Pedro F. Lima

Personal Data

Place and Date of Birth: Lisbon, Portugal | 27 November 1990Address: Malgomajvägen 7, 12060 Årsta, SwedenPhone: +46 767 158 777email: pfrdal@kth.sewebsite: Personal webpage

LinkedIn

Work Experience

Summer 2013 Research engineer at Smart Mobility LabKTH Royal Institute of Technology, Stockholm, SwedenMain responsibilities: software and hardware developer and students supervision.

Summer 2011 Trainee - software developer atIdMind - Engenharia de Sistemas, Lda, Lisbon, PortugalThe traineeship consisted in designing, developing, and testing a path generation algorithmfor a mobile robot. An interface was developed for the user to interact with the robotand make it follow a preset path. This application was developed in Visual C# graphicalenvironment. The application was built to suit any type of differential traction mobile robot,and it is configurable (wheel radius, distance between wheels and motor characteristics).Odometry corrections were also made using the square test.

July 2008 Electronic components assembly assistant atIdMind - Engenharia de Sistemas, Lda, Lisbon, PortugalPCB assembly and soldering of electronic components.

July 2007 Participation in workshop atInstituto Superior Técnico, Lisbon, PortugalAttendance of the traineeship “INCISTA-Alameda: Introduction to Science in IST Alameda”.The tasks performed ranged from the assembly of electronic components on printed circuitboards to the programming of robots using a programming environment with logic blocks.

Education

Current Industrial PhD student atScania CV AB, Södertälje, Sweden

October 2017 ATS Pre-Development – Research ECPF

and

KTH Royal Institute of Technology, Stockholm, SwedenAutomatic Control – Intelligent Transportation Systems

October 2017 PhD student atKTH Royal Institute of Technology, Stockholm, Sweden

September 2013 Automatic Control - Intelligent Transportation SystemsiQMatic is a collaboration between KTH, LiU, Autoliv, Saab, and Scania, with the aim to de-velop a fully autonomous heavy vehicle for goods transport and other industrial applications.At the Automatic Control department at KTH, we are developing control strategies that al-low the vehicle to follow a given path or trajectory meeting certain specifications. Due tothe close collaboration with Scania, 20% of the time is spent at the Scania Technical Centerin Södertälje, Sweden.

June 2016 Degree of Licentiate of Engineering in Electrical EngineeringKTH Royal Institute of Technology, Stockholm, Sweden

Thesis title: “Predictive control for autonomous driving, with experimen-tal evaluation on a heavy-duty construction truck”Supervisors: Prof. Bo Wahlberg and Prof. Jonas MårtenssonOpponent: Prof. Alberto Bemporad, IMT Institute for Advanced Studies Lucca

July 2013 Double degree of Master of Science in Electrical EngineeringKTH Royal Institute of Technology, Stockholm, SwedenUniversidade de Lisboa - Instituto Superior Técnico, Lisbon, Portugal17.45/20 Average grade | Major: Systems Control and Robotics

Thesis title: “Implementation and Analysis of Platoon Catch-Up Scenarios”Examiner: Prof. Karl Henrik JohanssonSupervisor: Prof. Jonas MårtenssonGrade: A/A

Merit Diploma in the academic year 2011/2012 (2nd best student)due to the outstanding academic performance with an average grade of 17.50/20.

2012 - 2013 Exchange studentKTH Royal Institute of Technology, Stockholm, Sweden4.5/5 Average grade | Major: Systems Control and Robotics

July 2011 Bachelor of Science in Electrical EngineeringUniversidade de Lisboa - Instituto Superior Técnico, Lisbon, Portugal15.53/20 Average grade

Teaching

2013 - 2015 Project course in automatic control2013 - 2015 Basic control course2016 - 2017 Model predictive control course∗

2014 - 2017 10 Master’s thesis students supervision

2013 - 2017 Smart Mobility Lab supervision

∗ Course co-founder with Prof. Mikael Johansson and Valerio Turri.

Journal Publications

2017:”Spatial Model Predictive Control for Smooth and Accurate AutonomousDriving”,P. F. Lima, M. Nilsson, M. Trincavelli, J. Mårtensson, B. Wahlberg,IEEE Intelligent Vehicles Transactions

Conference Publications

2017:”Lateral Model Predictive Control for Over-Actuated Autonomous Vehicle”,G. C. Pereira, L. Svensson, P. F. Lima, J. Mårtensson,IEEE Intelligent Vehicles Symposium, Redondo Beach, California, USA

”Spatial-based Trajectory Planning under Vehicle Dimension ConstraintsUsing Sequential Linear Programming”,M. Graf Plessen, P. F. Lima, J. Mårtensson, A. Bemporad, B. Wahlberg,IEEE Intelligent Transportation Systems Conference, Yokohama, Japan

”Minimizing Long Vehicles Overhang Exceeding Road Boundaries via PathOptimization”,P. F. Lima, R. Oliveira, J. Mårtensson, B. Wahlberg,IEEE Intelligent Transportation Systems Conference, Yokohama, Japan

”Stability Conditions for Linear Time-Varying Model Predictive Control inAutonomous Driving”,P. F. Lima, J. Mårtensson, B. Wahlberg,IEEE Conference on Decision and Control, Melbourne, Australia

2016:”Experimental Evaluation of Economic Model Predictive Control for anAutonomous Truck”,P. F. Lima, M. Nilsson, M. Trincavelli, J. Mårtensson, B. Wahlberg,IEEE Intelligent Vehicles Symposium, Gothenburg, Sweden

2015:”Clothoid-Based Model Predictive Control for Autonomous Driving”,P. F. Lima, M. Trincavelli, J. Mårtensson, B. Wahlberg,IEEE European Control Conference, Linz, Austria

”Clothoid-Based Speed Profiler and Control for Autonomous Driving”,P. F. Lima, M. Trincavelli, J. Mårtensson, B. Wahlberg,IEEE Intelligent Transportation Systems Conference, Las Palmas, Spain

Certificates

September 2013 LabVIEW Associate Developer (License 100-313-5225)

Languages

Portuguese: Native speakerEnglish: FluentSwedish: Intermediate

Computer Skills

Experienced: C, MATLAB, SimulinkIntermediate: LabVIEW, PythonProficient: LaTeX

Media

KTH media: Smart Mobility LabKTH EES Yearbook 2016: ”The algorithm at the heart of autonomous truck safety”KTH web news article: ”MPC allows heavy-duty vehicles to drive by themselves”KTH web news article: (in Swedish) ”Self-driving trucks soon on a road near you”KTH web news article: ”Researchers have ”come a long way” with self-driving trucks”LT: (in Swedish) ”Here is the truck that drives itself”SVT: (in Swedish) ”Here is the truck without driver”Dagens industri: (in Swedish) ”Scania shows self-driving trucks”

Interests and Activities

Technology, autonomous vehicles, programmingPolitics and economicsFootball, jogging, TV series, comic books

Other

Driving license: BVolunteering: Assisting the homeless at the private institution of social solidarity “Co-

munidade Vida e Paz”, from September 2007 to July 2008.Music Lessons2006-2012:

Classic Piano | Jazz Piano | Music Theory

More than a dozen appearances in concerts and piano auditions.