Biography:

Abdalla Swikir is a Senior Scientist and Teaching Coordinator at the Munich Institute of Robotics and Machine Intelligence (MIRMI). He leads two research field groups: Robotic Systems and Mechatronics and Robot Learning. Abdalla Swikir is an IEEE senior member and the recipient of the 2023 IEEE CSS George S. Axelby Outstanding Paper Award. This prize was awarded for the best article in the IEEE Transactions on Automatic Control. He embarked on hid educational journey with a B.Sc. in Electrical Engineering from Omar Al-Mukhtar University, Libya in 2008, followed by an M.Sc. in Electrical Engineering from Ohio State University, USA in 2015. This path led him to achieve a doctorate from the Technical University of Munich in 2020. At MIRMI, He also contributes to several high-profile projects, coordinates and delivers various courses, and steers the MIRMI graduate program.

Research interests

• Robotics Systems and Mechatronics design
• Quantum robotics and control systems
• Safe learning in robotic control and autonomous systems
• Compositional analysis and synthesis of interconnected systems
• Symbolic Control
• Control barrier function
• Incremental stability
• Stability analysis of infinite networks

Projects

euROBIN

CeTI

DARKO

KI_CP@TUM

SAM

 

Teaching and eduation activites

Courses 

MIRMI Graduate Program

Labs

Mechatronics I: System Design Lab

Mechatronics II: Mechatronics Development Lab

Mechatronics III: Assembly, Integration, and Testing Lab

 

Publications

Preprints

• P. So, A. Abdelrahmen, H. Le, A. Swikir, A. and S. Haddadin. "Towards Mastering Real-World Robot Benchmarking: Lessons Learned from the Robothon Grand Challenge." Submitted for publication, 2024.
• M. Mannone, A. Swikir, P. Fazio, and S. Haddadin. "A Novel Theoretical Approach on Micro-Nano Robotic Networks Based on Density Matrices and Swarm Quantum Mechanics." Submitted for publication, 2024.
• A. Aminzadeh, A. Swikir, S. Haddadin, and A. Lavaei. Compositional Safety Verification of Infinite Networks: A Data-Driven Approach. Submitted for publication, 2023.
• M. Abdelrahim, D. Almakhles, and A. Swikir. Quantized Periodic Event-triggered Control for LTI Systems with 1-bit Data Transmission. Submitted for publication, 2023.
• L. Chen, H. Yu, A.Naceri, A. Swikir, and S. Haddadin. Trajectory Planning for Non-Prehensile Object Transportation. Submitted for publication, 2023.

Journal Articles

• E. P. Fortunic, M.C. Yildirim, D. Ossadnik, A. Swikir, S. Abdolsah, and S. Haddadin. Optimally controlling the timing of energy transfer in elastic joints: Experimental validation of the Bi-Stiffness Actuation concept. IEEE Robotics and Automation Letters, 2023.
• R. Ringwald, S. Zong, A. Swikir, and S. Haddadin. Automatic Gripper-Finger Design, Production and Application: Towards Fast and Cost Effective Small Batch Production. IEEE Robotics and Automation Magazine, 2023.
• R. Ringwald, S. Schneider, L. Chen, D. Knobbe, L. Johannsmeier, A. Swikir, and S. Haddadin. Towards Task-Specific Modular Gripper Fingers: Automatic Production of Fingertip Mechanics. IEEE Robotics and Automation Letters, 2023.
• M. Sharifi, A. Swikir, N. Noroozi and M. Zamani. Compositional Construction of Abstractions for Infinite Networks of Discrete-Time Switched Systems. Nonlinear Analysis: Hybrid Systems, Volume 44, 2022.
• S. Liu, A. Swikir, and M. Zamani. Verification of initial-state opacity for switched systems: A compositional approach. Nonlinear Analysis: Hybrid Systems, Volume 42, 2021.
• C. Kawan, A. Mironchenko, A. Swikir, N. Noroozi, and M. Zamani. A Lyapunov-based small-gain theorem for infinite networks. IEEE Transactions on Automatic Control, vol. 66, no. 12, pp. 5830-5844, 2021. (The 2023 IEEE CSS George S. Axelby Outstanding Paper Award)
• A. Swikir, A. Girard, and M. Zamani. Symbolic Models for a Class of Impulsive Systems. IEEE Control Systems Letters, 5(1), pp. 247-252, June 2020. (The 59th Conference on Decision and Control 2020.)
• A. Swikir and M. Zamani. Compositional synthesis of finite abstractions for networks of systems: A small-gain approach. Automatica, 107, pp. 551 - 561, September 2019.
• A. Swikir and M. Zamani. Compositional synthesis of symbolic models for networks of switched systems. IEEE Control Systems Letters, 3(4), pp. 1056 - 1061, June 2019. (The 58th Conference on Decision and Control 2019.)

