Paolo Falcone

Docent at Electrical Engineering, Reglerteknik, automation och mekatronik, Mechatronics

Paolo Falcone is Associate Professor in the Mechatronics research group. His research focuses on constrained optimal control and verification methods, applied to autonomous and semi-autonomous mobile systems, cooperative driving and intelligent vehicles. He is involved in a range of projects, in cooperation with industry, focusing on autonomous driving, cooperative driving and vehicle dynamics control. His teaching subjects include Model predictive control, Vehicle dynamics control and Modeling and simulation of dynamical systems.

Source: chalmers.se

Projects

2011–2016

Automated driving

Jonas Sjöberg Mechatronics
Julia Nilsson Mechatronics
Erik Coelingh Mechatronics
Paolo Falcone Mechatronics
VINNOVA

There might be more projects where Paolo Falcone participates, but you have to be logged in as a Chalmers employee to see them.

Publications

2017

On the Resource Allocation Problem in Wireless Networked Control Systems

Themistoklis Charalambous, Ayca Ozcelikkale, Mario Zanon et al
Report
2017

Optimal Scheduling of Downlink Communication for a Multi-Agent System with a Central Observation Post

Mario Zanon, Themistoklis Charalambous, Henk Wymeersch et al
Report
2017

Traffic Coordination at Road Intersections: Autonomous Decision-Making Algorithms Using Model-Based Heuristics

Gabriel Rodrigues de Campos, Paolo Falcone, Robert Hult et al
Ieee Intelligent Transportation Systems Magazine. Vol. 9 (1), p. 8-21
Scientific journal article - peer reviewed
2017

An Asynchronous Algorithm for Optimal Vehicle Coordination at Traffic Intersections

Mario Zanon, Sébastien Gros, Paolo Falcone et al
20th IFAC World Congress
Conference paper - peer reviewed
2016

Primal decomposition of the optimal coordination of vehicles at traffic intersections

Robert Hult, Mario Zanon, Sébastien Gros et al
Proceedings of the 55th IEEE Conference on Decision and Control, CDC 2016; Las Vegas; United States; 12-14 December 2016. Vol. 2016 (55), p. Art no 7798649, Pages 2567-2573
Conference paper - peer reviewed
2016

Coordination of Cooperative Autonomous Vehicles Toward safer and more efficient road transportation

Robert Hult, Gabriel Rodrigues de Campos, Erik Steinmetz et al
Ieee Signal Processing Magazine. Vol. 33 (6), p. 74-84
Scientific journal article - peer reviewed
2016

Coordination of motion actuators in heavy vehicles using Model Predictive Control Allocation

Andrea Sinigaglia, Kristoffer Tagesson, Paolo Falcone et al
IEEE Intelligent Vehicles Symposium, Proceedings. Vol. 2016-August, p. 590-596
Conference paper - peer reviewed
2016

Robust static output feedback synthesis for platoons under leader and predecessor feedback

Hakan Köroğlu, Paolo Falcone,
International Journal of Robust and Nonlinear Control, p. 1-31
Scientific journal article - peer reviewed
2016

Vehicle Lateral Motion Control with Performance and Safety Guarantees

Lei Ni, Ankit Gupta, Paolo Falcone et al
8th IFAC Symposium on Advances in Automotive Control, Jun 20-23, 2016, Kolmården, Sweden. Vol. 49 (11), p. 285-290
Conference paper - peer reviewed
2016

Platoon Control based on Predecessor and Delayed Leader Information

Hakan Köroğlu, Paolo Falcone,
Reglermöte 2016
Conference paper - non peer reviewed
2016

Design, Analysis, and Experimental Validation of a Distributed Protocol for Platooning in the Presence of Time-Varying Heterogeneous Delays

M. di Bernardo, Paolo Falcone, A. Salvi et al
Ieee Transactions on Control Systems Technology. Vol. 24 (2), p. 413-427
Scientific journal article - peer reviewed
2015

Model predictive path planning with time-varying safety constraints for highway autonomous driving

M. Jalalmaab, B. Fidan, S. Jeon et al
17th International Conference on Advanced Robotics, ICAR 2015, Istanbul, Turkey, 27-31 July 2015, p. 213-217
Conference paper - peer reviewed
2015

