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Publications

Autonomous Driving:

• Schaub, A. and Burschka, D., Reactive Avoidance of Dynamic Obstacles through Optimization of Their Epipoles, in International Conference on System Theory, Control and Computing, pp. 318–324, IEEE, 2015.
• Brembeck, J. and Winter, C., Real-Time Capable Path Planning for Energy Management Systems in Future Vehicle Architectures, in 2014 IEEE Intelligent Vehicles Symposium, 2014.
• Schaub, A., Bünte, T. and Burschka, D., Direct Homography Control for Highly Maneuverable Vehicles, in 18th International Conference on System Theory, Control and Computing (ICSTCC), pp. 832–837, IEEE Control Systems Society, 2014.
• Schaub, A., de la Cruz, J. C. R. and Burschka, D., Autonomous Parking using a Highly Maneuverable Robotic Vehicle, in 19th World Congress of the International Federation of Automatic Control, IFAC Proceedings Volumes (IFAC-PapersOnline), pp. 2640–2645, 2014.
• Schaub, A. and Burschka, D., Spatio-temporal Prediction of Collision Candidates for Static and Dynamic Objects in Monocular Image Sequences, in IEEE Intelligent Vehicles Symposium, pp. 1052–1058, 2013.
• Schaub, A., Hellerer, M. and Bodenmüller, T., Simulation of Artificial Intelligence Agents using Modelica and the DLR Visualization Library, in 9th International Modelica Conference, 2012.
• Schaub, A., Brembeck, J., Burschka, D. and Hirzinger, G., Robotic Electric Vehicle with Camera-Based Autonomy Approach, ATZelektronik worldwide eMagazine, vol. 6(2) pp. 4–9, 2011.
• Hirschmüller, H. and Scharstein, D., Evaluation of Stereo Matching Costs on Images with Radiometric Differences, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 31(9) pp. 1582–1599, 2009.
• Hirschmüller, H., Stereo Processing  by Semiglobal  Matching and  Mutual Information, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 30(2) pp. 328–341, 2008.

