Prof. Dr.-Ing. Matthias Althoff

Prof. Dr.-Ing. Matthias Althoff

Team assistant: Katja Hempel (katja.hempel@tum.de)

Technische Universität München

Informatik 6 - Lehrstuhl für Robotik, Künstliche Intelligenz und Echtzeitsysteme (Prof. Knoll)

Postadresse

Postal:
Boltzmannstr. 3
85748 Garching b. München

Dienstort

Informatik 6 - Professur für Cyber Physical Systems (Prof. Althoff)

Work:
Boltzmannstr. 3(5607)/III
85748 Garching b. München

Tel.: +49 (89) 289 - 18134
Raum: 5607.03.053
althoff(at)tum.de

Team assistant: Katja Hempel (katja.hempel@tum.de)

Curriculum Vitae

Matthias Althoff received the diploma in Mechatronics and Information Technology from the department of mechanical engineering at the Technische Universität München, Germany, in 2005. He received his PhD degree (summa cum laude) in electrical engineering from the same university under the supervision of Univ.-Prof. Dr.-Ing./Univ. Tokio Martin Buss in 2010. From 2010 - 2012 he was a postdoctoral researcher at Carnegie Mellon University, USA, with a joint appointment in electrical engineering and the Robotics Institute. He joined the computer science department at Ilmenau University of Technology, Germany, in 2012 as assistant professor for automation systems. From 2013-2019 Matthias Althoff was assistant professor in computer science at the Technische Universität München. Since 2019 he is associate professor at the same university.

His research interests include the design and analysis of cyber-physical systems, formal verification of continuous and hybrid systems, reachability analysis, planning algorithms, robust and fault-tolerant control. Main applications of his research are automated vehicles, robotics, power systems, and analog and mixed-signal circuits.

full CV

Modular Robotics Startup – RobCo

RobCo

Workshop

Applied Verification for Continuous and Hybrid Systems (ARCH)

Courses

Winter term 2024/25

Course no.	Title	Duration	Type	Lecturer (assistant)
821089242	Doctoral Seminar - Robotics (IN2137)	2	SE	M. Althoff [L] D. Burschka A. C. Knoll
0000002856	Formal Methods for Cyber-Physical Systems	4	VI	M. Althoff [L] L. Koller T. Ladner L. Lützow S. Sigl Y. Zhang
0000001604	Fundamentals of Artificial Intelligence (IN2406)	5	VI	M. Althoff [L] F. Lercher L. Lützow S. Mair J. Thumm
0000001248	Masterpraktikum - Autonomous Mobile Robots for Unstructured Environments (IN2106, IN4383)	6	PR	M. Althoff [L] C. Carste J. Hoffmann
0000001153	Masterpraktikum - Formal Methods for AI-Enabled Cyber-Physical Systems (IN2106, IN4385)	6	PR	M. Althoff [L] L. Koller T. Ladner F. Lercher L. Lützow S. Sigl Y. Zhang
0000002503	Masterpraktikum - Machine Learning for Smart Grids (IN2106, IN4342)	6	PR	M. Althoff [L] M. Eichelbeck H. Markgraf
0000001155	Masterpraktikum - Safe Reinforcement Learning for Modular Robots (IN2106, IN4386)	6	PR	M. Althoff [L] J. Balletshofer J. Külz J. Thumm
0000000573	Praktikum - Motion planning for autonomous vehicles (IN2106, IN0012, IN4221)	6	PR	M. Althoff [L] Y. Wang
0000001558	Seminar - Cyber-Physical Systems (IN0014, IN2107, IN4813)	2	SE	M. Althoff [L] P. Gassert
240927786	Techniques in Artificial Intelligence (IN2062)	4	VI	M. Althoff [L] F. Lercher L. Lützow S. Mair J. Thumm

Publications

2024

Hanna Krasowski; Matthias Althoff: Provable Traffic Rule Compliance in Safe Reinforcement Learning on the Open Sea. IEEE Transactions on Intelligent Vehicles, 2024, 1-18 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Jonathan Külz; Matthias Althoff: Optimizing Modular Robot Composition: A Lexicographic Genetic Algorithm Approach. International Conference on Robotics and Automation, 2024 mehr… BibTeX Volltext (mediaTUM)
Koller, Lukas; Ladner, Tobias; Althoff, Matthias: Set-Based Training for Neural Network Verification. arxiv, 2024 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Kulmburg, Adrian; Brkan, Ivan; Althoff, Matthias: Search-based and Stochastic Solutions to the Zonotope and Ellipsotope Containment Problems. 2024 European Control Conference (ECC), IEEE, 2024 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Ladner, Tobias; Althoff, Matthias: Exponent Relaxation of Polynomial Zonotopes and Its Applications in Formal Neural Network Verification. Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 2024 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Ladner, Tobias; Althoff, Matthias: Fully Automatic Neural Network Reduction for Formal Verification. arxiv, 2024 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Ladner, Tobias; Eichelbeck, Michael; Althoff, Matthias: Formal Verification of Graph Convolutional Networks with Uncertain Node Features and Uncertain Graph Structure. arxiv, 2024 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Lercher, Florian; Althoff, Matthias: Using Four-Valued Signal Temporal Logic for Incremental Verification of Hybrid Systems. Computer Aided Verification (CAV), 2024, 259-281 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Lercher, Florian; Althoff, Matthias: Specification-Compliant Reachability Analysis for Autonomous Vehicles Using On-the-Fly Model Checking. Proceedings of the IEEE Intelligent Vehicles Symposium (IV), 2024, 1484-1491 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Lin, Yuanfei; Li, Chenran; Ding, Mingyu; Tomizuka, Masayoshi; Zhan, Wei; Althoff, Matthias: DrPlanner: Diagnosis and Repair of Motion Planners for Automated Vehicles Using Large Language Models. IEEE Robotics and Automation Letters 9 (10), 2024, 8218-8225 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Liu, Di; Mair, Sebastian; Yang, Kang; Baldi, Simone; Frasca, Paolo; Althoff, Matthias: Resilience in Platoons of Cooperative Heterogeneous Vehicles: Self-Organization Strategies and Provably-Correct Design. IEEE Transactions on Intelligent Vehicles 9 (1), 2024, 2262-2275 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Lukas Schäfer, Matthias Althoff: Computing Robust Control Invariant Sets of Nonlinear Systems Using Polynomial Controller Synthesis. 2024 American Control Conference (ACC), 2024 mehr… BibTeX
Lützow, Laura; Althoff, Matthias: Scalable Reachset-Conformant Identification of Linear Systems. IEEE Control Systems Letters 8, 2024, 520-525 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Maierhofer, Sebastian; Althoff, Matthias: CommonRoad-CARLA Interface: Bridging the Gap between MotionPlanning and 3D Simulation. 2024 IEEE Intelligent Vehicles Symposium (IV), 2024 mehr… BibTeX Volltext (mediaTUM)
Mair, Sebastian; Althoff, Matthias: Provably Correct Safety Protocol for Cooperative Platooning. 2024 IEEE Intelligent Vehicles Symposium (IV), 2024 mehr… BibTeX Volltext (mediaTUM)
Manzanas Lopez, Diego; Althoff, Matthias; Benet, Luis; Blab, Clemens; Forets, Marcelo; Jia, Yuhao; Johnson, Taylor T; Kranzl, Manuel; Ladner, Tobias; Linauer, Lukas; Neubauer, Philipp; Neubauer, Sophie; Schilling, Christian; Zhang, Huan; Zhong, Xiangru: ARCH-COMP24 Category Report: Artificial Intelligence and Neural Network Control Systems (AINNCS) for Continuous and Hybrid Systems Plants. EPiC Series in Computing, EasyChair, 2024 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Mark Wetzlinger, Adrian Kulmburg, Matthias Althoff: Inner Approximations of Reachable Sets for Nonlinear Systems using the Minkowski Difference. IEEE Control Systems Letters, IEEE, 2024 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Markgraf, Hannah; Eichelbeck, Michael; Althoff, Matthias: Empowering Safe Reinforcement Learning in Power System Control with CommonPower. ICLR 2024 Workshop on Tackling Climate Change with Machine Learning, 2024 mehr… BibTeX
Matthias Mayer, Jonathan Külz, Matthias Althoff: CoBRA: A Composable Benchmark for Robotics Applications. IEEE International Conference on Robotics and Automation (ICRA), 2024, 17665-17671 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Matthias Mayer; Zihao Li; Matthias Althoff: Efficient Path Planning for Modular Reconfigurable Robots. IEEE/RSJ International Conference on Intelligent Robots and Systems (2024), 2024, TBA mehr… BibTeX Volltext (mediaTUM)
Mayer, Matthias; Külz, Jonathan; Althoff, Matthias: CoBRA: A Composable Benchmark for Robotics Applications. IEEE International Conference on Robotics and Automation (ICRA 2024), 2024, 17665--17671 mehr… BibTeX Volltext ( DOI )
Schäfer, Lukas; Gruber, Felix; Althoff, Matthias: Scalable Computation of Robust Control Invariant Sets of Nonlinear Systems. IEEE Transactions on Automatic Control 69 (2), 2024, 755-770 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Thumm, Jakob; Trost, Felix; Althoff, Matthias: Human-Robot Gym: Benchmarking Reinforcement Learning in Human-Robot Collaboration. Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2024 mehr… BibTeX Volltext (mediaTUM)
Thumm, Jakob; Trost, Felix; Althoff, Matthias: Human-Robot Gym: Benchmarking Reinforcement Learning in Human-Robot Collaboration. Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2024 mehr… BibTeX Volltext (mediaTUM)
Tobias Mascetta, Edmond Irani Liu, Matthias Althoff: Rule-Compliant Multi-Agent Driving Corridor Generation using Reachable Sets and Combinatorial Negotiations. 2024 IEEE Intelligent Vehicle Symposium (IV), 2024 mehr… BibTeX Volltext (mediaTUM)
Wendl, Manuel; Koller, Lukas; Ladner, Tobias; Althoff, Matthias: Training Verifiably Robust Agents Using Set-Based Reinforcement Learning. arxiv, 2024 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Würsching, Gerald; Althoff, Matthias: Robust and Efficient Curvilinear Coordinate Transformation with Guaranteed Map Coverage for Motion Planning. 2024 IEEE Intelligent Vehicles Symposium (IV), 2024 mehr… BibTeX Volltext (mediaTUM)
Würsching, Gerald; Mascetta, Tobias; Lin, Yuanfei; Althoff, Matthias: Simplifying Sim-to-Real Transfer in Autonomous Driving: Coupling Autoware with the CommonRoad Motion Planning Framework. 2024 IEEE Intelligent Vehicles Symposium (IV), 2024 mehr… BibTeX Volltext (mediaTUM)
Xinyu Chen; Jonathan Külz; Matthias Althoff: Generating Robot Capability Maps with Neural Fields. RSS Workshop on Embodiment-Aware Robot Learning, 2024 mehr… BibTeX Volltext (mediaTUM)
Youran Wang, Yuanfei Lin, and Matthias Althoff: Interaction-Aware Trajectory Repair in Compliance with Formalized Traffic Rules. The 27th IEEE International Conference on Intelligent Transportation Systems (IEEE ITSC 2024), 2024 mehr… BibTeX Volltext (mediaTUM)

