20 citations · 26 across the 8 of their papers we have counts for
9 papers
World Models for Anomaly Detection during Model-Based Reinforcement Learning Inference
Fabian Domberg, Georg Schildbach
Learning-based controllers are often purposefully kept out of real-world applications due to concerns about their safety and reliability. We explore how state-of-the-art world mode…
On the Application of Model Predictive Control to a Weighted Coverage Path Planning Problem
Kilian Schweppe, Ludmila Moshagen, Georg Schildbach
This paper considers the application of Model Predictive Control (MPC) to a weighted coverage path planning (WCPP) problem. The problem appears in a wide range of practical applica…
ROS2swarm - A ROS 2 Package for Swarm Robot Behaviors
Tanja Katharina Kaiser, Marian Johannes Begemann, Tavia Plattenteich +3
Developing reusable software for mobile robots is still challenging. Even more so for swarm robots, despite the desired simplicity of the robot controllers. Prototyping and experim…
Obstacle Avoidance of Autonomous Vehicles: An LPVMPC with Scheduling Trust Region
Maryam Nezami, Dimitrios S. Karachalios, Georg Schildbach +1
Reference tracking and obstacle avoidance rank among the foremost challenging aspects of autonomous driving. This paper proposes control designs for solving reference tracking prob…
Interaction-aware Traffic Prediction and Scenario-based Model Predictive Control for Autonomous Vehicles on Highways
Xiaorong Zhang, Sahar Zeinali, Georg Schildbach
This paper addresses the problem of traffic prediction and control of autonomous vehicles on highways. A modified Interacting Multiple Model Kalman filter algorithm is applied to p…
On the Design of Nonlinear MPC and LPVMPC for Obstacle Avoidance in Autonomous Driving
Maryam Nezami, Dimitrios S. Karachalios, Georg Schildbach +1
In this study, we are concerned with autonomous driving missions when a static obstacle blocks a given reference trajectory. To provide a realistic control design, we employ a mode…
Robust tube-based LPV-MPC for autonomous lane keeping
Maryam Nezami, Hossam Seddik Abbas, Ngoc Thinh Nguyen +1
This paper proposes a control architecture for autonomous lane keeping by a vehicle. In this paper, the vehicle dynamics consist of two parts: lateral and longitudinal dynamics. Th…
A Safe Control Architecture Based on Robust Model Predictive Control for Autonomous Driving
Maryam Nezami, Ngoc Thinh Nguyen, Georg Männel +2
This paper proposes a Robust Safe Control Architecture (RSCA) for safe-decision making. The system to be controlled is a vehicle in the presence of bounded disturbances. The RSCA c…
A Safe Control Architecture Based on a Model Predictive Control Supervisor for Autonomous Driving
Maryam Nezami, Georg Maennel, Hossam Seddik Abbas +1
This paper presents a novel, safe control architecture (SCA) for controlling an important class of systems: safety-critical systems. Ensuring the safety of control decisions has al…