A control matching model predictive control approach to string stable vehicle platooning

Roozbeh Kianfar, Paolo Falcone, Jonas Fredriksson et al
Control Engineering Practice. Vol. 45, p. 163-173
Scientific journal article - peer reviewed
2015

Traffic safety at intersections: a priority based approach for cooperative collision avoidance

Gabriel Rodrigues de Campos, Paolo Falcone, Jonas Sjöberg et al
Proceedings of the 3rd International Symposium on Future Active Safety Technology Towards zero traffic accidents, 2015, p. 9-15
Conference paper - peer reviewed
2015

An approximate solution to the optimal coordination problem for autonomous vehicles at intersections

Robert Hult, Gabriel Rodrigues de Campos, Paolo Falcone et al
Proceedings of the American Control Conference. Vol. 2015, p. 763-768
Conference paper - peer reviewed
2015

Robust Static Output Feedback Synthesis under an Integral Quadratic Constraint on the States

Hakan Köroğlu, Carsten W. Scherer, Paolo Falcone et al
Proceedings of 2015 European Control Conference, p. 3208-3213
Conference paper - peer reviewed
2015

Receding horizon maneuver generation for automated highway driving

Julia Nilsson, Paolo Falcone, M. Ali et al
Control Engineering Practice. Vol. 41, p. 124-133
Scientific journal article - peer reviewed
2015

A reference governor approach for constrained piecewise affine systems

Paolo Falcone, F. Borrelli, J. Pekar et al
European Control Conference, ECC 2009, p. 4223-4228
Conference paper - peer reviewed
2015

Challenges for cooperative ITS: Improving road safety through the integration of wireless communications, control, and positioning

Henk Wymeersch, Gabriel Rodrigues de Campos, Paolo Falcone et al
2015 International Conference on Computing, Networking and Communications, ICNC 2015, p. 573-578
Conference paper - peer reviewed
2015

Safe Transitions From Automated to Manual Driving Using Driver Controllability Estimation

Josef Nilsson, Paolo Falcone, Jonny Vinter et al
IEEE transactions on intelligent transportation systems. Vol. 16 (4), p. 1806-1816
Scientific journal article - peer reviewed
2014

Cooperation with disagreement correction in the presence of communication failures

Oscar Morales-Ponce, Elad Michael Schiller, Paolo Falcone et al
2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014, p. 1105-1110
Conference paper - peer reviewed
2014

Combined Longitudinal and Lateral Control Design for String Stable Vehicle Platooning within a Designated Lane

Roozbeh Kianfar, Mohammad Ali, Paolo Falcone et al
17th International IEEE Conference on Intelligent Transportation Systems, p. 1003-1008
Conference paper - peer reviewed
2014

Collision avoidance at intersections: A probabilistic threat-assessment and decision-making system for safety interventions

Gabriel Rodrigues de Campos, Adam H. Runarsson, Fredrik Granum et al
2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014; Qingdao; China; 8 October 2014 through 11 October 2014, p. 649-654
Conference paper - peer reviewed
2014

Cooperative receding horizon conflict resolution at traffic intersections

Gabriel Rodrigues de Campos, Paolo Falcone, Henk Wymeersch et al
Proceedings of the 53rd IEEE Annual Conference on Decision and Control, CDC 2014, Los Angeles, United States, 15-17 December 2014, p. 2932-2937
Conference paper - peer reviewed
2014

New LMI Conditions for Static Output Feedback Synthesis with Multiple Performance Objectives

Hakan Köroğlu, Paolo Falcone,
Proceedings of the 53rd IEEE Annual Conference on Decision and Control, CDC 2014, Los Angeles, United States, 15-17 December 2014, p. 866-871
Conference paper - peer reviewed
2014

Joint Synthesis of Dynamic Feed-Forward and Static State Feedback for Platoon Control

Hakan Köroğlu, Paolo Falcone,
Proceedings of the 53rd IEEE Annual Conference on Decision and Control, CDC 2014, Los Angeles, United States, 15-17 December 2014, p. 4503-4508
Conference paper - peer reviewed
2014

Communication analysis for centralized intersection crossing coordination

Erik Steinmetz, Robert Hult, Gabriel Rodrigues de Campos et al
Proc. 11th International Symposium on Wireless Communications Systems, p. 813-818
Conference paper - peer reviewed
2014