2023

Alanwar, Amr; Gaßmann, Victor; He, Xingkang; Said, Hazem; Sandberg, Henrik; Johansson, Karl H.; Althoff, Matthias: Privacy-preserving set-based estimation using partially homomorphic encryption. European Journal of Control 71, 2023 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Alanwar, Amr; Rath, Jagat Jyoti; Said, Hazem; Johansson, Karl Henrik; Althoff, Matthias: Distributed set-based observers using diffusion strategies. Journal of the Franklin Institute 360 (10), 2023, 6976-6993 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, Matthias: Checking and Establishing Reachset Conformance in CORA 2023. Proc. of 10th International Workshop on Applied Verification of Continuous and Hybrid Systems (EPiC Series in Computing), 2023 mehr… BibTeX Volltext (mediaTUM)
Althoff, Matthias; Forets, Marcelo; Li, Yangge; Mitra, Sayan; Schilling, Christian; Wetzlinger, Mark; Zhuang, Daniel: ARCH-COMP23 Category Report: Continuous and Hybrid Systems with Linear Continuous Dynamics. EPiC Series in Computing, EasyChair, 2023 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Edmond Irani Liu, Matthias Althoff: Specification-Compliant Driving Corridors for Motion Planning of Automated Vehicles, 2023 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Finkeldei, Florian; Althoff, Matthias: Synthesizing Traffic Scenarios from Formal Specifications Using Reachability Analysis. IEEE 26th International Conference on Intelligent Transportation Systems (ITSC), 2023 mehr… BibTeX Volltext (mediaTUM)
Gaßmann, Victor; Althoff, Matthias: Polynomial Controller Synthesis of Nonlinear Systems With Continuous State Feedback Using Trust Regions. IEEE Open Journal of Control Systems 2, 2023, 310–324 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Geretti, Luca; Alexandre Dit Sandretto, Julien; Althoff, Matthias; Benet, Luis; Collins, Pieter; Forets, Marcelo; Ivanova, Elena; Li, Yangge; Mitra, Sayan; Mitsch, Stefan; Schilling, Christian; Wetzlinger, Mark; Zhuang, Daniel: ARCH-COMP23 Category Report: Continuous and Hybrid Systems with Nonlinear Dynamics. EPiC Series in Computing, EasyChair, 2023 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Gruber, Felix; Althoff, Matthias: Scalable Robust Safety Filter With Unknown Disturbance Set. IEEE Transactions on Automatic Control 68 (12), 2023, 7756-7770 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Halder, Patrick; Christ, Fabian; Althoff, Matthias: Lexicographic Mixed-Integer Motion Planning with STL Constraints. IEEE 26th International Conference on Intelligent Transportation Systems (ITSC), 2023 mehr… BibTeX Volltext (mediaTUM)
Hanna Krasowski; Jakob Thumm; Marlon Müller; Lukas Schäfer; Xiao Wang; Matthias Althoff: Provably Safe Reinforcement Learning: Conceptual Analysis, Survey, and Benchmarking. Transactions on Machine Learning Research, 2023 mehr… BibTeX Volltext ( DOI )
Hanna Krasowski; Prithvi Akella; Aaron D. Ames; Matthias Althoff: Safe Reinforcement Learning with Probabilistic Guarantees Satisfying Temporal Logic Specifications in Continuous Action Spaces. IEEE Conference on Decision and Control (CDC), 2023 mehr… BibTeX Volltext (mediaTUM)
Jonathan Külz, Matthias Mayer, and Matthias Althoff: Timor Python: A Toolbox for Industrial Modular Robotics. International Conference on Intelligent Robots and Systems, 2023 mehr… BibTeX Volltext (mediaTUM)
Kochdumper, N.; Althoff, M.: Constrained polynomial zonotopes. Acta Informatica, 2023, 279–316 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Kochdumper, Niklas; Schilling, Christian; Althoff, Matthias; Bak, Stanley: Open- and Closed-Loop Neural Network Verification Using Polynomial Zonotopes. NASA Formal Methods, 2023 mehr… BibTeX Volltext (mediaTUM)
Ladner, Tobias; Althoff, Matthias: Specification-Driven Neural Network Reduction for Scalable Formal Verification. arxiv, 2023 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Ladner, Tobias; Althoff, Matthias: Automatic Abstraction Refinement in Neural Network Verification using Sensitivity Analysis. Proceedings of the 26th ACM International Conference on Hybrid Systems: Computation and Control (HSCC), ACM, 2023 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Lin, Yuanfei; Althoff, Matthias: CommonRoad-CriMe: A Toolbox for Criticality Measures of Autonomous Vehicles. 2023 IEEE Intelligent Vehicles Symposium (IV), 2023, 1-8 mehr… BibTeX Volltext (mediaTUM)
Lin, Yuanfei; Li, Haoxuan; Althoff, Matthias: Model Predictive Robustness of Signal Temporal Logic Predicates. IEEE Robotics and Automation Letters 08 (12), 2023, 8050 - 8057 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Lin, Yuanfei; Ratzel, Michael; Althoff, Matthias: Automatic Traffic Scenario Conversion from OpenSCENARIO to CommonRoad. 2023 IEEE International Conference on Intelligent Transportation Systems (ITSC), 2023, 4941-4946 mehr… BibTeX Volltext (mediaTUM)
Liu, Stefan B.; Giusti, Andrea; Althoff, Matthias: Velocity Estimation of Robot Manipulators: An Experimental Comparison. IEEE Open Journal of Control Systems 2, 2023, 1-11 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Lopez, Diego Manzanas; Althoff, Matthias; Forets, Marcelo; Johnson, Taylor T; Ladner, Tobias; Schilling, Christian: ARCH-COMP23 Category Report: Artificial Intelligence and Neural Network Control Systems (AINNCS) for Continuous and Hybrid Systems Plants. EPiC Series in Computing, EasyChair, 2023 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Lützow, Laura; Althoff, Matthias: Reachability Analysis of ARMAX Models. 2023 62nd IEEE Conference on Decision and Control (CDC), 2023 mehr… BibTeX Volltext (mediaTUM)
Maierhofer, Sebastian; Ballnath, Yannick; Althoff, Matthias: Map Verification and Repairing Using Formalized Map Specifications. 2023 IEEE International Conference on Intelligent Transportation Systems (ITSC), 2023 mehr… BibTeX Volltext (mediaTUM)
Markgraf, Hannah; Althoff, Matthias: Safe multi-agent reinforcement learning for price-based demand response. ICLR 2023 Workshop on Tackling Climate Change with Machine Learning, 2023 mehr… BibTeX
Markgraf, Hannah; Althoff, Matthias: Safe Multi-Agent Reinforcement Learning for Price-Based Demand Response. 2023 IEEE PES Innovative Smart Grid Technologies Europe (ISGT EUROPE), IEEE, 2023 mehr… BibTeX Volltext ( DOI )
Mehdipour, Noushin; Althoff, Matthias; Tebbens, Radboud Duintjer; Belta, Calin: Formal methods to comply with rules of the road in autonomous driving: State of the art and grand challenges. Automatica 152, 2023 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Meyer, Eivind; Brenner, Maurice; Zhang, Bowen; Schickert, Max; Musani, Bilal; Althoff, Matthias: Geometric Deep Learning for Autonomous Driving: Unlocking the Power of Graph Neural Networks With CommonRoad-Geometric. 2023 IEEE Intelligent Vehicles Symposium (IV), 2023 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Meyer, Eivind; Peiss, Lars Frederik; Althoff, Matthias: Deep Occupancy-Predictive Representations for Autonomous Driving. 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Niklas Kochdumper; Hanna Krasowski; Xiao Wang; Stanley Bak; Matthias Althoff: Provably Safe Reinforcement Learning via Action Projection using Reachability Analysis and Polynomial Zonotopes. IEEE Open Journal of Control Systems, 2023 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Peiss, Lars Frederik; Wohlgemuth, Elias; Xue, Fan; Meyer, Eivind; Gressenbuch, Luis; Althoff, Matthias: Graph-Based Autonomous Driving with Traffic-Rule-Enhanced Curriculum Learning. 2023 IEEE International Conference on Intelligent Transportation Systems (ITSC), 2023 mehr… BibTeX Volltext (mediaTUM)
Pereira, Aaron; Baumann, Mareike; Gerstner, Jonas; Althoff, Matthias: Improving Efficiency of Human-Robot Coexistence While Guaranteeing Safety: Theory and User Study. IEEE Transactions on Automation Science and Engineering 20 (4), 2023, 2706–2719 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Schäfer, Lukas; Manzinger, Stefanie; Althoff, Matthias: Computation of Solution Spaces for Optimization-based Trajectory Planning. IEEE Transactions on Intelligent Vehicles 8 (1), 2023, 216-231 mehr… BibTeX Volltext ( DOI )
Thumm, Jakob; Pelat, Guillaume; Althoff, Matthias: Reducing Safety Interventions in Provably Safe Reinforcement Learning. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023 mehr… BibTeX Volltext (mediaTUM)
Wang, Xiao; Althoff, Matthias: Safe Reinforcement Learning for Automated Vehicles via Online Reachability Analysis. IEEE Transactions on Intelligent Vehicles, 2023, 1-15 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Wetzlinger, Mark; Kochdumper, Niklas; Bak, Stanley; Althoff, Matthias: Fully Automated Verification of Linear Systems Using Inner and Outer Approximations of Reachable Sets. IEEE Transactions on Automatic Control 68 (12), 2023, 7771-7786 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Wetzlinger, Mark; Kochdumper, Niklas; Bak, Stanley; Althoff, Matthias: Fully-Automated Verification of Linear Systems Using Reachability Analysis with Support Functions. Proceedings of the 26th ACM International Conference on Hybrid Systems: Computation and Control, ACM, 2023 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)

