2024
Minimal Constraint Violation Probability in Model Predictive Control for Linear Systems.
IEEE Trans. Autom. Control., October, 2024
Decentralized multi-agent reinforcement learning based on best-response policies.
Frontiers Robotics AI, 2024
Stochastic Model Predictive Control With Minimal Constraint Violation Probability for Time-Variant Chance Constraints.
IEEE Control. Syst. Lett., 2024
Safe and Non-Conservative Trajectory Planning for Autonomous Driving Handling Unanticipated Behaviors of Traffic Participants.
CoRR, 2024
Sampling-based Stochastic Data-driven Predictive Control under Data Uncertainty.
CoRR, 2024
Adaptive Multi-Model Fault Diagnosis of Dynamic Systems for Motion Tracking.
IEEE Access, 2024
Adaptive Stochastic Predictive Control from Noisy Data: A Sampling-based Approach.
Proceedings of the 63rd IEEE Conference on Decision and Control, 2024
Combining Belief Function Theory and Stochastic Model Predictive Control for Multi-Modal Uncertainty in Autonomous Driving.
Proceedings of the American Control Conference, 2024
Exponential Mean-Square Stability of Linear Systems subject to Slowly Varying Delays with Known Stochastic Distribution.
Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics, 2024
2023
Constraint trajectory planning for redundant space robot.
Neural Comput. Appl., December, 2023
Non-Conservative Trajectory Planning for Automated Vehicles by Estimating Intentions of Dynamic Obstacles.
IEEE Trans. Intell. Veh., March, 2023
Space splitting convexification: a local solution method for nonconvex optimal control problems.
Int. J. Control, February, 2023
Stochastic Model Predictive Control With a Safety Guarantee for Automated Driving.
IEEE Trans. Intell. Veh., January, 2023
Probabilistic Inference-Based Robot Motion Planning via Gaussian Belief Propagation.
IEEE Robotics Autom. Lett., 2023
Optimal Control for Indoor Vertical Farms Based on Crop Growth.
CoRR, 2023
Comparison of Dynamic Tomato Growth Models for Optimal Control in Greenhouses.
CoRR, 2023
An Online Adaptation Strategy for Direct Data-driven Control.
CoRR, 2023
Offline Uncertainty Sampling in Data-driven Stochastic MPC.
CoRR, 2023
Disturbance Estimation for High-Degree-of-Freedom Euler-Lagrangian Systems Using Sliding Mode Observer without Matching Conditions.
CoRR, 2023
Grasping in Uncertain Environments: A Case Study For Industrial Robotic Recycling.
Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, 2023
2022
A Fast and Close-to-Optimal Receding Horizon Control for Trajectory Generation in Dynamic Environments.
Robotics, 2022
Bayesian optimization with unknown constraints in graphical skill models for compliant manipulation tasks using an industrial robot.
Frontiers Robotics AI, 2022
Safe Stochastic Model Predictive Control.
CoRR, 2022
A Fast Approach to Minimum Curvature Raceline Planning via Probabilistic Inference.
CoRR, 2022
MITI: SLAM Benchmark for Laparoscopic Surgery.
CoRR, 2022
Constrained Visual-Inertial Localization With Application And Benchmark in Laparoscopic Surgery.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022
A Force-Sensitive Grasping Controller Using Tactile Gripper Fingers and an Industrial Position-Controlled Robot.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022
Constraint Violation Probability Minimization for Norm-Constrained Linear Model Predictive Control.
Proceedings of the European Control Conference, 2022
Safe Stochastic Model Predictive Control.
Proceedings of the 61st IEEE Conference on Decision and Control, 2022
2021
An Online Robot Collision Detection and Identification Scheme by Supervised Learning and Bayesian Decision Theory.
IEEE Trans Autom. Sci. Eng., 2021
Adaptive neural backstepping control for flexible-joint robot manipulator with bounded torque inputs.
Neurocomputing, 2021
On the Frontier Between Kalman Conjecture and Markus-Yamabe Conjecture.
IEEE Control. Syst. Lett., 2021
Data-driven stochastic model predictive control.
CoRR, 2021
Gaussian Process-based Stochastic Model Predictive Control for Overtaking in Autonomous Racing.
CoRR, 2021
Probabilistic model predictive control for extended prediction horizons.