A Control Matching-based Predictive Approach to String Stable Vehicle Platooning

Roozbeh Kianfar, Paolo Falcone, Jonas Fredriksson et al
19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014, Cape Town, South Africa, 24-29 August 2014. Vol. 19, p. 10700-10705
Conference paper - peer reviewed
2014

State Feedback Synthesis for Homogenous Platoons under the Leader and Predecessor Following Scheme

Hakan Köroğlu, Paolo Falcone,
Proceedings of European Control Conference, June 24-27, 2014, Strasbourg, France, p. 2655-2660
Conference paper - peer reviewed
2014

Controller Synthesis for a Homogenous Platoon under Leader and Predecessor Following Scheme

Hakan Köroğlu, Paolo Falcone,
2014 American Control Conference, ACC 2014, Portland, OR, United States, 4-6 June 2014, p. 1463-1468
Conference paper - peer reviewed
2013

Low speed maneuvering assistance for long vehicle combinations

Carl-Johan Hoel, Paolo Falcone,
IEEE Intelligent Vehicles Symposium, Proceedings, p. 598-604
Conference paper - peer reviewed
2013

Online driver behavior classification using probabilistic ARX models

Malin Sundbom, Paolo Falcone, Jonas Sjöberg et al
16th International IEEE Conference on Intelligent Transportation Systems, October 2013, The Hague, The Netherlands, p. 1107-1112
Conference paper - peer reviewed
2013

Safety Verification of Automated Driving Systems

Roozbeh Kianfar, Paolo Falcone, Jonas Fredriksson et al
Intelligent Transportation Systems Magazine, IEEE. Vol. 5, p. 73-86
Scientific journal article - peer reviewed
2013

Autonomous cooperative driving: a velocity-based negotiation approach for intersection crossing

Gabriel Rodrigues de Campos, Paolo Falcone, Jonas Sjöberg et al
16th International IEEE Conference on Intelligent Transportation Systems, p. 1456-1461
Conference paper - peer reviewed
2013

Predictive manoeuvre generation for automated driving

Julia Nilsson, Mohammad Ali, Paolo Falcone et al
16th International IEEE Annual Conference on Intelligent Transportation Systems
Conference paper - peer reviewed
2013

Driver performance in the presence of adaptive cruise control related failures: Implications for safety analysis and fault tolerance

Josef Nilsson, Niklas Strand, Paolo Falcone et al
2013 43rd Annual IEEE/IFIP Conference on Dependable Systems and Networks Workshop (DSN-W), p. 1-10
Conference paper - peer reviewed
2013

A Distributed Model Predictive Control Approach to Active Steering Control of String Stable Cooperative Vehicle Platoon

Roozbeh Kianfar, Paolo Falcone, Jonas Fredriksson et al
Advances in Automotive Control. Vol. 7 (1), p. 750-755
Conference paper - peer reviewed
2013

Predictive Prevention of Loss of Vehicle Control for Roadway Departure Avoidance

Mohammad Ali, Paolo Falcone, Claes Olsson et al
IEEE transactions on intelligent transportation systems. Vol. 14 (1), p. 56-68
Scientific journal article - peer reviewed
2012

Energy Recuperation in Fully Electric Vehicles Subject to Stability and Drivability Requirements

Jona Marin Olafsdottir, Mathias Lidberg, Paolo Falcone et al
The 11th International Symposium on Advanced Vehicle Control
Conference paper - non peer reviewed
2012

Threat assessment design under driver parameter uncertainty

Mohammad Ali, Paolo Falcone, Jonas Sjöberg et al
51st IEEE Conference on Decision and Control. CDC 2012, Maui, HI, 10-13 December 2012, p. 6315-6320
Conference paper - peer reviewed
2012

Reachability Analysis of Cooperative Adaptive Cruise Controller

Roozbeh Kianfar, Paolo Falcone, Jonas Fredriksson et al
2012 15th International IEEE Conference on Intelligent Transportation Systems, ITSC 2012, Anchorage, AK, 16 - 19 September 2012, p. 1537-1542
Conference paper - peer reviewed
2012

Design and Experimental Validation of a Cooperative Driving System in the Grand Cooperative Driving Challenge

