Research output per year
Research output per year
- 36 results
Search results
-
2025
Active Exploration in Iterative Gaussian Process Regression for Uncertainty Modeling in Autonomous Racing
Benciolini, T., Tang, C., Leibold, M., Weaver, C., Tomizuka, M. & Zhan, W., 2025, In: IEEE Transactions on Control Systems Technology. 33, 4, p. 1301-1316 16 p.Research output: Contribution to journal › Article › peer-review
2 Scopus citations -
Learning-based model identification for greenhouse climate control
Fink, M., Daniels, A., García-Mañas, F., Rodríguez, F., Leibold, M. & Wollherr, D., 1 Jun 2025, In: At-Automatisierungstechnik. 73, 6, p. 451-465 15 p.Research output: Contribution to journal › Article › peer-review
-
Practical and robust incremental model predictive control for flexible-joint robots
Wang, Y., Zheng, T., Iskandar, M., Leibold, M. & Lee, J., Oct 2025, In: Mechatronics. 110, 103364.Research output: Contribution to journal › Article › peer-review
-
2024
Adaptive Multi-Model Fault Diagnosis of Dynamic Systems for Motion Tracking
Daniels, A., Benciolini, T., Wollherr, D. & Leibold, M., 2024, (Accepted/In press) In: IEEE Access.Research output: Contribution to journal › Article › peer-review
Open Access -
Adaptive Stochastic Predictive Control from Noisy Data: A Sampling-based Approach
Teutsch, J., Narr, C., Kerz, S., Wollherr, D. & Leibold, M., 2024, 2024 IEEE 63rd Conference on Decision and Control, CDC 2024. Institute of Electrical and Electronics Engineers Inc., p. 2162-2169 8 p. (Proceedings of the IEEE Conference on Decision and Control).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access -
Combining Belief Function Theory and Stochastic Model Predictive Control for Multi-Modal Uncertainty in Autonomous Driving
Benciolini, T., Yan, Y., Wollherr, D. & Leibold, M., 2024, 2024 American Control Conference, ACC 2024. Institute of Electrical and Electronics Engineers Inc., p. 5042-5048 7 p. (Proceedings of the American Control Conference).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
-
Data-Driven Incremental Model Predictive Control for Robot Manipulators
Wang, Y., Zhou, Y., Liu, F., Leibold, M. & Buss, M., 2024, (Accepted/In press) In: IEEE/ASME Transactions on Mechatronics.Research output: Contribution to journal › Article › peer-review
-
Minimal Constraint Violation Probability in Model Predictive Control for Linear Systems
Fink, M., Brüdigam, T., Wollherr, D. & Leibold, M., 2024, In: IEEE Transactions on Automatic Control. 69, 10, p. 7043-7050 8 p.Research output: Contribution to journal › Article › peer-review
Open Access2 Scopus citations -
Safe and Non-Conservative Trajectory Planning for Autonomous Driving Handling Unanticipated Behaviors of Traffic Participants
Benciolini, T., Fink, M., Guzelkaya, N., Wollherr, D. & Leibold, M., 2024, 2024 IEEE 27th International Conference on Intelligent Transportation Systems, ITSC 2024. Institute of Electrical and Electronics Engineers Inc., p. 1098-1105 8 p. (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access -
Stochastic Model Predictive Control with Minimal Constraint Violation Probability for Time-Variant Chance Constraints
Fink, M., Wollherr, D. & Leibold, M., 2024, In: IEEE Control Systems Letters. 8, p. 1385-1390 6 p.Research output: Contribution to journal › Article › peer-review
Open Access -
2023
An Online Adaptation Strategy for Direct Data-driven Control
Teutsch, J., Ellmaier, S., Kerz, S., Wollherr, D. & Leibold, M., 1 Jul 2023, IFAC-PapersOnLine. Ishii, H., Ebihara, Y., Imura, J.-I. & Yamakita, M. (eds.). 2 ed. Elsevier B.V., p. 644-649 6 p. (IFAC-PapersOnLine; vol. 56, no. 2).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access1 Scopus citations -
Data-Driven Tube-Based Stochastic Predictive Control
Kerz, S., Teutsch, J., Brudigam, T. I. M., Leibold, M. & Wollherr, D., 2023, In: IEEE Open Journal of Control Systems. 2, p. 185-199 15 p.Research output: Contribution to journal › Article › peer-review
Open Access7 Scopus citations -
Information fusion for online estimation of the behavior of traffic participants using belief function theory
Benciolini, T., Zhang, X., Wollherr, D. & Leibold, M., 2023, In: Frontiers in Future Transportation. 4, 1216527.Research output: Contribution to journal › Article › peer-review