Autom., 2021
Collision Avoidance with Stochastic Model Predictive Control for Systems with a Twofold Uncertainty Structure.
Proceedings of the 24th IEEE International Intelligent Transportation Systems Conference, 2021
Globally Optimal Online Redundancy Resolution for Serial 7-DOF Kinematics Along SE(3) Trajectories.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021
MS2MP: A Min-Sum Message Passing Algorithm for Motion Planning.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021
Model Predictive Control with Models of Different Granularity and a Non-uniformly Spaced Prediction Horizon.
Proceedings of the 2021 American Control Conference, 2021
2020
Grid-Based Object Tracking With Nonlinear Dynamic State and Shape Estimation.
IEEE Trans. Intell. Transp. Syst., 2020
Integral Sliding-Mode Observer-Based Disturbance Estimation for Euler-Lagrangian Systems.
IEEE Trans. Control. Syst. Technol., 2020
On the Stability of Nonlinear Wheel-Slip Zero Dynamics in Traction Control Systems.
IEEE Trans. Control. Syst. Technol., 2020
An Online Trajectory Generator on SE(3) for Human-Robot Collaboration.
Robotica, 2020
A Concise and Geometrically Exact Planar Beam Model for Arbitrarily Large Elastic Deformation Dynamics.
Frontiers Robotics AI, 2020
Minimization of Constraint Violation Probability in Model Predictive Control.
CoRR, 2020
Combined Robust and Stochastic Model Predictive Control for Models of Different Granularity.
CoRR, 2020
Haptic Object Identification for Advanced Manipulation Skills.
Proceedings of the Biomimetic and Biohybrid Systems - 9th International Conference, 2020
Grid-Based Stochastic Model Predictive Control for Trajectory Planning in Uncertain Environments.
Proceedings of the 23rd IEEE International Conference on Intelligent Transportation Systems, 2020
Convexification of Semi-activity Constraints Applied to Minimum-time Optimal Control for Vehicles with Semi-active Limited-slip Differential.
Proceedings of the 17th International Conference on Informatics in Control, 2020
2019
An Ontology for Human-Human Interactions and Learning Interaction Behavior Policies.
ACM Trans. Hum. Robot Interact., 2019
Efficient Closed-Form Task Space Manipulability for a 7-DOF Serial Robot.
Robotics, 2019
Human-Like Motion Planning Based on Game Theoretic Decision Making.
Int. J. Soc. Robotics, 2019
Adaptation and Transfer of Robot Motion Policies for Close Proximity Human-Robot Interaction.
Frontiers Robotics AI, 2019
A Hybrid Human-Robot Collaborative Environment for Recycling Electrical and Electronic Equipment.
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Proceedings of the 2019 IEEE SmartWorld, 2019
Nonlinear Traction Control Design, Stability Analysis and Experiments for Vehicles with On-Demand 4WD Torque Bias Systems.
Proceedings of the 58th IEEE Conference on Decision and Control, 2019
2018
Grid-Based Environment Estimation Using Evidential Mapping and Particle Tracking.
IEEE Trans. Intell. Veh., 2018
Learning Hand Movement Interaction Control Using RNNs: From HHI to HRI.
IEEE Robotics Autom. Lett., 2018
A Hybrid Framework for Understanding and Predicting Human Reaching Motions.
Frontiers Robotics AI, 2018
Data Association for Grid-Based Object Tracking Using Particle Labeling.
Proceedings of the 21st International Conference on Intelligent Transportation Systems, 2018
Combining Stochastic and Scenario Model Predictive Control to Handle Target Vehicle Uncertainty in an Autonomous Driving Highway Scenario.
Proceedings of the 21st International Conference on Intelligent Transportation Systems, 2018
Automated Nonlinear Control Structure Design by Domain of Attraction Maximization with Eigenvalue and Frequency Domain Specifications.
Proceedings of the Informatics in Control, Automation and Robotics, 2018
Nonlinear Control Structure Design using Grammatical Evolution and Lyapunov Equation based Optimization.
Proceedings of the 15th International Conference on Informatics in Control, 2018
2017
Evidential Grid-Based Tracking and Mapping.
IEEE Trans. Intell. Transp. Syst., 2017
Socio-Contextual Constraints for Human Approach with a Mobile Robot.
