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Technical University of Munich
Technical University of Munich

Foto von 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

Workshop

Courses

Winter term 2024/25

Course no.TitleDatesDurationTypeLecturer (assistant)
821089242Doctoral Seminar - Robotics (IN2137)Link2SE
0000002856Formal Methods for Cyber-Physical SystemsLink4VI
  • M. Althoff [L]
  • L. Koller
  • T. Ladner
  • L. Lützow
  • S. Sigl
  • Y. Zhang
0000001604Fundamentals of Artificial Intelligence (IN2406)Link5VI
  • M. Althoff [L]
  • F. Lercher
  • L. Lützow
  • S. Mair
  • J. Thumm
0000001248Masterpraktikum - Autonomous Mobile Robots for Unstructured Environments (IN2106, IN4383)Link6PR
  • M. Althoff [L]
  • C. Carste
  • J. Hoffmann
0000001153Masterpraktikum - Formal Methods for AI-Enabled Cyber-Physical Systems (IN2106, IN4385)Link6PR
  • M. Althoff [L]
  • L. Koller
  • T. Ladner
  • F. Lercher
  • L. Lützow
  • S. Sigl
  • Y. Zhang
0000002503Masterpraktikum - Machine Learning for Smart Grids (IN2106, IN4342)Link6PR
  • M. Althoff [L]
  • M. Eichelbeck
  • H. Markgraf
0000001155Masterpraktikum - Safe Reinforcement Learning for Modular Robots (IN2106, IN4386)Link6PR
0000000573Praktikum - Motion planning for autonomous vehicles (IN2106, IN0012, IN4221)Link6PR
  • M. Althoff [L]
  • Y. Wang
0000001558Seminar - Cyber-Physical Systems (IN0014, IN2107, IN4813)Link2SE
  • M. Althoff [L]
  • P. Gassert
240927786Techniques in Artificial Intelligence (IN2062)Link4VI
  • 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 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Jonathan Külz; Matthias Althoff: Optimizing Modular Robot Composition: A Lexicographic Genetic Algorithm Approach. International Conference on Robotics and Automation, 2024 more… BibTeX Full text (mediaTUM)
  • Koller, Lukas; Ladner, Tobias; Althoff, Matthias: Set-Based Training for Neural Network Verification. arxiv, 2024 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Ladner, Tobias; Althoff, Matthias: Fully Automatic Neural Network Reduction for Formal Verification. arxiv, 2024 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Ladner, Tobias; Eichelbeck, Michael; Althoff, Matthias: Formal Verification of Graph Convolutional Networks with Uncertain Node Features and Uncertain Graph Structure. arxiv, 2024 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Lercher, Florian; Althoff, Matthias: Using Four-Valued Signal Temporal Logic for Incremental Verification of Hybrid Systems. Computer Aided Verification (CAV), 2024, 259-281 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Lukas Schäfer, Matthias Althoff: Computing Robust Control Invariant Sets of Nonlinear Systems Using Polynomial Controller Synthesis. 2024 American Control Conference (ACC), 2024 more… BibTeX
  • Lützow, Laura; Althoff, Matthias: Scalable Reachset-Conformant Identification of Linear Systems. IEEE Control Systems Letters 8, 2024, 520-525 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Maierhofer, Sebastian; Althoff, Matthias: CommonRoad-CARLA Interface: Bridging the Gap between MotionPlanning and 3D Simulation. 2024 IEEE Intelligent Vehicles Symposium (IV), 2024 more… BibTeX Full text (mediaTUM)
  • Mair, Sebastian; Althoff, Matthias: Provably Correct Safety Protocol for Cooperative Platooning. 2024 IEEE Intelligent Vehicles Symposium (IV), 2024 more… BibTeX Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… 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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text (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 more… BibTeX Full text ( 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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text (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 more… BibTeX Full text (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 more… BibTeX Full text (mediaTUM)
  • Wendl, Manuel; Koller, Lukas; Ladner, Tobias; Althoff, Matthias: Training Verifiably Robust Agents Using Set-Based Reinforcement Learning. arxiv, 2024 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text (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 more… BibTeX Full text (mediaTUM)
  • Xinyu Chen; Jonathan Külz; Matthias Althoff: Generating Robot Capability Maps with Neural Fields. RSS Workshop on Embodiment-Aware Robot Learning, 2024 more… BibTeX Full text (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 more… BibTeX Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text (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 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Edmond Irani Liu, Matthias Althoff: Specification-Compliant Driving Corridors for Motion Planning of Automated Vehicles, 2023 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Finkeldei, Florian; Althoff, Matthias: Synthesizing Traffic Scenarios from Formal Specifications Using Reachability Analysis. IEEE 26th International Conference on Intelligent Transportation Systems (ITSC), 2023 more… BibTeX Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Gruber, Felix; Althoff, Matthias: Scalable Robust Safety Filter With Unknown Disturbance Set. IEEE Transactions on Automatic Control 68 (12), 2023, 7756-7770 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text (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 more… BibTeX Full text ( 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 more… BibTeX Full text (mediaTUM)
  • Jonathan Külz, Matthias Mayer, and Matthias Althoff: Timor Python: A Toolbox for Industrial Modular Robotics. International Conference on Intelligent Robots and Systems, 2023 more… BibTeX Full text (mediaTUM)
  • Kochdumper, N.; Althoff, M.: Constrained polynomial zonotopes. Acta Informatica, 2023, 279–316 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Kochdumper, Niklas; Schilling, Christian; Althoff, Matthias; Bak, Stanley: Open- and Closed-Loop Neural Network Verification Using Polynomial Zonotopes. NASA Formal Methods, 2023 more… BibTeX Full text (mediaTUM)
