Zeitschriftenartikel
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Becker, M.; Caspers, P.; Lilge, T.; Haddadin, S. & Müller, M. A. (2025): Informed Circular Fields: A Global Reactive Obstacle Avoidance Framework for Robotic Manipulator, Frontiers in Robotics and AI, 2025, vol. 11
DOI: 10.3389/frobt.2024.1447351 -
Schiller, J. D.; Grüne, L. & Müller, M. A. (2025): Performance guarantees for optimization-based state estimation using turnpike properties, Submitted
arXiv: 2501.18385 -
Wolff, T. M.; Menzel, M.; Dietrich, J. W. & Müller, M. A. (2025): Modeling and Predictive Control for the Treatment of Hyperthyroidism, Accepted for Mathmod 2025
arXiv: 2212.10096 -
Yin, M. & Müller, M. A. (2025): Gaussian Process-Based Prediction and Control of Hammerstein-Wiener Systems, submitted
arXiv: 2501.15849 -
Alsalti, M.; Barkey, M.; Lopez, V. G. & Müller, M. A. (2024): Robust and efficient data-driven predictive control, submitted
arXiv: 2409.18867 -
Alsalti, M.; Markovsky, I.; Lopez, V. G. & Müller, M. A. (2024): Data-based system representations from irregularly measured data, IEEE Transactions on Automatic Control, 2024, pp. 1-16
DOI: 10.1109/TAC.2024.3423053
arXiv: 2307.11589 -
Becker, M.; Köhler, J.; Haddadin, S. & Müller, M. A. (2024): Motion Planning using Reactive Circular Fields: A 2-D Analysis of Collision Avoidance and Goal Convergence, IEEE Transactions on Automatic Control, 2024, vol. 69, no. 3, pp. 1552-1567
DOI: 10.1109/TAC.2023.3303168
arXiv: 2210.16106 -
Burchard, C. v. d.; Kren, C.; Fleger, J.-E.; Theisen-Kunde, D.; Danicke, V.; Abbas, H. S.; Kleymann, V.; Roider, J. & Brinkmann, R. (2024): Real-Time Temperature-Controlled Retinal Laser Irradiation in Rabbits, Translational Vision Science & Technology April 2024, vol. 13, iss. 4, p. 26
DOI: 10.1167/tvst.13.4.26 -
Houska, B.; Müller, M. A. & Villanueva, M. E. (2024): Polyhedral Control Design: Theory and Methods, submitted
arXiv: 2412.13082 -
Houska, B.; Müller, M. A. & Villanueva, M. E. (2024): On Stabilizing Terminal Costs and Regions for Configuration-Constrained Tube MPC, IEEE Control Systems Letters, vol. 8, pp. 1961-1966
DOI: 10.1109/LCSYS.2024.3411517 -
Kleymann, V.; Eggert, S.; Schmidt, C.; Schaller, M.; Worthmann, K.; Brinkmann, R. & Müller, M. A. (2024): Model Predictive Temperature Control for Retinal Laser Treatments, Translational Vision Science & Technology September 2024, vol. 13, no. 9, p. 28
DOI: 10.1167/tvst.13.9.28 -
Köhler, J.; Müller, M. A. & Allgöwer, F. (2024): Analysis and design of model predictive control frameworks for dynamic operation—An overview, Annual Reviews in Control, vol. 57, p. 100929
DOI: 10.1016/j.arcontrol.2023.100929
arXiv: 2307.03004 -
Köhler, M.; Müller, M. A. & Allgöwer, F. (2024): Distributed MPC for Self-Organized Cooperation of Multiagent Systems, IEEE Transactions on Automatic Control, vol. 69, iss. 11, pp. 7988-7995
DOI: 10.1109/TAC.2024.3407633 -
Krauss, I.; Lopez, V. G. & Müller, M. A. (2024): Sample-based nonlinear detectability for discrete-time systems, IEEE Transactions on Automatic Control (Early Access), pp. 1-13
DOI: 10.1109/TAC.2024.3485486
arXiv: 2312.13658 -
Krauss, I.; Schiller, J. D; Lopez, V. G. & Müller, M. A. (2024): Event-triggered moving horizon estimation for nonlinear systems, submitted
arXiv: 2408.06208 -
Laha, R.; Becker, M.; Vorndamme, J.; Vrabel, J.; Figueredo, L. F. C;.Müller, M. A. & Haddadin, S. (2024): Predictive Multi-Agent-Based Planning and Landing Controller for Reactive Dual-Arm Manipulation, IEEE Transactions on Robotics, Vol. 40, pp. 864-885
DOI: 10.1109/TRO.2023.3341689 -
Lopez, V. G. & Müller, M. A. (2024): Data-Based Control of Continuous-Time Linear Systems with Performance Specifications, submitted
arXiv: 2403.00424 -
Lopez, V. G.; Müller, M. A. & Rapisarda, P. (2024): An Input-Output Continuous-Time Version of Willems’ Lemma, IEEE Control Systems Letters, vol. 8, pp. 916-921
DOI: 10.1109/LCSYS.2024.3406057
arXiv: 2405.15482 -
Markovsky, I.; Alsalti, M. ; Lopez, V. G. & Müller, M. A. (2024): Identification from data with periodically missing output samples, Automatica, 2024, Vol. 169, p. 111869
DOI: 10.1016/j.automatica.2024.111869 -
Nonhoff, M.; Dall'Anese, E. & Müller, M. A. (2024): Online convex optimization for robust control of constrained dynamical systems, submitted
arXiv: 2401.04487 -
Nonhoff, M.; Köhler, J. & Müller, M. A. (2024): Online convex optimization for constrained control of nonlinear systems, submitted
arXiv: 2412.00922 -
Schiller, J. D. & Müller, M. A. (2024): Moving horizon estimation for nonlinear systems with time-varying parameters, IFAC-PapersOnLine, Vol. 58, No. 18, pp. 341-348
DOI: 10.1016/j.ifacol.2024.09.053
arXiv: 2404.09566 -
Schiller, J. D. & Müller, M. A. (2024): Robust stability of moving horizon estimation for continuous-time systems, at - Automatisierungstechnik, Vol. 72, No. 2, pp. 120-133
DOI: 10.1515/auto-2023-0087
arXiv: 2305.06614 -
Schiller, J. D.; Grüne, L. & Müller, M. A. (2024): Optimal state estimation: Turnpike analysis and performance results, Submitted
arXiv: 2409.14873 -
Schwenkel, L.; Briem, D.; Müller, M. A.& Allgöwer, F. (2024): On discount functions for economic model predictive control without terminal conditions, submitted
arXiv: 2405.14361 -
Schwenkel, L.; Hadorn, A.; Müller, M. A. & Allgöwer, F. (2024): Linearly discounted economic MPC without terminal conditions for periodic optimal operation, Automatica, vol. 159, p. 111393
DOI: 10.1016/j.automatica.2023.111393 -
Villanueva, M. E.; Müller, M. A. & Houska, B. (2024): Configuration-Constrained Tube MPC, Automatica, 2024, vol. 163, p. 111543
DOI: 10.1016/j.automatica.2024.111543
arXiv: 2208.12554 -
Wolff, T. M.; Lopez, V. G. & Müller, M. A. (2024): Gaussian Process-Based Nonlinear Moving Horizon Estimation, submitted
arXiv: 2402.04665 -
Alsalti, M.; Lopez, V. G. & Müller, M. A. (2023): On the design of persistently exciting inputs for data-driven control of linear and nonlinear systems, IEEE Control Systems Letters, vol. 7, pp. 2629 - 2634
DOI: 10.1109/LCSYS.2023.3287133
arXiv: 2303.08707 -
Alsalti, M.; Lopez, V. G. & Müller, M. A. (2023): Notes on data-driven output-feedback control of linear MIMO systems, submitted
arXiv: 2311.17484 -
Alsalti, M.; Lopez, V. G; Berberich, J.; Allgöwer, F. & Müller, M. A. (2023): Data-Based Control of Feedback Linearizable Systems, IEEE Transactions on Automatic Control (Early Access)
DOI: 10.1109/TAC.2023.3249289
arXiv: 2204.01148 -
Knüfer, S. & Müller, M. A. (2023): Nonlinear Full Information and Moving Horizon Estimation: Robust Global Asymptotic Stability, Automatica, Vol. 150, p. 110603
DOI: 10.1016/j.automatica.2022.110603 -
Lopez, V. G.; Alsalti, M. & Müller, M. A. (2023): Efficient Off-Policy Q-Learning for Data-Based Discrete-Time LQR Problems, IEEE Transactions on Automatic Control, pp. 1-12
DOI: 10.1109/TAC.2023.3235967 -
Nonhoff, M. & Müller, M. A. (2023): On the relation between dynamic regret and closed-loop stability, Systems & Control Letters, vol. 177, p. 105532
DOI: 10.1016/j.sysconle.2023.105532
arXiv: 2209.05964 -
Schiller, J. D. & Müller, M. A. (2023): Nonlinear moving horizon estimation for robust state and parameter estimation, Submitted
arXiv: 2312.13175 -
Schiller, J. D. & Müller, M. A. (2023): Suboptimal nonlinear moving horizon estimation, IEEE Transactions on Automatic Control, Vol. 68, No. 4, pp. 2199-2214
DOI: 10.1109/TAC.2022.3173937
arXiv: 2108.13750 -
Schiller, J. D. & Müller, M. A. (2023): On an integral variant of incremental input/output-to-state stability and its use as a notion of nonlinear detectability, IEEE Control Systems Letters, Vol. 7, pp. 2341-2346
DOI: 10.1109/LCSYS.2023.3286174
arXiv: 2305.05442 -
Schiller, J. D.; Muntwiler, S.; Köhler, J.; Zeilinger, M. N. & Müller, M. A. (2023): A Lyapunov function for robust stability of moving horizon estimation, IEEE Transactions on Automatic Control, Vol. 68, Issue 12, pp. 7466-7481
DOI: 10.1109/TAC.2023.3280344
arXiv: 2202.12744 -
Schiller, J. D.; Wu, B. & Müller, M. A. (2023): A simple suboptimal moving horizon estimation scheme with guaranteed robust stability, IEEE Control Systems Letters, Vol. 7, pp. 19-24
DOI: 10.1109/LCSYS.2022.3186236
arXiv: 2203.16090 -
Schwenkel, L.; Koehler, J.; Müller, M. A. & Allgöwer, F. (2023): Model predictive control for linear uncertain systems using integral quadratic constraints, IEEE Transactions on Automatic Control, Vol. 68, Issue 1
DOI: 10.1109/TAC.2022.3171410 -
Soloperto, R.; Müller, M. A. & Allgöwer, F. (2023): Guaranteed closed-loop learning in Model Predictive Control, IEEE Transactions on Automatic Control, Vol. 68, Issue 2