2022

Althoff, Matthias: Benchmarks for the Formal Verification of Power Systems. Proc. of 9th International Workshop on Applied Verification of Continuous and Hybrid Systems (EPiC Series in Computing), EasyChair, 2022 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, Matthias; Forets, Marcelo; Schilling, Christian; Wetzlinger, Mark: ARCH-COMP22 Category Report: Continuous and Hybrid Systems with Linear Continuous Dynamics. Proc. of 9th International Workshop on Applied Verification of Continuous and Hybrid Systems (EPiC Series in Computing), EasyChair, 2022 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Eichelbeck, Michael; Markgraf, Hannah; Althoff, Matthias: Contingency-constrained economic dispatch with safe reinforcement learning. 2022 21st IEEE International Conference on Machine Learning and Applications (ICMLA), IEEE, 2022 mehr… BibTeX Volltext ( DOI )
Gaßmann, Victor; Althoff, Matthias: Implementation of Ellipsoidal Operations in CORA 2022. EPiC Series in Computing, EasyChair, 2022 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Geretti, Luca; Sandretto, Julien Alexandre Dit; Althoff, Matthias; Benet, Luis; Collins, Pieter; Duggirala, Parasara; Forets, Marcelo; Kim, Edward; Mitsch, Stefan; Schilling, Christian; Wetzlinger, Mark: ARCH-COMP22 Category Report Continuous and Hybrid Systems with Nonlinear Dynamics. Proceedings of 9th International Workshop on Applied Verification of Continuous and Hybrid Systems (ARCH22) (EPiC Series in Computing), EasyChair, 2022 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Giusti, Andrea; Liu, Stefan B.; Althoff, Matthias: Interval-Arithmetic-Based Robust Control of Fully Actuated Mechanical Systems. IEEE Transactions on Control Systems Technology 30 (4), 2022, 1525--1537 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Gressenbuch, Luis; Esterle, Klemens; Kessler, Tobias; Althoff, Matthias: MONA: The Munich Motion Dataset of Natural Driving. 2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC), 2022 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Halder, Patrick; Althoff, Matthias: Minimum-Violation Velocity Planning with Temporal Logic Constraints. IEEE 25th International Conference on Intelligent Transportation Systems (ITSC), 2022, 2520-2527 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Hanna Krasowski; Matthias Althoff: CommonOcean: Composable Benchmarks for Motion Planning on Oceans. 2022 IEEE International Conference on Intelligent Transportation Systems (ITSC) , 2022 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Hanna Krasowski; Yinqiang Zhang; Matthias Althoff: Safe Reinforcement Learning for Urban Driving using Invariably Safe Braking Sets. 2022 IEEE International Conference on Intelligent Transportation Systems (ITSC) , 2022 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Irani Liu, Edmond; Würsching, Gerald; Klischat Moritz; Althoff, Matthias: CommonRoad-Reach: A Toolbox for Reachability Analysis of Automated Vehicles. IEEE International Conference on Intelligent Transportation Systems (ITSC), 2022 mehr… BibTeX Volltext (mediaTUM)
Lin, Yuanfei; Althoff, Matthias: Rule-Compliant Trajectory Repairing using Satisfiability Modulo Theories. 2022 IEEE Intelligent Vehicles Symposium (IV), 2022, 449-456 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Lopez, Diego Manzanas; Althoff, Matthias; Benet, Luis; Chen, Xin; Fan, Jiameng; Forets, Marcelo; Huang, Chao; Johnson, Taylor T; Ladner, Tobias; Li, Wenchao; Schilling, Christian; Zhu, Qi: ARCH-COMP22 Category Report: Artificial Intelligence and Neural Network Control Systems (AINNCS) for Continuous and Hybrid Systems Plants. Proceedings of 9th International Workshop on Applied Verification of Continuous and Hybrid Systems (ARCH22) (EPiC Series in Computing), EasyChair, 2022 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Maierhofer, Sebastian; Moosbrugger, Paul; Althoff, Matthias: Formalization of Intersection Traffic Rules in Temporal Logic. Proc. of the IEEE Intelligent Vehicles Symposium, 2022 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Roehm, Hendrik; Rausch, Alexander; Althoff, Matthias: Reachset Conformance and Automatic Model Adaptation for Hybrid Systems. Mathematics 10 (19), 2022 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Schepp, Sven R.; Thumm, Jakob; Liu, Stefan B.; Althoff, Matthias: SaRA: A Tool for Safe Human-Robot Coexistence and Collaboration through Reachability Analysis. Proc. of the IEEE International Conference on Robotics and Automation, 2022 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Schürmann, Bastian; Klischat, Moritz; Kochdumper, Niklas; Althoff, Matthias: Formal Safety Net Control Using Backward Reachability Analysis. IEEE Transactions on Automatic Control 67 (11), 2022 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Thumm, Jakob; Althoff, Matthias: Provably Safe Deep Reinforcement Learning for Robotic Manipulation in Human Environments. 2022 International Conference on Robotics and Automation (ICRA), IEEE, 2022 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Verdier, Cees Ferdinand; Kochdumper, Niklas; Althoff, Matthias; Mazo, Manuel: Formal synthesis of closed-form sampled-data controllers for nonlinear continuous-time systems under STL specifications. Automatica 139, 2022 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Wetzlinger, M.; Kulmburg, A.; Le Penven, A.; Althoff, M.: Adaptive reachability algorithms for nonlinear systems using abstraction error analysis. Nonlinear Analysis: Hybrid Systems 46, 2022, 101252 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Xiao Wang; Christoph Pillmayer; Matthias Althoff: Learning to Obey Traffic Rules using Constrained Policy Optimization. IEEE International Conference on Intelligent Transportation Systems (ITSC), 2022 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)