Roozbeh Kianfar, Bruno Augusto, Alireza Ebadighajari et al
IEEE transactions on intelligent transportation systems. Vol. 13 (3), p. 994-1007
Scientific journal article - peer reviewed
2011

A Receding Horizon Approach for Designing String Stable Cooperative Adaptive Cruise Control

Roozbeh Kianfar, Paolo Falcone, Jonas Fredriksson et al
IEEE Conference on Intelligent Transportation Systems - ITSC 2011, October 5-7, 2011, Washington, DC, USA, p. 734-739
Conference paper - peer reviewed
2011

Model-Based Threat Assessment in Semi-Autonomous Vehicles with Model Parameter Uncertainties

Mohammad Ali, Paolo Falcone, Jonas Sjöberg et al
Proceedings of the IEEE Conference on Decision and Control. 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011, Orlando, FL,12 - 15 December 2011, p. 6822-6827
Conference paper - peer reviewed
2011

Predictive Threat Assessment via Reachability Analysis and Set Invariance Theory

Paolo Falcone, Mohammad Ali, Jonas Sjöberg et al
IEEE Transactions on Intelligent Transportation Systems. Vol. 12 (4), p. 1352 - 1361
Scientific journal article - peer reviewed
2011

Model-Based Threat Assessment for Lane Guidance Systems

Mohammad Ali, Paolo Falcone, Jonas Sjöberg et al
American Control Conference, San Francisco, CA, USA, June 29-July 01, 2011, p. 4586-4591
Conference paper - peer reviewed
2010

Predictive Yaw and Lateral Control in Long Heavy Vehicles Combinations

M. Keshavarz Bahaghighat, Sogol Kharrazi, Mathias Lidberg et al
Proceedings of 49th IEEE Conference on Decision and Control. Atlanta, 15-17 December 2010, p. 6403-6408
Conference paper - peer reviewed
2010

Driver models to increase the potential of automotive active safety functions

Jonas Sjöberg, Erik Coelingh, Mohammad Ali et al
Proceedings of 18th European Signal Processing Conference 2010, Aalborg, Denmark, August 23-27 2010, p. 204-208
Conference paper - peer reviewed
2010

Experimental Validation of Nonlinear Predictive Algorithms for Steering and Braking Coordination in Limit Handling Maneuvers

Paolo Falcone, Francesco Borrelli, H. Eric Tseng et al
10th International Symposium on Advanced Vehicle Control (AVEC), August 22-26, 2010, Loughborough, UK
Conference paper - peer reviewed
2010

Set-Based Threat Assessment in Semi-Autonomous Vehicles

Paolo Falcone, Mohammad Ali, Jonas Sjöberg et al
IFAC Symposium Advances in Automotive Control, Munich, Germany, 12 - 14 July 2010
Conference paper - peer reviewed
2010

On Low Complexity Predictive Approaches to Control of Autonomous Vehicles

Paolo Falcone, Francesco Borrelli, H. Eric Tseng et al
Lecture Notes in Control and Information Sciences - Automotive Model Predictive Control, p. 195-210
Chapter in monograph, book
2009

On Low Complexity Predictive Approaches to Control of Autonomous Vehicles

Paolo Falcone, Francesco Borrelli, H. Eric Tseng et al
Automotive Model Predictive Control: Models, Methods and Applications, Linz, Austria, 2009, Springer-Verlag.
Chapter in monograph, book
2009

A PREDICTIVE APPROACH TO ROADWAY DEPARTURE PREVENTION

Mohammad Ali, Paolo Falcone, Jonas Sjöberg et al
21st IAVSD Symposium on Dynamics of Vehicles on Roads and Tracks, Stockholm, 17-21 August 2009
Conference paper - peer reviewed
2009

Predictive Approaches to Rear Axle Regenerative Braking Control in Hybrid Vehicles

Paolo Falcone, Sina Khoshfetrat Pakazad, Stefan Solyom et al
48th IEEE Conference on Decision and Control and 28th Chinese Control Conference
Conference paper - peer reviewed
2009

Reference Governor for Constrained Piecewise Affine Systems

Francesco Borrelli, Paolo Falcone, Jaroslav Pekar et al
Journal of Process Control. Vol. 19 (8), p. 1229-1237
Scientific journal article - peer reviewed
2009