DOI: 10.1109/TAC.2022.3172453 -
Berberich, J.; Köhler, J.; Müller, M. A. & Allgöwer, F. (2022): Linear tracking MPC for nonlinear systems part I: the model-based case, IEEE Trans. Automat. Control, Vol. 67, Issue 9, pp. 4390-4405
DOI: 10.1109/TAC.2022.3166872
arXiv: 2105.08560 -
Berberich, J.; Köhler, J.; Müller, M. A. & Allgöwer, F. (2022): Linear tracking MPC for nonlinear systems part II: the data-driven case, IEEE Trans. Automat. Control, Vol. 67, Issue 9, pp. 4406-4421
DOI: 10.1109/TAC.2022.3166851
arXiv: 2105.08567 -
Grüne, L.; Krügel, L. & Müller, M. A. (2022): Multiobjective strict dissipativity via a weighted sum approach, Systems & Control Letters, Vol. 170, p. 105396
DOI: 10.1016/j.sysconle.2022.105396 -
Kleyman, V.; Schaller, M.; Mordmüller, M.; Wilson, M.; Brinkmann, R.; Worthmann, K. & Müller, M. A. (2022): State and Parameter Estimation for Retinal Laser Treatment, IEEE Transactions on Control Systems Technology, pp. 1-13
DOI: 10.1109/TCST.2022.3228442
arXiv: 2203.12452 -
Klöppelt, C.; Berberich, J.; Allgöwer, F. & Müller, M. A. (2022): A novel constraint-tightening approach for robust data-driven predictive control, Int J Robust Nonlinear Control, pp. 1-22
DOI: 10.1002/rnc.6532 -
Köhler, J.; Müller, M. A. & Allgöwer, F. (2022): Constrained nonlinear output regulation using model predictive control, IEEE Transactions on Automatic Control, Vol. 67, Issue 5, pp. 2419-2434
DOI: 10.1109/TAC.2021.3081080 -
Köhler, P.; Müller, M. A. & Allgöwer, F. (2022): Approximate dissipativity of cost-interconnected systems in distributed economic MPC, IEEE Transactions on Automatic Control
DOI: 10.1109/TAC.2022.3173028 -
Nonhoff, M. & Müller, M. A. (2022): Online Convex Optimization for Data-Driven Control of Dynamical Systems, IEEE Open Journal of Control Systems, vol. 1, pp. 180-193
DOI: 10.1109/OJCSYS.2022.3200021 -
Schaller, M.; Kleyman, V.; Mordmüller, M.; Schmidt, C.; Wilson, M.; Brinkmann, R.; Müller, M. A. & Worthmann, K. (2022): Model predictive control for retinal laser treatment at 1 kHz, at - Automatisierungstechnik, Vol. 70, No. 11, pp. 992-1002
DOI: 10.1515/auto-2022-0030 -
Schaller, M.; Wilson, M.; Kleyman, V.; Mordmüller, M.; Brinkmann, R.; Müller, M. A. & Worthmann, K. (2022): Parameter estimation and model reduction for model predictive control in retinal laser treatment, Control Engineering Practice, Vol. 128, p. 105320
DOI: 10.1016/j.conengprac.2022.105320 -
Wolff, T. M.; Menzel, M.; Dietrich, J. W. & Müller, M. A. (2022): Treating Hyperthyroidism: Model Predictive Control for the Prescription of Antithyroid Agents, submitted
arXiv: 2212.10096 -
Wolff, T. M.; Veil, C.; Dietrich, J. W. & Müller, M. A. (2022): Mathematical Modeling and Simulation of Thyroid Homeostasis: Implications for the Allan-Herndon-Dudley Syndrome, Frontiers in Endocrinology, Vol. 13, No. 882788
DOI: 10.3389/fendo.2022.882788 -
Wolff, T.; Dietrich, J. W. & Müller, M. A. (2022): Optimal hormone replacement therapy in hypothyroidism - a model predictive control approach, Frontiers in Endocrinology, 13: 884018
DOI: 10.3389/fendo.2022.884018 -
Wolff, T.; Lopez, V. G. & Müller, M. A. (2022): Robust Data-Driven Moving Horizon Estimation for Linear Discrete-Time Systems, submitted
arXiv: 2210.09017 -
Becker, M.; Lilge, T.; Müller, M. A. & Haddadin, S. (2021): Circular Fields and Predictive Multi-Agents for Online Global Trajectory Planning, IEEE Robotics and Automation Letters, 2021, vol. 6, no. 2, pp. 2618-2625
DOI: 10.1109/LRA.2021.3061997 -
Berberich, J.; Köhler, J.; Müller, M. A. & Allgöwer, F. (2021): Data-driven model predictive control: closed-loop guarantees and experimental results, at–Automatisierungstechnik, vol 69
DOI: 10.1515/auto-2021-0024 -
Berberich, J.; Köhler, J.; Müller, M. A. & Allgöwer, F. (2021): Data-Driven Model Predictive Control With Stability and Robustness Guarantees, IEEE Transactions on Automatic Control, 2021, Vol. 66, No. 4, pp. 1702-1717
DOI: 10.1109/TAC.2020.3000182 -
Grüne, L.; Müller, M. A.; Kellett, C. M. & Weller, S. (2021): Strict dissipativity for discrete time discounted optimal control problems, Mathematical Control and Related Fields, Vol. 11, Iss. 4, pp. 771-796
DOI: 10.3934/mcrf.2020046 -
Köhler, P. N.; Müller, M. A.; Pannek, J. & Allgöwer, F. (2021): Distributed economic model predictive control for cooperative supply chain management using customer forecast information, IFAC Journal of Systems and Control, Vol. 15, 100125
DOI: 10.1016/j.ifacsc.2020.100125 -
Mordmüller, M.; Kleyman, V.; Schaller, M.; Wilson, M.; Theisen-Kunde, D.; Worthmann, K.; Müller, M. A. & Brinkmann, R. (2021): Towards temperature controlled retinal laser treament with a single 10kHz laser, Advanced Optical Technologies, Vol. 10, No. 6, pp. 423-431
DOI: 10.1515/aot-2021-0041 -
Berberich, J.; Köhler, J.; Allgöwer, F. & Müller, M. A. (2020): Dissipativity properties in constrained optimal control: a computational approach, Automatica, vol. 114, Article 108840
DOI: 10.1016/j.automatica.2020.108840 Beschreibung: -
Brändle, S.; Schmitt, S. & Müller, M. A. (2020): A systems-theoretic analysis of low-level human motor control: application to a single-joint arm model, Journal of Mathematical Biology 80, 1139–1158
DOI: 10.1007/s00285-019-01455-z Beschreibung: -
Kleyman, V.; Gernandt, H.; Worthmann, K.; Abbas, H. S.; Brinkmann, R. & Müller, M. A. (2020): Modeling and parameter identification for real-time temperature controlled retinal laser therapies, at - Automatisierungstechnik, 2020, 68, 953 - 966
DOI: 10.1515/auto-2020-0074 Beschreibung: -
Köhler, J.; Kötting, P.; Soloperto, R.; Allgöwer, F. & Müller, M. A. (2020): A robust adaptive model predictive control framework for nonlinear uncertain systems, International Journal of Robust and Nonlinear Control, Vol. 31, Issue 18, pp. 8725-8749
DOI: 10.1002/rnc.5147 -
Köhler, J.; Müller, M. A. & Allgöwer, F. (2020): A nonlinear model predictive control framework using reference generic terminal ingredients, IEEE Transactions on Automatic Control, 2020, 65, 3576-3583
DOI: 10.1109/TAC.2019.2949350 -
Köhler, J.; Müller, M. A. & Allgöwer, F. (2020): A nonlinear tracking model predictive control scheme for dynamic target Signals, Automatica Vol. 118, Aritcle 109030
DOI: 10.1016/j.automatica.2020.109030 -
Köhler, J.; Müller, M. A. & Allgöwer, F. (2020): Periodic optimal control of nonlinear constrained systems using economic model predictive control, Journal of Process Control, Vol. 92, pp. 185-201
DOI: 10.1016/j.jprocont.2020.06.004 -
Köhler, J.; Soloperto, R.; Müller, M. A. & Allgöwer, F. (2020): A computationally efficient robust model predictive control framework for uncertain nonlinear systems, IEEE Transactions on Automatic Control
DOI: 10.1109/TAC.2020.2982585 -
Pozzato, G.; Müller, M. A.; Formentin, S. & Savaresi, S. M. (2020): Economic MPC for online least costly energy management of hybrid electric vehicles, Control Engineering Practice, Vol.102, Article 104534
DOI: 10.1016/j.conengprac.2020.104534 -
Villanueva, M. E.; De Lazzari, E.; Müller, M. A. & Houska, B. (2020): A set-theoretic generalization of dissipativity with applications in tube MPC, Automatica, 2020, 122, 109179
DOI: 10.1016/j.automatica.2020.109179 -
Köhler, J.; Müller, M. A. & Allgöwer, F. (2019): Distributed model predictive control - Recursive feasibility under inexact dual optimization, Automatica, vol. 102, pp. 1-9
DOI: 10.1016/j.automatica.2018.12.037 Beschreibung: -
Köhler, J.; Müller, M. A. & Allgöwer, F. (2019): Nonlinear reference tracking: An economic model predictive control perspective, IEEE Trans. Automat. Control, vol. 64, no. 1, pp. 254-269.
DOI: 10.1109/TAC.2018.2800789 Beschreibung: -
Ma’touq, J.; Hu, T. & Haddadin, S. (2019): A Validated Combined Musculotendon Path and Muscle-Joint Kinematics Model for the Human Hand, Computer Methods in Biomechanics and Biomedical Engineering, vol. 0, no. 0, Taylor & Francis, pp. 1-13.
DOI: 10.1080/10255842.2019.1588256 Beschreibung: -
Wildhagen, S.; Müller, M. A. & Allgöwer, F. (2019): Predictive Control Over a Dynamical Token Bucket Network, IEEE Control Systems Letters, vol. 3, no. 4, pp 859-864
DOI: 10.1109/LCSYS.2019.2919264 Beschreibung: -
Bayer, Florian A.; Müller, Matthias A. & Allgöwer, Frank (2018): On optimal system operation in robust economic MPC, Automatica, vol. 88, pp. 98 - 106.
DOI: 10.1016/j.automatica.2017.11.007 Beschreibung: -
Berberich, J.; Dietrich, J. W.; Hoermann, R. & Müller, M. A. (2018): Mathematical modeling of the pituitary-thyroid feedback loop: role of a TSH-T3-shunt and sensitivity analysis, Frontiers in Endocrinology, vol. 9, pp. 91.