2021

Althoff, M.: Ensuring Flexibility and Safety through Self-Programming Modular Robots. Proc. of the IROS Workshop on Modular and Reconfigurable Robot Mechatronics and Control: Challenges and Recent Advancements, 2021 mehr… BibTeX Volltext (mediaTUM)
Althoff, M.: Guaranteed State Estimation in CORA 2021. Proc. of the 8th International Workshop on Applied Verification of Continuous and Hybrid Systems (EPiC Series in Computing), EasyChair, 2021 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.; Frehse, G.; Girard, A.: Set Propagation Techniques for Reachability Analysis. Annual Review of Control, Robotics, and Autonomous Systems 4 (1), 2021, 369--395 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.; Rath, J.~J.: Comparison of Guaranteed State Estimators for Linear Time-Invariant Systems. Automatica 130, 2021 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.; Ábrahám, E.; Forets, M.; Frehse, G.; Freire, D.; Schilling, C.; Schupp, S.; Wetzlinger, M.: ARCH-COMP21 Category Report: Continuous and Hybrid Systems with Linear Continuous Dynamics. Proc. of the 8th International Workshop on Applied Verification of Continuous and Hybrid Systems (EPiC Series in Computing), EasyChair, 2021 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Camara, F.; Bellotto, N.; Cosar, S.; Nathanael, D.; Althoff, M.; Wu, J.; Ruenz, J.; Dietrich, A.; Fox, C.: Pedestrian Models for Autonomous Driving Part I: Low-Level Models, From Sensing to Tracking. IEEE Transactions on Intelligent Transportation Systems 22 (10), 2021, 6131–6151 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Camara, F.; Bellotto, N.; Cosar, S.; Weber, F.; Nathanael, D.; Althoff, M.; Wu, J.; Ruenz, J.; Dietrich, A.; Markkula, G.; Schieben, A.; Tango, F.; Merat, N.; Fox, C.: Pedestrian Models for Autonomous Driving Part II: High-Level Models of Human Behavior. IEEE Transactions on Intelligent Transportation Systems 22 (9), 2021, 5453–5472 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Gaßmann, Victor; Althoff, Matthias: Verified Polynomial Controller Synthesis for Disturbed Nonlinear Systems. IFAC-PapersOnLine 54 (5), 2021, 85-90 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Giusti, A.; Liu, S. B.; Althoff, M.: Interval-Arithmetic-Based Robust Control of Fully Actuated Mechanical Systems. IEEE Transactions on Control Systems Technology, 2021, 1-13 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Gressenbuch, Luis; Althoff, Matthias: Predictive Monitoring of Traffic Rules. 2021 IEEE International Intelligent Transportation Systems Conference (ITSC), IEEE, 2021 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Gruber, F.; Althoff, M.: Computing safe sets of linear sampled-data systems. IEEE Control Systems Letters 5 (2), 2021, 385-390 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Hanna Krasowski; Matthias Althoff: Temporal Logic Formalization of Marine Traffic Rules. 2021 IEEE Intelligent Vehicles Symposium (IV), 2021 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Irani Liu, Edmond; Althoff, Matthias: Computing Specification-Compliant Reachable Sets for Motion Planning of Automated Vehicles. 2021 IEEE Intelligent Vehicles Symposium (IV), IEEE, 2021, 1037-1044 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Kochdumper, Niklas and Gruber, Felix and Schürmann, Bastian and Gaßmann, Victor and Klischat, Moritz and Althoff, Matthias: AROC: A Toolbox for Automated Reachset Optimal Controller Synthesis. Proc. of the 24th International Conference on Hybrid Systems: Computation and Control, 2021 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Kochdumper, Niklas; Althoff, Matthias: Sparse Polynomial Zonotopes: A Novel Set Representation for Reachability Analysis. IEEE Transactions on Automatic Control 66 (9), 2021, 4043 - 4058 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Kochdumper, Niklas; Gassert, Philipp; Althoff, Matthias: Verification of Collision Avoidance for CommonRoad Traffic Scenarios. Proc. of the 8th International Workshop on Applied Verification of Continuous and Hybrid Systems, 2021 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Koschi, Markus; Althoff, Matthias: Set-based Prediction of Traffic Participants Considering Occlusions and Traffic Rules. IEEE Transactions on Intelligent Vehicles 6 (2), 2021, 249-265 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Kulmburg, Adrian; Althoff, Matthias: On the co-NP-Completeness of the Zonotope Containment Problem. European Journal of Control, 2021 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Lin, Yuanfei; Maierhofer, Sebastian; Althoff, Matthias: Sampling-Based Trajectory Repairing for Autonomous Vehicles. 2021 IEEE International Conference on Intelligent Transportation Systems (ITSC) , 2021, 572-579 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Liu, S. B.; Althoff, M.: Online Verification of Impact-Force-Limiting Control for Physical Human-Robot Interaction. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, 754-760 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Luca Geretti, Julien Alexandre dit Sandretto, Matthias Althoff, Luis Benet, Alexandre Chapoutot, Pieter Collins, Parasara Sridhar Duggirala, Marcelo Forets, Edward Kim, Uziel Linares, David P. Sanders, Christian Schilling, Mark Wetzlinger: ARCH-COMP21 Category Report: Continuous and Hybrid Systems with Nonlinear Dynamics. Proc. of the 8th International Workshop on Applied Verification of Continuous and Hybrid Systems (ARCH21) (EPiC Series in Computing), EasyChair, 2021 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Manzinger, Stefanie; Pek, Christian; Althoff, Matthias: Using Reachable Sets for Trajectory Planning of Automated Vehicles. IEEE Transactions on Intelligent Vehicles 6 (2), 2021, 232-248 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Mark Wetzlinger, Adrian Kulmburg, Matthias Althoff: Adaptive Parameter Tuning for Reachability Analysis of Nonlinear Systems. HSCC '21: Proceedings of the 24th International Conference on Hybrid Systems: Computation and Control, ACM, 2021 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Matthias Althoff, Sebastian Maierhofer, and Christian Pek: Provably-Correct and Comfortable Adaptive Cruise Control. IEEE Transactions on Intelligent Vehicles 6 (1), 2021, 159-174 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Pek, C.; Althoff, M.: Fail-safe Motion Planning for Online Verification of Autonomous Vehicles Using Convex Optimization. IEEE Transactions on Robotics 37 (3), 2021, 798--814 mehr… BibTeX Volltext (mediaTUM)
Schürmann, Bastian; Althoff, Matthias: Optimizing Sets of Solutions for Controlling Constrained Nonlinear Systems. IEEE Transactions on Automatic Control 66 (3), 2021, 981--994 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Sebastian Maierhofer, Moritz Klischat, and Matthias Althoff: CommonRoad Scenario Designer: An Open-Source Toolbox for Map Conversion and Scenario Creation for Autonomous Vehicles. Proc. of the IEEE Int. Conf. on Intelligent Transportation Systems , 2021, 3176-3182 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Würsching, Gerald; Althoff, Matthias: Sampling-Based Optimal Trajectory Generation for Autonomous Vehicles Using Reachable Sets. IEEE International Conference on Intelligent Transportation Systems (ITSC), 2021 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Xiao Wang; Hanna Krasowski; Matthias Althoff: CommonRoad-RL: A Configurable Reinforcement Learning Environment for Motion Planning of Autonomous Vehicles. IEEE International Conference on Intelligent Transportation Systems (ITSC), 2021 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Ye, Egon; Würsching, Gerald; Steyer, Sascha; Althoff, Matthias: Offline Dynamic Grid Generation for Automotive Environment Perception Using Temporal Inference Methods. IEEE Robotics and Automation Letters, 2021 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)

2020

Alanwar, A.; Said, H.; Mehta, A.; Althoff, M.: Event-Triggered Diffusion Kalman Filters. Proc. of the 11th ACM/IEEE International Conference on Cyber-Physical Systems, 2020 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.: Reachability Analysis of Large Linear Systems With Uncertain Inputs in the Krylov Subspace. IEEE Transactions on Automatic Control 65 (2), 2020, 477-492 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.: Build Your Own Reachability Analyzer with CORA. Post-proceedings of the Summer School Marktoberdorf: Safety and Security of Software Systems - Logics, Proofs, Applications, 2020 mehr… BibTeX Volltext (mediaTUM)
Althoff, Matthias; Bak, Stanley; Bao, Zongnan; Forets, Marcelo; Frehse, Goran; Freire, Daniel; Kochdumper, Niklas; Li, Yangge; Mitra, Sayan; Ray, Rajarshi; Schilling, Christian; Schupp, Stefan; Wetzlinger, Mark: ARCH-COMP20 Category Report: Continuous and Hybrid Systems with Linear Continuous Dynamics. Proc. of the 7th International Workshop on Applied Verification of Continuous and Hybrid Systems, EasyChair, 2020, 16-48 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Christian Pek, Vitaliy Rusinov, Stefanie Manzinger, Murat Can Üste, and Matthias Althoff: CommonRoad Drivability Checker: Simplifying the Development and Validation of Motion Planning Algorithms. Proc. of the IEEE Intelligent Vehicles Symposium, 2020 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Gaßmann, Victor; Althoff, Matthias: Scalable Zonotope-Ellipsoid Conversions using the Euclidean Zonotope Norm. 2020 American Control Conference (ACC), IEEE, 2020, 4715 - 4721 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Geretti, Luca; Alexandre Dit Sandretto, Julien; Althoff, Matthias; Benet, Luis; Chapoutot, Alexandre; Chen, Xin; Collins, Pieter; Forets, Marcelo; Freire, Daniel; Immler, Fabian; Kochdumper, Niklas; Sanders, David P.; Schilling, Christian: ARCH-COMP20 Category Report: Continuous and Hybrid Systems with Nonlinear Dynamics. Proc. of the 7th International Workshop on Applied Verification of Continuous and Hybrid Systems, EasyChair, 2020, 49-75 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Hanna Krasowski; Xiao Wang; Matthias Althoff: Safe Reinforcement Learning for Autonomous Lane Changing Using Set-Based Prediction. 2020 IEEE International Conference on Intelligent Transportation Systems (ITSC), 2020 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Irani Liu, Edmond; Pek, Christian; Althoff, Matthias: Provably-Safe Cooperative Driving via Invariably Safe Sets. 2020 IEEE Intelligent Vehicles Symposium (IV), IEEE, 2020, 516-523 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Klischat, Moritz; Althoff, Matthias: A Multi-Step Approach to Accelerate the Computation of Reachable Sets for Road Vehicles. Proc. of the IEEE Conf. on Intelligent Transportation Systems, 2020 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Klischat, Moritz; Althoff, Matthias: Synthesizing Traffic Scenarios from Formal Specifications for Testing Automated Vehicles. Proc. of the IEEE Intelligent Vehicles Symposium, 2020, 2065-2072 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Klischat, Moritz; Irani Liu, Edmond; Höltke, Fabian; Althoff, Matthias: Scenario Factory: Creating Safety-Critical Traffic Scenarios for Automated Vehicles. 2020 IEEE International Conference on Intelligent Transportation Systems (ITSC), 2020 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Kochdumper, Niklas and Althoff, Matthias: Computing Non-Convex Inner-Approximations of Reachable Sets for Nonlinear Continuous Systems. Proc. of the 59th Conference on Decision and Control, 2020 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Kochdumper, Niklas; Tarraf, Ahmad, Rechmal, Malgorzata; Olbrich, Markus; Hedrich, Lars; Althoff, Matthias: Establishing Reachset Conformance for the Formal Analysis of Analog Circuits. Proceedings of the 25th Asia and South Pacific Design Automation Conference, 2020, 199-204 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Kochdumper, Niklas; Althoff, Matthias: Reachability analysis for hybrid systems with nonlinear guard sets. Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control, ACM, 2020 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Kochdumper, Niklas; Schürmann, Bastian; Althoff, Matthias: Utilizing dependencies to obtain subsets of reachable sets. Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control, ACM, 2020 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Liu, S. B.; Althoff, M.: Optimizing performance in automation through modular robots. IEEE International Conference on Robotics and Automation, 2020 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Maierhofer, Sebastian; Rettinger, Anna-Katharina; Mayer, Eva Charlotte; Althoff, Matthias: Formalization of Interstate Traffic Rules in Temporal Logic. Proc. of the IEEE Intelligent Vehicles Symposium, 2020 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Mark Wetzlinger, Niklas Kochdumper, Matthias Althoff: Adaptive Parameter Tuning for Reachability Analysis of Linear Systems. 2020 59th IEEE Conference on Decision and Control (CDC), 2020 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Matthias Althoff, Matthias Mayer, Robert Müller: Automatic Synthesis of Human Motion from Temporal Logic Specifications. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Pek, Christian; Manzinger, Stefanie; Koschi, Markus; Althoff, Matthias: Using online verification to prevent autonomous vehicles from causing accidents. Nature Machine Intelligence 2 (9), 2020, 518-528 mehr… BibTeX Volltext ( DOI )
Schieben, A.; Wilbrink, M.; Dietrich, A.; Ruenz, J.; Portouli, E.; Amditis, A.; Althoff, M.; Kaup, M.; Tango, F.; Lee, Y. -M.; Markkula, G.; Merat, N.; Weber, F.: Designing cooperative interaction of automated vehicles in mixed traffic environments: Insights from the interACT project. Proc. of 8th Transport Research Arena, 2020 mehr… BibTeX Volltext (mediaTUM)
Schürmann, Bastian; Vignali, Riccardo; Prandini, Maria; Althoff, Matthias: Set-based Control for Disturbed Piecewise Affine Systems with State and Actuation Constraints. Nonlinear Analysis: Hybrid Systems 36, 2020 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Vogel, Paul; Althoff, Matthias: Rekonstruktion von durch vollautomatisierte Fahrzeuge verursachten Verkehrsunfällen. InTeR - Zeitschrift zum Innovations- und Technikrecht 8 (2), 2020, 89-94 mehr… BibTeX Volltext (mediaTUM)
Xiao Wang, Anna-Katharina Rettinger, Md Tawhid Bin Waez, Matthias Althoff: Coupling Apollo with the CommonRoad Motion Planning Framework. FISITA World Congress, 2020 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Xiao Wang; Saasha Nair; Matthias Althoff: Falsification-Based Robust Adversarial Reinforcement Learning. Proc. of IEEE International Conference on Machine Learning and Applications, 2020 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Ye, Egon; Althoff, Matthias: Mutual Absolute Calibration of Lidar Mounting Positions on Vehicles using CAD Models. Proc. of the 23rd IEEE International Conference on Intelligent Transportation Systems, 2020, 554–560 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Ye, Egon; Spiegel, Philip; Althoff, Matthias: Cooperative Raw Sensor Data Fusion for Ground Truth Generation in Autonomous Driving. Proc. of the 23rd IEEE International Conference on Intelligent Transportation Systems, 2020, 1498–1504 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)

