2024
- Combining Belief Function Theory and Stochastic Model Predictive Control for Multi-Modal Uncertainty in Autonomous Driving. Accepted to the American Control Conference (ACC), 2024 more… Full text (mediaTUM)
2023
- Non-Conservative Trajectory Planning for Automated Vehicles by Estimating Intentions of Dynamic Obstacles. IEEE Transactions on Intelligent Vehicles, 2023 more… Full text ( DOI ) Full text (mediaTUM)
- Information Fusion for Online Estimation of the Behavior of Traffic Participants using Belief Function Theory. Frontiers in Future Transportation, 2023 more… Full text ( DOI ) Full text (mediaTUM)
- Stochastic Model Predictive Control With a Safety Guarantee for Automated Driving. IEEE Transactions on Intelligent Vehicles 8 (1), 2023, 22-36 more… Full text ( DOI )
- Distributed Stochastic Model Predictive Control for a Microscopic Interactive Traffic Model. Electronics (12(6), 1270), 2023 more… Full text ( DOI ) Full text (mediaTUM)
- Optimal Control for Indoor Vertical Farms Based on Crop Growth. IFAC-PapersOnLine 56 (2), 2023, 9887-9893 more… Full text ( DOI )
- Data-Driven Tube-Based Stochastic Predictive Control. IEEE Open Journal of Control Systems , 2023 more… Full text ( DOI ) Full text (mediaTUM)
- An Online Adaptation Strategy for Direct Data-driven Control. IFAC World Congress 2023, 2023, 6 more… Full text (mediaTUM)
- Offline Uncertainty Sampling in Data-driven Stochastic MPC. IFAC World Congress 2023, 2023, 7 more… Full text (mediaTUM)
- Towards Robustification of Incremental Model Predictive Control Deploying an Adaptive Tube Technique. 56th International Symposium on Robotics, ISR Europe 2023, 2023 more…
2022
- Linear Safety Constraints for Urban Automated Driving: a Case Differentiation. 15th International Symposium on Advanced Vehicle Control (AVEC22), 2022 more…
- Combining Event-Based Maneuver Selection and MPC Based Trajectory Generation in Autonomous Driving. Electronics 11 (10), 2022 more… Full text ( DOI ) Full text (mediaTUM)
- Constraint Violation Probability Minimization for Norm-Constrained Linear Model Predictive Control. 2022 European Control Conference (ECC), 2022, 839-846 more… Full text ( DOI )
- A Fast and Close-to-Optimal Receding Horizon Control for Trajectory Generation in Dynamic Environments. Robotics 11 (4), 2022, 72 more…
- Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator. IEEE Transactions on Control Systems Technology, 2022, 1-16 more… Full text ( DOI )
2021
- Multistage Stochastic Model Predictive Control for Urban Automated Driving. 24rd IEEE International Conference on Intelligent Transportation Systems, 2021 more… Full text ( DOI ) Full text (mediaTUM)
- Gaussian processbased stochastic model predictive control for overtaking in autonomous racing. 2021 IEEE International Conference on Robotics and Automation (ICRA) Workshop on Opportunities and Challenges with Autonomous Racing, 2021 more… Full text (mediaTUM)
- Minimization of Constraint Violation Probability in Model Predictive Control. Int J Robust Nonlinear Control, 2021, 1-33 more… Full text ( DOI ) Full text (mediaTUM)
- Stochastic Model Predictive Control with a Safety Guarantee for Automated Driving. IEEE Transactions on Intelligent Vehicles, 2021, 1-1 more… Full text ( DOI ) Full text (mediaTUM)
- Model Predictive Control with Models of Different Granularity and a Non-uniformly Spaced Prediction Horizon. American Control Conference (ACC), 2021 more… Full text ( DOI )
- Probabilistic Model Predictive Control for Extended Prediction Horizons. at - Automatisierungstechnik 69 (9), 2021, 759-770 more… Full text ( DOI )
- Collision Avoidance with Stochastic Model Predictive Control for Systems with a Twofold Uncertainty Structure. Accepted to the 24rd IEEE International Conference on Intelligent Transportation Systems, 2021 more… Full text (mediaTUM)
