2024
Learning-Based Prescribed-Time Safety for Control of Unknown Systems With Control Barrier Functions.
IEEE Control. Syst. Lett., 2024
Toward Near-Globally Optimal Nonlinear Model Predictive Control via Diffusion Models.
CoRR, 2024
Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation.
CoRR, 2024
Data-Driven Optimal Feedback Laws via Kernel Mean Embeddings.
CoRR, 2024
Nonparametric Control-Koopman Operator Learning: Flexible and Scalable Models for Prediction and Control.
CoRR, 2024
Decentralized Zeno-Free Event-Triggered Control For Multiple Networks Subject to Stochastic Network Delays and Poisson Pulsing Attacks.
CoRR, 2024
Cooperative Learning with Gaussian Processes for Euler-Lagrange Systems Tracking Control Under Switching Topologies.
Proceedings of the American Control Conference, 2024
2023
Variational Integrators and Graph-Based Solvers for Multibody Dynamics in Maximal Coordinates.
CoRR, 2023
Koopman Kernel Regression.
Proceedings of the Advances in Neural Information Processing Systems 36: Annual Conference on Neural Information Processing Systems 2023, 2023
2022
Diffeomorphically Learning Stable Koopman Operators.
IEEE Control. Syst. Lett., 2022
Dext-Gen: Dexterous Grasping in Sparse Reward Environments with Full Orientation Control.
CoRR, 2022
Towards Data-driven LQR with KoopmanizingFlows.
CoRR, 2022
Structure-Preserving Learning Using Gaussian Processes and Variational Integrators.
Proceedings of the Learning for Dynamics and Control Conference, 2022
Learning the Koopman Eigendecomposition: A Diffeomorphic Approach.
Proceedings of the American Control Conference, 2022
2021
KoopmanizingFlows: Diffeomorphically Learning Stable Koopman Operators.
CoRR, 2021
Linear-Time Contact and Friction Dynamics in Maximal Coordinates using Variational Integrators.
CoRR, 2021
Koopman operator dynamical models: Learning, analysis and control.
Annu. Rev. Control., 2021
Distributed Event- and Self-Triggered Coverage Control with Speed Constrained Unicycle Robots.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021
Distributed Learning Consensus Control for Unknown Nonlinear Multi-Agent Systems based on Gaussian Processes.
Proceedings of the 2021 60th IEEE Conference on Decision and Control (CDC), 2021
2020
Fully Distributed Cooperation for Networked Uncertain Mobile Manipulators.
IEEE Trans. Robotics, 2020
2014
Advances in Social and Underwater Robotics through Biomimetic Design (Fortschritte in der sozialen und Unterwasser Robotik durch biomimetisches Design)
PhD thesis, 2014
2013
Increasing Helpfulness towards a Robot by Emotional Adaption to the User.
Int. J. Soc. Robotics, 2013
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
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
An emotional adaption approach to increase helpfulness towards a robot.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 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
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
2010
AMOUR V: A Hovering Energy Efficient Underwater Robot Capable of Dynamic Payloads.
Int. J. Robotics Res., 2010
Wenn Roboter nach dem Weg fragen (Navigation by natural human-Robot Interaction).
Autom., 2010
Impact of Animal-Like Features on Emotion Expression of Robot Head EDDIE.
Adv. Robotics, 2010
A Multimodal Human-Robot-Dialog Applying Emotional Feedbacks.
Proceedings of the Social Robotics - Second International Conference on Social Robotics, 2010
Towards robotic facial mimicry: System development and evaluation.
Proceedings of the 19th IEEE International Conference on Robot and Human Interactive Communication, 2010
Multiple Parallel Vision-Based Recognition in a Real-Time Framework for Human-Robot-Interaction Scenarios.
Proceedings of the ACHI 2010, 2010
2009
The Autonomous City Explorer: Towards Natural Human-Robot Interaction in Urban Environments.
Int. J. Soc. Robotics, 2009
Generating artificial smile variations based on a psychological system-theoretic approach.
Proceedings of the 18th IEEE International Symposium on Robot and Human Interactive Communication, 2009
Navigation through urban environments by visual perception and interaction.
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
2008
Saving Energy with Buoyancy and Balance Control for Underwater Robots with Dynamic Payloads.
Proceedings of the Experimental Robotics, The Eleventh International Symposium, 2008
Looking at the surprise: Bottom-up attentional control of an active camera system.
Proceedings of the 10th International Conference on Control, 2008
2006
EDDIE - An Emotion-Display with Dynamic Intuitive Expressions.
Proceedings of the 15th IEEE International Symposium on Robot and Human Interactive Communication, 2006
Design and Evaluation of Emotion-Display EDDIE.
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006