30 citations · 79 across the 14 of their papers we have counts for
14 papers
Communication Reduction via Semantic-Based Encoding in DMPC Using LSTMs
Torben Schiz, Pedro H. J. Nardelli, Henrik Ebel
The communication demands of distributed model prediction control (DMPC) can overwhelm even advanced wireless communication technologies as agents must exchange a significant amoun…
Learning-Accelerated Optimization-based Trajectory Planning for Cooperative Aerial-Ground Handover Missions
Jingshan Chen, Bochen Yu, Henrik Ebel +1
This paper presents a learning-augmented trajectory planning framework for cooperative unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) handover missions. While cent…
Excitation of control-affine systems and Koopman error bounds
Philipp Schmitz, Lea Bold, Friedrich M. Philipp +4
The Koopman operator and extended dynamic mode decomposition (EDMD) as a data-driven technique for its approximation have attracted considerable attention as a key tool for modelin…
Efficient Collision-Avoidance Constraints for Ellipsoidal Obstacles in Optimal Control: Application to Path-Following MPC and UAVs
David Leprich, Mario Rosenfelder, Markus Herrmann-Wicklmayr +3
This article proposes a modular optimal control framework for local three-dimensional ellipsoidal obstacle avoidance, exemplarily applied to model predictive path-following control…
Reducing the Communication of Distributed Model Predictive Control: Autoencoders and Formation Control
Torben Schiz, Henrik Ebel
Communication remains a key factor limiting the applicability of distributed model predictive control (DMPC) in realistic settings, despite advances in wireless communication. DMPC…
Discovering Antagonists in Networks of Systems: Robot Deployment
Ingeborg Wenger, Peter Eberhard, Henrik Ebel
A contextual anomaly detection method is proposed and applied to the physical motions of a robot swarm executing a coverage task. Using simulations of a swarm's normal behavior, a…
An Online Optimization-Based Trajectory Planning Approach for Cooperative Landing Tasks
Jingshan Chen, Lihan Xu, Henrik Ebel +1
This paper presents a real-time trajectory planning scheme for a heterogeneous multi-robot system (consisting of a quadrotor and a ground mobile robot) for a cooperative landing ta…
Efficient Avoidance of Ellipsoidal Obstacles with Model Predictive Control for Mobile Robots and Vehicles
Mario Rosenfelder, Hendrik Carius, Markus Herrmann-Wicklmayr +3
In real-world applications of mobile robots, collision avoidance is of critical importance. Typically, global motion planning in constrained environments is addressed through high-…
Data-Driven Predictive Control of Nonholonomic Robots Based on a Bilinear Koopman Realization: Data Does Not Replace Geometry
Mario Rosenfelder, Lea Bold, Hannes Eschmann +3
Advances in machine learning and the growing trend towards effortless data generation in real-world systems has led to an increasing interest for data-inferred models and data-base…
Data Publishing in Mechanics and Dynamics: Challenges, Guidelines, and Examples from Engineering Design
Henrik Ebel, Jan van Delden, Timo Lüddecke +15
Data-based methods have gained increasing importance in engineering, especially but not only driven by successes with deep artificial neural networks. Success stories are prevalent…
On Koopman-based surrogate models for non-holonomic robots
Lea Bold, Hannes Eschmann, Mario Rosenfelder +2
Data-driven surrogate models of dynamical systems based on the extended dynamic mode decomposition are nowadays well-established and widespread in applications. Further, for non-ho…
Cooperative Distributed MPC via Decentralized Real-Time Optimization: Implementation Results for Robot Formations
Gösta Stomberg, Henrik Ebel, Timm Faulwasser +1
Distributed model predictive control (DMPC) is a flexible and scalable feedback control method applicable to a wide range of systems. While the stability analysis of DMPC is quite…
Time-Optimal Handover Trajectory Planning for Aerial Manipulators based on Discrete Mechanics and Complementarity Constraints
Wei Luo, Jingshan Chen, Henrik Ebel +1
Planning a time-optimal trajectory for aerial robots is critical in many drone applications, such as rescue missions and package delivery, which have been widely researched in rece…
Model Predictive Control of Non-Holonomic Vehicles: Beyond Differential-Drive
Mario Rosenfelder, Henrik Ebel, Jasmin Krauspenhaar +1
Non-holonomic vehicles are of immense practical value and increasingly subject to automation. However, controlling them accurately, e.g., when parking, is known to be challenging f…