A Reference Governor Approach for Constrained Piecewise Affine Systems

Paolo Falcone, Francesco Borrelli, Jaroslav Pekar et al
Preprint
2009

Experimental Validation of Integrated Steering and Braking Model Predictive Control

Paolo Falcone, Francesco Borrelli, H. Eric Tseng et al
International Journal of Autonomous Vehicle Systems. Vol. 7 (3/4), p. 292-309
Scientific journal article - peer reviewed
2009

Regenerative Braking and Yaw Dynamics Optimal Control in Hybrid Vehicles

Paolo Falcone, Sina Khoshfetrat Pakazad, Stefan Solyom et al
21st International Symposium on Dynamics of Vehicles on Roads and Tracks, 17-21 August 2009, Stockholm, Sweden
Conference paper - peer reviewed
2009

Yaw Control via Combined Braking and Steering

Balint Vanek, Balazs Kulcsar, Paolo Falcone et al
European Control Conference (ECC), 23-26 August 2009, Budapest, Hungary, , p. 3652-3658
Conference paper - peer reviewed
2009

Reference Governor for Constrained Piecewise Affine Systems. A Vehicle Dynamics Control Application

Paolo Falcone, Francesco Borrelli, Jaroslav Pekar et al
European Control Conference (ECC), 23-26 August 2009, Budapest, Hungary
Conference paper - peer reviewed
2008

A brief paper on improving active safety systems via HMI and dependability analysis

Josef Nilsson, Paolo Falcone, Jonny Vinter et al
3rd IET International Conference on System Safety
Conference paper - peer reviewed
2008

Low Complexity MPC Schemes for Integrated Vehicle Dynamics Control Problems

Paolo Falcone, Francesco Borrelli, H. Eric Tseng et al
9th International Symposium on Advanced Vehicle Control (AVEC ’08)
Conference paper - peer reviewed
2008

Effects of Roll Dynamics in Model Predictive Control for Autonomous Vehicles

Paolo Falcone, Giovanni Palmieri, H. Eric Tseng et al
47th IEEE Conference on Decision and Control, December 9-11, 2008, Fiesta Americana Grand Coral Beach, Cancun, Mexico
Conference paper - peer reviewed
2008

Adaptive Output-Feedback Control of MIMO Plants with Unknown, Time-Varying State Delay

Boris Mirkin, Per-Olof Gutman, Paolo Falcone et al
IEEE American Control Conference, Seattle, Washington, USA, 11-13 June, p. 4761 - 4766
Conference paper - peer reviewed
2008

A Hierarchical Model Predictive Control Framework for Autonomous Ground Vehicles

Paolo Falcone, Francesco Borrelli, H. Eric Tseng et al
American Control Conference, Seattle, Washington, USA,11-13 June, p. 3719 - 3724
Conference paper - peer reviewed
2008

Linear Time Varying Model Predictive Control and its Application to Active Steering Systems: Stability Analysis and Experimental Validation

Paolo Falcone, Francesco Borrelli, H. Eric Tseng et al
International Journal of Robust and Nonlinear Control. Vol. 18 (8), p. 862-875
Scientific journal article - peer reviewed
2008

MPC-Based Yaw and Lateral Stabilization Via Active Front Steering and Braking

Paolo Falcone, H. Eric Tseng, Francesco Borrelli et al
Vehicle System Dynamics. Vol. 46, Supplement, p. 611-628
Scientific journal article - peer reviewed
2007

Predictive Active Steering Control for Autonomous Vehicle Systems

Paolo Falcone, Francesco Borrelli, Jahan Asgari et al
Report
2007

A Model Predictive Control Approach for Combined Braking and Steering in Autonomous Vehicles

Paolo Falcone, Francesco Borrelli, Jahan Asgari et al
15th Mediterranean Conference on Control and Automation, Athens, Greece, June 2007
Conference paper - peer reviewed
2007

Integrated Braking and Steering Model Predictive Control Approach in Autonomous Vehicles

Paolo Falcone, Francesco Borrelli, H. Eric Tseng et al
5-th IFAC Symposium on Advances in Automotive Control, Berkeley, CA, USA, August 2007
Conference paper - peer reviewed
2007

Linear Time Varying Model Predictive Control Approach to the Integrated Vehicle Dynamics Control Problem in Autonomous Systems

