville, Spain. March 2005 ----- Workshop on Model Predictive Control for Constrained Linear and Hybrid Systems, Israeli Association for Automatic Control, Haifa, Israel. March 2005----- UAV Formation Flight, Israel Institute of Technology- Technion, Department of Aerospace, Haifa, Israel. June 2003----- Workshop on Hybrid Systems, American Control Conference, Denver, USA. March 2003----- Optimal Control of Constrained Discrete Time Systems, Honeywell Laboratories, Minneapolis, USA. March 2003----- Optimal Control of Constrained Discrete Time Systems, Department of Control Science and Dynamical Systems, University of Minnesota, MN, USA December 2002----- Analysis and Control of Hybrid Systems, Short Course at the ABB Baden Department of Information Technologies, ABB Corporate Research, Switzerland. December 2002----- Optimal Control of Constrained Discrete Time Systems, Department of Chemical Engineering Carnegie Mellon University, Pittsburgh, PA, USA. September 2002----- Optimal Control of Constrained Discrete Time Systems, Department of Chemical Engineering Princeton University, Princeton, NJ, USA. September 2002----- Optimal Control of Constrained Discrete Time Systems, Center for Control Engineering and Computation, University of California, Santa Barbara, CA, USA. September 2002----- Optimal Control of Constrained Discrete Time Systems, Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA. September 2002----- Optimal Control of Constrained Discrete Time Systems, United Technologies Research Center, East Hartford, CT, USA. August 2002----- Analysis and Control of Hybrid Systems, Short Course at the 6th International Conference on Motion and Vibration Control (MOVIC2002), Saitama, Japan. April 2002----- Constrained Optimal Control for Linear and Hybrid Systems, L'Institut National de Recherche en Informatique et en Automatique- INRIA, Rocquencourt, France. Teaching Activities A.Y. 04/05/06/07. A.Y. 04/05/06/07. A.Y. 04/05. Prof. of the class System Theory, Engineering Department of the Università del Sannio, Benevento, Italy Prof. of the class Mathematical Models and Numerical Simulation, Engineering Department of the Università del Sannio, Benevento, Italy. Prof. of the class Digital Control. Engineering Department of the Università del Sannio, Benevento, Italy

Page 3 of 7 A.Y. 03/04. Prof. of the class Model Predictive Control. Department of Aerospace Engineering and Mechanics, University of Minnesota,USA. A.Y. 01/02/03. Head Teaching Assistant of the class Regelsysteme II, Electrical Engineering A.Y. 02/03. Head Teaching Assistant of the class Model Predictive Control. Electrical Engineering A.Y. 00/01/02 Head Teaching Assistant of the class Matlab Kurse, Electrical Engineering Department ETH Zurich, Switzerland. A.Y. 00/01/02 Teaching Assistant of the class Model Predictive Control. Electrical Engineering A.Y. 99/00/01 Teaching Assistant of the class Regelsysteme I Electrical Engineering Department ETH Zurich, Switzerland. A.Y. 99/00/01 Teaching Assistant of the class Applied Nonlinear Control, Electrical Engineering Reviewer Activity Francesco Borrelli is a reviewer for the following journal and conferences: IEEE Transaction on Automatic Control Automatica - International Journal of Computers and Chemical Engineering -AIAA Journal on Guidance, Control and Dynamics - IEEE Conference on Decision and Control - IEEE American Control Conference - Hybrid Systems: Computation and Control. ECC, In December 2004 he was nominated Outstanding Automatica Reviewer. Fields of Research Interest: Summary Decentralized control, distributed control, large scale systems, formation flying, path-planning via mathematical programming. Hybrid systems, constrained optimal control theory, model predictive control, min-max robust control. Nonlinear Optimization, Mixed-integer Optimization, Multi-parametric Programming. Automotive applications, aerospace applications, wireless systems application.