- Learning a Low-Dimensional Representation of a Safe Region for Safe Reinforcement Learning on Dynamical Systems. IEEE Transactions on Neural Networks and Learning Systems, 2021, 1-15 more… Full text ( DOI ) Full text (mediaTUM)
2020
- Combined Robust and Stochastic Model Predictive Control for Models of Different Granularity. 21st IFAC World Congress, 2020 more… Full text ( DOI ) Full text (mediaTUM)
- Grid-Based Stochastic Model Predictive Control for Trajectory Planning in Uncertain Environments. 2020 23rd IEEE International Conference on Intelligent Transportation Systems, 2020 more… Full text ( DOI ) Full text (mediaTUM)
- Addressing Control Implementation Issues in Robotic Systems Using Adaptive Control. Robotica 38 (1), 2020, 171-184 more… Full text ( DOI )
- A General Framework to Increase Safety of Learning Algorithms for Dynamical Systems Based on Region of Attraction Estimation. IEEE Transactions on Robotics, 2020, 1-19 more… Full text ( DOI ) Full text (mediaTUM)
2019
- Integral Sliding-Mode Observer-Based Disturbance Estimation for Euler-Lagrangian Systems. IEEE Transactions on Control Systems Technology, 2019, 1-13 more… Full text ( DOI ) Full text (mediaTUM)
2018
- Transitioning Between Underactuated Periodic Orbits: An Optimal Control Approach for Settling Time Reduction. International Journal of Humanoid Robotics 15 (06), 2018, 1850027 more… Full text ( DOI )
- Legible Model Predictive Control for Autonomous Driving on Highways. IFAC-PapersOnLine 51 (20), 2018, 215-221 more… Full text ( DOI ) Full text (mediaTUM)
- Combining Stochastic and Scenario Model Predictive Control to Handle Target Vehicle Uncertainty in an Autonomous Driving Highway Scenario. 2018 21st International Conference on Intelligent Transportation Systems (ITSC), 2018, 1317-1324 more… Full text ( DOI ) Full text (mediaTUM)
- Robust-Adaptive Controller Design for Robot Manipulators using the H∞ Approach. IEEE Access vol. 6, 2018, 51.626-51.639 more… Full text ( DOI )
2017
- Energy Efficient and Robust Balancing with Motion Primitive Switching. International Journal of Humanoid Robotics 14 (03), 2017, 1750009 more… Full text ( DOI )
- Fast and Close to Optimal Trajectory Generation for Articulated Robots in Reaching Motions. 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2017 more…
- Kooperative Bewegungsplanung autonomer Fahrzeuge unter Verwendung von Manöver-Templates. AAET - Automatisiertes und vernetztes Fahren, 2017, 348 - 367 more…
- Driving Strategy Selection for Cooperative Vehicles using Maneuver Templates. IEEE Intelligent Vehicles Symposium, 2017 more…
- Protective Control for Robot Manipulator by Sliding Mode based Disturbance Reconstruction Approach. 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2017 more… Full text ( DOI ) Full text (mediaTUM)
- Modeling and Nonlinear Control of Antagonistically Actuating Pneumatic Artificial Muscles. 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2017 more…
2016
- Online Motion Planning Over Uneven Terrain with Walking Primitives and Regression. Proceedings of the 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016 more… Full text (mediaTUM)
2015
- 2015 IEEE International Conference on Intelligent Robots and Systems (IROS). Settling Time Reduction for Underactuated Walking Robots, 2015, 6402-6408 more… Full text (mediaTUM)
2014
2013
- Optimal Control for Hybrid Systems With Partitioned State Space. IEEE Transactions an Automatic Control 58 (8), 2013, 2131-2136 more…
2012
- Modeling and Analysis of Human Navigation with Crossing Interferer Using Inverse Optimal Control. Proceedings of the 7th Vienna International Conference on Mathematical Modelling (Math Mod), 2012 more…
- A Bilevel Optimization Approach to Obtain Optimal Cost Functions for Human Arm Movements. Numerical Algebra, Control and Optimization (NACO) 2 (1), 2012, 105-127 more…
