30 citations · 79 across the 14 of their papers we have counts for
5 papers · 1 filter
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…