Foto von Marion Leibold

PD Dr.-Ing. habil. Marion Leibold

Technische Universität München

Lehrstuhl für Steuerungs- und Regelungstechnik (Prof. Buss)

Postadresse

Postal:
Theresienstr. 90
80333 München

Kurze Biographie

  • Januar 2021: Privatdozent, Fak. Elektrotechnik, TU München
  • Juli 2020: Habilitation, Fak. Elektrotechnik, TU München
  • April 2007: Dr.-Ing., Fak. Elektrotechnik, TU München
  • März 2004 - April 2007: Doktorandin, TU München
  • Januar 2003 - Februar 2004: Doktorandin, TU Berlin
  • April 2002: Diplom, Techno-Mathematik, TU München

Forschungsinteressen

  • Nichtlineare, robuste Regelung
  • Optimierung in der Regelung, Optimalsteuerung, Modellprädiktive Regelung
  • Sicherheit in der Regelung
  • Zweibeinige Roboter, Autonomes Fahren

Publikationen

2022

  • Dang, Ni; Brüdigam, Tim; Leibold, Marion; Buss, Martin: Combining Event-Based Maneuver Selection and MPC Based Trajectory Generation in Autonomous Driving. Electronics 11 (10), 2022 mehr… Volltext ( DOI ) Volltext (mediaTUM)
  • Fink, Michael; Brüdigam, Tim; Wollherr, Dirk; Leibold, Marion: Constraint Violation Probability Minimization for Norm-Constrained Linear Model Predictive Control. 2022 European Control Conference (ECC), 2022, 839-846 mehr… Volltext ( DOI )
  • Wang, Yongchao; Leibold, Marion; Lee, Jinoh; Ye, Wenyan; Xie, Jing; Buss, Martin: Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator. IEEE Transactions on Control Systems Technology, 2022, 1-16 mehr… Volltext ( DOI )

2021

  • Benciolini, Tommaso; Brüdigam, Tim; Leibold, Marion: Multistage Stochastic Model Predictive Control for Urban Automated Driving. 24rd IEEE International Conference on Intelligent Transportation Systems, 2021 mehr… Volltext ( DOI ) Volltext (mediaTUM)
  • Brüdigam, Tim; Capone, Alexandre; Hirche, Sandra; Wollherr, Dirk; Leibold, Marion;: 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 mehr… Volltext (mediaTUM)
  • Brüdigam, Tim; Gaßmann, Victor; Wollherr, Dirk; Leibold, Marion: Minimization of Constraint Violation Probability in Model Predictive Control. Int J Robust Nonlinear Control, 2021, 1-33 mehr… Volltext ( DOI ) Volltext (mediaTUM)
  • Brüdigam, Tim; Olbrich, Michael; Wollherr, Dirk; Leibold, Marion: Stochastic Model Predictive Control with a Safety Guarantee for Automated Driving. IEEE Transactions on Intelligent Vehicles, 2021, 1-1 mehr… Volltext ( DOI ) Volltext (mediaTUM)
  • Brüdigam, Tim; Prader, Daniel; Wollherr, Dirk; Leibold, Marion: Model Predictive Control with Models of Different Granularity and a Non-uniformly Spaced Prediction Horizon. American Control Conference (ACC), 2021 mehr… Volltext ( DOI )
  • Brüdigam, Tim; Teutsch, Johannes; Wollherr, Dirk; Leibold, Marion; Buss, Martin: Probabilistic Model Predictive Control for Extended Prediction Horizons. at - Automatisierungstechnik 69 (9), 2021, 759-770 mehr… Volltext ( DOI )
  • Brüdigam, Tim; Zhan, Jie; Wollherr, Dirk; Leibold, Marion: 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 mehr… Volltext (mediaTUM)
  • Zhou, Zhehua; Ögüz, Özgür S.; Leibold, Marion; Buss, Martin: 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 mehr… Volltext ( DOI ) Volltext (mediaTUM)

2020

  • Brüdigam, Tim; Teutsch, Johannes; Wollherr, Dirk; Leibold, Marion: Combined Robust and Stochastic Model Predictive Control for Models of Different Granularity. 21st IFAC World Congress, 2020 mehr… Volltext ( DOI ) Volltext (mediaTUM)
  • Brüdigam, Tim; di Luzio, Fulvio; Pallottino, Lucia; Wollherr, Dirk; Leibold, Marion: Grid-Based Stochastic Model Predictive Control for Trajectory Planning in Uncertain Environments. 2020 23rd IEEE International Conference on Intelligent Transportation Systems, 2020 mehr… Volltext ( DOI ) Volltext (mediaTUM)
  • Hayat, Rameez; Leibold, Marion; Buss, Martin: Addressing Control Implementation Issues in Robotic Systems Using Adaptive Control. Robotica 38 (1), 2020, 171-184 mehr… Volltext ( DOI )
  • Zhou, Zhehua; Ögüz, Özgür S.; Leibold, Marion; Buss, Martin: 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 mehr… Volltext ( DOI ) Volltext (mediaTUM)