Vehicle Dynamics Control

• de Castro, R., Tanelli, M., Araujo, R. and Savaresi, S. M., Minimum-Time Path-Following for Highly Redundant Electric Vehicles, IEEE Transactions on Control Systems Technology, 2016.
• Fleps-Dezasse, M. and Tobolar, J., Identification of a Nonlinear Full-Vehicle Model for Semi-Active Damper Controller Synthesis, Vehicle System Dynamics, 2015.
• Ritzer, P., Winter, C. and Brembeck, J., Advanced Path Following Control of an Overactuated Robotic Vehicle, in 2015 IEEE Intelligent Vehicles Symposium, pp. 1120–1125, 2015.
• Satzger, C. and Bals, J., Kombinierte Radschlupf- und Momentenregelung für ein hybrides Bremssystem, in 49. Regelungstechnisches Kolloquium, 2015.
• Bünte, T., Ho, L. M., Satzger, C. and Brembeck, J., Zentrale Fahrdynamikregelung der robotischen Forschungsplattform ROboMObil, ATZ-Elektronik, pp. 72–79, 2014.
• Bünte, T., Kaspar, S., Hohmann, S. and Brembeck, J., Inverse Model based Torque Vectoring Control for a Rear Wheel Driven Battery Electric Vehicle, in 19th World Congress of the International Federation of Automatic Control, IFAC Proceedings Volumes (IFAC-PapersOnline), pp. 12016–12022, 2014.
• de Castro, R., Tanelli, M., Araujo, R. and Savaresi, S. M., Design of Safety-Oriented Control Allocation Strategies for Over-Actuated Electric Vehicles, Vehicle System Dynamics, vol. 52(8) pp. 1017–1046, 2014.
• de Castro, R., Tanelli, M., Araujo, R. and Savaresi, S. M., Minimum-Time Manoeuvring in Electric Vehicles with Four Wheel-Individual-Motors, Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility, vol. 52(6) pp. 824–846, 2014.
• de Castro, R., Tanelli, M., Araujo, R. and Savaresi, S. M., Minimum-Time Path Following in Highly Redundant Electric Vehicles, in 19th World Congress of the International Federation of Automatic Control, IFAC Proceedings Volumes (IFAC-PapersOnline), 2014.
• de Castro, R., Todeschini, F., Araujo, R., Savaresi, S., Corno, M. and Freitas, D., Adaptive-Robust Friction Compensation in a Hybrid Brake-by-Wire Actuator, Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering, vol. 228(10) pp. 769–786, 2014.
• Fleps-Dezasse, M., Tobolar, J. and Pitzer, J., Modelling and Parameter Identification of a Semi-Active Vehicle Damper, in Tummescheit, H. and Arzen, K.-E. (editors), 10th International Modelica Conference, pp. 283– 292, Linköping University Electronic Press, 2014.
• Kaspar, S., Ludwig, J., Bünte, T. and Hohmann, S., Robust Torque Vectoring Control, in 19th World Congress of the International Federation of Automatic Control, IFAC Proceedings Volumes (IFAC-PapersOnline), pp. 12023–12028, 2014.
• Satzger, C. and de Castro, R., Combined Wheel-Slip Control and Torque Blending using MPC, in International Conference on Connected Vehicles and Expo, 2014.
• Satzger, C., de Castro, R. P. and Bünte, T., A Model Predictive Control Allocation Approach to Hybrid Braking of Electric Vehicles, in IEEE Intelligent Vehicles Symposium, pp. 286–292, 2014.
• Satzger, C., Pinto De Castro, R. and Brembeck, J., Bremsregelverfahren für ein Fahrzeug, DE 201406061724, 2014.
• de Castro, R., Tanelli, M., Araujo, R. and Savaresi, S. M., Torque Allocation in Electric Vehicles with In-Wheel Motors: a Performance-Oriented Approach, in 52nd IEEE Conference on Decision and Control, 2013.
• de Castro, R., Tanelli, M., Araujo, R., Savaresi, S. M. and Freitas, D., Torque Allocation in EVs with 4 In-Wheel Motors: a High-Performance Approach, in 23nd International Symposium on Dynamics of Vehicles on Roads and Tracks, 2013.
• Fleps-Dezasse, M. and Brembeck, J., Model based Vertical Dynamics Estimation with Modelica and FMI, in Kawabe, T. (editor), 7th IFAC Symposium on Advances in Automotive Control, vol. 7, pp. 341–346, 2013.
• Köppern, J., Integrierte Fahrwerkregelung - Konzept und Anwendung, in 6. Fachtagung AUTOREG, 2013.
• Satzger, C., Brembeck, J. and Otter, M., Framework for the Evaluation of Wheel Torque Blending Algorithms, in Kawabe, T. (editor), 7th IFAC Symposium on Advances in Automotive Control, vol. 7, pp. 347–352, 2013.
• Brembeck, J. and Ritzer, P., Energy Optimal Control of an over actuated Robotic Electric Vehicle using Enhanced Control Allocation Approaches, in IEEE Intelligent Vehicles Symposium (IV), Intelligent Vehicles Symposium (IV), pp. 322–327, 2012.