- Rollover Prevention of Mobile Manipulators using Invariance Control and Recursive analytic ZMP Gradients. Advanced Robotics 26 (11-12), 2012, 1317-1341 more…
- Online Stability Compensation of Mobile Manipulators using Recursive Calculation of ZMP Gradients. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2012 more…
- Optimierung. Statische, dynamische, stochastische Verfahren für die Anwendung. Springer Vieweg (3. edn.), 2012 more…
2011
- Imitating Human Reaching Motions using Physically Inspired Principles. 1th IEEE-RAS International Conference on Humanoid Robots, 2011 more…
- Consensus Based Decoupling in Hybrid Optimization of Cooperative Transportation Planning. Proceedings of the 18th IFAC World Congress, 2011 more…
- Initialization Concepts for Optimal Control of Hybrid Systems. Proceedings of the 18th IFAC World Congress, 2011 more…
- The Minimum Principle for Time-Varying Hybrid Systems with State Switching and Jumps. Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, 2011 more…
- Trajectory Planning for Manipulators based on the Optimal Concatenation of LQ Control Primitives. 50th IEEE Conference on Decision and Control and European Control Conference, 2011 more…
2010
- Optimization Criteria for Human Trajectory Formation in Dynamic Virtual Environments. Proceedings of Eurohaptics, 2010 more…
- Optimisation-based Identification of Situation Determined Cost Functions for the Implementation of a Human-like Driving Style in an Autonomous Car. Proceedings of the 10th Int. Symp. on Advanced Vehicle Control (AVEC 2010), 2010 more…
- The Minimum Principle for Hybrid Systems with Partitioned State Space and Unspecified Discrete State Sequence. Proceedings of the 49th IEEE Conference on Decision and Control (CDC 2010), 2010 more…
- An Algorithm for Discrete State Sequence and Trajectory Optimization for Hybrid Systems with Partitioned State Space. Proceedings of the 49th IEEE Conference on Decision and Control (CDC 2010), 2010 more…
- Optimized Parallel Joint Springs in Dynamic Motion: Comparison of Simulation and Experiment. Proceedings of the IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (Biorob), 2010 more…
2009
- Robot Basketball: Ball Dribbling - A Modified Juggling Task. In: Advances in Robotics Research. Springer, 2009, 323-334 more…
- Optimal Control and Design of Bipedal Robots with Compliance. at - Automatisierungstechnik 57 (7), 2009 more…
- Effects of Compliant Ankles on Bipedal Locomotion. Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009, 2761-2766 more…
- Virtual Holonomic Constraint Approach for Planar Bipedal Walking Robots Extended to Double Support. Proceedings of the IEEE International Conference on Decision and Control (CDC), 2009 more…
2008
- Stochastic Optimal Control for Hybrid Systems with Uncertain Discrete Dynamics. Proceedings of the IEEE Conference on Automation Science and Engineering, 2008 more…
- Compliance in Gait Synthesis: Effects on Energy and Gait. Proceedings of the IEEE International Conference on Humanoid Robots, 2008 more…
2007
- Invariance Controlled Balance of Legged Robots. Proceedings of the European Control Conference (ECC), 2007 more…
2005
- A Hybrid Mechatronic Tilting Robot: Modeling, Trajectories, and Control. Proceedings IFAC World Congress, International Federation of Automatic Control, 2005 more…
- Locomotion Studies for a 5-DoF Gymnastic Robot. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005 more…
- Hybrid Modeling and Control of a Monoped Robot with Variable Foot Contact. Journal of the Society of Instrument and Control Engineers SICE 44 (7), 2005, 477-485 more…
2004
- Hybrid Trajectory Planning for a Mechatronic Tilting System. Proceedings of the IEEE International Conference on Control Applications, 2004 more…
- Preliminary Studies on the Control of Tilting Mechatronic Systems. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004 more…