2019

  • Zhang, Zengjie; Leibold, Marion; Wollherr, Dirk: Integral Sliding-Mode Observer-Based Disturbance Estimation for Euler-Lagrangian Systems. IEEE Transactions on Control Systems Technology, 2019, 1-13 mehr… Volltext ( DOI ) Volltext (mediaTUM)

2018

  • Apostolopoulos, Sotirios; Leibold, Marion; Buss, Martin: Transitioning Between Underactuated Periodic Orbits: An Optimal Control Approach for Settling Time Reduction. International Journal of Humanoid Robotics 15 (06), 2018, 1850027 mehr… Volltext ( DOI )
  • Brüdigam, Tim; Ahmic, Kenan; Leibold, Marion; Wollherr, Dirk: Legible Model Predictive Control for Autonomous Driving on Highways. IFAC-PapersOnLine 51 (20), 2018, 215-221 mehr… Volltext ( DOI ) Volltext (mediaTUM)
  • Brüdigam, Tim; Olbrich, Michael; Leibold, Marion; Wollherr, Dirk: 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 mehr… Volltext ( DOI ) Volltext (mediaTUM)
  • Hayat, Rameez; Leibold, Marion; Buss, Martin: Robust-Adaptive Controller Design for Robot Manipulators using the H∞ Approach. IEEE Access vol. 6, 2018, 51.626-51.639 mehr… Volltext ( DOI )

2017

  • Apostolopoulos, Sotirios; Sobotka (Leibold), Marion; Buss, Martin: Energy Efficient and Robust Balancing with Motion Primitive Switching. International Journal of Humanoid Robotics 14 (03), 2017, 1750009 mehr… Volltext ( DOI )
  • Dinh, Khoi Hoang; Weiler, Philipp; Sobotka (Leibold), Marion; Wollherr, Dirk: Fast and Close to Optimal Trajectory Generation for Articulated Robots in Reaching Motions. 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2017 mehr…
  • Manzinger, Stefanie; Sobotka (Leibold), Marion; Althoff, Matthias: Kooperative Bewegungsplanung autonomer Fahrzeuge unter Verwendung von Manöver-Templates. AAET - Automatisiertes und vernetztes Fahren, 2017, 348 - 367 mehr…
  • Manzinger, Stefanie; Sobotka (Leibold), Marion; Althoff, Matthias: Driving Strategy Selection for Cooperative Vehicles using Maneuver Templates. IEEE Intelligent Vehicles Symposium, 2017 mehr…
  • Sun, Yiyong; Zhang, Zengjie; Sobotka (Leibold), Marion; Hayat, Rameez; Wollherr, Dirk; Buss, Martin: Protective Control for Robot Manipulator by Sliding Mode based Disturbance Reconstruction Approach. 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2017 mehr… Volltext ( DOI ) Volltext (mediaTUM)
  • Weiß, Roman; Großmann, Benjamin; Sobotka (Leibold), Marion; Schlegl, Thomas; Wollherr, Dirk: Modeling and Nonlinear Control of Antagonistically Actuating Pneumatic Artificial Muscles. 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2017 mehr…

2016

  • Apostolopoulos, Sotirios; Sobotka (Leibold), Marion; Buss, Martin: Online Motion Planning Over Uneven Terrain with Walking Primitives and Regression. Proceedings of the 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016 mehr… Volltext (mediaTUM)

2015

  • Apostolopoulos, Sotirios; Sobotka (Leibold), Marion; Buss, Martin: 2015 IEEE International Conference on Intelligent Robots and Systems (IROS). Settling Time Reduction for Underactuated Walking Robots, 2015, 6402-6408 mehr… Volltext (mediaTUM)

2014

  • Apostolopoulos, Sotirios; Sobotka (Leibold), Marion; Buss, Martin: Motion primitives and Gaussian Processes for Exponentially Stable Bipedal Locomotion with Adjustable Step Length. Dynamic Walking 2014 mehr…
  • Passenberg, Benjamin; Sobotka (Leibold), Marion; Stursberg, Olaf; Buss, Martin: A Globally Convergent, Locally Optimal Min-H Algorithm for Hybrid Optimal Control. SIAM Journal on Control and Optimization 52 (1), 2014, 718-746 mehr…

2013

  • Passenberg, Benjamin; Caines, Peter E.; Sobotka (Leibold), Marion; Stursberg, Olaf; Buss, Martin: Optimal Control for Hybrid Systems With Partitioned State Space. IEEE Transactions an Automatic Control 58 (8), 2013, 2131-2136 mehr…

