Publications

2026

1. IV

   RLMP: A Sim-to-Real Reinforcement Learning Manoeuvre Planner Validated on Public Highway

   Tiago Rocha Gonçalves, and Léa Guéguen

   In IEEE Intelligent Vehicles Symposium (IV), 2026

   Bib HTML

   @inproceedings{goncalves2026rlmp,
     title = {RLMP: A Sim-to-Real Reinforcement Learning Manoeuvre Planner Validated on Public Highway},
     author = {Gon{\c{c}}alves, Tiago Rocha and Gu{\'e}guen, L{\'e}a},
     booktitle = {IEEE Intelligent Vehicles Symposium (IV)},
     address = {Detroit, United States},
     year = {2026},
   }

2. ITSC

   Motion Planning in Urban Environments via Self-Play Reinforcement Learning

   Islem Kobbi, Tiago Rocha Gonçalves, and Fawzi Nashashibi

   In IEEE International Conference on Intelligent Transportation Systems (ITSC), 2026

   Bib HTML

   @inproceedings{kobbi2026selfplay,
     title = {Motion Planning in Urban Environments via Self-Play Reinforcement Learning},
     author = {Kobbi, Islem and Gon{\c{c}}alves, Tiago Rocha and Nashashibi, Fawzi},
     booktitle = {IEEE International Conference on Intelligent Transportation Systems (ITSC)},
     address = {Naples, Italy},
     year = {2026},
   }

2023

1. ARSO

   A Fuel-Efficient Approach for Platooning Systems with Ethical Decision-Making Implications

   Tiago R Gonçalves, Nelson Moura, and Fawzi Nashashibi

   In IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO), 2023

   Bib HTML

   @inproceedings{goncalves2023arso,
     title = {A Fuel-Efficient Approach for Platooning Systems with Ethical Decision-Making Implications},
     author = {Gon{\c{c}}alves, Tiago R and de Moura, Nelson and Nashashibi, Fawzi},
     booktitle = {IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)},
     pages = {95--102},
     year = {2023},
     organization = {IEEE},
   }

2. TITS

   Fuel-Efficient Switching Control for Platooning Systems With Deep Reinforcement Learning

   Tiago R Gonçalves, Rafael F Cunha, Vineeth S Varma, and 1 more author

   IEEE Transactions on Intelligent Transportation Systems, 2023

   Abs Bib HTML

   The wide appeal of fuel-efficient transport solutions is constantly increasing due to the major impact of the transportation industry on the environment. Platooning systems represent a relatively simple approach in terms of deployment toward fuel-efficient solutions. This paper addresses the reduction of fuel consumption in platooning systems attainable by dynamically switching between two control policies: Adaptive Cruise Control (ACC) and Cooperative Adaptive Cruise Control (CACC). The switching rule is dictated by a Deep Reinforcement Learning (DRL) technique to overcome unpredictable platoon disturbances and to learn appropriate transient shift times while maximizing fuel efficiency. However, due to safety and convergence issues of DRL, our algorithm establishes transition times and minimum periods of operation of ACC and CACC controllers instead of directly controlling vehicles. Numerical experiments show that the DRL agent outperforms both static ACC and CACC versions and the threshold logic control in terms of fuel efficiency while also being robust to perturbations and satisfying safety requirements.

   @article{goncalves2023fuel,
     title = {Fuel-Efficient Switching Control for Platooning Systems With Deep Reinforcement Learning},
     author = {Gon{\c{c}}alves, Tiago R and Cunha, Rafael F and Varma, Vineeth S and Elayoubi, Salah E},
     journal = {IEEE Transactions on Intelligent Transportation Systems},
     year = {2023},
     doi = {10.1109/TITS.2023.3304977},
     publisher = {IEEE}
   }

3. TVT

   Relay-Assisted Platooning in Wireless Networks: A Joint Communication and Control Approach

   Tiago R Gonçalves, Vineeth S Varma, and Salah E Elayoubi

   IEEE Transactions on Vehicular Technology, 2023

   Abs Bib HTML

   This paper studies vehicle platooning with relay-assisted V2X communication. We propose a joint communication and control framework that accounts for wireless channel impairments, showing that relay assistance can significantly improve platooning stability and performance.

   @article{goncalves2023relay,
     title = {Relay-Assisted Platooning in Wireless Networks: A Joint Communication and Control Approach},
     author = {Gon{\c{c}}alves, Tiago R and Varma, Vineeth S and Elayoubi, Salah E},
     journal = {IEEE Transactions on Vehicular Technology},
     volume = {72},
     number = {6},
     pages = {7810--7826},
     year = {2023},
     publisher = {IEEE}
   }

2022

1. ICONS

   Reducing Fuel Consumption in Platooning Systems Through Reinforcement Learning

   Rafael F Cunha, Tiago R Gonçalves, Vineeth S Varma, and 2 more authors

   In 6th IFAC Conference on Intelligent Control and Automation Sciences (ICONS), 2022