Int. J. Soc. Robotics, 2017
Global localization of 3D point clouds in building outline maps of urban outdoor environments.
Int. J. Intell. Robotics Appl., 2017
Introduction to the focused section on sensing and perception for autonomous and networked robotics.
Int. J. Intell. Robotics Appl., 2017
Special issue on spatial reasoning and interaction for real-world robotics.
Adv. Robotics, 2017
Road geometry estimation for urban semantic maps using open data.
Adv. Robotics, 2017
A review of spatial reasoning and interaction for real-world robotics.
Adv. Robotics, 2017
Legible action selection in human-robot collaboration.
Proceedings of the 26th IEEE International Symposium on Robot and Human Interactive Communication, 2017
Progressive stochastic motion planning for human-robot interaction.
Proceedings of the 26th IEEE International Symposium on Robot and Human Interactive Communication, 2017
Local elevation mapping for automated vehicles using lidar ray geometry and particle filters.
Proceedings of the IEEE Intelligent Vehicles Symposium, 2017
Object tracking based on evidential dynamic occupancy grids in urban environments.
Proceedings of the IEEE Intelligent Vehicles Symposium, 2017
An online trajectory generator on SE(3) with magnitude constraints.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017
A game-theoretic approach for adaptive action selection in close proximity human-robot-collaboration.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017
Grammatical Evolution of Robust Controller Structures Using Wilson Scoring and Criticality Ranking.
Proceedings of the Genetic Programming - 20th European Conference, 2017
Modeling and nonlinear control of antagonistically actuating pneumatic artificial muscles.
Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics, 2017
Protective control for robot manipulator by sliding mode based disturbance reconstruction approach.
Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics, 2017
Motion recognition by natural language including success and failure of tasks for co-working robot with human.
Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics, 2017
Fast and close to optimal trajectory generation for articulated robots in reaching motions.
Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics, 2017
2016
Grid-Based Multi-Road-Course Estimation Using Motion Planning.
IEEE Trans. Veh. Technol., 2016
A Game-Theoretic Approach to Replanning-Aware Interactive Scene Prediction and Planning.
IEEE Trans. Veh. Technol., 2016
A Combined Model- and Learning-Based Framework for Interaction-Aware Maneuver Prediction.
IEEE Trans. Intell. Transp. Syst., 2016
Modeling Laser Intensities For Simultaneous Localization and Mapping.
IEEE Robotics Autom. Lett., 2016
Quadratization and Roof Duality of Markov Logic Networks.
J. Artif. Intell. Res., 2016
Understanding Human Avoidance Behavior: Interaction-Aware Decision Making Based on Game Theory.
Int. J. Soc. Robotics, 2016
Measuring the Effectiveness of Readability for Mobile Robot Locomotion.
Int. J. Soc. Robotics, 2016
Closed-loop safety assessment of uncertain roadmaps.
Auton. Robots, 2016
Local elevation mapping based on low mounted lidar sensors with narrow vertical field of view.
Proceedings of the 19th IEEE International Conference on Intelligent Transportation Systems, 2016
Hybrid Human Motion Prediction for Action Selection Within Human-Robot Collaboration.
Proceedings of the International Symposium on Experimental Robotics, 2016
2015
Robotics in Human Environments
PhD thesis, 2015
The Interactive Urban Robot: User-centered development and final field trial of a direction requesting robot.
Paladyn J. Behav. Robotics, 2015
Can You Read My Face? - A Methodological Variation for Assessing Facial Expressions of Robotic Heads.
Int. J. Soc. Robotics, 2015
IURO - Soziale Mensch-Roboter-Interaktion in den Straßen von München.
Autom., 2015
Please take over! An analysis and strategy for a driver take over request during autonomous driving.
Proceedings of the 2015 IEEE Intelligent Vehicles Symposium, 2015
Adaptive rectangular cuboids for 3D mapping.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015
IBuILD: Incremental bag of Binary words for appearance based loop closure detection.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015
Investigating similarity measures for locomotor trajectories based on the human perception of differences in motions.
Proceedings of the 2015 IEEE International Workshop on Advanced Robotics and its Social Impacts, 2015
An approach to integrate human motion prediction into local obstacle avoidance in close human-robot collaboration.