2012

  • Albrecht, Sebastian; Basili, Patrizia; Glasauer, Stefan; Sobotka (Leibold), Marion; Ulbrich, Michael: 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 mehr…
  • Albrecht, Sebastian; Sobotka (Leibold), Marion; Ulbrich, Michael: A Bilevel Optimization Approach to Obtain Optimal Cost Functions for Human Arm Movements. Numerical Algebra, Control and Optimization (NACO) 2 (1), 2012, 105-127 mehr…
  • Lee, Sohee; Sobotka (Leibold), Marion; Buss, Martin; Park, Frank Chongwoo: Rollover Prevention of Mobile Manipulators using Invariance Control and Recursive analytic ZMP Gradients. Advanced Robotics 26 (11-12), 2012, 1317-1341 mehr…
  • Lee, Sohee; Sobotka (Leibold), Marion; Buss, Martin; Park, Frank Chongwoo: Online Stability Compensation of Mobile Manipulators using Recursive Calculation of ZMP Gradients. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2012 mehr…
  • Papageorgiou, Markos; Sobotka (Leibold), Marion; Buss, Martin: Optimierung. Statische, dynamische, stochastische Verfahren für die Anwendung. Springer Vieweg (3. Aufl.), 2012 mehr…

2011

  • Albrecht, Sebastian; Ramirez-Amaro, Karinne; Ruiz-Ugalde, Federico; Weikersdorfer, David; Sobotka (Leibold), Marion; Ulbrich, Michael; Beetz, Michael: Imitating Human Reaching Motions using Physically Inspired Principles. 1th IEEE-RAS International Conference on Humanoid Robots, 2011 mehr…
  • Mangesius, Herbert; Sobotka (Leibold), Marion; Stursberg, Olaf: Consensus Based Decoupling in Hybrid Optimization of Cooperative Transportation Planning. Proceedings of the 18th IFAC World Congress, 2011 mehr…
  • Passenberg, Benjamin; Kröninger, Magnus; Schnattinger, Georg; Sobotka (Leibold), Marion; Stursberg, Olaf; Buss, Martin: Initialization Concepts for Optimal Control of Hybrid Systems. Proceedings of the 18th IFAC World Congress, 2011 mehr…
  • Passenberg, Benjamin; Sobotka (Leibold), Marion; Stursberg, Olaf; Buss, Martin: 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 mehr…
  • Steinegger, Michael; Passenberg, Benjamin; Sobotka (Leibold); Buss, Martin: 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 mehr…

2010

  • Albrecht, Sebastian; Passenberg, Carolina; Sobotka, Marion; Peer, Angelika; Buss, Martin; Ulbrich, Michael: Optimization Criteria for Human Trajectory Formation in Dynamic Virtual Environments. Proceedings of Eurohaptics, 2010 mehr…
  • Kraus, Sven; Albrecht, Sebastian; Sobotka, Marion; Heißing, Bernd; Ulbrich, Michael: 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 mehr…
  • Passenberg, Benjamin; Caines, Peter E.; Sobotka, Marion; Stursberg, Olaf; Buss, Martin: 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 mehr…
  • Passenberg, Benjamin; Sobotka, Marion; Stursberg, Olaf; Buss, Martin; Caines, Peter E.: 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 mehr…
  • Scheint, Michael; Sobotka, Marion; Buss, Martin: 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 mehr…

2009

  • Bätz, G.; Sobotka, M.; Wollherr, D.; Buss, M.: Robot Basketball: Ball Dribbling - A Modified Juggling Task. In: T. Kröger, F. M. Wahl (Hrsg.): Advances in Robotics Research. Springer, 2009, 323-334 mehr…
  • Mombaur, K.; Scheint, M.; Sobotka, M.: Optimal Control and Design of Bipedal Robots with Compliance. at - Automatisierungstechnik 57 (7), 2009 mehr…
  • Schauß, T.; Scheint, M.; Sobotka, M.; Seiberl, W.; Buss, M.: Effects of Compliant Ankles on Bipedal Locomotion. Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009, p. 2761-2766 mehr…
  • Scheint, M.; Sobotka, M.; Buss, M.: 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 mehr…

2008

  • Adamek, F.; Sobotka, M.; Stursberg, O.: Stochastic Optimal Control for Hybrid Systems with Uncertain Discrete Dynamics. Proceedings of the IEEE Conference on Automation Science and Engineering, 2008 mehr…
  • Scheint, M.; M. Sobotka,; Buss, M.: Compliance in Gait Synthesis: Effects on Energy and Gait. Proceedings of the IEEE International Conference on Humanoid Robots, 2008 mehr…

2007

  • Sobotka, M.; Wolff, J.; Buss, M.: Invariance Controlled Balance of Legged Robots. Proceedings of the European Control Conference (ECC), 2007 mehr…

2005

  • Sobotka, M.; Buss, M.: A Hybrid Mechatronic Tilting Robot: Modeling, Trajectories, and Control. Proceedings IFAC World Congress, International Federation of Automatic Control, 2005 mehr…
  • Sobotka, M.; Buss, M.: Locomotion Studies for a 5-DoF Gymnastic Robot. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005 mehr…
  • Sobotka, M.; Buss, M.: 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 mehr…

2004

  • Sobotka, M.; Buss, M.: Hybrid Trajectory Planning for a Mechatronic Tilting System. Proceedings of the IEEE International Conference on Control Applications, 2004 mehr…
  • Sobotka, M.; Buss, M.: Preliminary Studies on the Control of Tilting Mechatronic Systems. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004 mehr…