   Bib HTML

   @inproceedings{cunha2022reducing,
     title = {Reducing Fuel Consumption in Platooning Systems Through Reinforcement Learning},
     author = {Cunha, Rafael F and Gon{\c{c}}alves, Tiago R and Varma, Vineeth S and Elayoubi, Salah E and Cao, Ming},
     booktitle = {6th IFAC Conference on Intelligent Control and Automation Sciences (ICONS)},
     volume = {55},
     number = {15},
     pages = {99--104},
     year = {2022},
     publisher = {Elsevier}
   }

2021

1. VTC

   Performance and Design of Robust Platoons Under Different Communication Technologies

   Tiago R Gonçalves, Vineeth S Varma, and Salah E Elayoubi

   In IEEE Vehicle Technology Conference (VTC2021-Spring), 2021

   Bib HTML

   @inproceedings{goncalves2021performance,
     title = {Performance and Design of Robust Platoons Under Different Communication Technologies},
     author = {Gon{\c{c}}alves, Tiago R and Varma, Vineeth S and Elayoubi, Salah E},
     booktitle = {IEEE Vehicle Technology Conference (VTC2021-Spring)},
     pages = {1--7},
     year = {2021},
     organization = {IEEE}
   }

2. PIMRC

   Performance of Vehicle Platooning Under Different V2X Relaying Methods

   Tiago R Gonçalves, Vineeth S Varma, and Salah E Elayoubi

   In IEEE International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC), 2021

   Bib HTML

   @inproceedings{goncalves2021performance_pimrc,
     title = {Performance of Vehicle Platooning Under Different V2X Relaying Methods},
     author = {Gon{\c{c}}alves, Tiago R and Varma, Vineeth S and Elayoubi, Salah E},
     booktitle = {IEEE International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC)},
     pages = {1--6},
     year = {2021},
     organization = {IEEE}
   }

3. PhD Thesis

   Robust Control of Platooning Systems Over Imperfect Wireless Channels

   Tiago Rocha Gonçalves

   Université Paris-Saclay / CentraleSupélec, 2021

   Bib HTML

   @phdthesis{goncalves2021thesis,
     title = {Robust Control of Platooning Systems Over Imperfect Wireless Channels},
     author = {Gon{\c{c}}alves, Tiago Rocha},
     school = {Université Paris-Saclay / CentraleSupélec},
     year = {2021},
   }

2020

1. WCNC

   Vehicle Platooning Schemes Considering V2V Communications: A Joint Communication/Control Approach

   Tiago R Gonçalves, Vineeth S Varma, and Salah E Elayoubi

   In IEEE Wireless Communications and Networking Conference (WCNC), 2020

   Bib HTML

   @inproceedings{goncalves2020vehicle,
     title = {Vehicle Platooning Schemes Considering V2V Communications: A Joint Communication/Control Approach},
     author = {Gon{\c{c}}alves, Tiago R and Varma, Vineeth S and Elayoubi, Salah E},
     booktitle = {IEEE Wireless Communications and Networking Conference (WCNC)},
     pages = {1--6},
     year = {2020},
     organization = {IEEE}
   }

2019

1. L-CSS

   Differential Linear Matrix Inequalities Optimization

   Tiago R Gonçalves, Gabriela W Gabriel, and José C Geromel

   IEEE Control Systems Letters, 2019

   Bib HTML

   @article{goncalves2019differential,
     title = {Differential Linear Matrix Inequalities Optimization},
     author = {Gon{\c{c}}alves, Tiago R and Gabriel, Gabriela W and Geromel, Jos{\'e} C},
     journal = {IEEE Control Systems Letters},
     volume = {3},
     number = {2},
     pages = {380--385},
     year = {2019},
     publisher = {IEEE}
   }

2018

1. TAC

   Optimal and Robust Sampled-Data Control of Markov Jump Linear Systems: A Differential LMI Approach

   Gabriela W Gabriel, Tiago R Gonçalves, and José C Geromel

   IEEE Transactions on Automatic Control, 2018

   Bib HTML

   @article{gabriel2018optimal,
     title = {Optimal and Robust Sampled-Data Control of Markov Jump Linear Systems: A Differential LMI Approach},
     author = {Gabriel, Gabriela W and Gon{\c{c}}alves, Tiago R and Geromel, Jos{\'e} C},
     journal = {IEEE Transactions on Automatic Control},
     volume = {63},
     number = {9},
     pages = {3054--3060},
     year = {2018},
     publisher = {IEEE}
   }

2017

1. CDC

   Optimal Sampled-Data Control of Markov Jump Linear Systems Through Differential LMIs

   Gabriela W Gabriel, José C Geromel, and Tiago R Gonçalves

   In IEEE 56th Annual Conference on Decision and Control (CDC), 2017

   Bib HTML

   @inproceedings{gabriel2017optimal,
     title = {Optimal Sampled-Data Control of Markov Jump Linear Systems Through Differential LMIs},
     author = {Gabriel, Gabriela W and Geromel, Jos{\'e} C and Gon{\c{c}}alves, Tiago R},
     booktitle = {IEEE 56th Annual Conference on Decision and Control (CDC)},
     pages = {6247--6252},
     year = {2017},
     organization = {IEEE}
   }