Page 4 of 7 Publications and Patent List Book F. Borrelli. Constrained Optimal Control of Linear and Hybrid Systems, Lecture Notes in Control and Information Sciences, Springer-Verlag. Vol 290. 2003. Ph.D. Thesis F. Borrelli. Discrete Time Constrained Optimal Control, Automatic Control Laboratory, Swiss Federal Institute of Technology, ETH-Zurich. June 2002. Refereed papers in professional journals [1] F. Borrelli, T. Keviczky. Distributed LQR Design for Identical Dynamically Decoupled Systems. IEEE Transaction on Automatic Control. Accepted for publication. [2] O. Avni, F. Borrelli, G. Katzir, E. Rivlin, H. Rotstein. Scanning the Environment with Two Independent Cameras - Biologically Motivated Approach. Autonomous Robots. Accepted for publication. [3] T. Keviczky, F. Borrelli, K. Fregene, D. Godbole, G. Balas. Decentralized Receding Horizon Control and Coordination of Autonomous Vehicle Teams. IEEE Transaction on Control System Technology, 2007. In press. [4] P. Falcone, F. Borrelli, J. Asgari, H. E. Tseng, D. Hrovat. Linear Time Varying Model Predictive Control and its Application to Active Steering Systems: Stability Analysis and Experimental Validation. International Journal of Robust and Nonlinear Control, 2007. In press. [5] F. Borrelli, P. Falcone, C. del Vecchio. Event-Based Receding Horizon Control for Two-Stages Multi-Product Production Plants. Control Engineering in Practice, 2007. In press. [6] P. Falcone, F. Borrelli, J. Asgari, H. E. Tseng, D. Hrovat. Predictive Active Steering Control for Autonomous Vehicle Systems". IEEE Transaction on Control System Technology, vol. 15, no. 3, May 2007, p. 566-580. [7] T. Keviczky, F. Borrelli, G. Balas. Decentralized Receding Horizon Control for Large Scale Dynamically Decoupled Systems. Automatica, vol. 42, no. 12, December 2006, p. 2105-2116. [8] F. Borrelli, A. Bemporad, M. Fodor, D. Hrovat. An MPC/Hybrid System Approach to Traction Control. IEEE Transaction on Control System Technology, vol. 14, no. 3, May 2006, p. 541-552. [9] F. Borrelli, P. Falcone, T. Keviczky, J. Asgari, D. Hrovat. MPC-based approach to active steering for autonomous vehicle systems. International Journal on Vehicle Autonomous Systems, vol. 3, no. 2/3/4, November 2005, p. 265-291. [10] F. Borrelli, M. Baotic, A. Bemporad, M. Morari. Dynamic Programming for Constrained Optimal Control of Discrete-Time Hybrid Systems. Automatica, vol. 41, no. 12, January 2005, p. 1709-1721. [11] P. Grieder, F. Borrelli, F.D. Torrisi, M. Morari. Computation of the constrained infinite time linear quadratic regulator, Automatica, vol. 40, no. 4, April 2004, p. 701-708.-19 [12] A. Bemporad, F. Borrelli, M. Morari. Min-max Control of Constrained Uncertain Discrete-Time Linear Systems, IEEE Transaction on Automatic Control, Vol. 48, No. 9, September 2003, p. 1600-1606. [13] M. Morari, M. Baotic, F. Borrelli. Hybrid Systems Modeling and Control, European Journal of Control, vol. 9, no. 2-3, September 2003, p. 177-189. [14] A. Bemporad, F. Borrelli, M. Morari. Model Predictive Control Based on Linear Programming - The Explicit Solution, IEEE Transaction on Automatic Control, Vol. 47, No. 12, December 2002, p. 1974-1985. [15] F. Borrelli, A. Bemporad, M. Morari. A Geometric Algorithm for Multi-Parametric Linear Programming, Journal of Optimization Theory and Applications, Vol. 110, No. 3, September 2003, p. 515-540. Papers under review [16] M. Baotic, F. Borrelli, A. Bemporad and M. Morari. Efficient On-Line Computation of Constrained Optimal