Paolo Falcone, Emanuela Tufo, Francesco Borrelli et al
46th IEEE Conference on Decision and Control, New Orleans, LA, USA, December 2007
Conference paper - peer reviewed
2007

Predictive Active Steering Control for Autonomous Vehicle Systems

Paolo Falcone, Francesco Borrelli, Jahan Asgari et al
IEEE Transactions on Control Systems Technology. Vol. 15 (3), p. 566-580
Scientific journal article - peer reviewed
2007

Event-Based Receding Horizon Control for Two-Stages Multi-Product Production Plants

Francesco Borrelli, Paolo Falcone, Carmen Del Vecchio et al
Control Engineering Practice. Vol. 15 (12), p. 1556-1568
Scientific journal article - peer reviewed
2006

Event-Based Receding Horizon Control for Two-Stages Multi-Product Production Plants

Francesco Borrelli, Paolo Falcone, Carmen Del Vecchio et al
Report
2006

Event-Based Receding Horizon Control for Two-Stages Multi-Product Production Plants

Francesco Borrelli, Paolo Falcone, Carmen Del Vecchio et al
American Control Conference, Minneapolis, Minnesota. June 2006.
Conference paper - peer reviewed
2006

Predictive Control Approach to Autonomous Vehicle Steering

Tamas Keviczky, Paolo Falcone, Francesco Borrelli et al
American Control Conference, Minneapolis, Minnesota, June 2006
Conference paper - peer reviewed
2006

Towards Real-Time Model Predictive Control Approach for Autonomous Active Steering

Paolo Falcone, Francesco Borrelli, Jahan Asgari et al
8th International Symposium on Advanced Vehicle Control, Taipei, Taiwan, August 2006
Conference paper - peer reviewed
2006

A Real-Time Model Predictive Control Approach for Autonomous Active Steering

Paolo Falcone, Francesco Borrelli, Jahan Asgari et al
First IFAC International workshop on NMPC for Fast Systems, Grenoble, France, October 2006
Conference paper - peer reviewed
2005

Optimal Control for Large Scale Systems via Parametric Programming

Paolo Falcone, Tamas Keviczky, Francesco Borrelli et al
Report
2005

MPC-Based Approach to Active Steering for Autonomous Vehicle Systems

Francesco Borrelli, Paolo Falcone, Tamas Keviczky et al
Report
2005

Nicely Nonlinear Engine Torque Estimator

Paolo Falcone, Giovanni Fiengo, Luigi Glielmo et al
16th IFAC World Congress, Prague, Czech Republic, July 2005
Conference paper - peer reviewed
2005

Receding horizon control for two-stages multi-product production plants

Francesco Borrelli, Paolo Falcone, Carmen Del Vecchio et al
Associazione Nazionale Italiana per l'Automazione, Napoli, Italy, November 2005
Conference paper - peer reviewed
2005

New Strategy for Torque Estimators

Paolo Falcone, Giovanni Fiengo, Luigi Glielmo et al
dSPACE News
Journal/newspaper article
2005

MPC-based approach to active steering for autonomous vehicle systems

Francesco Borrelli, Paolo Falcone, Tamas Keviczky et al
International Journal on Vehicle Autonomous Systems. Vol. 3 (2/3/4), p. 265--291
Scientific journal article - peer reviewed
2004

Non-linear Net Engine Torque Estimator for Internal Combustion Engine

Paolo Falcone, Giovanni Fiengo, Luigi Glielmo et al
IFAC Symposium on Advances in Automotive Control, Salerno, Italy, April 2004
Conference paper - peer reviewed
2003

Modello per la stima di coppia nei motori diesel

Paolo Falcone,
Master's Thesis
2003

A Model of Torque Generation Process in Direct Injection Diesel Engines

Paolo Falcone, Maria Carmela De Gennaro, Giovanni Fiengo et al
International Conference on Engines for Automobile, Capri, Napoli, Italy, September 2003
Conference paper - peer reviewed
2003

Torque Generation Model for Diesel Engine

Paolo Falcone, Maria Carmela De Gennaro, Giovanni Fiengo et al
Conference on Decision and Control, Maui, Hawaii USA, December 2003, p. 1771-1776
Conference paper - peer reviewed