2019

Alanwar, Amr; Said, Hazem; Althoff, Matthias: Distributed Secure State Estimation Using Diffusion Kalman Filters and Reachability Analysis. Proc. of the 58th IEEE Conference on Decsion and Control, 2019 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.; Giusti, A.; Liu, S. B.; Pereira, A.: Effortless creation of safe robots from modules through self-programming and self-verification. Science Robotics 4 (31), 2019, eaaw1924 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, Matthias; Bak, Stanley; Forets, Marcelo; Frehse, Goran; Kochdumper, Niklas; Ray, Rajarshi; Schilling, Christian; Schupp, Stefan: ARCH-COMP19 Category Report: Continuous and Hybrid Systems with Linear Continuous Dynamics. Proc. of the 6th International Workshop on Applied Verification of Continuous and Hybrid Systems (EPiC Series in Computing), 2019 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Christian Pek and Matthias Althoff: Ensuring Motion Safety of Autonomous Vehicles through Online Fail-safe Verification. Robotics: Science and Systems -- Pioneers Workshop, 2019 mehr… BibTeX Volltext (mediaTUM)
Christian Pek, Markus Koschi, and Matthias Althoff: An Online Verification Framework for Motion Planning of Self-driving Vehicles with Safety Guarantees. AAET - Automatisiertes und vernetztes Fahren, 2019 mehr… BibTeX Volltext (mediaTUM)
Ge, J. I.; Schürmann, B.; Murray, R. M.; Althoff, M.: Risk-aware motion planning for automated vehicle among human-driven cars. Proc. of the American Control Conference, 2019 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Gruber, F.; Althoff, M.: Scalable robust model predictive control for linear sampled-data systems. IEEE Conference on Decision and Control, 2019, 438-444 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Immler, Fabian; Althoff, Matthias; Benet, Luis; Chapoutot, Alexandre; Chen, Xin; Forets, Marcelo; Geretti, Luca; Kochdumper, Niklas; Sanders, David P.; Schilling, Christian: ARCH-COMP19 Category Report: Continuous and Hybrid Systems with Nonlinear Dynamics. Proc. of the 6th International Workshop on Applied Verification of Continuous and Hybrid Systems (EPiC Series in Computing), 2019 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Li, Yan; Zhang, Peng; Althoff, Matthias; Yue, Meng: Distributed Formal Analysis for Power Networks With Deep Integration of Distributed Energy Resources. IEEE Transactions on Power Systems 34 (6), 2019, 5147-5156 mehr… BibTeX Volltext ( DOI )
Markus Koschi, Christian Pek, Sebastian Maierhofer, and Matthias Althoff: Computationally Efficient Safety Falsification of Adaptive Cruise Control Systems. Proc. of the IEEE Int. Conf. on Intelligent Transportation Systems, 2019 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Moritz Klischat and Matthias Althoff: Generating Critical Test Scenarios for Automated Vehicles with Evolutionary Algorithms. Proc. of the IEEE Intelligent Vehicles Symposium, 2019, 2352 - 2358 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Moritz Klischat, Octav Dragoi, Mostafa Eissa, and Matthias Althoff: Coupling SUMO with a Motion Planning Framework for Automated Vehicles. SUMO User Conference, 2019, 1-9 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Nikol, Daniel; Althoff, Matthias: Die Formalisierung von Rechtsnormen am Beispiel des Überholvorgangs. InTeR - Zeitschrift zum Innovations- und Technikrecht (1), 2019, 12-16 mehr… BibTeX Volltext (mediaTUM)
Phan-Minh, T.; Guo, S.; Schürmann, B.; Althoff, M.; Murray, R. M.: A modal interface contract theory for guarded input/output automata with an application in traffic system design. Proc. of the American Control Conference, 2019 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Roehm, Hendrik; Oehlerking, Jens; Woehrle, Matthias; Althoff, Matthias: Model Conformance for Cyber-Physical Systems: A Survey. ACM Transactions on Cyber-Physical Systems 3 (3), 2019, 1-26 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Wu, Jingyuan; Ruenz, Johannes; Althoff, Matthias: Calibration of Controlled Markov Chains for Predicting Pedestrian Crossing Behavior Using Multi-objective Genetic Algorithms. Proc. of the 22nd Intelligent Transportation Systems Conference, 2019 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Ye, Egon; Althoff, Matthias: Model-based Offline Vehicle Tracking in Automotive Applications Using a Precise 3D Model. Proc. of the 22nd IEEE International Conference on Intelligent Transportation Systems, 2019, 1128–1135 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)