DOI: 10.3389/fendo.2018.00091 Beschreibung: -
Berberich, J.; Köhler, J.; Allgöwer, F. & Müller, M. A. (2018): Indefinite Linear Quadratic Optimal Control: Strict Dissipativity and Turnpike Properties, IEEE Control Systems Letters, vol. 2, no. 3, pp. 399-404.
DOI: 10.1109/LCSYS.2018.2842142 Beschreibung: -
Brunner, F. D.; Müller, M. A. & Allgöwer, F. (2018): Enhancing Output-feedback MPC with Set-valued Moving Horizon Estimation, IEEE Transactions on Automatic Control, vol. 63, no. 9, pp. 2976-2986.
DOI: 10.1109/TAC.2018.2791899 Beschreibung: -
Faulwasser, T.; Grüne, L. & Müller, M. A. (2018): Economic Nonlinear Model Predictive Control, Foundations and Trends in Systems and Control,, vol. 5, no. 1, pp. 1-98.
DOI: 10.1561/2600000014 Beschreibung: -
Haddadin, Sami and Krieger, Kai and Albu-Schäffer, Alin and Lilge, Torsten (2018): Exploiting Elastic Energy Storage for “Blind” Cyclic Manipulation: Modeling, Stability Analysis, Control and Experiments for Dribbling, IEEE Transactions on Robotics, Volume: 34, Issue: 1, Feb. 2018, 91-112 Weitere Informationen
DOI: 10.1109/TRO.2017.2765684 Beschreibung: -
Köhler, J.; Müller, M. A. & Allgöwer, F. (2018): On periodic dissipativity notions in economic model predictive control, IEEE Control Systems Letters, vol. 2, no. 3, pp. 501-506.
DOI: 10.1109/LCSYS.2018.2842426 Beschreibung: -
Köhler, P. N. ; Müller, M. A. & Allgöwer, F. (2018): A distributed economic MPC framework for cooperative control under conflicting objectives, Automatica, 96, 368 - 379
DOI: 10.1016/j.automatica.2018.07.001 -
Li, Y. and Ganesh, G.; Jarrasse, N.; Haddadin, S.; Albu-Schäffer, A. & Burdet, E. (2018): Force, Impedance and Trajectory Learning for Contact Tooling and Haptic Identification, IEEE Transactions on Robotics, 34, 1170-1182
DOI: 10.1109/TRO.2018.2830405 Beschreibung: -
Ma'touq, J., Hu, T. and Haddadin, S. (2018): Sub-Millimetre Accurate Human Hand Kinematics: from Surface to Skeleton, Computer Methods in Biomechanics and Biomedical Engineering, vol. 21, 2, 113-128 (Open Access)
DOI: 10.1080/10255842.2018.1425996 Beschreibung: -
Mansfeld, Nico; Hamad, Mazin; Becker, Marvin; Gonzales Marin, Antonio & Haddadin, Sami (2018): Safety Map: A Unified Representation for Biomechanics Impact Data and Robot Instantaneous Dynamic Properties, IEEE Robotics and Automation Letters, vol. 3, no. 3, pages 1880-1887 Weitere Informationen
DOI: 10.1109/LRA.2018.2801477 Beschreibung: -
Wiedemann, L. G.; Jayaneththi, V. R.; Kimpton, J.; Chan, A.; Müller, M. A.; Hogan, A.; Lim, E.; Wilson, N. C. & McDaid, A. J. (2018): Neuromuscular characterisation in Cerebral Palsy using hybrid Hill-type models on isometric contractions, Computers in Biology and Medicine, vol. 103, pp. 269-276.
DOI: 10.1016/j.compbiomed.2018.10.027 Beschreibung: -
Haddadin, Sami (2017): Passivitätsbasierte Kraft- und Impedanzregelung für Roboter mit starren Gelenken mittels Energietanks, at - Automatisierungstechnik, vol. 65, pp. 124-133
DOI: 10.1515/auto-2016-0108 Beschreibung: -
Haddadin, Sami and De Luca, Alessandro and Albu-Schäffer, Alin (2017): Robot Collisions: A Survey on Detection, Isolation, and Identification, IEEE Transactions on Robotics, 33(6), 1292-1312 Weitere Informationen
DOI: 10.1109/TRO.2017.2723903 Beschreibung: -
Houska, B. & Müller, M. A. (2017): Cost-to-travel functions: a new perspective on optimal and model predictive control, Syst. Contr. Lett., vol. 106, pp. 79-86.
DOI: 10.1016/j.sysconle.2017.06.005 Beschreibung: -
Johannsmeier, L., Haddadin, S. (2017): A Hierarchical Human-Robot Interaction-Planning Framework for Task Allocation in Collaborative Industrial Assembly Processes, IEEE Robotics and Automation Letters (RA-L), Volume 2, Issue 1, p. 41-48 Weitere Informationen
DOI: 10.1109/LRA.2016.2535907 Beschreibung: -
Kuehn, J., Haddadin, S. (2017): An Artificial Robot Nervous System To Teach Robots How To Feel Pain And Reflexively React To Potentially Damaging Contacts, IEEE Robotics and Automation Letters (RA-L), Volume 2, Issue 1, p. 72 - 79. Weitere Informationen
DOI: 10.1109/LRA.2016.2536360 Beschreibung: -
Lorenzen, M.; Müller, M. A. & Allgöwer, F. (2017): Stochastic Model Predictive Control without Terminal Constraints, Int. J. Robust and Nonlinear Control.
DOI: 10.1002/rnc.3912 Beschreibung: -
Müller, M. A. & Allgöwer, F. (2017): Economic and distributed model predictive control: recent developments in optimization-based control, SICE Journal of Control, Measurement, and System Integration, vol. 10, no. 2, pp. 39-52.
DOI: 10.9746/jcmsi.10.39 Beschreibung: -
Müller, Matthias A. (2017): Nonlinear moving horizon estimation in the presence of bounded disturbances, Automatica, vol. 79, pp. 306 - 314.
DOI: 10.1016/j.automatica.2017.01.033 Beschreibung: -
Müller, Matthias A. & Worthmann, Karl (2017): Quadratic costs do not always work in MPC, Automatica, vol. 82, pp. 269 - 277.
DOI: 10.1016/j.automatica.2017.04.058 Beschreibung: -
Tomic, Teodor and Ott, Christian and Haddadin, Sami (2017): External Wrench Estimation, Interaction Control and Collision Reflexes for Flying Robots, IEEE Transactions on Robotics, 33(6), 1467-1482
DOI: 10.1109/TRO.2017.2750703 Beschreibung: -
Bayer, F. A.; Lorenzen, M.; Müller, M. A. & Allgöwer, F. (2016): Robust Economic Model Predictive Control using Stochastic Information, Automatica, vol. 74, pp. 151-161.
DOI: 10.1016/j.automatica.2016.08.008 Beschreibung: -
Grüne, L. & Müller, M. A. (2016): On the relation between strict dissipativity and turnpike properties, System & Control Letters, vol. 90, pp. 45-53 (Brockett-Willems Outstanding Paper Award for the best paper published in Systems & Control Letters in the period 2014-2018).
DOI: 10.1016/j.sysconle.2016.01.003 Beschreibung: -
Müller, M. A. & Grüne, L. (2016): Economic model predictive control without terminal constraints for optimal periodic behavior, Automatica, vol. 70, pp. 128-139.
DOI: 10.1016/j.automatica.2016.03.024 Beschreibung: -
Tödtheide, A., Lilge, T., Haddadin, S. (2016): Antagonistic Impedance Control for Pneumatically Actuated Robot Joints , Robotics and Automation Letters, IEEE, vol. 1, no. 1, pp. 161-168 Weitere Informationen
DOI: 10.1109/LRA.2015.2511663 Beschreibung: -
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Konferenzbeiträge
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Wolff, T. M.; Lopez, V. G. & Müller, M. A. (2025): Gaussian Processes with Noisy Regression Inputs for Dynamical Systems, submitted
arXiv: 2408.08834 -
Alsalti, M.; Barkey, M.; Lopez, V. G. & Müller, M. A. (2024): Sample- and computationally efficient data-driven predictive control, Proceedings of the 22nd IEEE European Control Conference 2024. pp. 84-89
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arXiv: 2309.11238 -
Alsalti, M.; Lopez, V. G. & Müller, M. A. (2024): An efficient data-based off-policy Q-learning algorithm for optimal output feedback control of linear systems, Proceedings of the 6th Annual Learning for Dynamics & Control Conference, vol. 242, pp. 312-323 Weitere Informationen
arXiv: 2312.03451 -
Buschermöhle, P.; Jouini, T.; Lilge, T. & Müller, M. A. (2024): Disturbance feedback-based model predictive control in uncertain dynamic environments, 8th IFAC Conference on Nonlinear Model Predictive Control (NMPC 2024), IFAC-PapersOnLine. Vol. 58, pp. 146-152
DOI: 10.1016/j.ifacol.2024.09.023
arXiv: 2404.09893 -
Jouini, T.; Bensmann, A.; Lilge, T.; Rauschenbach, R. & Müller, M. A. (2024): Predictive Operation of Multi-Energy Systems in Sequential Markets: A Case Study, 2024 European Control Conference (ECC), Stockholm, Sweden. pp. 1509-1515
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Köhler, M.; Müller, M. A. & Allgöwer, F. (2024): Distributed Economic MPC with Adaptive Terminal Weights, 8th IFAC Conference on Nonlinear Model Predictive Control NMPC 2024, IFAC-PapersOnLine, vol. 58, no. 18, pp. 99-106
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Lopez, V. G. & Müller, M. A. (2024): Data-Based System Representation and Synchronization for Multiagent Systems, 2024 IEEE 63rd Conference on Decision and Control (CDC), pp. 6736-6742
DOI: 10.1109/CDC56724.2024.10886612
arXiv: 2404.13937 -
Zeug, F.; Becker, M. & Müller, M. A. (2024): Circular Field Motion Planning for Highly-Dynamic Multi-Robot Systems with Application to Robot Soccer, 2024 IEEE International Conference on Robotics and Automation (ICRA), pp. 13220-13226
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Alsalti, M.; Lopez, V. G.; Berberich, J.; Allgöwer, F. & Müller, M. A. (2023): Data-driven nonlinear predictive control for feedback linearizable systems, 22nd IFAC World Congress: Yokohama, Japan, July 9-14, 2023. IFAC-PapersOnLine, Vol. 56, Issue 2, pp. 617-624
DOI: 10.1016/j.ifacol.2023.10.1636
arXiv: 2211.06339 -
Becker, M.; Caspers, P.; Hattendorf, T.; Lilge, T.; Haddadin, S. & Müller, M. A. (2023): Informed Circular Fields for Global Reactive Obstacle Avoidance of Robotic Manipulators, 22nd IFAC World Congress: Yokohama, Japan, July 9-14, 2023. IFAC-PapersOnLine, Vol. 56, Issue 2, pp. 1017-1022
DOI: 10.1016/j.ifacol.2023.10.1698
arXiv: 2212.05815 -
Buschermöhle, P.; Lilge, T. & Müller, M. A. (2023): Robust model predictive control for linear sampled-data systems with irregular sampling times, 22nd IFAC World Congress: Yokohama, Japan, July 9-14, 2023. IFAC-PapersOnLine, Vol. 56, Issue 2, pp. 9399-9404
DOI: 10.1016/j.ifacol.2023.10.231 -
Lopez, V. G. & Müller, M. A. (2023): An efficient off-policy reinforcement learning algorithm for the continuous-time LQR problem, Accepted for IEEE 62nd Conference on Decision and Control (CDC)
DOI: 10.1109/CDC49753.2023.10384256
arXiv: 2303.17819 -
Menzel, M.; Wolff, T. M.; Dietrich, J. W. & Müller, M. A. (2023): Model predictive control for the prescription of antithyroid agents, Proceedings on Automation in Medical Engineering Weitere Informationen
arXiv: 2307.16690 -