Open Access3 Scopus citations -
Non-Conservative Trajectory Planning for Automated Vehicles by Estimating Intentions of Dynamic Obstacles
Benciolini, T., Wollherr, D. & Leibold, M., 1 Mar 2023, In: IEEE Transactions on Intelligent Vehicles. 8, 3, p. 2463-2481 19 p.Research output: Contribution to journal › Article › peer-review
Open Access22 Scopus citations -
Offline Uncertainty Sampling in Data-driven Stochastic MPC
Teutsch, J., Kerz, S., Brüdigam, T., Wollherr, D. & Leibold, M., 1 Jul 2023, IFAC-PapersOnLine. Ishii, H., Ebihara, Y., Imura, J.-I. & Yamakita, M. (eds.). 2 ed. Elsevier B.V., p. 650-656 7 p. (IFAC-PapersOnLine; vol. 56, no. 2).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access -
Stochastic Model Predictive Control with a Safety Guarantee for Automated Driving
Brudigam, T., Olbrich, M., Wollherr, D. & Leibold, M., 1 Jan 2023, In: IEEE Transactions on Intelligent Vehicles. 8, 1, p. 22-36 15 p.Research output: Contribution to journal › Article › peer-review
Open Access59 Scopus citations -
Towards Robustification of Incremental Model Predictive Control Deploying an Adaptive Tube Technique
Zheng, T., Li, H., Wang, Y., Xie, J., Leibold, M. & Lee, J., 2023, Europe ISR 2023 - International Symposium on Robotics, Proceedings. VDE VERLAG GMBH, p. 227-233 7 p. (Europe ISR 2023 - International Symposium on Robotics, Proceedings).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
-
2022
A Fast and Close-to-Optimal Receding Horizon Control for Trajectory Generation in Dynamic Environments
Hoang-Dinh, K., Leibold, M. & Wollherr, D., Aug 2022, In: Robotics. 11, 4, 72.Research output: Contribution to journal › Article › peer-review
Open Access2 Scopus citations -
Constraint Violation Probability Minimization for Norm-Constrained Linear Model Predictive Control
Fink, M., Brüdigam, T., Wollherr, D. & Leibold, M., 2022, 2022 European Control Conference, ECC 2022. Institute of Electrical and Electronics Engineers Inc., p. 839-846 8 p. (2022 European Control Conference, ECC 2022).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
3 Scopus citations -
Safe Stochastic Model Predictive Control
Brudigam, T., Jacumet, R., Wollherr, D. & Leibold, M., 2022, 2022 IEEE 61st Conference on Decision and Control, CDC 2022. Institute of Electrical and Electronics Engineers Inc., p. 1796-1802 7 p. (Proceedings of the IEEE Conference on Decision and Control; vol. 2022-December).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access6 Scopus citations -
2021
Collision Avoidance with Stochastic Model Predictive Control for Systems with a Twofold Uncertainty Structure
Brudigam, T., Zhan, J., Wollherr, D. & Leibold, M., 19 Sep 2021, 2021 IEEE International Intelligent Transportation Systems Conference, ITSC 2021. Institute of Electrical and Electronics Engineers Inc., p. 432-438 7 p. (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC; vol. 2021-September).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access6 Scopus citations -
Minimization of constraint violation probability in model predictive control
Brüdigam, T., Gaßmann, V., Wollherr, D. & Leibold, M., 25 Sep 2021, In: International Journal of Robust and Nonlinear Control. 31, 14, p. 6740-6772 33 p.Research output: Contribution to journal › Article › peer-review
Open Access15 Scopus citations -
Model Predictive Control with Models of Different Granularity and a Non-uniformly Spaced Prediction Horizon
Brudigam, T., Prader, D., Wollherr, D. & Leibold, M., 25 May 2021, 2021 American Control Conference, ACC 2021. Institute of Electrical and Electronics Engineers Inc., p. 3876-3881 6 p. 9482617. (Proceedings of the American Control Conference; vol. 2021-May).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access11 Scopus citations -
Multistage Stochastic Model Predictive Control for Urban Automated Driving
Benciolini, T., Brudigam, T. & Leibold, M., 19 Sep 2021, 2021 IEEE International Intelligent Transportation Systems Conference, ITSC 2021. Institute of Electrical and Electronics Engineers Inc., p. 417-423 7 p. (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC; vol. 2021-September).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access5 Scopus citations -
2020
Combined robust and stochastic model predictive control for models of different granularity
