Picture of Gerald Würsching

Gerald Würsching, M.Sc.

Technical University of Munich

Informatics 6 - Associate Professorship of Cyber Physical Systems (Prof. Althoff)

Postal address

Boltzmannstr. 3
85748 Garching b. München

Curriculum Vitae

Gerald Würsching joined the Cyber Physical Systems Group as a research assistant and PhD student under the supervision of Prof. Dr.-Ing. Matthias Althoff in 2020. He recieved his Bachelor of Science and Master of Science degrees in mechanical engineering from the Technical University of Munich in 2017 and 2020, respectively. His research interests include techniques for safe and robust motion planning for autonomous vehicles. 

Offered Thesis Topics

I am always looking for self-motivated students to solve interesting problems arising in my research areas. If you are interested in one of the currently available topics, simply send me an e-mail with your up-to-date CV and transcript of records attached.

Students from Informatics, Mechanical Engineering and Electrical Engineering are welcome to apply.

Currently available:





  • [HiWi] - Software Development for a Motion Planning Module on a Real Vehicle Using Autoware
  • [BA] - Learning-Based Selection of Driving Corridors for Motion Planning
  • [BA] - RRT*-based Motion Planning for Autonomous Vehicles with STL Specifications 
  • [MA] - Robust Optimization-Based Motion Planning Using Set-Based Driving Corridor Computation
  • [MA] - Assessing Robustness of Driving Corridors According to Temporal Logic Specifications
  • [BA] - Traffic Rule Monitoring for Discretization-Based Motion Planning
  • [MA] - Design and Benchmarking of Sampling Methods and Steering Functions for Motion Planners Using Rapidly Exploring Random Trees
  • [HiWi] - Safe Motion Planning Framework Based on CommonRoad and Autoware Platform 
  • [HiWi] - Software Development (Python/C++) for CommonRoad Motion Planning Tools
  • [GR] - Improving Robustness of Coordinate Transformations for Curvilinear-based Motion Planners
  • [MA] - Cooperative Motion Planning for Automated Vehicles using Reachable Sets
  • [HiWi] - Coupling Autoware With The CommonRoad Motion Planning Framework
  • [MA] - Specification-compliant Maneuver Extraction from Reachability Analysis of Automated Vehicles
  • [HiWi] - Implementation of a Truck Vehicle Model in CommonRoad
  • [MA] - Motion Planning for Autonomous Vehicles Using Rapidly Exploring Random Trees and Reachable Sets
  • [HiWi] - C++ Software Development for CommonRoad Motion Planning Tools


Lecture - Foundations of Artificial Intelligence [WS21/22, WS22/23]

  • Exercise Session: Intelligent Robots, Search, Constraint Satisfaction
  • Programming Exercise: Search-based Motion Planning

Lecture - Gems of Informatics 2 [SS21, SS22]

  • Lecture and Exercise Session: Autonomous Vehicles and Motion Planning

Practical Course - Motion Planning for Autonomous Vehicles [SS21, WS21/22, SS22, WS22/23, SS23, WS23/24]

Master Seminar - Cyber Physical Systems [SS21, WS21/22, SS23, SS24]



  • Würsching, Gerald; Althoff, Matthias: Robust and Efficient Curvilinear Coordinate Transformation with Guaranteed Map Coverage for Motion Planning. 2024 IEEE Intelligent Vehicles Symposium (IV), 2024 mehr… BibTeX Volltext (mediaTUM)
  • Würsching, Gerald; Mascetta, Tobias; Lin, Yuanfei; Althoff, Matthias: Simplifying Sim-to-Real Transfer in Autonomous Driving: Coupling Autoware with the CommonRoad Motion Planning Framework. 2024 IEEE Intelligent Vehicles Symposium (IV), 2024 mehr… BibTeX Volltext (mediaTUM)


  • Irani Liu, Edmond; Würsching, Gerald; Klischat Moritz; Althoff, Matthias: CommonRoad-Reach: A Toolbox for Reachability Analysis of Automated Vehicles. IEEE International Conference on Intelligent Transportation Systems (ITSC), 2022 mehr… BibTeX Volltext (mediaTUM)


  • Würsching, Gerald; Althoff, Matthias: Sampling-Based Optimal Trajectory Generation for Autonomous Vehicles Using Reachable Sets. IEEE International Conference on Intelligent Transportation Systems (ITSC), 2021 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
  • Ye, Egon; Würsching, Gerald; Steyer, Sascha; Althoff, Matthias: Offline Dynamic Grid Generation for Automotive Environment Perception Using Temporal Inference Methods. IEEE Robotics and Automation Letters, 2021 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)