Page 5 of 7 Control". SIAM Journal on Control and Optimization. Accepted subject to revisions. Chapters in Book [17] T. Keviczky, F. Borrelli, G. Balas. Distributed Predictive Control: Synthesis, Stability and Feasibility, Cooperative Control of Distributed Multi-Agent Systems, Jeff Shamma Editor, John Wiley & Sons, To appear in 2007. [18] F. Borrelli, T. Keviczky, G. Balas, G. Stewart, K. Fregene, D. Godbole. Hybrid Decentralized Control of Large Scale Systems, Proceedings of Hybrid Systems: Computation and Control, Lecture Notes in Computer Science, vol. 3414, Springer-Verlag GmbH. March 2005. p. 168-183. [19] A. Bemporad, F. Borrelli, M. Morari. On the optimal control law for linear discrete time hybrid systems, Proceedings of Hybrid Systems: Computation and Control, Lecture Notes in Computer Science, vol. 2289, Springer-Verlag GmbH. March 2002. p. 105-119. [20] F. Borrelli, A. Bemporad, M. Fodor, D. Hrovat. A Hybrid Approach to Traction Control, Proceedings of Hybrid Systems: Computation and Control, Lecture Notes in Computer Science, vol. 2034, Springer-Verlag GmbH. March 2001. p. 162-177. Refereed papers in Conference proceedings [21] F. Borrelli, M. Morari. Offset-Free Model Predictive Control. Proceedings of the 46th IEEE Conference on Decision and Control, December 2007. [22] P. Falcone, M. Tufo, F. Borrelli, E. H. Tseng, J. Asgari. Linear Time Varying Model Predictive Control Approach to the Integrated Vehicle Dynamics Control Problem in Autonomous Systems. Proceedings of the 46th IEEE Conference on Decision and Control, December 2007. [23] P. Falcone, F. Borrelli, E. H. Tseng, J. Asgari, D. Hrovat. Integrated Braking and Steering Model Predictive Control Approach in Autonomous Vehicles. Fifth IFAC Symposium on Advances in Automotive Control. August 2007. [24] P. Falcone, F. Borrelli, E. H. Tseng, J. Asgari, D. Hrovat. A Model Predictive Control Approach for Combined Braking and Steering in Autonomous Vehicles. 15th Mediterranean Conference on Control and Automation, June 2007. [25] O. Avni, F. Borrelli, G. Katzir, E. Rivlin, H. Rotstein. Following the Chameleon Visual System Using Dynamic Optimization. Proceedings of the 45th IEEE Conference on Decision and Control, December 2006. [26] F. Borrelli, T. Keviczky. Distributed. LQR Design for Dynamically Decoupled Systems. Proceedings of the 45th IEEE Conference on Decision and Control, San Diego, USA, December 2006. [27] P. Falcone, F. Borrelli, J. Asgari, E. Tseng, D. Hrovat. A Real-Time Model Predictive Control Approach for Autonomous Active Steering. First IFAC International workshop on NMPC for Fast Systems, October 2006. [28] O. Avni, F. Borrelli, G. Katzir, E. Rivlin, H. Rotstein. Scanning the Environment with Two Independent Cameras - Biologically Motivated Approach. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), August 2006. [29] P. Falcone, F. Borrelli, D. Hrovat, J. Asgari, E. Tseng. Model Predictive Control Approach for Autonomous Active Steering Based on Successive On-Line Linearizations. 8th International Symposium on Advanced Vehicle Control, August 2006. [30] T. Keviczky, K. Fregene, F. Borrelli, G. Balas, D. Godbole. Coordinated Autonomous Vehicle Formations: Decentralization, Control Synthesis and Optimization. Proceedings of the American Control Conference, Minneapolis, Minnesota. June 2006. [31] T. Keviczky, P. Falcone, F. Borrelli, J. Asgari, D. Hrovat. Predictive Control Approach to Autonomous Vehicle Steering. Proceedings of the American Control Conference, Minneapolis, Minnesota, June 2006. [32] F. Borrelli, D. Subramanian, A. Raghunathan, L. Biegler. A comparison between MILP and NLP Techniques for