Peer Reviewed Conference Proceedings

• P. So, R. Muchacho, R. Kirschner, A. Swikir, L. Figueredo, F. Abu-Dakka, and S. Haddadin. CITR: A Coordinate-Invariant Task Representation for Robotic Manipulation.  Accepted, to appear.
• M. Schonger, H.T. M. Kussaba, L. Chen, L. Figueredo, A. Swikir, A. Billard, and S. Haddadin. Learning barrier-certified polynomial dynamical systems for obstacle avoidance with robots. Accepted, to appear.
• L. Chen, A.Naceri, A. Swikir, S. Hirche, and S. Haddadin. Autonomous and Teleoperation Control of a Drawing Robot Avatar. Accepted, to appear.
• D. Ossadnik, Vasilije Rakčevi, M.C. Yildirim, E. P. Fortunic, H.T. M. Kussaba, A. Swikir, and S. Haddadin. Optimal Control for Clutched-Elastic Robotic Systems: A Contact-Implicit Approach. Accepted, to appear.
• L. Chen, H. Yu, A.Naceri, A. Swikir, and S. Haddadin. Time Optimized Trajectory Planning for Non-Prehensile Object Transportation in 3D. European Robotics Forum, 2024.
• M. C. Yildirim, E. Pisano, M. Hamad, V. L. Mesle, A. Swikir and S. Haddadin. A Task-Aware Lightweight Link Design Framework for Robots Under Dynamic Loading. IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), 2023.
• S. Alaoui, A. Saoud, and P.Jagtap, and A. Swikir. Symbolic Models for Interconnected Impulsive Systems. 60nd IEEE Conference on Decision and Control (CDC), 2023.
• M. Eckhoff, D. Knobbe, H. Zwirnmann, A. Swikir, and S. Haddadin. Towards Connecting Control to Perception: High-Performance Whole-Body Collision Avoidance Using Control-Compatible Obstacles. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.
• M. Hamad, D.G. Moreno, H. T. Kussaba, N. Mansfeld, S. Abdolshah, A. Swikir, and S. Haddadin. Fast braking maneuvers for online robot control with stopping trajectory prediction. IFAC World Congress, 2023, accepted.
• H. T. Kussaba, A. Swikir, F. Wu, and S. Haddadin. Learning optimal controllers: A dynamical motion primitive approach. IFAC World Congress, 2023, accepted.
• X. Chen, L. Chen, H. Sadeghian, A. Swikir, and S. Haddadin. Unified Force-Impedance Controller in the Cloud. IEEE International Conference on Robotics and Automation (ICRA), 2023, accepted.
• D. Ossadnik, M.C. Yildirim, F. Wu, A. Swikir, S. Abdolsah and S. Haddadin. BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
• E. P. Fortunic, A. Swikir, S. Abdolsah and S. Haddadin. Comparing Digital Implementations of Torque Control for BLDC Motors with Trapezoidal Back-Emf. American Control Conference (ACC), 2022, pp. 2546-2552.
• M. Yildirim, M. Sabaghian, T. Goll, C. Koessler, C. Jaehne, A. Swikir, A. Sarabakha and S. Haddadin. Development of a Collaborative Wheeled Mobile Robot: Design Considerations, Drive Unit Torque Control and Preliminary Result. International Conference on Robotics and Automation (ICRA), 2022, pp. 5769-5775.
• L. Chen, A. Swikir and S. Haddadin. Drawing Elon Musk: A Robot Avatar for Remote Manipulation. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, pp. 4244-4251.
• R. Laha, J. Vorndamme., Luis F.C. Figueredo, Z. Qu , A. Swikir, C. Jahne, and S. Haddadin. Coordinated motion generation and object placement: a reactive planning and landing approach. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, pp. 9401-9407.
• R. Laha, L. F.C. Figueredo, J. Vrabel, A. Swikir, and S. Haddadin. Reactive Cooperative Manipulation based on Set Primitives and Circular Fields. IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 6577-6584.
• S. Liu, A. Swikir, and M. Zamani. Compositional verification of initial-state opacity for switched systems. 59th IEEE Conference on Decision and Control (CDC), 2020, pp. 2146-2151.
• M. Shahamat, J. Askari, A. Swikir, N. Noroozi and M. Zamani. Construction of continuous abstractions for discrete-time time-delay systems. 59th IEEE Conference on Decision and Control (CDC), 2020, pp. 881-886.
• M. Sharifi, A. Swikir, N. Noroozi and M. Zamani. Compositional Construction of abstractions for infinite networks of switched systems. 59th IEEE Conference on Decision and Control (CDC), 2020, pp. 476-481.
• C. Kawan, A. Mironchenko, A. Swikir, N. Noroozi, and M. Zamani. A spectral small-gain condition for input-to-state stability of infinite networks. IFAC-PapersOnLine, Volume 53, Issue 2, 2020, Pages 5303-5308.
• A. Swikir, N. Noroozi, and M. Zamani. Compositional synthesis of symbolic models for infinite networks. IFAC-PapersOnLine, Volume 53, Issue 2, 2020, Pages 1868-1873.
• P. Jagtap, A. Swikir, and M. Zamani. Compositional construction of control barrier functions for interconnected control systems. Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control, 2020.
• A. Swikir and M. Zamani. Compositional Abstractions of Interconnected Discrete-Time Switched Systems. 18th European Control Conference (ECC), 2019, pp. 1251-1256.
• N. Noroozi, A.Swikir, F. R. Wirth, and M. Zamani. Compositional construction of abstractions via relaxed small-gain conditions Part II: discrete case. 2018 European Control Conference (ECC), 2018, pp. 76-81.
• A. Swikir, A. Girard, and M. Zamani. From dissipativity theory to compositional synthesis of symbolic models.​​​​​​​ 2018 Indian Control Conference (ICC), 2018, pp. 30-35. (Best student paper award finalist)
• A. Swikir and V. Utkin. Chattering analysis of conventional and super twisting sliding mode control algorithm. 14th International Workshop on Variable Structure Systems (VSS), 2016, pp. 98-102.

Doctoral Dissertation and Master thesis

• Compositional Synthesis of Symbolic Models for (In)Finite Networks of Cyber-Physical Systems.
• Chattering Analysis of the System with Higher Order Sliding Mode Control.