Proceedings of the 2015 IEEE International Workshop on Advanced Robotics and its Social Impacts, 2015
2014
Efficient Evaluation of Collisions and Costs on Grid Maps for Autonomous Vehicle Motion Planning.
IEEE Trans. Intell. Transp. Syst., 2014
RMAP: a rectangular cuboid approximation framework for 3D environment mapping.
Auton. Robots, 2014
A prediction-based reactive driving strategy for highly automated driving function on freeways.
Proceedings of the 2014 IEEE Intelligent Vehicles Symposium Proceedings, 2014
The Interactive Urban Robot IURO: Towards Robot Action in Human Environments.
Proceedings of the Experimental Robotics, 2014
Interactive navigation of humans from a game theoretic perspective.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014
Environment-based trajectory clustering to extract principal directions for autonomous vehicles.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014
Determining states of inevitable collision using reachability analysis.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014
Grid-based mapping and tracking in dynamic environments using a uniform evidential environment representation.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014
Using penalized spline regression to calculate mean trajectories including confidence intervals of human motion data.
Proceedings of the 2014 IEEE Workshop on Advanced Robotics and its Social Impacts, 2014
2013
Increasing Helpfulness towards a Robot by Emotional Adaption to the User.
Int. J. Soc. Robotics, 2013
Dynamic contact force/torque observer: Sensor fusion for improved interaction control.
Int. J. Robotics Res., 2013
Road course estimation in unknown, structured environments.
Proceedings of the 2013 IEEE Intelligent Vehicles Symposium (IV), 2013
Interactive scene prediction for automotive applications.
Proceedings of the 2013 IEEE Intelligent Vehicles Symposium (IV), 2013
Path planning on grid maps with unknown goal poses.
Proceedings of the 16th International IEEE Conference on Intelligent Transportation Systems, 2013
Energy optimal control to approach traffic lights.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013
Route description interpretation on automatically labeled robot maps.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013
2012
MuRoCo: A Framework for Capability- and Situation-Aware Coalition Formation in Cooperative Multi-Robot Systems.
J. Intell. Robotic Syst., 2012
Impacts of Multimodal Feedback on Efficiency of Proactive Information Retrieval from Task-Related HRI.
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J. Adv. Comput. Intell. Intell. Informatics, 2012
Safety assessment of robot trajectories for navigation in uncertain and dynamic environments.
Auton. Robots, 2012
Online Semantic Mapping of Urban Environments.
Proceedings of the Spatial Cognition VIII - International Conference, 2012
Feedback guidelines for multimodal human-robot interaction: How should a robot give feedback when asking for directions?
Proceedings of the 21st IEEE International Symposium on Robot and Human Interactive Communication, 2012
Lane-based safety assessment of road scenes using Inevitable Collision States.
Proceedings of the 2012 IEEE Intelligent Vehicles Symposium, 2012
Proactively Approaching Pedestrians with an Autonomous Mobile Robot in Urban Environments.
Proceedings of the Experimental Robotics, 2012
Maneuver-based risk assessment for high-speed automotive scenarios.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
An emotional adaption approach to increase helpfulness towards a robot.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
Proactive human approach in dynamic environments.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
PIRF 3D: Online spatial and appearance based loop closure.
Proceedings of the 12th International Conference on Control Automation Robotics & Vision, 2012
An optimization approach for 3D environment mapping using normal vector uncertainty.
Proceedings of the 12th International Conference on Control Automation Robotics & Vision, 2012
Robot Basketball - A New Challenge for Real-Time Control.
Proceedings of the Advances in Real-Time Systems (to Georg Färber on the occasion of his appointment as Professor Emeritus at TU München after leading the Lehrstuhl für Realzeit-Computersysteme for 34 illustrious years)., 2012
Towards transferability of theories on prosocial behavior from Social Psychology to HRI.
Proceedings of the 2012 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), 2012
On-line Trajectory Generation for Safe and Optimal Vehicle Motion Planning.
Proceedings of the Autonomous Mobile Systems 2012, 2012
2011
System interdependence analysis for autonomous robots.
Int. J. Robotics Res., 2011
Toward Dynamic Manipulation for Humanoid Robots: Experiments and Design Aspects.
Int. J. Humanoid Robotics, 2011
Following route graphs in urban environments.
Proceedings of the 20th IEEE International Symposium on Robot and Human Interactive Communication, 2011
Improving aspects of empathy and subjective performance for HRI through mirroring facial expressions.