Page 6 of 7 Centralized Trajectory Planning of Multiple Unmanned Air Vehicles. Proceedings of the American Control Conference, Minneapolis, Minnesota. June 2006. [33] F. Borrelli, P. Falcone, C. Vecchio. Event-Based Receding Horizon Control for Two-Stages Multi-Product Production Plants. Proceedings of the American Control Conference, Minneapolis, Minnesota. June 2006. [34] T. Keviczky, B. Vanek, F. Borrelli, G. Balas. Hybrid decentralized receding horizon control of vehicle formations. Proceedings of the American Control Conference, Minneapolis, Minnesota, June 2006. [35] F. Borrelli, T. Keviczky, K. Fregene, G. Balas. Decentralized Receding Horizon Control of Cooperative Vehicle Formations. Proceedings of the 44th IEEE Conference on Decision and Control, 2005. [36] T. Keviczky, F. Borrelli, G. Balas. Stability analysis of decentralized RHC for decoupled systems. Proceedings of the 44th IEEE Conference on Decision and Control, 2005. [37] F. Borrelli, T. Keviczky, G. E. Stewart. Decentralized Constrained Optimal Control Approach to Distributed Paper Machines. Proceedings of the 44th IEEE Conference on Decision and Control, 2005. [38] T. Keviczky, F. Borrelli, G. Balas. Hierarchical Design of Decentralized Receding Horizon Controllers for Decoupled Systems, Proceedings of the 43th IEEE Conference on Decision and Control, December 2004. [39] F. Borrelli, T. Keviczky, G. Balas. Collision-free UAV Formation Flight Using Decentralized Optimization and Invariant Sets, Proceedings of the 43th IEEE Conference on Decision and Control, December 2004. [40] T. Keviczky, F. Borrelli, G. Balas. A Study on Decentralized Receding Horizon Control for Decoupled Systems Proceedings of the American Control Conference 2004. [41] F. Borrelli, M. Baotic, A. Bemporad and M. Morari. An Efficient Algorithm for Computing the State Feedback Optimal Control Law for Discrete Time Hybrid Systems, Proceedings of the American Control Conference 2003. [42] G. Pascal, F. Borrelli, F. Torrisi and M. Morari. Computation of the Constrained Infinite Time Linear Quadratic Regulator, Proceedings of the American Control Conference 2003. [43] L. Wenger, F. Borrelli. The application of constrained optimal control to active automotive suspensions, Proceedings of the 41st IEEE Conference on Decision and Control, December 2002. [44] A. Bemporad, F. Borrelli, L. Glielmo, F. Vasca. Optimal Piecewise-Linear Control of Dry Clutch Engagement, 3rd IFAC Workshop: Advances in Automotive Control. 28-30 March, 2001. Karlsruhe, Germany, March 2001. [45] A. Bemporad, F. Borrelli, L. Glielmo, F. Vasca. Hybrid Control of Dry Clutch Engagement, Proceedings of the European Control Conference 2001, Porto, Portugal, September 2001. [46] A. Bemporad, F. Borrelli, M. Morari. Robust Model Predictive Control: Piecewise Linear Explicit Solution, Proceedings of the European Control Conference 2001, Porto, Portugal, September 2001. [47] F. Borrelli, M. Baotic, A. Bemporad, M. Morari. Efficient On-Line Computation of Constrained Optimal Control, Proceedings of the 40th IEEE Conference on Decision and Control, Orlando, Florida, December 2001. [48] A. Bemporad, F. Borrelli, M. Morari. Piecewise linear optimal controllers for hybrid systems, Proceedings of the 2000 American Control Conference, June 2000. [49] A. Bemporad, F. Borrelli, M. Morari. Optimal Controllers for Hybrid Systems: Stability and Piecewise Linear Explicit Form, Proceedings of the 39th IEEE Conference on Decision and Control, December 2000. [50] A. Bemporad, F. Borrelli, M. Morari. The Explicit Solution of Constrained LP-Based Receding Horizon Control, Proceedings of the 39th IEEE Conference on Decision and Control, December 2000. Patents [51] US Patent 20060137347 Coordinated multivariable control of fuel and air in engines [52] US Patent 20060137346 Multivariable control for an engine

Page 7 of 7 [53] US Patent 20060137340 Method and system for using a measure of fueling rate in the air side control of an engine [54] US Patent 20060137335 Pedal position and/or pedal change rate for use in control of an engine [55] US Patent 7155334 Use of sensors in a state observer for a diesel engine [56] US Patent 20070078600 System and method of collision avoidance using an invariant set based on vehicle states and dynamic characteristics [57] US Patent 20060235584 Decentralized maneuver control in heterogeneous autonomous vehicle networks