Brüdigam, T., Teutsch, J., Wollherr, D. & Leibold, M., 2020, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 53, 2, p. 7123-7129 7 p.Research output: Contribution to journal › Conference article › peer-review
Open Access6 Scopus citations -
Grid-Based Stochastic Model Predictive Control for Trajectory Planning in Uncertain Environments
Brudigam, T., Luzio, F. D., Pallottino, L., Wollherr, D. & Leibold, M., 20 Sep 2020, 2020 IEEE 23rd International Conference on Intelligent Transportation Systems, ITSC 2020. Institute of Electrical and Electronics Engineers Inc., 9294388. (2020 IEEE 23rd International Conference on Intelligent Transportation Systems, ITSC 2020).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access15 Scopus citations -
Integral Sliding-Mode Observer-Based Disturbance Estimation for Euler-Lagrangian Systems
Zhang, Z., Leibold, M. & Wollherr, D., Nov 2020, In: IEEE Transactions on Control Systems Technology. 28, 6, p. 2377-2389 13 p., 8884191.Research output: Contribution to journal › Article › peer-review
Open Access47 Scopus citations -
2018
Combining Stochastic and Scenario Model Predictive Control to Handle Target Vehicle Uncertainty in an Autonomous Driving Highway Scenario
Brudigam, T., Olbrich, M., Leibold, M. & Wollherr, D., 7 Dec 2018, 2018 IEEE Intelligent Transportation Systems Conference, ITSC 2018. Institute of Electrical and Electronics Engineers Inc., p. 1317-1324 8 p. 8569909. (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC; vol. 2018-November).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access32 Scopus citations -
Legible Model Predictive Control for Autonomous Driving on Highways
Brüdigam, T., Ahmic, K., Leibold, M. & Wollherr, D., 2018, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 51, 20, p. 215-221 7 p.Research output: Contribution to journal › Article › peer-review
Open Access7 Scopus citations -
2017
Fast and close to optimal trajectory generation for articulated robots in reaching motions
Dinh, K. H., Weiler, P., Leibold, M. & Wollherr, D., 21 Aug 2017, 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. Institute of Electrical and Electronics Engineers Inc., p. 1221-1227 7 p. 8014185. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
2 Scopus citations -
Modeling and nonlinear control of antagonistically actuating pneumatic artificial muscles
Weiß, R., Großmann, B., Leibold, M., Schlegl, T. & Wollherr, D., 21 Aug 2017, 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. Institute of Electrical and Electronics Engineers Inc., p. 94-99 6 p. 8014001. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
2 Scopus citations -
2011
Consensus based decoupling in hybrid optimization of cooperative transportation planning
Mangesius, H., Sobotka, M. & Stursberg, O., 2011, Proceedings of the 18th IFAC World Congress. 1 PART 1 ed. IFAC Secretariat, p. 9543-9548 6 p. (IFAC Proceedings Volumes (IFAC-PapersOnline); vol. 44, no. 1 PART 1).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access -
2010
Solution of a multi-agent transport problem by hybrid optimization
Mangesius, H., Sobotka, M. & Stursberg, O., 2010, Proceedings - WODES 2010: 10th International Workshop on Discrete Event Systems. PART 1 ed. IFAC Secretariat, p. 432-437 6 p. (IFAC Proceedings Volumes (IFAC-PapersOnline); vol. 10, no. PART 1).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access -
2009
Optimal control and design of bipedal robots with compliance
Mombaur, K., Scheint, M. & Sobotka, M., 2009, In: At-Automatisierungstechnik. 57, 7, p. 349-358 10 p.Research output: Contribution to journal › Article › peer-review
9 Scopus citations -
2008
Stochastic optimal control for hybrid systems with uncertain discrete dynamics
Adamek, F., Sobotka, M. & Stursberg, O., 2008, 4th IEEE Conference on Automation Science and Engineering, CASE 2008. p. 23-28 6 p. 4626555. (4th IEEE Conference on Automation Science and Engineering, CASE 2008).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
9 Scopus citations -
2003
Minimal model of prey localization through the lateral-line system
Franosch, J. M. P., Sobotka, M. C., Elepfandt, A. & van Hemmen, J. L., 2003, In: Physical Review Letters. 91, 15Research output: Contribution to journal › Article › peer-review
22 Scopus citations