  • Ladner, Tobias; Althoff, Matthias: Specification-Driven Neural Network Reduction for Scalable Formal Verification. arxiv, 2023 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Lin, Yuanfei; Althoff, Matthias: CommonRoad-CriMe: A Toolbox for Criticality Measures of Autonomous Vehicles. 2023 IEEE Intelligent Vehicles Symposium (IV), 2023, 1-8 more… BibTeX Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Lützow, Laura; Althoff, Matthias: Reachability Analysis of ARMAX Models. 2023 62nd IEEE Conference on Decision and Control (CDC), 2023 more… BibTeX Full text (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 more… BibTeX Full text (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 more… 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( 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 more… BibTeX Full text (mediaTUM)
  • Wang, Xiao; Althoff, Matthias: Safe Reinforcement Learning for Automated Vehicles via Online Reachability Analysis. IEEE Transactions on Intelligent Vehicles, 2023, 1-15 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI )
  • Gaßmann, Victor; Althoff, Matthias: Implementation of Ellipsoidal Operations in CORA 2022. EPiC Series in Computing, EasyChair, 2022 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Hanna Krasowski; Matthias Althoff: CommonOcean: Composable Benchmarks for Motion Planning on Oceans. 2022 IEEE International Conference on Intelligent Transportation Systems (ITSC) , 2022 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text (mediaTUM)
  • Lin, Yuanfei; Althoff, Matthias: Rule-Compliant Trajectory Repairing using Satisfiability Modulo Theories. 2022 IEEE Intelligent Vehicles Symposium (IV), 2022, 449-456 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Maierhofer, Sebastian; Moosbrugger, Paul; Althoff, Matthias: Formalization of Intersection Traffic Rules in Temporal Logic. Proc. of the IEEE Intelligent Vehicles Symposium, 2022 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Roehm, Hendrik; Rausch, Alexander; Althoff, Matthias: Reachset Conformance and Automatic Model Adaptation for Hybrid Systems. Mathematics 10 (19), 2022 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Althoff, M.; Rath, J.~J.: Comparison of Guaranteed State Estimators for Linear Time-Invariant Systems. Automatica 130, 2021 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Gaßmann, Victor; Althoff, Matthias: Verified Polynomial Controller Synthesis for Disturbed Nonlinear Systems. IFAC-PapersOnLine 54 (5), 2021, 85-90 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Gressenbuch, Luis; Althoff, Matthias: Predictive Monitoring of Traffic Rules. 2021 IEEE International Intelligent Transportation Systems Conference (ITSC), IEEE, 2021 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Gruber, F.; Althoff, M.: Computing safe sets of linear sampled-data systems. IEEE Control Systems Letters 5 (2), 2021, 385-390 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Hanna Krasowski; Matthias Althoff: Temporal Logic Formalization of Marine Traffic Rules. 2021 IEEE Intelligent Vehicles Symposium (IV), 2021 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Kulmburg, Adrian; Althoff, Matthias: On the co-NP-Completeness of the Zonotope Containment Problem. European Journal of Control, 2021 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text (mediaTUM)
  • Schürmann, Bastian; Althoff, Matthias: Optimizing Sets of Solutions for Controlling Constrained Nonlinear Systems. IEEE Transactions on Automatic Control 66 (3), 2021, 981--994 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Gaßmann, Victor; Althoff, Matthias: Scalable Zonotope-Ellipsoid Conversions using the Euclidean Zonotope Norm. 2020 American Control Conference (ACC), IEEE, 2020, 4715 - 4721 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Liu, S. B.; Althoff, M.: Optimizing performance in automation through modular robots. IEEE International Conference on Robotics and Automation, 2020 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( 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 more… BibTeX Full text (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 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Vogel, Paul; Althoff, Matthias: Rekonstruktion von durch vollautomatisierte Fahrzeuge verursachten Verkehrsunfällen. InTeR - Zeitschrift zum Innovations- und Technikrecht 8 (2), 2020, 89-94 more… BibTeX Full text (mediaTUM)
  • Xiao Wang, Anna-Katharina Rettinger, Md Tawhid Bin Waez, Matthias Althoff: Coupling Apollo with the CommonRoad Motion Planning Framework​. FISITA World Congress, 2020 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Xiao Wang; Saasha Nair; Matthias Althoff: Falsification-Based Robust Adversarial Reinforcement Learning. Proc. of IEEE International Conference on Machine Learning and Applications, 2020 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Christian Pek and Matthias Althoff: Ensuring Motion Safety of Autonomous Vehicles through Online Fail-safe Verification. Robotics: Science and Systems -- Pioneers Workshop, 2019 more… BibTeX Full text (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 more… BibTeX Full text (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 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Gruber, F.; Althoff, M.: Scalable robust model predictive control for linear sampled-data systems. IEEE Conference on Decision and Control, 2019, 438-444 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( 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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Nikol, Daniel; Althoff, Matthias: Die Formalisierung von Rechtsnormen am Beispiel des Überholvorgangs. InTeR - Zeitschrift zum Innovations- und Technikrecht (1), 2019, 12-16 more… BibTeX Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text (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 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Gruber, F.; Althoff, M.: Anytime safety verification of autonomous vehicles. IEEE Conference on Intelligent Transportation Systems, 2018, 1708-1714 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text (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 more… BibTeX Full text (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 more… BibTeX Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Stark, C.; Pereira, A.; Althoff, M.: Reachset Conformance Testing of Human Arms with a Biomechanical Model. Proc. {IEEE} Int. Conf. Robotic Computing, 2018 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Zhu, A.; Manzinger, S.; Althoff, M.: Evaluating Location Compliance Approaches for Automated Road Vehicles. Proc. of the IEEE Intelligent Vehicles Symposium, 2018 more… BibTeX Full text ( DOI ) Full text (mediaTUM)