Nonhoff, M.; Köhler, J. & Müller, M. A. (2023): Online convex optimization for constrained control of linear systems using a reference governor, 22nd IFAC World Congress: Yokohama, Japan, July 9-14, 2023. IFAC PapersOnLine, Vol. 56, Issue 2, pp 2570-2575
DOI: 10.1016/j.ifacol.2023.10.1340
arXiv: 2211.09088 -
Schiller, J. D. & Müller, M. A. (2023): A moving horizon state and parameter estimation scheme with guaranteed robust convergence, 22nd IFAC World Congress: Yokohama, Japan, July 9-14, 2023. IFAC-PapersOnLine, Vol. 56, Issue 2, pp. 6759-6764
DOI: 10.1016/j.ifacol.2023.10.382
arXiv: 2211.09053 -
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DOI: 10.1109/CDC49753.2023.10383304
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Berberich, J.; Köhler, J.; Müller, M. A. & Allgöwer, F. (2022): Stability in data-driven MPC: an inherent robustness perspective, 2022 IEEE 61st Conference on Decision and Control (CDC), pp. 1105-1110
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Köhler, M.; Berberich, J.; Müller, M. A. & Allgöwer, F. (2022): Data-driven distributed MPC of dynamically coupled linear systems, IFAC-PapersOnLine, Vol. 55, Issue 30, pp. 365-370, 25th International Symposium on Mathematical Theory of Networks and Systems (MTNS 2022)
DOI: 10.1016/j.ifacol.2022.11.080 -
Krauss, I.; Lopez, V. G. & Müller, M. A. (2022): Sample-based observability of linear discrete-time systems, 2022 IEEE 61st Conference on Decision and Control (CDC)
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Lopez, V. G. & Müller, M. A. (2022): On a continuous-time version of Willems' lemma, IEEE 61st Conference on Decision and Control (CDC), pp. 2759-2764
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Wolff, T. M.; Lopez, V. G. & Müller, M. A. (2022): Data-Based Moving Horizon Estimation for Linear Discrete-Time Systems, 2022 European Control Conference (ECC), pp. 1778-1783
DOI: 10.23919/ecc55457.2022.9838331
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DOI: 10.1109/CDC45484.2021.9683327
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DOI: 10.1016/j.ifacol.2021.08.554 -
Kleyman, V.; Schaller, M; Wilson, M; Mordmüller, M.; Brinkmann, R.; Worthmann, K. & Müller, M. A. (2021): State and parameter estimation for model-based retinal laser treatment, 7th IFAC Conference on Nonlinear Model Predictive Control NMPC 2021, IFAC-PapersOnLine, Vol. 54, Issue 6, pp. 244-250
DOI: 10.1016/j.ifacol.2021.08.552
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Klöppelt, C.; Schwenkel, L.; Allgöwer, F. & Müller, M. A. (2021): Transient Performance of Tube-based Robust Economic Model Predictive Control, 7th IFAC Conference on Nonlinear Model Predictive Control NMPC 2021, IFAC-PapersOnline, Vol. 54, Issue 6, pp. 28-35
DOI: 10.1016/j.ifacol.2021.08.520
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Nonhoff, M. & Müller, M. A. (2021): Data-driven online convex optimization for control of dynamical systems, 2021 60th IEEE Conference on Decision and Control (CDC), 2021, 3640-3645
DOI: 10.1109/CDC45484.2021.9683550
arXiv: 2103.09127 -
Nonhoff, M. & Müller, M. A. (2021): An online convex optimization algorithm for controlling linear systems with state and input constraints, 2021 American Control Conference (ACC), pp. 2523-2528
DOI: 10.23919/ACC50511.2021.9482877
arXiv: 2005.11308 Beschreibung: -
Schiller, J. D.; Knüfer, S. & Müller, M. A. (2021): Robust Stability of Suboptimal Moving Horizon Estimation using an Observer-Based Candidate Solution, IFAC-PapersOnLine, Vol. 54, Issue 6, pp. 226-231
DOI: 10.1016/j.ifacol.2021.08.549 -
Berberich, J.; Köhler, J.; Müller, M. A. & Allgöwer, F. (2020): Robust Constraint Satisfaction in Data-Driven MPC, In Proceedings of the 59th IEEE Conference on Decision and Control (CDC), pp. 1260-1267 (Outstanding Student Paper Award).
DOI: 10.1109/CDC42340.2020.9303965 -
Camisa, A.; Köhler, P. N.; Müller, M. A.; Notarstefano, G. & Allgöwer, F. (2020): A distributed optimization algorithm for Nash bargaining in multi-agent systems, 21st IFAC World Congress, Vol. 53, Issue 2, pp. 2684-2689
DOI: 10.1016/j.ifacol.2020.12.402 Beschreibung: -
Hirche, M.; Köhler, P. N.; Müller, M. A. & Allgöwer, F. (2020): Distributed Model Predictive Control for Consensus of Constrained Heterogeneous Linear Systems, In Proceedings of 59th IEEE Conference on Decision and Control (CDC), pp. 1248-1253
DOI: 10.1109/CDC42340.2020.9303838 -
J. Köhler, M. A. Müller and F. Allgöwer (2020): Implicit solutions to constrained nonlinear output regulation using MPC, In Proceedings of 59th IEEE Conference on Decision and Control (CDC), pp. 4604-4609
DOI: 10.1109/CDC42340.2020.9303983 -
Julian Berberich, Johannes Köhler, Matthias A. Müller, Frank Allgöwer (2020): Data-Driven Tracking MPC for Changing Setpoints, 21st IFAC World Congress, Vol. 53, Issue 2, pp. 6923-6930
DOI: 10.1016/j.ifacol.2020.12.389 Beschreibung: -
Knüfer, S. & Müller, M. A. (2020): Time-Discounted Incremental Input/Output-to-State Stability, In Proceedings of 59th IEEE Conference on Decision and Control (CDC), pp. 5394-5400
DOI: 10.1109/CDC42340.2020.9304034 -
Nonhoff, M. & Müller, M. A. (2020): Online Gradient Descent for Linear Dynamical Systems, 21st IFAC World Congress, Vol. 53, Issue 2, pp. 945-952
DOI: 10.1016/j.ifacol.2020.12.1258 -
Pavlov, A.; Müller, M. A.; Manzie, C. & Shames I. (2020): Complexity minimisation of suboptimal MPC without terminal constraints, 21st IFAC World Congress, Vol. 53, Issue 2, pp. 6089-6094
DOI: 10.1016/j.ifacol.2020.12.1682 Beschreibung: -
Pozzato, G.; Müller, M. A.; Formentin, S. & Savaresi, S. (2020): On Strict Dissipativity of Systems Modeled by Convex Difference Inclusions: Theory and Application to Hybrid Electric Vehicles, 21st IFAC World Congress, Vol. 53, Issue 2, pp. 14211-14216
DOI: 10.1016/j.ifacol.2020.12.1058 Beschreibung: -
Schwenkel, L.; Köhler, J.; Müller, M. A. & Allgöwer, F. (2020): Dynamic uncertainties in model predictive control: Guaranteed stability for constrained linear systems, 2020 In Proceedings of the 59th IEEE Conference on Decision and Control (CDC)
DOI: 10.1109/CDC42340.2020.9303819 -
Schwenkel, L.; Köhler, J.; Müller, M. A. & Allgöwer, F. (2020): Robust Economic Model Predictive Control without Terminal Conditions, 21st IFAC World Congress, Vol. 53, Issue 2, pp. 7097-7104
DOI: 10.1016/j.ifacol.2020.12.465 Beschreibung: -
Busch, A.; Kleyman, V.; Wielitzka, M. & Ortmaier, T. (2019): Adaptive model predictive traction control for electric vehicles, 18th European Control Conference (ECC 2019), pp. 1239-1244
DOI: 10.23919/ECC.2019.8795687 Beschreibung: -
Johannsmeier, L.; Gerchow, M. & Haddadin, S. (2019): A Framework for Robot Manipulation: Skill Formalism, Meta Learning and Adaptive Control, 2019 International Conference on Robotics and Automation (ICRA), pp. 5844-5850
DOI: 10.1109/ICRA.2019.8793542 Beschreibung: -
Köhler, J.; Müller, M. A. & Allgöwer, F. (2019): A simple framework for nonlinear robust output-feedback MPC, 18th European Control Conference (ECC 2019), pp. 793-798
DOI: 10.23919/ECC.2019.8795965 Beschreibung: -
Köhler, Johannes; Andina, Elisa; Soloperto, Raffaele, Müller, Matthias A. & Allgöwer, Frank (2019): Linear robust adaptive model predictive control: Computational complexity and conservatism, 58th IEEE Conference on Decision and Control (CDC)
DOI: 10.1109/CDC40024.2019.9028970 Beschreibung: -
Köhler, P. N.; Müller, M. A. & Allgöwer, F. (2019): Approximate dissipativity and performance bounds for interconnected systems, 18th European Control Conference (ECC 2019), pp. 787-792
DOI: 10.23919/ECC.2019.8796123 Beschreibung: -
Köhler, P. N.; Müller, M. A. & Allgöwer, F. (2019): Graph topology and subsystem centrality in approximately dissipative system interconnections, 58th IEEE Conference on Decision and Control (CDC)
DOI: 10.1109/CDC40024.2019.9029400 Beschreibung: -
Linsenmeyer, Steffen & Müller, Matthias A. & Ishii, Hideaki & Allgöwer, Frank (2019): Event-based Containability for Linear Systems with Arbitrarily Small Bit Rates, 8th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NecSys), Vol. 52, Issue 20, pp. 31-36
DOI: 10.1016/j.ifacol.2019.12.138 -
Neureuther, Philip L.; Ederer, Michael; Selig, Peter & Müller, Matthias A. (2019): Modeling of a RF Surgical Generator based on a Push-Pull Oscillator, Joint 8th IFAC Symposium on Mechatronic Systems and 11th IFAC Symposium on Nonlinear Control Systems, Vol. 52, Issue 15, pp. 382-387
DOI: 10.1016/j.ifacol.2019.11.705 -
Soloperto, R.; Köhler; J.; Müller; M. A. & Allgöwer, F. (2019): Collision avoidance for uncertain nonlinear systems and moving obstacles using robust Model Predictive Control, 18th European Control Conference (ECC 2019), pp. 811-817
DOI: 10.23919/ECC.2019.8796049 Beschreibung: -
Soloperto, Raffaele; Köhler, Johannes; Müller, Matthias A. & Allgöwer, Frank (2019): Dual Adaptive MPC for output tracking of linear systems, 58th IEEE Conference on Decision and Control (CDC)
DOI: 10.1109/CDC40024.2019.9029693 Beschreibung: -
Wildhagen, Stefan; Müller, Matthias A. & Allgöwer, Frank (2019): Economic MPC using a Cyclic Horizon with Application to Networked Control Systems, Joint 8th IFAC Symposium on Mechatronic Systems and 11th IFAC Symposium on Nonlinear Control Systems, Vol. 52, Issue 16, pp. 502-507
DOI: 10.1016/j.ifacol.2019.12.011 -
Grassmann, R.; Johannsmeier, L.; & Haddadin, S. (2018): Smooth Point-to-Point Trajectory Planning in SE(3) with Self-Collision and Joint Constraints Avoidance, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1-9
DOI: 10.1109/IROS.2018.8594339 Beschreibung: -
Hu, Tingli; and Kühn, Johannes; and Ma'touq, Jumana & Haddadin, Sami (2018): Learning and Identification of human upper-limb muscle synergies in daily-life tasks with autoencoders, OTWorld Congress, Leipzig, Germany, 15.-18. May, Weitere Informationen
DOI: 10.15488/3679 Beschreibung: -
Knüfer, S. & Müller, M. A. (2018): Robust Global Exponential Stability for Moving Horizon Estimation, Proc. 57th IEEE Conf. Decision and Control (CDC), pp. 3477-3482.
