Foto von Lukas Schäfer

Lukas Schäfer, M.Sc.

Technische Universität München

Informatik 6 - Professur für Cyber Physical Systems (Prof. Althoff)


Boltzmannstr. 3
85748 Garching b. München

Curriculum Vitae

Lukas Schäfer joined the Cyber-Physical Systems Group as a PhD candidate under the supervision of Prof. Dr.-Ing. Matthias Althoff in 2021. He received his M.Sc. in robotics, cognition, intelligence and B.Sc. in mechanical engineering both from the Technical University of Munich and his B.Eng. in Business Administration and Engineering from the Baden-Wuerttemberg Cooperative State University Stuttgart. His research focuses on robust safety-preserving controller synthesis of nonlinear systems.

Offered Thesis Topics

I am always looking for motivated students who are interested in writing a thesis related to my area of research. If you are considering one of the currently offered topics or want to discuss your own research idea, please get in touch via email including your CV, transcript of records, and a brief statement of your motivation.

Currently Available






  • Formal Methods for Cyber-Physical Systems [WiSe 2021/22, WiSe 2022/23] - Reachset Model Predictive Control
  • Formal Methods for Cyber-Physical Systems [WiSe 2022/23] - Generator-Space Control

Seminar Course - Cyber-Physical Systems

  • [WiSe 2022/23] Learning Uncertain System Dynamics in Model Predictive Control
  • [WiSe 2022/23] Stability in Nonlinear Model Predictive Control
  • [SuSe 2022] Constraint Set Certification for Reinforcement Learning (co-supervised with Hannah Markgraf)
  • [SuSe 2022] Safe Reinforcement Learning with Probabilistic Models (co-supervised with Jakob Thumm)
  • [WiSe 2021/22] Convexification of Polynomial Optimization Problems
  • [WiSe 2021/22] Robust Nonlinear Model Predictive Control

Practical Course - Verification, Controller Synthesis, and Design of Cyber-Physical Systems

  • [SuSe 2023] Real-Time Optimal Control Using Successive Convexification
  • [SuSe 2022] Robust Model Predictive Control of Nonlinear Systems



  • Lukas Schäfer, Matthias Althoff: Computing Robust Control Invariant Sets of Nonlinear Systems Using Polynomial Controller Synthesis. 2024 American Control Conference (ACC), 2024 mehr…
  • Schäfer, Lukas; Gruber, Felix; Althoff, Matthias: Scalable Computation of Robust Control Invariant Sets of Nonlinear Systems. IEEE Transactions on Automatic Control 69 (2), 2024, 755-770 mehr…


  • Hanna Krasowski; Jakob Thumm; Marlon Müller; Lukas Schäfer; Xiao Wang; Matthias Althoff: Provably Safe Reinforcement Learning: Conceptual Analysis, Survey, and Benchmarking. Transactions on Machine Learning Research, 2023 mehr…
  • Schäfer, Lukas; Manzinger, Stefanie; Althoff, Matthias: Computation of Solution Spaces for Optimization-based Trajectory Planning. IEEE Transactions on Intelligent Vehicles 8 (1), 2023, 216-231 mehr…