Human Machine Interface

• Panzirsch, M. and Weber, B., A 3DoF-Sidestick User Interface for Four Wheel Independent Steering Vehicles, in IEEE Intelligent Vehicles Symposium,2015.
• Panzirsch, M., Artigas, J., Ryu, J.-H. and Ferre, M., Multilateral Control for Delayed Teleoperation, in 14th International Conference on Advanced Robotics, IEEE, 2013.
• Panzirsch, M., Artigas, J., Tobergte, A., Kotyczka, P., Preusche, C., Albu-Schäffer, A. and Hirzinger, G., A Peer-to-Peer Trilateral Passivity Control for Delayed Collaborative Teleoperation, in EuroHaptics, vol. 7282, pp. 395– 406, Springer, 2012.
• Bünte, T., Brembeck, J. and Ho, L. M., Human Machine Interface Concept for Interactive Motion Control of a Highly Maneuverable Robotic Vehicle, in IEEE Intelligent Vehicles Symposium (IV), pp. 1170–1175, 2011.
• Weber, B., Panzirsch, M., Montoya-Zamarron, S., Preusche, C. and Deml, B., Evaluation zweier Bedienkonzepte zur Steuerung eines Fahrzeugs mit drei Bewegungsfreiheitsgraden, in Grandt, M. and Schmerwitz, S. (editors), Fachausschusssitzung Anthropotechnik, Ergonomie im interdisziplinären Gestaltungsprozess, DGLR, 2011.
• Weber, B., Panzirsch, M., Preusche, C. and Deml, B., Der aktive Sidestick als Bedienelement im Elektromobil, in 57. Kongress der Gesellschaft für Arbeitswissenschaft, pp. 473–476, GfA Press, 2011.

Other related Work

• Tobolar, J., de Castro, R., Bleck, U., Satzger, C., Brembeck, J. and Hirano, Y., Comparative evaluation of energy efficiency of electrical vehicle powertrain configurations, Vehicle System Dynamics, 2016.
• van der Linden, F. L. J. and Tobolar, J., Modelling of Torque-Vectoring Drives for Electric Vehicles: a Case Study, in 11th International Modelica Conference, 16, pp. 151–158, Linköping University Electronic Press, Linköpings Universitet, 2015.
• Baumgartner, D. and Pfeiffer, A., Automated Modelica Package Generation of Parameterized Multibody Systems in CATIA, in 10th International Modelica Conference, Linköping Electronic Conference Proceedings, pp. 913–921, LiU Electronic Press, 2014.
• Brembeck, J., Pfeiffer, A., Fleps-Dezasse, M., Otter, M., Wernersson, K. and Elmqvist, H., Nonlinear State Estimation with an Extended FMI 2.0 Co-Simulation Interface, in Tummescheit, H. and Arzen, K.-E. (editors), 10th International Modelica Conference, vol. 96 of Linköping Electronic Conference Proceedings, pp. 53–62, Linköping University Electronic Press, 2014.
• Ho, L. M. and Ossmann, D., Fault Detection and Isolation of Vehicle Dynamics Sensors and Actuators for an Overactuated X-by-Wire Vehicle, in 53rd IEEE Conference on Decision and Control, 2014.
• Ho, L. M., Structural Analysis of a Vehicle Dynamics Model for Fault Detection and Isolation on the ROboMObil, in Conference on Control and Fault-Tolerant Systems (SysTol), pp. 601–606, 2013.
• Bals, J., Baumgartner, D., Brembeck, J., Bünte, T., Gschwilm, J., Heckmann, A., Ho, L. M., Reiner, M. and Satzger, C., Prüfstand zum Testen eines Kraftfahrzeugfahrwerks, DE102012111819, 2012.
• Ho, L. M., Application of Adaptive Thresholds in Robust Fault Detection of an Electro-Mechanical Single-Wheel Steering Actuator, in 8th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes (SAFEPROCESS), 2012.
• Brembeck, J., Ho, L. M., Schaub, A., Satzger, C. and Hirzinger, G., ROMO The robotic Electric Vehicle, in 22nd International Symposium on Dynamics of Vehicle on Roads and Tracks. IAVSD, 2011.
• Brembeck, J., Otter, M. and Zimmer, D., Nonlinear Observers based on the Functional Mockup Interface with Applications to Electric Vehicles, in 8th International Modelica Conference, 2011.
• Brembeck, J. and Wielgos, S., A Real Time Capable Battery Model for Electric Mobility Applications using Optimal Estimation Methods, in 8th International Modelica Conference, 2011.