2018

Althoff, M.; Grebenyuk, D.; Kochdumper, N.: Implementation of Taylor Models in CORA 2018. Proc. of the 5th International Workshop on Applied Verification for Continuous and Hybrid Systems, 2018 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.; Lutz, S.: Automatic Generation of Safety-Critical Test Scenarios for Collision Avoidance of Road Vehicles. Proc. of the IEEE Intelligent Vehicles Symposium, 2018 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.; Urban, S.; Koschi, M.: Automatic Conversion of Road Networks from OpenDRIVE to Lanelets. Proc. of the IEEE International Conference on Service Operations and Logistics, and Informatics, 2018 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Branka Mirchevska, Christian Pek, Moritz Werling, Matthias Althoff, Joschka Boedecker: High-level Decision Making for Safe and Reasonable Autonomous Lane Changing using Reinforcement Learning. Proc. of the IEEE Int. Conf. on Intelligent Transportation Systems, 2018 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Christian Pek and Matthias Althoff: Efficient Computation of Invariably Safe States for Motion Planning of Self-driving Vehicles. Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems, 2018 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Christian Pek and Matthias Althoff: Computationally Efficient Fail-safe Trajectory Planning for Self-driving Vehicles Using Convex Optimization. Proc. of the IEEE Int. Conf. on Intelligent Transportation Systems, 2018 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Giusti, A.; Althoff, M.: On-The-Fly Control Design of Modular Robot Manipulators. IEEE Transactions on Control Systems Technology 26 (4), 2018, 1484-1491 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Giusti, A.; Zeestraten, M. ~J. ~A.; Icer, E.; Pereira, A.; Caldwell, D. ~G.; Calinon, S.; Althoff, M.: Flexible Automation Driven by Demonstration: Leveraging Strategies that Simplify Robotics. IEEE Robotics Automation Magazine 25 (2), 2018, 18-27 mehr… BibTeX Volltext (mediaTUM)
Giusti, Andrea; Malzahn, Jorn; Tsagarakis, Nikolaos G.; Althoff, Matthias: On the Combined Inverse-Dynamics/Passivity-Based Control of Elastic-Joint Robots. IEEE Transactions on Robotics 34 (6), 2018, 1461-1471 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Gruber, F.; Althoff, M.: Anytime safety verification of autonomous vehicles. IEEE Conference on Intelligent Transportation Systems, 2018, 1708-1714 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Immler, F.; Althoff, M.; Chen, X.; Fan, C.; Frehse, G.; Kochdumper, N.; Li, Y.; Mitra, S.; Tomar, M. S.; Zamani, M.: ARCH-COMP18 Category Report: Continuous and Hybrid Systems with Nonlinear Dynamics. Proc. of the 5th International Workshop on Applied Verification for Continuous and Hybrid Systems, 2018 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Liu, S. B.; Althoff, M.: Reachset Conformance of Forward Dynamic Models for the Formal Analysis of Robots. Proc. of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
M. Althoff, S. Bak, X. Chen, C. Fan, M. Forets, G. Frehse, N. Kochdumper, Y. Li, S. Mitra, R. Ray, C. Schilling and S. Schupp: ARCH-COMP18 Category Report: Continuous and Hybrid Systems with Linear Continuous Dynamics. Proc. of the 5th International Workshop on Applied Verification for Continuous and Hybrid Systems, 2018, 23-52 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Manzinger, S.; Althoff, M.: Tactical Decision Making for Cooperative Vehicles Using Reachable Sets. Proc. of the 21st IEEE International Conference on Intelligent Transportation Systems, 2018 mehr… BibTeX Volltext (mediaTUM)
Markus Koschi, Christian Pek, Mona Beikirch, and Matthias Althoff: Set-Based Prediction of Pedestrians in Urban Environments Considering Formalized Traffic Rules. Proc. of the IEEE Int. Conf. on Intelligent Transportation Systems, 2018 mehr… BibTeX Volltext (mediaTUM)
Matthias Althoff; Stefan Urban; Markus Koschi: Automatic Conversion of Road Networks from OpenDRIVE to Lanelets. Proc. of the IEEE International Conference on Service Operations and Logistics, and Informatics, 2018 mehr… BibTeX Volltext (mediaTUM)
Mesesan, G.; Roa, M.~A.; Icer, E.; Althoff, M.: Hierarchical Path Planner using Workspace Decomposition and Parallel Task-Space RRTs. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Miller, Christina and Pek, Christian and Althoff, Matthias: Efficient Mixed-Integer Programming for Longitudinal and Lateral Motion Planning of Autonomous Vehicles. Proc. of the IEEE Intelligent Vehicles Symposium, 2018 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Pereira, A.; Althoff, M.: Overapproximative, Real-Time Human Arm Occupancy Prediction for Human-Robot Interaction. IEEE Transactions on Automation Science and Engineering 15 (2), 2018, 818-831 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Rizaldi, A.; Immler, F.; Schürmann, B.; Althoff, M.: A Formally Verified Motion Planner for Autonomous Vehicles. Proc. of the International Symposium on Automated Technology for Verification and Analysis, 2018 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Schürmann, Bastian; Kochdumper, Niklas; Althoff, Matthias: Reachset Model Predictive Control for Disturbed Nonlinear Systems. Proc. of the 57th IEEE Conference on Decision and Control, 2018 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Stark, C.; Pereira, A.; Althoff, M.: Reachset Conformance Testing of Human Arms with a Biomechanical Model. Proc. {IEEE} Int. Conf. Robotic Computing, 2018 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Söntges, S.; Althoff, M.: Computing the Drivable Area of Autonomous Road Vehicles in Dynamic Road Scenes. IEEE Transactions on Intelligent Transportation Systems 19 (6), 2018, 1855-1866 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Söntges, Sebastian; Koschi, Markus; Althoff, Matthias: Worst-case Analysis of the Time-To-React Using Reachable Sets. Proc. of the IEEE Intelligent Vehicles Symposium, 2018 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Wagner, M.; Liu, S. B.; Giusti, A.; Althoff, M.: Interval-Arithmetic-Based Trajectory Scaling and Collision Detection for Robots with Uncertain Dynamics. Proc. of the IEEE International Conference on Robotic Computing, 2018 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Wu, Jingyuan; Ruenz, Johannes; Althoff, Matthias: Probabilistic Map-based Pedestrian Motion Prediction Taking Traffic Participants into Consideration. Proc. of the IEEE Intelligent Vehicles Symposium, 2018 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Zhu, A.; Manzinger, S.; Althoff, M.: Evaluating Location Compliance Approaches for Automated Road Vehicles. Proc. of the IEEE Intelligent Vehicles Symposium, 2018 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)

2017

A. Giusti and M. Althoff: On-the-fly control design of modular robot manipulators. IEEE Transactions on Control Systems Technology, 2017 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.; Bak, S.; Cattaruzza, D.; Chen, X.; Frehse, G.; Ray, R.; Schupp, S.: {ARCH-COMP17} Category Report: Continuous and Hybrid Systems with Linear Continuous Dynamics. Proc. of the 4th International Workshop on Applied Verification for Continuous and Hybrid Systems, 2017 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, Matthias; Koschi, Markus; Manzinger, Stefanie: CommonRoad: Composable benchmarks for motion planning on roads. Proc. of the IEEE Intelligent Vehicles Symposium, 2017 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Bak, S.; Bogomolov, S.; Althoff, M.: Time-Triggered Conversion of Guards for Reachability Analysis of Hybrid Automata. Proc. of the 15th International Conference on Formal Modelling and Analysis of Timed Systems, 2017 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Beckert, D.; Pereira, A.; Althoff, M.: Online Verification of Multiple Safety Criteria for a Robot Trajectory. Proc. of the 56th IEEE Conference on Decision and Control, 2017 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Calzolari, Davide; Schürmann, Bastian; Althoff, Matthias: Comparison of Trajectory Tracking Controllers for Autonomous Vehicles. Proc. of the 20th IEEE International Conference on Intelligent Transportation Systems, 2017 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Chen, X.; Althoff, M.; Immler, F.: {ARCH-COMP17} Category Report: Continuous Systems with Nonlinear Dynamics. Proc. of the 4th International Workshop on Applied Verification for Continuous and Hybrid Systems, 2017 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
D. Beckert, A. Pereira, and M. Althoff: Online verification of multiple safety criteria for a robot trajectory. Proc. IEEE Conf. Decision and Control (CDC), 2017 mehr… BibTeX Volltext ( DOI )
El-Guindy, A.; Chen, Y. ~C.; Althoff, M.: Compositional Transient Stability Analysis of Power Systems via the Computation of Reachable Sets. Proc. of the American Control Conference, 2017 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
El-Guindy, A.; Han, D.; Althoff, M.: Estimating the Region of Attraction via Forward Reachable Sets. Proc. of the American Control Conference, 2017 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
El-Guindy, Ahmed; Schaab, Konstantin; Schürmann, Bastian; Han, Dongkun; Stursberg, Olaf; Althoff, Matthias: Formal LPV Control for Transient Stability of Power Systems. Proc. of the IEEE PES General Meeting, 2017 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Giusti, A.; Althoff, M.: Efficient Computation of Interval-Arithmetic-Based Robust Controllers for Rigid Robots. Proc. of the First IEEE International Conference on Robotic Computing, 2017 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Giusti, A.; Malzahn, J.; Tsagarakis, N. ~G.; Althoff, M.: Combined Inverse-Dynamics/Passivity-Based Control for Robots with Elastic Joints. Proc. of the IEEE International Conference on Robotics and Automation, 2017 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Hisch, F.; Giusti, A.; Althoff, M.: Robust Control of Continuum Robots using Interval Arithmetic. Proc. of the 20th World Congress of the International Federation of Automatic Control, 2017, 5660-5665 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Icer, E. and Hassan, H. A. and El-Ayat, K. and Althoff, M.: Evolutionary Cost-Optimal Composition Synthesis of Modular Robots Considering a Given Task. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Kopetzki, Anna-Kathrin; Schürmann, Bastian; Althoff, Matthias: Methods for Order Reduction of Zonotopes. Proc. of the 56th IEEE Conference on Decision and Control, 2017, 5626–5633 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Koschi, Markus; Althoff, Matthias: SPOT: A tool for set-based prediction of traffic participants. Proc. of the IEEE Intelligent Vehicles Symposium, 2017 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Koschi, Markus; Althoff, Matthias: Interaction-Aware Occupancy Prediction of Road Vehicles. Proc. of the 20th IEEE International Conference on Intelligent Transportation Systems, 2017 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Liu, S. B.; Roehm, H.; Heinzemann, C.; Lütkebohle, I.; Oehlerking, J.; Althoff, M.: Provably Safe Motion of Mobile Robots in Human Environments. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Magdici, S.; Althoff, M.: Adaptive Cruise Control with Safety Guarantees for Autonomous Vehicles. Proc. of the 20th World Congress of the International Federation of Automatic Control, 2017, 5774–5781 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Magdici, Silvia; Ye, Zhenzhang; Althoff, Matthias: Determining the Maximum Time Horizon for Vehicles to Safely Follow a Trajectory. Proc. of the 20th IEEE International Conference on Intelligent Transportation Systems, 2017 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Manzinger, S.; Leibold, M.; Althoff, M.: Kooperative Bewegungsplanung autonomer Fahrzeuge unter Verwendung von Manöver-Templates. AAET - Automatisiertes und vernetztes Fahren, 2017 mehr… BibTeX Volltext (mediaTUM)
Manzinger, S.; Althoff, M.: Negotiation of Drivable Areas of Cooperative Vehicles for Conflict Resolution. Proc. of the 20th IEEE International Conference on Intelligent Transportation Systems, 2017 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Manzinger, S.; Leibold, M.; Althoff, M.: Driving Strategy Selection for Cooperative Vehicles using Maneuver Templates. Proc. of the IEEE Intelligent Vehicles Symposium, 2017, 647 - 654 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Pek, C.; Koschi, M.; Werling, M.; Althoff, M.: Enhancing Motion Safety by Identifying Safety-critical Passageways. Proc. of the 56th IEEE Conference on Decision and Control, 2017 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Pek, C.; Zahn, P.; Althoff, M.: Verifying the Safety of Lane Change Maneuvers of Self-driving Vehicles Based on Formalized Traffic Rules. Proc. of the IEEE Intelligent Vehicles Symposium, 2017, 1477-1483 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Pereira, A.; Althoff, M.: A cartesian-space method for calculating human reachable occupancy. Technische Universität München, 2017 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Pereira, A.; Althoff, M.: Overapproximative Human Arm Occupancy Prediction for Collision Avoidance. IEEE Transactions on Automation Science and Engineering, 2017 mehr… BibTeX Volltext (mediaTUM)
Pereira, A.; Althoff, M.: Calculating Human Reachable Occupancy for Guaranteed Collision-Free Planning. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017, 4473-4480 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Pereira, Aaron; Althoff, Matthias: Online Formal Verification of Robot Trajectories for Guaranteed Safety of Humans. ICRA-PlanRob-2017, 2017 mehr… BibTeX Volltext (mediaTUM)
Rizaldi, Albert; Keinholz, Jonas; Huber, Monika; Feldle, Jochen; Immler, Fabian; Althoff, Matthias; Hilgendorf, Eric; Nipkow, Tobias: Formalising and Monitoring Traffic Rules for Autonomous Vehicles in {Isabelle/HOL}. Proc. of the 13th International Conference on integrated Formal Methods, 2017, 50-66 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Schürmann, Bastian; Althoff, Matthias: Guaranteeing Constraints of Disturbed Nonlinear Systems Using Set-Based Optimal Control in Generator Space. Proc. of the 20th World Congress of the International Federation of Automatic Control, 2017, 11515–11522 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Schürmann, Bastian; Althoff, Matthias: Convex Interpolation Control with Formal Guarantees for Disturbed and Constrained Nonlinear Systems. Proc. of Hybrid Systems: Computation and Control, 2017Best Repeatability Award and Finalist for Best Student Paper Award, 121-130 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Schürmann, Bastian; Althoff, Matthias: Optimal Control of Sets of Solutions to Formally Guarantee Constraints of Disturbed Linear Systems. Proc. of the American Control Conference, 2017, 2522–2529 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Schürmann, Bastian; Heß, Daniel; Eilbrecht, Jan; Stursberg, Olaf; Köster, Frank; Althoff, Matthias: Ensuring Drivability of Planned Motions Using Formal Methods. Proc. of the 20th IEEE International Conference on Intelligent Transportation Systems, 2017 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Söntges, S.; Althoff, M.: Computing Possible Driving Corridors for Automated Vehicles. Proc. of the IEEE Intelligent Vehicles Symposium, 2017, 160-166 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
X. Chen, M. Althoff, and F. Immler: ARCH-COMP17 category report: Continuous systems with nonlinear dynamics. Proc. of the 4th International Workshop on Applied Verification for Continuous and Hybrid Systems, 2017 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)