DOI: 10.1109/CDC.2018.8619617 -
Köhler, J.; Müller, M. A. & Allgöwer, F. (2018): Nonlinear Reference Tracking with Model Predictive Control: An Intuitive Approach, Proc. European Control Conf. (ECC), Limassol, Cyprus, pp. 1355-1360.
DOI: 10.23919/ECC.2018.8550428 Beschreibung: -
Köhler, J.; Müller, M. A. & Allgöwer, F. (2018): A novel constraint tightening approach for nonlinear robust model predictive control, Proc. American Control Conf. (ACC), Milwaukee, Wisconsin, pp. 728-734.
DOI: 10.23919/ACC.2018.8431892 Beschreibung: -
Köhler, J.; Müller, M. A. & Allgöwer, F. (2018): MPC for nonlinear periodic tracking using reference generic offine computations, Proc. IFAC Conf. Nonlinear Model Predictive Control (NMPC), vol. 51, no. 20, Madison, Wisconsin, pp. 556-561.
DOI: 10.1016/j.ifacol.2018.11.032 Beschreibung: -
Köhler, P. N. & Müller, M. A. & Allgöwer, F. (2018): Interconnections of dissipative systems and distributed economic MPC, IFAC-PapersOnLine, vol. 51, no. 20, 86-91 (6th IFAC Conference on Nonlinear Model Predictive Control NMPC 2018)
DOI: 10.1016/j.ifacol.2018.10.179 Beschreibung: -
Kühn, Johannes; Hu, Tingli; Schappler, Moritz & Haddadin, Sami (2018): Dynamics Simulation for an Upper-Limb Human-Exoskeleton Assistance System in a Latent-Space Controlled Tool Manipulation Task, IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), pp. 158-165 Weitere Informationen
DOI: 10.1109/SIMPAR.2018.8376286 Beschreibung: -
Shahriari, E.; Johannsmeier, L. & Haddadin, S. (2018): Valve-based Virtual Energy Tanks: A Framework to Simultaneously Passify Controls and Embed Control Objectives, 2018 Annual American Control Conference (ACC), pp. 3634-3641
DOI: 10.23919/ACC.2018.8431718 Beschreibung: -
Soloperto, Raffaele; Müller, Matthias A.; Trimpe, Sebastian & Allgöwer, Frank (2018): Learning-Based Robust Model Predictive Control with State-Dependent Uncertainty, IFAC-PapersOnLine, vol. 51, no. 20, 442 - 447 (6th IFAC Conference on Nonlinear Model Predictive Control NMPC 2018)
DOI: 10.1016/j.ifacol.2018.11.052 Beschreibung: -
Wabersich, K. P.; Bayer, F. A.; Müller, M. A. & Allgöwer, F. (2018): Economic model predictive control for robust periodic operation with guaranteed closed-loop performance, Proc. European Control Conf. (ECC), Limassol, Cyprus, pp. 507-513.
DOI: 10.23919/ECC.2018.8550262 Beschreibung: -
Diaz Ledezma, Fernando & Haddadin, Sami (2017): First-Order-Principles-Based Constructive Network Topologies: An Application to Robot Inverse Dynamics, IEEE RAS International Conference on Humanoid Robots, Birmingham, UK, 438-445
DOI: 10.1109/HUMANOIDS.2017.8246910 Beschreibung: -
Köhler, J.; Müller, M. A.; Li, Na & Allgöwer, F. (2017): Real Time Economic Dispatch for power networks: A Distributed Economic Model Predictive Control Approach, Proc. 56th IEEE Conf. Decision and Control (CDC), Melbourne, Victoria, Australia, pp. 6340-6345.
DOI: 10.1109/CDC.2017.8264615 -
Köhler, P. N.; Müller, M. A. & Allgöwer, F. (2017): Transient performance of economic model predictive control with average constraints, Proc. 56th IEEE Conf. Decision and Control (CDC), Melbourne, Victoria, Australia, pp. 5557-5562.
DOI: 10.1109/CDC.2017.8264484 Beschreibung: -
Köhler, P. N.; Müller, M. A.; Pannek, J. & Allgöwer, F. (2017): On Exploitation of Supply Chain Properties by Sequential Distributed MPC., Proc. of the 20th IFAC World Congress, vol. 50, no. 1, Toulouse, France, pp. 7947-7952.
DOI: 10.1016/j.ifacol.2017.08.706 Beschreibung: -
Lorenzen, Matthias; Müller, Matthias A. & Allgöwer, Frank (2017): Stabilizing Stochastic MPC without Terminal Constraints, Proc. American Control Conf. (ACC), 04, Seattle, Washington, pp. 5636-5641.
DOI: 10.23919/ACC.2017.7963832 Beschreibung: -
Mansfeld, Nico; Beck, Fabian; Dietrich, Alexander & Haddadin, Sami (2017): Interactive Null Space Control for Intuitively Interpretable Reconfiguration of Redundant Manipulators, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 5368-5375
DOI: 10.1109/IROS.2017.8206432 Beschreibung: -
Mansfeld, Nico; Djellab, Badis; Raldua Veuthey, Jaime; Beck, Fabian; Ott, Christian & Haddadin, Sami (2017): Improving the Performance of Biomechanically Safe Velocity Control for Redundant Robots through Reflected Mass Minimization, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 5390-5397
DOI: 10.1109/IROS.2017.8206435 Beschreibung: -
Müller, M. A. & Grüne, L. (2017): On the relation between dissipativity and discounted dissipativity, Proc. 56th IEEE Conf. Decision and Control (CDC), pp. 5570-5575.
DOI: 10.1109/CDC.2017.8264486 Beschreibung: -
Shahriari, Erfan; Kramberger, Aljaž; Gams, Andrej; Ude, Aleš a & Haddadin, Sami (2017): Adapting to Contacts: Energy Tanks and Task Energy for Passivity-Based Dynamic Movement Primitives, IEEE RAS International Conference on Humanoid Robots (Humanoids), Birmingham, UK, 136-142
DOI: 10.1109/HUMANOIDS.2017.8239548 Beschreibung: -
Tödtheide, A., Shahriari, E., Haddadin, S. (2017): Tank Based Unified Torque Impedance Control for an Antagonistic and Pneumatically Actuated Robot Joint, Robotics and Automation (ICRA), 2017 IEEE International Conference on Weitere Informationen
DOI: 10.1109/ICRA.2017.7989149 Beschreibung: -
Tomic, Teodor and Haddadin, Sami (2017): Towards Interaction, Disturbance and Fault Aware Flying Robot Swarms, International Symposium on Robotics Research (ISRR2017), Puerto Varas, Chile, pp. 183-198
DOI: 10.1007/978-3-030-28619-4_19 -
Vorndamme, J., Schappler, M., and Haddadin, S. (2017): Collision Detection, Isolation and Identification for Humanoids, Robotics and Automation (ICRA), 2017 IEEE International Conference on Weitere Informationen
DOI: 10.1109/ICRA.2017.7989552 Beschreibung: -
Aydiner, E.; Müller, M. A. & Allgöwer, F. (2016): Periodic Reference Tracking for Nonlinear Systems via Model Predictive Control, Proc. European Control Conf. (ECC), Aalborg, Denmark, pp. 2602-2607.
DOI: 10.1109/ECC.2016.7810682 Beschreibung: -
Bayer, F. A.; Müller, M. A. & Allgöwer, F. (2016): Min-max Economic Model Predictive Control Approaches with Guaranteed Performance, Proc. 55th IEEE Conf. Decision and Control (CDC), pp. 3210-3215.
DOI: 10.1109/CDC.2016.7798751 Beschreibung: -
Brunner, F. D.; Müller, M. A. & Allgöwer, F. (2016): Enhancing Output Feedback MPC for Linear Discrete-time Systems with Set-valued Moving Horizon Estimation, Proc. 55th IEEE Conf. Decision and Control (CDC), Las Vegas, NV, USA, pp. 2733-2738.
DOI: 10.1109/CDC.2016.7798675 Beschreibung: -
Knüfer, S.; Müller, M. A. & Allgöwer, F. (2016): Stabilizing Model Predictive Control without Terminal Constraints for Switched Nonlinear Systems, Proc. 10th IFAC Symp. Nonlinear Control Systems (NOLCOS), vol. 49, no. 18, Monterey, CA, USA, pp. 65-70.