Proceedings of the 20th IEEE International Symposium on Robot and Human Interactive Communication, 2011
Dialog strategies for handling miscommunication in task-related HRI.
Proceedings of the 20th IEEE International Symposium on Robot and Human Interactive Communication, 2011
Real-time 3D hand gesture interaction with a robot for understanding directions from humans.
Proceedings of the 20th IEEE International Symposium on Robot and Human Interactive Communication, 2011
Computing unions of Inevitable Collision States and increasing safety to unexpected obstacles.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011
Dynamic Window Approach for omni-directional robots with polygonal shape.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011
Safety assessment of trajectories for navigation in uncertain and dynamic environments.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011
Revealing Cluster Formation over Huge Volatile Robotic Data.
Proceedings of the Data Mining Workshops (ICDMW), 2011
2010
A Framework for Information Distribution, Task Execution and Decision Making in Multi-Robot Systems.
IEICE Trans. Inf. Syst., 2010
Wenn Roboter nach dem Weg fragen (Navigation by natural human-Robot Interaction).
Autom., 2010
Humanoide Robotik (Humanoid Robotics).
Autom., 2010
Towards a dialog strategy for handling miscommunication in human-robot dialog.
Proceedings of the 19th IEEE International Conference on Robot and Human Interactive Communication, 2010
Safety verification of autonomous vehicles for coordinated evasive maneuvers.
Proceedings of the IEEE Intelligent Vehicles Symposium (IV), 2010
Interconnected performance optimization in complex robotic systems.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010
Ball dribbling with an underactuated continuous-time control phase: Theory & experiments.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010
Ball dribbling with an underactuated continuous-time control phase.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010
Probabilistic collision state checker for crowded environments.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010
Robots asking for directions: the willingness of passers-by to support robots.
Proceedings of the 5th ACM/IEEE International Conference on Human Robot Interaction, 2010
2009
The Autonomous City Explorer: Towards Natural Human-Robot Interaction in Urban Environments.
Int. J. Soc. Robotics, 2009
System interdependence analysis for autonomous mobile robots.
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009
The Autonomous City Explorer (ACE) project - mobile robot navigation in highly populated urban environments.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009
Realtime segmentation of range data using continuous nearest neighbors.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009
Comparison of surface normal estimation methods for range sensing applications.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009
Information retrieval system for human-robot communication - Asking for directions.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009
The Autonomous City Explorer project.
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Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009
Robot basketball: A comparison of ball dribbling with visual and force/torque feedback.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009
An Architecture for Real-Time Control in Multi-robot Systems.
Proceedings of the Human Centered Robot Systems, Cognition, Interaction, Technology, 2009
2008
Human-Robot Collaboration: a Survey.
Int. J. Humanoid Robotics, 2008
A methodological variation for acceptance evaluation of Human-Robot Interaction in public places.
Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, 2008
Probabilistic mapping of dynamic obstacles using Markov chains for replanning in dynamic environments.
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008
Bayesian state estimation and behavior selection for autonomous robotic exploration in dynamic environments.
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008
Basketball robot: Ball-On-Plate with pure haptic information.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008
A clustering method for efficient segmentation of 3D laser data.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008
2007
Cognitive Technical Systems - What Is the Role of Artificial Intelligence?
Proceedings of the KI 2007: Advances in Artificial Intelligence, 2007
The autonomous city explorer project: aims and system overview.
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29, 2007
Combined Trajectory Planning and Gaze Direction Control for Robotic Exploration.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007
2006
Online Posture Correction for Humanoid Walking Robots (Online Haltungskorrektur für humanoide Laufroboter).
Autom., 2006
Information-Based Gaze Direction Planning Algorithm for SLAM.
Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, 2006
2004
Posture modification for biped humanoid robots based on Jacobian method.
Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 28, 2004
2003
Cost-oriented virtual reality and real-time control system architecture.
Robotica, 2003
Development and control of autonomous, biped locomotion using efficient modeling, simulation, and optimization techniques.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003
2002
Actuator selection and hardware realization of a small and fast-moving, autonomous humanoid robot.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September 30, 2002
2001
Rollover avoidance for steerable vehicles by invariance control.
Proceedings of the 6th European Control Conference, 2001