2016

Althoff, M.; Frehse, G.: Combining Zonotopes and Support Functions for Efficient Reachability Analysis of Linear Systems. Proc. of the 55th IEEE Conference on Decision and Control, 2016, 7439-7446 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.; Grebenyuk, D.: Implementation of Interval Arithmetic in {CORA} 2016. Proc. of the 3rd International Workshop on Applied Verification for Continuous and Hybrid Systems, 2016, 91-105 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.; Lösch, R.: Can Automated Road Vehicles Harmonize with Traffic Flow While Guaranteeing A Safe Distance? Proc. of the 19th International IEEE Conference on Intelligent Transportation Systems, 2016, 485-491 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.; Magdici, S.: Set-Based Prediction of Traffic Participants on Arbitrary Road Networks. IEEE Transactions on Intelligent Vehicles 1 (2), 2016, 187-202 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
El-Guindy, A.; Han, D.; Althoff, M.: Formal Analysis of Drum-Boiler Units to Maximize the Load-Following Capabilities of Power Plants. IEEE Transactions on Power Systems 31, 2016, 4691-4702 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Giusti, A.; Althoff, M.: Ultimate Robust Performance Control of Rigid Robot manipulators using Interval Arithmetic. Proc. of the American Control Conference, 2016, 2995–3001 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
H. Roehm, J. Oehlerking, T. Heinz, and M. Althoff: STL model checking of continuous and hybrid systems. Proc. of the 14th International Symposium on Automated Technology for Verification and Analysis, 2016 mehr… BibTeX Volltext (mediaTUM)
Han, D.; El-Guindy, A. ; Althoff, M.: Power Systems Transient Stability Analysis via Optimal Rational {L}yapunov Functions. Proceedings of the IEEE Power and Energy Society General Meeting, 2016 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Han, D.; El-Guindy, A.; Althoff, M.: On Estimating the Robust Domain of Attraction for Uncertain Non-Polynomial Systems: An LMI Approach. Proc. of the 55th IEEE Conference on Decision and Control, 2016, 2176-2183 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Han, D.; El-Guindy, A.; Althoff, M.: Estimating the Domain of Attraction based on the Invariance Principle. Proc. of the 55th IEEE Conference on Decision and Control, 2016, 5569-5576 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Han, D.; Rizaldi, A.; El-Guindy, A.; Althoff, M.: On Enlarging Backward Reachable Sets via Zonotopic Set Membership. Proc.of the IEEE International Symposium on Intelligent Control, 2016, 685-692 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Icer, E.; Althoff, M.: Cost-Optimal Composition Synthesis for Modular Robots. Proc. of the IEEE Conference on Control Applications, 2016, 1408–1413 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Icer, E.; Giusti, A.; Althoff, M.: A Task-Driven Algorithm for Configuration Synthesis of Modular Robots. Proc. of the IEEE International Conference on Robotics and Automation, 2016, 5203-5209 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Magdici, S.; Althoff, M.: Fail-Safe Motion Planning of Autonomous Vehicles. Proc. of the 19th International IEEE Conference on Intelligent Transportation Systems, 2016, 452-458 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Pereira, A.; Althoff, M.: Overapproximative Arm Occupancy Prediction for Human-Robot Interaction Built from Archetypal Movements. International Conference on Robotics and Automation, 2016, 1394-1401 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Rizaldi, A.; Immler, F.; Althoff, M.: A Formally Verified Checker of the Safe Distance Traffic Rules for Autonomous Vehicles. 8th NASA Formal Methods Symposium, 2016 mehr… BibTeX Volltext (mediaTUM)
Roehm, H.; Oehlerking, J.; Heinz, T.; Althoff, M.: {STL} Model Checking of Continuous and Hybrid Systems. Proc. of the 14th International Symposium on Automated Technology for Verification and Analysis, 2016, 412–427 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Roehm, H.; Oehlerking, J.; Woehrle, M.; Althoff, M.: Reachset Conformance Testing of Hybrid Automata. Proc. of Hybrid Systems: Computation and Control, 2016, 277-286 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Schürmann, Bastian; El-Guindy, Ahmed; Althoff, Matthias: Closed-Form Expressions of Convex Combinations. Proc. of the American Control Conference, 2016, 2795–2801 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Zeestraten, M. ~J. ~A.; Pereira, A.; Althoff, M.; Calinon, S.: Online Motion Synthesis with Minimal Intervention Control and Formal Safety Guarantees. Proc. of IEEE International Conference on Systems, Man, and Cybernetics, 2016, 2116-2121 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)

2015

Althoff, D.; Althoff, M.; Scherer, S.: Online Safety Verification of Trajectories for Unmanned Flight with Offline Computed Robust Invariant Sets. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015, 3470-3477 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.: An Introduction to CORA 2015. Proc. of the Workshop on Applied Verification for Continuous and Hybrid Systems, 2015, 120–151 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Giusti, A.; Althoff, M.: Automatic Centralized Controller Design for Modular and Reconfigurable Robot Manipulators. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015, 3268-3275 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Han, D.; Althoff, M.: Control Synthesis for Non-Polynomial Systems: A Domain of Attraction Perspective. Proc. of the 54th IEEE Conference on Decision and Control, 2015, 1160–1167 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Lee, H.-S. L.; Althoff, M.; Hoelldampf, S.; Olbrich, M.; Barke, E.: Automated Generation of Hybrid System Models for Reachability Analysis of Nonlinear Analog Circuits. Proc. of the 20th Asia and South Pacific Design Automation Conference, 2015, 725-730 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Mesesan, G.; Icer, E.; Althoff, M.: Hierarchical Genetic Path Planner for Highly Redundant Manipulators. Proc. of the Workshop on Task Planning for Intelligent Robots in Service and Manufacturing, 2015 mehr… BibTeX Volltext (mediaTUM)
Pereira, A.; Althoff, M.: Safety Control of Robots under Computed Torque Control using Reachable Sets. Proc. of the IEEE International Conference on Robotics and Automation, 2015 mehr… BibTeX Volltext (mediaTUM)
Rizaldi, A.; Althoff, M.: Formalising Traffic Rules for Accountability of Autonomous Vehicles. Proc. of the 18th IEEE International Conference on Intelligent Transportation Systems, 2015, 1658–1665 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Rizaldi, A.; Söntges, S.; Althoff, M.: On Time-Memory Trade-Off for Collision Detection. Proc. of the IEEE Intelligent Vehicles Symposium, 2015, 1173–1180 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Söntges, S.; Althoff, M.: Determining the Nonexistence of Evasive Trajectories for Collision Avoidance Systems. Proc. of the 18th IEEE International Conference on Intelligent Transportation Systems, 2015, 956–961 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)

2014

Althoff, M.: Formal and Compositional Analysis of Power Systems using Reachable Sets. IEEE Transactions on Power Systems 29 (5), 2014, 2270-2280 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.; Dolan, J. M.: Online Verification of Automated Road Vehicles Using Reachability Analysis. IEEE Transactions on Robotics 30 (4), 2014, 903-918 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.; Krogh, B. H.: Reachability Analysis of Nonlinear Differential-Algebraic Systems. IEEE Transactions on Automatic Control 59 (2), 2014, 371-383 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Hess, D.; Althoff, M.; Sattel, T.: Formal Verification of Maneuver Automata for Parameterized Motion Primitives. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014, 1474-1481 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)

2013

Althoff, M.: Reachability Analysis of Nonlinear Systems using Conservative Polynomialization and Non-Convex Sets. Hybrid Systems: Computation and Control, 2013, 173-182 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.; Hess, D.; Gambert, F.: Road Occupancy Prediction of Traffic Participants. Proc. of the 16th International IEEE Conference on Intelligent Transportation Systems, 2013, 99-105 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.; Rajhans, A.; Krogh, B. H.; Yaldiz, S.; Li, X.; Pileggi, L.: Formal Verification of Phase-Locked Loops Using Reachability Analysis and Continuization. Communications of the ACM 56 (10), 2013, 97-104 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Hess, D.; Althoff, M.; Sattel, T.: Should Collision Avoidance Systems use Yaw Stabilization? Proc. of the 16th International IEEE Conference on Intelligent Transportation Systems, 2013, 2058-2062 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Hess, D.; Althoff, M.; Sattel, T.: Comparison of Trajectory Tracking Controllers for Emergency Situations. Proc. of the IEEE Intelligent Vehicles Symposium, 2013, 163-170 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)

2012

Althoff, M.; Cvetkovi'c, M.; Ili'c, M.: Transient Stability Analysis by Reachable Set Computation. Proc. of the IEEE PES Conference on Innovative Smart Grid Technologies Europe, 2012 mehr… BibTeX Volltext (mediaTUM)
Althoff, M.; Dolan, J. M.: Reachability Computation of Low-Order Models for the Safety Verification of High-Order Road Vehicle Models. Proc. of the American Control Conference, 2012 mehr… BibTeX Volltext (mediaTUM)
Althoff, M.; Krogh, B. H.: Avoiding Geometric Intersection Operations in Reachability Analysis of Hybrid Systems. Hybrid Systems: Computation and Control, 2012 mehr… BibTeX Volltext (mediaTUM)
Althoff, M.; Patil, M. J.; Traugott, J. P.: Nonlinear Modeling and Control Design of Active Helicopter Blades. Journal of the American Helicopter Society 57 (1), 2012, 1-11 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)

2011

Althoff, M.; Dolan, J. M.: Set-Based Computation of Vehicle Behaviors for the Online Verification of Autonomous Vehicles. Proc. of the 14th IEEE Conference on Intelligent Transportation Systems, 2011, 1162-1167 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.; Guernic, C. Le; Krogh, B. H.: Reachable Set Computation for Uncertain Time-Varying Linear Systems. Hybrid Systems: Computation and Control, 2011, 93-102 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.; Krogh, B. H.: Zonotope Bundles for the Efficient Computation of Reachable Sets. Proc. of the 50th IEEE Conference on Decision and Control, 2011, 6814-6821 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.; Krogh, B. H.; Stursberg, O.: Modeling, Design, and Simulation of Systems with Uncertainties – Analyzing Reachability of Linear Dynamic Systems with Parametric Uncertainties. In: Rauh, A.; Auer, E. (Hrsg.): Springer, 2011, 69-94 mehr… BibTeX Volltext (mediaTUM)
Althoff, M.; Mergel, A.: Comparison of Markov Chain Abstraction and Monte Carlo Simulation for the Safety Assessment of Autonomous Cars. IEEE Transactions on Intelligent Transportation Systems 12 (4), 2011, 1237-1247 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.; Rajhans, A.; Krogh, B. H.; Yaldiz, S.; Li, X.; Pileggi, L.: Formal Verification of Phase-Locked Loops Using Reachability Analysis and Continuization. Proc. of the Int. Conference on Computer Aided Design, 2011 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Patil, M. J.; Althoff, M.: Energy-consistent, Galerkin approach for the nonlinear dynamics of beams using intrinsic equations. Journal of Vibration and Control 17 (11), 2011, 1748-1758 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)

2010

Althoff, D.; Althoff, M.; Wollherr, D.; Buss, M.: Probabilistic Collision State Checker for Crowded Environments. Proc. of the IEEE International Conference on Robotics and Automation, 2010, 1492-1498 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.; Althoff, D.; Wollherr, D.; Buss, M.: Safety Verification of Autonomous Vehicles for Coordinated Evasive Maneuvers. Proc. of the IEEE Intelligent Vehicles Symposium, 2010, 1078-1083 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.; Stursberg, O.; Buss, M.: Computing Reachable Sets of Hybrid Systems Using a Combination of Zonotopes and Polytopes. Nonlinear Analysis: Hybrid Systems 4 (2), 2010, 233-249 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)

2009

Althoff, M.; Stursberg, O.; Buss, M.: Model-Based Probabilistic Collision Detection in Autonomous Driving. IEEE Transactions on Intelligent Transportation Systems 10, 2009, 299 - 310 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.; Stursberg, O.; Buss, M.: Safety Assessment of Driving Behavior in Multi-Lane Traffic for Autonomous Vehicles. Proc. of the IEEE Intelligent Vehicles Symposium, 2009, 893-900 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.; Stursberg, O.; Buss, M.: Safety Assessment for Stochastic Linear Systems using Enclosing Hulls of Probability Density Functions. Proc. of the European Control Conference, 2009, 625-630 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Kraus, S.; Althoff, M.; Heissing, B.; Buss, M.: Cognition and Emotion in Autonomous Cars. Proc. of the IEEE Intelligent Vehicles Symposium, 2009, 635-640 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)

2008

Althoff, M.; Stursberg, O.; Buss, M.: Erreichbarkeitsanalyse von Verkehrsteilnehmern zur Verbesserung von Fahrerassistenzsystemen. Proc. of 3. Tagung Aktive Sicherheit durch Fahrerassistenz, 2008 mehr… BibTeX Volltext (mediaTUM)
Althoff, M.; Stursberg, O.; Buss, M.: Sicherheitsbewertung von Fahrstrategien kognitiver Automobile. at - Automatisierungstechnik 56, 2008, 653-661 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.; Stursberg, O.; Buss, M.: Reachability Analysis of Nonlinear Systems with Uncertain Parameters using Conservative Linearization. Proc. of the 47th IEEE Conference on Decision and Control, 2008, 4042-4048 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.; Stursberg, O.; Buss, M.: Stochastic Reachable Sets of Interacting Traffic Participants. Proc. of the IEEE Intelligent Vehicles Symposium, 2008, 1086-1092 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.; Stursberg, O.; Buss, M.: Online-Analyse von Fahrstrategien kognitiver autonomer Fahrzeuge. Proc. of Automatisierungssysteme, Assistenzsysteme und eingebettete Systeme für Transportmittel (AAET), 2008, 314-330 mehr… BibTeX Volltext (mediaTUM)
Althoff, M.; Stursberg,O.; Buss,M.: Verification of Uncertain Embedded Systems by Computing Reachable Sets based on Zonotopes. Proc. of the 17th IFAC World Congress, 2008, 5125-5130 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Goebl, M.; Althoff, M.; Buss, M.; Färber, G.; Hecker, F.; Heissing, B.; Kraus, S.; Nagel, R.; Le'on, F. Puente; Rattei, F.; Russ, M.; Schweitzer, M.; Thuy, M.; Wang, C.; Wünsche, H.-J.: Design and Capabilities of the Munich Cognitive Automobile. Proc. of the IEEE Intelligent Vehicles Symposium, 2008, 1101-1107 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Rohrmüller, F.; Althoff, M.; Wollherr, D.; Buss, M.: Probabilistic Mapping of Dynamic Obstacles Using Markov Chains for Replanning in Dynamic Environments. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008, 2504-2510 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Thuy, M.; Goebl, M.; Rattei, F.; Althoff, M.; Obermeier, F.; Hawe, S.; Nagel, R.; Kraus, S.; Wang, C.; Hecker, F.; Russ, M.; Schweitzer, M.; Le'on, F. Puente; Färber, G.; Buss, M.; Diepold, K.; Eberspächer, J.; Heissing, B.; Wünsche, H.-J.: Kognitive Automobile: Neue Konzepte und Ideen des Sonderforschungsbereiches/TR-28. Proc. of 3. Tagung Aktive Sicherheit durch Fahrerassistenz, 2008 mehr… BibTeX Volltext (mediaTUM)

2007

Althoff, M.; Stursberg, O.; Buss, M.: Safety Assessment of Autonomous Cars using Verification Techniques. Proc. of the American Control Conference, 2007, 4154-4159 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.; Stursberg, O.; Buss, M.: Reachability Analysis of Linear Systems with uncertain Parameters and Inputs. Proc. of the 46th IEEE Conference on Decision and Control, 2007, 726-732 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Althoff, M.; Stursberg, O.; Buss, M.: Online Verification of Cognitive Car Decisions. Proc. of the IEEE Intelligent Vehicles Symposium, 2007, 728-733 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)

2006

Althoff, M.; Patil, M.J.; Traugott, J.P.: Nonlinear Modeling and Control Design of Active Helicopter Blades. Proc. of the 47th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, 2006AIAA Paper 2006-2040 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Patil, M.J.; Althoff, M.: Energy-Consistent, Galerkin Approach for the Nonlinear Dynamics of Beams Using Mixed, Intrinsic Equations. Proc. of the 47th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, 2006AIAA Paper 2006-1737 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)