DOI: 10.1016/j.ifacol.2016.10.141 Beschreibung: -
Köhler, P. N.; Müller, M. A. & Allgöwer, F. (2016): A distributed economic MPC scheme for coordination of self-interested systems, Proc. American Control Conf. (ACC), Boston, MA, USA, pp. 889-894.
DOI: 10.1109/ACC.2016.7525027 Beschreibung: -
Mansfeld, N., Ott, C., Haddadin, S. (2016): Maximal input limits for independent SISO control in modal space under consideration of actuator constraints, 2016 American Control Conference (ACC), pp. 6721-6728
DOI: 10.1109/ACC.2016.7526730 Beschreibung: -
Müller, M. A. (2016): Nonlinear moving horizon estimation for systems with bounded disturbances, Proc. American Control Conf. (ACC), Boston, MA, USA, pp. 883-888.
DOI: 10.1109/ACC.2016.7525026 Beschreibung: -
Tomic, T., Schmid, K., Lutz, P., Mathers, A. & Haddadin, S. (2016): The flying anemometer: Unified estimation of wind velocity from aerodynamic power and wrenches, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1637-1644
DOI: 10.1109/IROS.2016.7759264 Beschreibung: -
Vorndamme, J., Schappler, M., Tödtheide, A., and Haddadin, S. (2016): Soft Robotics for the Hydraulic Atlas Arms: Joint Impedance Control with Collision Detection and Disturbance Compensation, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) Weitere Informationen
DOI: 10.1109/IROS.2016.7759517 Beschreibung: -
Bayer, F. A.; Lorenzen, M.; Müller, M. A. & Allgöwer, F. (2015): Improving Performance in Robust Economic MPC Using Stochastic Information, Proc. IFAC Conf. Nonlinear Model Predictive Control (NMPC), vol. 48, no. 23, Seville, Spain, pp. 410-415.
DOI: 10.1016/j.ifacol.2015.11.313 Beschreibung: -
Bayer, F. A.; Müller, M. A. & Allgöwer, F. (2015): Average Constraints in Robust Economic Model Predictive Control, Proc. IFAC Int. Symp. Advanced Control of Chemical Processes (ADCHEM), vol. 48, no. 8, Whistler, Britisch Columbia, Canada, pp. 44-49.
DOI: 10.1016/j.ifacol.2015.08.155 Beschreibung: -
Beetz, M., Bartels, G., Albu-Schäffer, A., Bálint-Benczédi, F. Belder, R., Beßler, D., Haddadin, S., Maldonado, S. Mansfeld, N., Wiedemeyer, T., Weitschat, R., Worch, J. H. (2015): Robotic agents capable of natural and safe physical interaction with human co-workers, Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, 6528-6535
DOI: 10.1109/IROS.2015.7354310 Beschreibung: -
Golz, S., Osendorfer, Ch. & Haddadin, S. (2015): Using tactile sensation for learning contact knowledge: Discrimination collision from physical interaction, 2015 IEEE International Conference on Robotics and Automation, pp. 3788-3794
DOI: 10.1109/ICRA.2015.7139726 -
Mansfeld, N., & Haddadin, S. (2015): A Comparison of Braking Strategies for Elastic Joint Robots, 2015 IEEE International Conference on Robotics and Automation, pp. 789-796
DOI: 10.1109/ICRA.2015.7139268 -
Müller, M. A. & Grüne, L. (2015): Economic model predictive control without terminal constraints: optimal periodic operation, Proc. 54th IEEE Conf. Decision and Control (CDC), Osaka, Japan, pp. 4946-4951.
DOI: 10.1109/CDC.2015.7402992 Beschreibung: -
Müller, M. A.; Grüne, L. & Allgöwer, F. (2015): On the role of dissipativity in economic model predictive control, Proc. 5th IFAC Conf. Nonlinear Model Predictive Control (NMPC), vol. 48, no. 23, pp. 110-116 (Semi-Plenary Paper).
DOI: 10.1016/j.ifacol.2015.11.269 Beschreibung: -
Schappler, M. and Vorndamme, J. and Tödtheide, A. and Conner, D.C. and von Stryk, O. and Haddadin, S. (2015): Modeling, Identification and Joint Impedance Control of the Atlas Arms, 15th IEEE-RAS International Conference on Humanoid Robots (2015) Weitere Informationen
DOI: 10.1109/HUMANOIDS.2015.7363499 Beschreibung: -
Schindlbeck, Ch. & Haddadin, S. (2015): Unified Passivity-Based Cartesian Force/Impedance Control for Rigid and Flexible Joint Robots via Task-Energy Tanks, Robotics and Automation (ICRA), 2015 IEEE International Conference on, pp. 440-447
DOI: 10.1109/ICRA.2015.7139036 Beschreibung: -
Tomic,T. & Haddadin, S. (2015): Simultaneous Estimation of Aerodynamic and Contact Forces in Flying Robots: Applications to Metric Wind Estimation and Collision Detection, 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 5290-5296
DOI: 10.1109/ICRA.2015.7139937 -
Bayer, F.; Müller, M. A. & Allgöwer, F. (2014): Set-based Disturbance Attenuation in Economic Model Predictive Control, Proc. 19th IFAC World Congress, vol. 47, no. 3, Cape Town, South Africa, pp. 1898 - 1903.
DOI: 10.3182/20140824-6-ZA-1003.00951 Beschreibung: -
Kaldestad, K. B., Haddadin, S., Belder, R., Hovland, G. & Anisi, D. A. (2014): Collision Avoidance with Potential Fields Based on Parallel Processing of 3D-Point Cloud Data on the GPU, International Conference on Robotics and Automation (ICRA 2014), Hong Kong, China, May 31 - June 7, pp. 3250-3257
DOI: 10.1109/ICRA.2014.6907326 Beschreibung: -
Müller, M. A. & Allgöwer, F. (2014): Distributed economic MPC: a framework for cooperative control problems, Proc. 19th IFAC World Congress, vol. 47, no. 3, Cape Town, South Africa, pp. 1029-1034.
DOI: 10.3182/20140824-6-ZA-1003.01177 Beschreibung: -
Müller, M. A.; Angeli, D. & Allgöwer, F. (2014): Performance analysis of economic MPC with self-tuning terminal cost, Proc. American Control Conf. (ACC), Portland, OR, USA, pp. 2845-2850.
DOI: 10.1109/ACC.2014.6858962 Beschreibung: -
Nico Mansfeld & Sami Haddadin (2014): Reaching desired states time-optimally from equilibrium and vice versa for visco-elastic joint robots with limited elastic deflection, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3904-3911
DOI: 10.1109/IROS.2014.6943111 Beschreibung: -
Özparpucu, C. M., Haddadin, S. & Albu-Schäffer, A. (2014): Optimal Control of Variable Stiffness Actuators with Nonlinear Springs, 19th IFAC World Congress, Cape Town, South Africa, pages 8487-8495 Weitere Informationen
DOI: 10.3182/20140824-6-ZA-1003.01193 Beschreibung: -
Özparpucu, M. & Haddadin, S. (2014): Optimal Control of Elastic Joints with Variable Damping, European Control Conference (EEC), June24-27, pp. 2526-2533
DOI: 10.1109/ECC.2014.6862266 Beschreibung: -
Schaich, R. M.; Müller, M. A. & Allgöwer, F. (2014): A distributed model predictive control scheme for networks with communication failure, Proc. 19th IFAC World Congress, vol. 47, no. 3, Cape Town, South Africa, pp. 12004-12009.
DOI: 10.3182/20140824-6-ZA-1003.01507 Beschreibung: -
Tomic, T. & Haddadin, S. (2014): A Unified Framework for External Wrench Estimation, Interaction Control and Collision Reflexes for Flying Robots, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.
DOI: 10.1109/IROS.2014.6943154 Beschreibung: -
Tomic, T.; Maier, M. & Haddadin, S. (2014): Learning quadrotor maneuvers from optimal control and generalizing in real-time, 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 1747-1754
DOI: 10.1109/ICRA.2014.6907087 Beschreibung: -
Müller, M. A.; Angeli, D. & Allgöwer, F. (2013): On convergence of averagely constrained economic MPC and necessity of dissipativity for optimal steady-state operation, Proc. American Control Conf. (ACC), Washington, DC, USA, pp. 3147-3152.
DOI: 10.1109/ACC.2013.6580314 Beschreibung: -
Müller, M. A.; Angeli, D. & Allgöwer, F. (2013): Economic model predictive control with self-tuning terminal weight, Proc. European Control Conf. (ECC), Zurich, Switzerland, pp. 2044-2049.
DOI: 10.23919/ECC.2013.6669271 Beschreibung: -
Müller, M. A.; Angeli, D. & Allgöwer, F. (2013): Economic model predictive control with transient average constraints, Proc. 52nd IEEE Conf. Decision and Control (CDC), Florence, Italy, pp. 5119-5124.
DOI: 10.1109/CDC.2013.6760693 Beschreibung: -
Müller, M. A.; Liberzon, D. & Allgöwer, F. (2013): Norm-controllability, or how a nonlinear system responds to large inputs, Proc. 9th IFAC Symp. Nonlinear Control Systems (NOLCOS), vol. 46, no. 23, pp. 104-109 (Semi-Plenary Paper).
DOI: 10.3182/20130904-3-FR-2041.00052 Beschreibung: -
Albert, A., Vorndamme, J., Petereit, S. & Lilge, T. (2012): Automatisierte Aufnahme einer 3D-Raumkarte mit Unterputzdaten, Automation 2012, VDI-Berichte, no. 2171, Jun 13-14, Baden-Baden, VDI Verlag GmbH, Düsseldorf, pp. 321-324. Weitere Informationen Beschreibung:
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Müller, M. A. & Allgöwer, F. (2012): Robustness of steady-state optimality in economic model predictive control, Proc. 51st IEEE Conf. Decision and Control (CDC), Maui, HI, USA, pp. 1011-1016.
DOI: 10.1109/CDC.2012.6426754 Beschreibung: -
Müller, M. A.; Liberzon, D. & Allgöwer, F. (2012): Relaxed conditions for norm-controllability of nonlinear systems, Proc. 51st IEEE Conf. Decision and Control (CDC), Maui, HI, USA, pp. 314-319.
DOI: 10.1109/CDC.2012.6426430 Beschreibung: -
Müller, M. A.; Schürmann, B. & Allgöwer, F. (2012): Robust cooperative control of dynamically decoupled systems via distributed MPC, Proc. IFAC Conf. Nonlinear Model Predictive Control (NMPC), vol. 45, no. 17, Noordwijkerhout, The Netherlands, pp. 412-417.