2017

2016

2015

2014

2013

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 more… BibTeX Full text (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 more… BibTeX Full text (mediaTUM)
  • Althoff, M.; Krogh, B. H.: Avoiding Geometric Intersection Operations in Reachability Analysis of Hybrid Systems. Hybrid Systems: Computation and Control, 2012 more… BibTeX Full text (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 more… BibTeX Full text ( DOI ) Full text (mediaTUM)

2011

2010

2009

2008

  • Althoff, M.; Stursberg, O.; Buss, M.: Erreichbarkeitsanalyse von Verkehrsteilnehmern zur Verbesserung von Fahrerassistenzsystemen. Proc. of 3. Tagung Aktive Sicherheit durch Fahrerassistenz, 2008 more… BibTeX Full text (mediaTUM)
  • Althoff, M.; Stursberg, O.; Buss, M.: Sicherheitsbewertung von Fahrstrategien kognitiver Automobile. at - Automatisierungstechnik 56, 2008, 653-661 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Althoff, M.; Stursberg, O.; Buss, M.: Stochastic Reachable Sets of Interacting Traffic Participants. Proc. of the IEEE Intelligent Vehicles Symposium, 2008, 1086-1092 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text (mediaTUM)

2007

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 more… BibTeX Full text ( DOI ) Full text (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 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
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