DOI: 10.3182/20120823-5-NL-3013.00007 Beschreibung: -
Vorndamme, J., Petereit, S., Pitzer, B., Roan, P., Lilge, T. & Albert, A. (2012): Robotic System for Mapping 3D in-wall Information for Craftsmen, Proceedings of the 7th German Conference on Robotics (ROBOTIK 2012), May 21-22, Munich, Germany, VDE Verlag, Berlin, pp. 24-29. CD-ROM. Weitere Informationen Beschreibung:
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Joos, A.; Müller, M. A.; Baumgärtner, D.; Fichter, W. & Allgöwer, F. (2011): Nonlinear Predictive Control Based on Time-Domain Simulation for Automatic Landing, Proc. AIAA Guidance, Navigation, and Control Conf., vol. 2, Portland, OR, USA, pp. 1619-1633.
DOI: 10.2514/6.2011-6298 Beschreibung: -
Müller, M. A. & Allgöwer, F. (2011): Model predictive control of switched nonlinear systems under average dwell-time, Proc. American Control Conf. (ACC), San Francisco, CA, USA, pp. 5169-5174.
DOI: 10.1109/ACC.2011.5990955 Beschreibung: -
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Resetov, D., Pietsch, B. & Gerth, W. (2009): Aufbau des humanoiden Roboters BART III, In Dillmann, R., Beyerer, J., Stiller, C., Zöllner, M. & Gindele, T. (Ed.): Autonome Mobile Systeme 2009, Informatik aktuell, 3-4 Dez., Karlsruhe, Springer Verlag Berlin Heidelberg, pp. 209-216.
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Lilge, T., Gerth, W. & Goronczy, A. (2007): Zur Selbstlokalisierung mobiler Systeme bei fehlenden absoluten Referenzen, In Berns, K. & Luksch, T. (Ed.): Autonome Mobile Systeme 2007, Informatik aktuell, 18 - 19 Okt., Kaiserslautern, Springer Verlag Berlin Heidelberg, pp. 43-49.
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Höhn, O. & Gerth, W. (2006): Probabilistic Balance Monitoring for Bipedal Robots, Proceedings of the 9th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2006), Sep 11-14, Brussels, Belgium, pp. 435-442.
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Gerecke, M. & Gerth, W. (2005): Aufbau eines Stereokamerasystems zum Betrieb unter RTOS-UH, In Holleczek, P. & Vogel-Heuser, B. (Ed.): Echtzeitaspekte bei der Koordinierung Autonomer Systeme. PEARL 2005, Informatik aktuell, 01.-02. Dez., Berlin Heidelberg, Springer, pp. 45-54. Weitere Informationen
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Höhn, O., Gacnik, J. & Gerth, W. (2005): Detection and Classification of Posture Instabilities of Bipedal Robots, Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2005), Sep 13-15, London, England, pp. 409-416.
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Seebode, M., Strasser, R., Lilge, T. & Gerth, W. (2005): Datenfusion in einem künstlichen Gleichgewichtsorgan für autonome Roboter, 39. Regelungstechnisches Kolloquium -- Kurzfassung der Beiträge, Feb., Boppard, pp. 14-15. (Nicht veröffentlicht). Weitere Informationen Beschreibung:
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Hofschulte, J., Gerth, W. & Seebode, M. (2004): Parallel Manipulator Hip Joint for a Bipedal Robot, In Armada, M. & de Santos, P. G.. (Ed.): Proceedings of the 7th International Conference on Climbing and Walking Robots - CLAWAR 2004, Berlin-Heidelberg, Springer, pp. 601-609.
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Höhn, O. (2004): Robotic Projects at the Institute of Automatic Control IRT - University of Hannover, Proceedings of the French-German Workshop on Humanoid and Legged Robots (HLR), Okt 14-15, Metz, Frankreich, pp. 27-41. Beschreibung:
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Höhn, O., Schollmeyer, M. & Gerth, W. (2004): Sturzvermeidung von zweibeinigen Robotern durch reflexartige Reaktionen, In Holleczek, P. & Vogel-Heuser, B. (Ed.): Eingebettete Systeme. PEARL 2004, Informatik aktuell, Berlin Heidelberg, Springer, pp. 60-69. Weitere Informationen
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Albert, A. & Gerth, W. (2003): Evaluation and Comparison of the Real-Time Performance of CAN and TTCAN, 9th International CAN Conference, iCC 2003, Okt., München, pp. 05-1-05-8. Weitere Informationen Beschreibung:
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Albert, A. & Strasser, R. (2003): Realisierung einer zeitgesteuerten, verteilten Regelung mit einem CAN-TTCAN-Gateway, In Holleczek, P. & Vogel-Heuser, B. (Ed.): Verteilte Echtzeitsysteme. PEARL 2003, Informatik aktuell, Berlin Heidelberg, Springer-Verlag, pp. 39-48. Weitere Informationen
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Albert, A., Strasser, R. & Trächtler, A. (2003): Migration from CAN to TTCAN for a Distributed Control System, 9th International CAN Conference, iCC 2003, Okt., München, pp. 05-9-05-16. Weitere Informationen Beschreibung:
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Gerecke, M., Hofschulte, J. & Gerth, W. (2003): Realization of a Lightweight Sensory Foot for a Bipedal Robot, In Muscato, G. & Longo, D. (Ed.): Proceedings of the 6th International Conference on Climbing Adn Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2003), Sep 17--79, Bury St. Edmunds and London, Professionell Engineering Publishing, pp. 895-902. Beschreibung:
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Strasser, R., Seebode, M. & Gerth, W. (2003): A Very Small Low Cost Inertial Measurement Unit (IMU) for Robotic Applications, In Sorg, H. (Ed.): Symposium GYRO Technology 2003, Stuttgart, pp. 18.0-18.9. Beschreibung:
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Strasser, R., Seebode, M., Albert, A. & Gerth, W. (2003): Extrem kompaktes SoC-Konzept eines Gleichgewichtsorganes für einen Laufroboter, In Holleczek, P. & Vogel-Heuser, B. (Ed.): Verteilte Echtzeitsysteme. PEARL 2003, Informatik aktuell, Berlin Heidelberg, Springer-Verlag, pp. 49-58. Weitere Informationen
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Albert, A. (2002): Dynamisch stabiles Gehen für eine autonome, zweibeinige Laufmaschine, 36. Regelungstechnisches Kolloquium -- Kurzfassung der Beiträge, Feb., Boppard, pp. 40-41. (Nicht veröffentlicht). Weitere Informationen Beschreibung:
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Gerecke, M., Albert, A. & Gerth, W. (2002): Vision Guided Biped Walking -- Trajectories and Communication, In Bidaud, P. & Amar, F. B. (Ed.): Proceedings of the Fifth International Conference on Climbing and Walking Robots and their Supporting Technologies (CLAWAR 2002), September, Paris, Frankreich, pp. 155-162. Beschreibung:
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Gerecke, M., Albert, A., Hofschulte, J., Strasser, R. & Gerth, W. (2002): Towards an Autonomous, Bipedal Service Robot, Tagungsband 10 Jahre Fraunhofer IFF, 24.-28. Juni, Juni, Magdeburg, pp. 163-168. Beschreibung:
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Lorch, O., Albert, A., Denk, J., Gerecke, M., Cupec, R., Seara, C. F., Gerth, W. & Schmidt, G. (2002): Experiments in Vision-Guided Biped Walking, Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems (IROS 2002), Oktober, Lausanne, Schweiz, pp. 2484-2490.
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Albert, A. & Gerth, W. (2001): New Path Planning Algorithms for Higher Gait Stability of a Bipedal Robot, 4th International Conference on Climbing and Walking Robots, CLAWAR2001, pp. 521-528. Beschreibung:
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Albert, A. & Lilge, T. (2001): Comparative Study of Three Nonlinear Discrete-Time Observer Designs for the Control of a Bipedal Robot, 4th International Conference on Climbing and Walking Robots, CLAWAR2001, pp. 851-858. Beschreibung:
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Albert, A., Suppa, M. & Gerth, W. (2001): Detection of Stair Dimensions for the Path Planning of a Bipedal Robot, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings, 8-12 July, Como, Italy, IEEE, pp. 1291-1296.
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Wolter, B., Albert, A. & Gerth, W. (2001): User-Expandable, On-The-Chip Real-Time Operating System for High Performance Embedded Mechatronic Systems, 1st IFAC International Conference on Information Technology in Mechatronics, ITM 2001, October, Istanbul, Turkey, pp. 255-261. Beschreibung:
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Albert, A. (2000): Climbing of Stairs of an Autonomous, Bipedal Robot, Preprints of the 1st IFAC Conference on Mechatronic Systems, MECHATRONICS 2000 Darmstadt, vol. 2, September, Darmstadt, pp. 647 - 652. Beschreibung:
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Albert, A., Hofschulte, J. & Schermeier, O. (2000): Entwicklung des zweibeinigen autonomen Laufroboters BARt-UH, VDI Berichte 1552: ROBOTIK 2000, Juni, Berlin, pp. 509-514. Beschreibung:
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Gerth, W. & Wolter, B. (2000): Orthogonale Walsh-Korrelation zur qualitativen Beurteilung der Reaktivität von Betriebssystemen, In Holleczek, P. (Ed.): PEARL 2000 - Workshop über Realzeitsysteme, Informatik aktuell, Berlin Heidelberg, Springer-Verlag, pp. 33-42.
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Albert, A., Gerth, W., Hofschulte, J. & Schermeier, O. (1999): Echtzeitsystem für einen zweibeinigen Roboter, In Holleczek, P. (Ed.): PEARL 99 - Workshop über Realzeitsysteme, Informatik aktuell, Berlin Heidelberg, Springer-Verlag, pp. 69-78.
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Scherm, N. & Heimann, B. (1999): Discrete-Time Control of Underactuated Manipulation Systems, Proceedings of the IFToMM Tenth World Congress on the Theory of Machines and Mechanisms, vol. 3, Juni, Oulu Finnland, pp. 990-996. Beschreibung:
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Lilge, T. (1998): Zeitdiskrete Beobachter für nichtlineare Systeme, 32. Regelungstechnisches Kolloquium -- Kurzfassung der Beiträge, Feb., Boppard, pp. 15-16. (Nicht veröffentlicht). Weitere Informationen Beschreibung:
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Bartling, R., Beuse, M., Kopmann, A., Diekmann, H. & Thoma, M. (1997): Populationsverteilung oszillierender Chemostatkulturen von Saccharomyces cerevisiae, Sonderband VAAM-Tagung, Hamburg, pp. 105. Beschreibung:
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Beuse, M., Kopmann, A., Diekmann, H. & Thoma, M. (1997): Populationsverteilung und Wachstumsmodus von Saccharomyces cerevisiae, Sonderband Dechema-Tagung, Münster, pp. 198-201. Beschreibung:
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Beuse, M., Kopmann, A., Diekmann, H. & Thoma, M. (1996): Eine high-performance, UBICON-gekoppelte Fermentationsanlage zur synchronen Kultivierung von Saccharomyces cerevisiae, Sonderband VAAM-Tagung, Bayreuth, pp. 99. Beschreibung:
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Gerth, W. & Wolter, B. (1996): Power PEARL auf einem transferassembliertem Echtzeitbetriebssystem zur Steuerung schneller Maschinen, In Holleczek, P. (Ed.): PEARL 96 - Workshop über Realzeitsysteme, Informatik aktuell, Berlin Heidelberg, Springer-Verlag, pp. 1-11.
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Brdomann, M. (1993): Entwurf zeitdiskreter nichtlinearer Beobachter, 27. Regelungstechnisches Kolloquium -- Kurzfassung der Beiträge, 24.-26. Feb., Boppard, pp. 36-38. (Nicht veröffentlicht). Beschreibung:
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Husmann, H. (1993): Zur Echtzeitreaktivität von Feldbussen, In Holleczek, P. (Ed.): PEARL 93 - Workshop über Realzeitsysteme, Informatik aktuell, Berlin Heidelberg, Springer-Verlag, pp. 118-128.
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Isaacs, S., Munack, A. & Thoma, M. (1989): Towards the Quick Identification of Model Parameters for the Tower Loop Airlift Fermenter, In Behrens, D. & Driesel, A. J. (Ed.): Joint Meeting of SIM and DECHEMA Presentation of Biochemical Laboratories Microbial Principles in Bioprocesses Applied Genetics, DECHEMA Annual Meeting of Biotechnologists, vol. 3, Part A, Mai, Frankfurt, pp. 453 - 456. Beschreibung:
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Kluge, M. (1987): Modellbildung am Beispiel der Penicillin- Fermentation, 21. Regelungstechnisches Kolloquium, 19.-20. Feb, Boppard. Beschreibung:
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Becker, M. (2024): Robotic motion planning and reactive collision avoidance using circular fields, Ph.D. Thesis, Gottfried Wilhelm Leibniz Universität
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Faulwasser, T.; Müller, M. A. & Worthmann, K. (Eds.) (2021): Recent Advances in Model Predictive Control - Theory, Algorithms, and Applications, Springer
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Ma’touq, Jumana (2019): Human hand neuromechanics for the design of robotic intelligent upper limb prostheses, Dissertation, Gottfried Wilhelm Leibniz Universität
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Heimann, B., Gerth, W. & Popp, K. (2007): Mechatronik, Komponenten - Methoden - Beispiele, 3. Ed., Leipzig, Hanser Fachbuchverlag. ISBN-10: 3-446-40599-2. Weitere Informationen Beschreibung:
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Hofschulte, J. (2006): Zweibeiniger Roboter mit parallelkinematischen Hüftgelenken, Norderstedt, Books On Demand GmbH. Dissertation, Leibniz Universität Hannover. Weitere Informationen Beschreibung:
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Albert, A. (2002): Intelligente Bahnplanung und Regelung für einen autonomen, zweibeinigen Roboter, VDI-Fortschrittberichte, no. 927 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover. Beschreibung:
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Wolter, B. (2002): Messung der Dienstgüte von Echtzeitbetriebssystemen durch Walsh-Korrelation, VDI-Fortschrittberichte, no. 964 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover. Beschreibung:
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Bunzel, S. (2001): Automatisch Generierte Fuzzy-Modelle und -Regler für nichtlineare Systeme, VDI-Fortschrittberichte, no. 916 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover. Beschreibung:
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Kopmann, A. (2001): Diskrete Wachstumsmodi in synchroner kontinuierlicher Kultur von Mikroorganismen: Erweiterung eines Populations- und Zellzyklusmodelles, Dissertation, Universität Hannover. Beschreibung:
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Technical Reports
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Landesinitiative n-21: Schulen in Niedersachsen online e. V.; Lilge, T.; Becker, M.; Bartholdt, Max Niklas.; Oel, F.; May, I.; Bersiner, M.; Dos Anjos, V.; Tekaya, A.; Strating, H.; Rokossa, D.; Egbers, R.; Icken, F.; Auf der Landwehr, M.; Albersmann, J.; Röben, P.; Wallhoff, F.; Landherr, J.; Hamade, D.; Korte-Wagner, Y. & Neiß-Theuerkauff, T. (2023): Roboter im Unterricht: Mensch-Roboter-Kollaboration im schulischen Einsatz
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Alsalti, M.; Berberich, J.;Lopez, V. G.; Allgöwer, F. & Müller, M. A. (2022): Practical exponential stability of a robust data-driven nonlinear predictive control scheme, Supplementary material - technical report
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Kathrin Nülle, Moritz Schappler, Svenja Tappe, Torsten, Lilge, Tobias Ortmaier, Sami Haddadin (2017): 3. Arm - Handwerker-Kraftassistenzsystem mit adaptiver Mensch-Technik-Interaktion: Projektabschlussbericht des Mechatronik Zentrum Hannovers
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Workshopbeiträge
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Kleyman, V.; Schaller, M.; Wilson, M.; Mordmüller, M.; Brinkmann, R.; Worthmann, K. & Müller, M. A. (2021): Towards model-based temperature-control for retinal laser therapies, Proc. Workshop Automed 2021
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Kleyman, V.; Abbas, H. S.; Brinkmann, R.; Worthmann, K. & Müller, M. A. (2020): Modelling of Heat Diffusion for Temperature Controlled Retinal Photocoagulation, Proc. Workshop Automed Weitere Informationen
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Mansfeld, Nico; Hamad, Mazin; Becker, Marvin; Gonzales Marin, Antonio & Haddadin, Sami (2018): Safety Map: A Tool for Global Robot Safety Evaluation and Safe Robot Design, IEEE International Conference on Robotics and Automation (ICRA), Workshop on Autonomous Robot Design Weitere Informationen
DOI: 10.15488/3572 Beschreibung: -
Tödtheide, A., Kühn, J., and Haddadin, S. (2017): Proprio- and Exteroceptive Reflexes for a Pneumatically Actuated Finger based on the artificial Robot Nervous System, ICRA 2017 all-day workshop on "The robotic sense of touch: from sensing to understanding" on 29 May 2017 | Datei | Beschreibung:
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Vorndamme, J., Schappler, M. and Haddadin, S. (2017): Collision Handling for Humanoids using Proprioceptive Sensing, IEEE International Conference on Robotics and Automation (ICRA), Workshop: The Robotic Sense of Touch: From Sensing to Understanding, Singapur, May 2017. | Datei | Beschreibung:
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Haddadin, Sami (2016): Demokratisierung der digitalisierten Automation: Der vernetzte, feinfühlige und lernfähige Roboter für Jedermann, VDI-Wissensforum Weitere Informationen Beschreibung:
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Johannsmeier, L., Ringwald, J., Kuehn, J., Haddadin, S. (2016): Teleoperated Semi-Autonomous Control of the LWR and a Humanoid Hand via the Myo Armband, IEEE International Conference on Robotics and Automation (ICRA), Workshop on Human-robot interfaces for enhanced physical interactions, Stockholm, May 2016, | Datei | Beschreibung:
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Kuehn, J., Vorndamme, J., Schappler, M., Haddadin, S. (2016): Humanoid Collision Reflex Sequences based on an artificial Robot Nervous System including Contact Location and Direction, IEEE International Conference on Robotics and Automation (ICRA), Workshop on Legged Robot Falling: Fall Detection, Damage Prevention, and Recovery Actions, Stockholm, May 2016. | Datei | Beschreibung:
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Conner, D.C. and Kohlbrecher, S and Romay, A and Stumpf, A and Maniatopoulos, S and Schappler, M and Waxler, B (2015): Team ViGIR DARPA Final Report (Accession Number ADA623035), Defense Technical Information Center Document Weitere Informationen Beschreibung:
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Haddadin, Sami (2015): Robots for Humans, 2015 German American Frontiers of Engineering, GAFOE 2015 of National Academy of Engineering of the National Academies & Alexander von Humboldt Foundation Beschreibung:
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Kuehn, Johannes and Haddadin, Sami (2015): Pain Reflexes For Robots To Evade Noxious Contact Events, 8th International Workshop on Human-Friendly Robotics, Munich, October 2015. Weitere Informationen Beschreibung:
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Lars Johannsmeier, Sami Haddadin (2015): A framework for task allocation in collaborative industrial assembly processes, 8th International Workshop on Human-Friendly Robotics, Munich, October 2015. Weitere Informationen Beschreibung:
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Tödtheide, Alexander and Lilge, Torsten and Haddadin, Sami (2015): Compliant Interaction with an Antagonistic Pneumatically Controlled Robot Joint, 8th International Workshop on Human-Friendly Robotics, Munich, October 2015 Weitere Informationen Beschreibung:
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Vorndamme, Jonathan and Schappler, Moritz and Tödtheide, Alexander and Haddadin, Sami (2015): Collision Detection with a Hydraulically Actuated Robot Arm, 8th International Workshop on Human-Friendly Robotics, Munich, October 2015 Weitere Informationen Beschreibung:
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Haddadin, S. (2014): Dynamic and Safe Motion Planning for Human Environments, IROS 2014 Workshop: Real-time Motion Generation & Control – Constraint-based Robot Programming Beschreibung:
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Mansfeld, Nico and Ozparpucu, Mehmet Can and Haddadin, Sami (2014): Braking elastic joint robots in near-minimum time, 7th International Workshop on Human-Friendly Robotics Beschreibung:
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Lilge, T. (1997): Discrete-time observers for nonlinear systems, In Isidori, A. & Allgöwer, F. (Ed.): Proc. of the 1997 COSY Workshop on Control of Nonlinear and Uncertain Systems, Jan., ETH Zürich, pp. 202-210. Weitere Informationen Beschreibung:
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Lichtenberg, M. (1995): Analytische Methoden zur Generierung eines Fuzzy-Reglers am Beispiel eines invertierten Doppelpendels, AFN-Jahrbuch 1995, Arbeitsgemeinschaft Fuzzy-Logik und Softcomputing Norddeutschland, 17-25 Beschreibung:
Video Publikationen
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Haddadin, S.; Johannsmeier, L.; Becker, M.; Schmid, J.; Ende, T.; Parusel, S.; Schappler, M. & Lilge, T. (2018): Roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands (Video), Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, p. 375 Weitere Informationen
DOI: 10.1145/3173386.3177534 Beschreibung: -
Sven Parusel, Hannes Widmoser, Saskia Golz, Tobias Ende, Nico Blodow, Matteo Saveriano, Kai Krieger, Alexis Maldonado, Ingo Kresse, Roman Weitschat, Dongheui Lee, Michael Beetz & Sami Haddadin (2014): Human-Robot interaction Planning, AAAI 2014 Video Competition. Beschreibung: