Cyber-Physical Mobility Group

For Theses and Open Positions please click here

Team

Research Summary

Our research in the field of Cyber-Physical Mobility focuses on the interdisciplinary intersection of control engineering, mathematical optimization, communications, embedded software, and perception. Our research interests include distributed decision-making and verification, service-oriented software architecture, machine learning, and their applications to networked and autonomous vehicles.


We conduct various projects in this research area funded by public organizations and industrial partners. The Cyber-Physical Mobility Lab is our group-wide project that makes our research results tangible, both for the scientific staff and students.

With our research, we contribute to the Future Mobility Center and to the The DFG Research Training Group mobilEM "Integrated Energy Supply Modules for Roadbound E-Mobility" . We thank mobilEM for providing a starting fund. We are also an active member of the Mobility & Transport Engineering profile area.

Research Projects

CoInCar (funded by the DFG)

The DFG priority program CoInCar (Cooperative Interacting Automobiles) gathers an interdisciplinary group of researchers to develop a system-theoretical framework for cooperative traffic involving autonomous automobiles. The program promotes research on several topics including

  • Cooperative maneuver and trajectory planning
  • Situation prediction
  • Cooperative perception
  • Data and information base
  • System ergonomics
  • Cross-cutting issues

We are working on two subprojects of the priority program, namely AutoKnigge and GROKO-Plan. Our subprojects belong to the first research area of cooperative maneuver and trajectory planning. In both subprojects, we focus on distributed decision-making and safety-verification of interacting vehicles while meeting real-time constraints of traffic.


The figure sketches distributed trajectory planning, where two vehicles communicate necessary data so that each vehicle can plan a collision-free trajectory. Major challenges of distributed trajectory planning are (I) the dependability of planned trajectories, (II) real-time compliance of the optimizer on board the vehicles, and (III) a realizable communication effort between vehicles. The first challenge arises since conflict-free trajectories are mandatory. The second challenge is due to high-dimensional non-convex optimization problems, as they occur when many road users must be considered. The third challenge is caused by the interaction, i.e., solving the distributed optimization problem on one vehicle while parts of the optimization problems of other road users must be exchanged. To meet these challenges, we develop novel methods for networked trajectory planning that reduce the computation time and communications requirements while enhancing the feasibility and quality of control.

GROKO-Plan
In the subproject GROKO-Plan (Graph-based, Optimal and Cooperative Trajectory Planning for Interacting Automobiles), we research trajectory planning methods for networked vehicles using graph-based methods with our project partner of the Saarland University. Networked planning is characterized by a receding horizon approach in discrete planning space. Maneuver automata model the dynamics and couplings of agents. We use graph search algorithms and hybrid optimization to find trajectories in the coupled automata. We focus on developing novel methods for distributed computations in order to reduce the complexity of the planning problem.

Contact: Patrick Scheffe, M.Sc. RWTH

AutoKnigge
In the subproject AutoKnigge (Modeling, Evaluation, and Verification of Cooperative Interacting Automobiles), we research trajectory planning methods for networked vehicles and methods for safety-verification of the vehicles' motion with our project partners of the Institute for Automotive Engineering (ika) and the Chair of Computer Science 3 - Software Engineering (i3). We plan trajectories using Networked Model Predictive Control (Net-MPC). The planning algorithms use a receding horizon approach in a continuous planning space. The cost function and constraints of the planning problem model the coupling of agents. We research novel methods for distributed MPC for reducing the complexity of the planning problem. We verify the resulting trajectories using formal methods.

Contact: Maximilian Kloock, M.Sc. RWTH

Digital Twin of the Road System (funded by the DFG)

The Chair of Computer Science 11 is part of the new Collaborative Research Center / Transregio (SFB/TRR) 339 of the German Research Foundation (DFG). The Collaborative Research Project investigates the „Road of the Future“ and is named: »Digital Twin of the Road System - Physical-Informational Representation of Future Road System«.

Research groups from TU Dresden and RWTH Aachen University are researching in collaboration of civil engineering, computer science, and mechanical engineering. The goal of the research area is the creation and exploration of a digital twin of the road system, thus laying the foundation for the analysis and optimization of the future road system. The main focus of this research is the intelligent, gentle, and sustainable use of road infrastructure.

Our task as the Chair of Embedded Software is primarily a sensor data fusion that combines data from different sources. We mainly focus on the inclusion of data from a sensitive road surface layer.

More Information about the project: Project Website

Copyright SFB/TRR 339


Contact: Simon Schäfer, M.Sc. RWTH

Harmonizing Mobility (funded by the BMDV)

Two German universities and two industrial companies interdisciplinary collaborate in the HarMobi (Harmonizing Mobility) project. HarMobi aims at researching a new basis for evaluating conflicts between different road users. We will use sensor and traffic flow data from bicycles, e-scooters, and cars to determine the behavior of road users and the influence of the road infrastructure. This novel data will be fed into a learning system to better assess safety impacts for future traffic developments and planning.

The predecessor project GefahrstelleRAD investigated the identification of cycling-specific danger spots in public roads for maps and navigation applications, see Gefahrenstellen.

In HarMobi, our group will design the algorithms for data acquisition, critical situation assessment, and map matching. Additionally, we will research conflict causes and create a prognosis model.

More Information about the project: HarMobi

Contact: Simon Schäfer, M.Sc. RWTH

Infrastructure-based Localization

Global Navigation Satellite Systems (GNSS), such as GPS or Galileo, can suffer from performance degradation in urban areas, caused by non-line-of-sight or multipath propagation. Therefore, autonomous vehicles additionally use localization algorithms based on heuristic features extracted from sensor data to alleviate the aforementioned problems. While these algorithms tend to perform better in urban areas than GNSS, these approaches have their drawbacks. Even state-of-the-art approaches suffer from issues with long-term stability, scarcity, or ambiguity of the features. This project pursues the development of a low-cost localization system that is aided by infrastructure-based features to overcome the problems of both approaches.



Contact: Alexandru Kampmann, M.Sc. RWTH

UNICARagil (funded by BMBF)

Germany's leading universities in the field of automated vehicles have joined forces with selected specialists from industry in the BMBF-funded project UNICARagil to rethink automated vehicles and their architectures. UNICARagil researches disruptive, modular, and agile concepts in hardware and software architecture for fully automated and driverless vehicles. The modular vehicle concept consists of a driving platform and add-on modules, which build the basis for the UNICARagil-vehicles. The UNICARagil-vehicles can be flexibly adapted to a wide range of applications in passenger transport or logistics.

The RWTH Aachen University is involved in the project with the Institute of Automotive Engineering (ika), the Institute and Chair of Flight System Dynamics (FSD), and the Chair of Computer Science 11 - Embedded Software (i11). The i11 is mainly responsible for the conceptualization and implementation of a service-oriented software architecture, as well as an architecture of cloud-based services.

Dr.-Ing. Bassam Alrifaee is responsible for the coordination of the digital architecture. Alexandru Kampmann, M.Sc. RWTH and Armin Mokhtarian, M.Sc. RWTH are responsible for the conceptualization and implementation of the service-oriented software architecture and the architecture of cloud-based services.

One outcome of this project is embeddedRTPS, a portable DDS implementation for embedded systems that is based on FreeRTOS and lightweightIP. It is available under the MIT license on Github.

Read more on the service-oriented software architecture.

Read more on the architecture of cloud-based services.



Contact: Alexandru Kampmann, M.Sc. RWTH, Armin Mokhtarian, M.Sc. RWTH

Service-Oriented Model-based Control (funded by the DFG)

The Chair of Computer Science 11 - Embedded Software (i11) collaborates with the Institute of Automatic Control (IRT, Faculty of Mechanical Engineering) on the new project Service-Oriented Model-based Control (SOMC) funded by the German Research Foundation (Deutsche Forschungsgemeinschaft, DFG). By tightly coupling software engineering and control theory, a service-oriented architecture (SOA) should improve the flexibility and maintainability of control systems. This architecture enables the control system to adapt to situations not foreseen at design time by exchanging control components dynamically at runtime.

The i11 explores an SOA fit for the requirements of real-time, embedded control systems while enabling the necessary flexibility. The IRT develops the required models and investigates stability conditions for switching between control components.

The proposal was submitted by Dr.-Ing. Bassam Alrifaee (head of the Cyber-Physical Mobility Group at i11) and Dr.-Ing. Lorenz Dörschel (IRT). The research associates Ole Greß, M. Sc. (i11) and Markus Zimmer, M. Sc. (IRT) are working on the project.

More information about the Institute of Automatic Control

More Information about the project



Contact: Ole-Christian Greß, M.Sc. RWTH

AUTOtech.agil (funded by BMBF)

Leading German universities in the automotive sector and selected researchers from industry jointly research in the AUTOtech.agil project. The goal of AUTOtech.agil is to create an open architecture for the mobility system of the future. A particular focus is on the standardization of interfaces, updatability, and expandability of functional building blocks. Future mobility is electric, networked, and automated. This will lead to a comprehensive transformation of road traffic as we know it today. This is accompanied not only by great opportunities for novel mobility and transportation concepts but also by improvements in road safety and quality of life. This transformation requires agile approaches based on innovative software and hardware architectures that also enable machine learning methods.

In the predecessor project UNICARagil, our Chair was primarily responsible for the design and implementation of the digital architecture. Our chair was in charge of developing the Automotive Service-Oriented Software Architecture (ASOA) and coordinated the realization of the UNICARagil cloud infrastructure.

In AUTOtech.agil, our tasks are

  • Researching scalable ASOA
  • Enabling service-oriented diagnosis
  • Integrating ASOA into industrial platforms and methods
  • Creating tools for service-oriented software development
  • Collaborating with interdisciplinary project partners


More Information about the project



Contact: Julius Beerwerth, M.Sc. RWTH, Alexandru Kampmann, M.Sc. RWTH

Cyber-Physical Mobility Lab (multiple funding, see below)

The Cyber-Physical Mobility Lab (CPM Lab) is an open source, remotely accessible platform for rapid algorithm prototyping for networked and autonomous vehicles. Its unique hierarchical service-oriented architecture enables synchronized computations of different complexity levels. The CPM Lab is our group-wide project that makes our research results tangible, both for the scientific staff and for students. Our vision in developing the CPM Lab is to See your Ideas Turning into Reality!

For more details on the CPM Lab, visit our website cpm.embedded.rwth-aachen.de.



We thank the following programs for providing funds to the CPM Lab


Contact: All Cyber-Physical Mobility group members: cpm-info[at]embedded[dot]rwth-aachen[dot]de

Teaching

Control and Perception in Networked and Autonomous Vehicles

We offer the course Control and Perception in Networked and Autonomous Vehicles since the winter term 2019/2020. We designed it for master's students of computer science, automation engineering, and computational engineering science. It combines theory with practical exercises in the CPM Lab. The course materials are available here.


Contact: Patrick Scheffe, M.Sc. RWTH, Simon Schäfer, M.Sc. RWTH

Practical Course

For bachelor's students, we offer a practical course software project in the CPM Lab since the winter term 2019/2020.


Contact: Armin Mokhtarian, M.Sc. RWTH

Team GalaXIs

Since 2008, our student group Team GalaXIs implements perception and control algorithms on an autonomous model-scale vehicle in order to participate in the Carolo-Cup competition. More information can be found at galaxis.rwth-aachen.de.

We are always looking for motivated and ambitious students to join Team GalaXIs.


Contact: Alexandru Kampmann, M.Sc. RWTH, Ole-Christian Greß, M.Sc. RWTH

Theses and Open Positions

Instructions for Applications

Prepare your application as a single PDF, not bigger than 5MB. Please include

  • concise cover letter
  • curriculum vitae
  • transcript of records (Bachelor and Master if applicable)
  • certificates

Please send your application via e-mail with this subject line: Application CPM - Master Thesis/Bachelor Thesis/Student Assistant/PhD Position

Please note that it can take up to two weeks for us to reply to applications.

PhD Positions

Current open PhD positions can be found here. Additionally, initiative applications for PhD positions are very welcome, please contact Dr.-Ing. Bassam Alrifaee.

Theses and Student Positions

We are always looking for motivated and ambitious students to join our team. We offer theses and student assistant positions in the following areas

Additionally, initiative applications for theses and student assistant positions are very welcome. You can send your application to the corresponding member of the group, or all members: cpm-info[at]embedded[dot]rwth-aachen.de

Participation in Committees

Our group contributes to different national and international committees, e.g., to

We also contribute to the organization of meetings and conferences in our research area, e.g., by organizing special sessions.

Publications


Publikations-Export
[KA23]
Kloock, M. M. and Alrifaee, B., "Coordinated Cooperative Distributed Decision-Making Using Synchronization of Local Plans", IEEE Transactions on Intelligent Vehicles, pp. 1-15, 2023

Coordinated Cooperative Distributed Decision-Making Using Synchronization of Local Plans

Bibtex entry :

@article {  KA23,
	author = { Kloock, Maximilian Martin and Alrifaee, Bassam },
	title = { Coordinated Cooperative Distributed Decision-Making Using
		Synchronization of Local Plans },
	journal = { IEEE Transactions on Intelligent Vehicles },
	publisher = { IEEE },
	pages = { 1-15 },
	year = { 2023 },
	address = { New York, NY },
	issn = { 2379-8858 },
	doi = { 10.1109/TIV.2023.3234189 },
	typ = { PUB:(DE-HGF)16 },
	reportid = { RWTH-2023-00601 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/862885 },
}
[KSG+23]
Kloock, M. M., Scheffe, P., Gress, O., and Alrifaee, B., "An Architecture for Experiments in Connected and Automated Vehicles", IEEE open journal of intelligent transportation systems, pp. 1-13, 2023

An Architecture for Experiments in Connected and Automated Vehicles

Bibtex entry :

@article {  KSG+23,
	author = { Kloock, Maximilian Martin and Scheffe, Patrick and Gress,
		Ole and Alrifaee, Bassam },
	title = { An Architecture for Experiments in Connected and Automated
		Vehicles },
	journal = { IEEE open journal of intelligent transportation systems },
	publisher = { IEEE },
	pages = { 1-13 },
	year = { 2023 },
	address = { [New York, NY] },
	issn = { 2687-7813 },
	doi = { 10.1109/OJITS.2023.3250951 },
	typ = { PUB:(DE-HGF)16 },
	reportid = { RWTH-2023-02350 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/952957/files/952957.pdf },
}
[SHK+23]
Scheffe, P., Henneken, T. M., Kloock, M. M., and Alrifaee, B., "Sequential Convex Programming Methods for Real-time Optimal Trajectory Planning in Autonomous Vehicle Racing", IEEE Transactions on Intelligent Vehicles : T-IV, vol. 8, iss. 1, pp. 661-672, 2023

Sequential Convex Programming Methods for Real-time Optimal Trajectory Planning in Autonomous Vehicle Racing

Bibtex entry :

@article {  SHK+23,
	author = { Scheffe, Patrick and Henneken, Theodor Mario and Kloock,
		Maximilian Martin and Alrifaee, Bassam },
	title = { Sequential Convex Programming Methods for Real-time Optimal
		Trajectory Planning in Autonomous Vehicle Racing },
	journal = { IEEE Transactions on Intelligent Vehicles : T-IV },
	publisher = { IEEE },
	pages = { 661-672 },
	volume = { 8 },
	number = { 1 },
	year = { 2023 },
	address = { New York, NY },
	issn = { 2379-8858 },
	doi = { 10.1109/TIV.2022.3168130 },
	typ = { PUB:(DE-HGF)16 },
	reportid = { RWTH-2022-10294 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/855596 },
}
[KDK+22]
Kloock, M. M., Dirksen, M., Kowalewski, S., and Alrifaee, B., "Generation of Coupling Topologies for Multi-Agent Systems using Non-Cooperative Games", in Proc. 2022 IEEE Intelligent Vehicles Symposium (IV) : 4-9 June 2022 / publisher: IEEE, Piscataway, NJ, 2022, IEEE, pp. 1-8.

Generation of Coupling Topologies for Multi-Agent Systems using Non-Cooperative Games

Bibtex entry :

@inproceedings {  KDK+22,
	author = { Kloock, Maximilian Martin and Dirksen, Matthis and
		Kowalewski, Stefan and Alrifaee, Bassam },
	title = { Generation of Coupling Topologies for Multi-Agent Systems
		using Non-Cooperative Games },
	booktitle = { 2022 IEEE Intelligent Vehicles Symposium (IV) : 4-9 June
		2022 / publisher: IEEE },
	publisher = { IEEE },
	pages = { 1-8 },
	year = { 2022 },
	address = { Piscataway, NJ },
	organization = { 33. IEEE Intelligent Vehicles Symposium, Aachen (Germany),
		2022-06-04 - 2022-06-09 },
	doi = { 10.1109/IV51971.2022.9827431 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2022-07956 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/852149/files/852149.pdf },
}
[KLK+22]
Kampmann, A., Lüer, M., Kowalewski, S., and Alrifaee, B., "Optimization-based Resource Allocation for an Automotive Service-oriented Software Architecture", in Proc. 2022 IEEE Intelligent Vehicles Symposium (IV) : 4-9 June 2022 / publisher: IEEE, Piscataway, NJ, 2022, IEEE, pp. 678-687.

Optimization-based Resource Allocation for an Automotive Service-oriented Software Architecture

Bibtex entry :

@inproceedings {  KLK+22,
	author = { Kampmann, Alexandru and L{\"u}er, Maximilian and Kowalewski,
		Stefan and Alrifaee, Bassam },
	title = { Optimization-based Resource Allocation for an Automotive
		Service-oriented Software Architecture },
	booktitle = { 2022 IEEE Intelligent Vehicles Symposium (IV) : 4-9 June
		2022 / publisher: IEEE },
	publisher = { IEEE },
	pages = { 678-687 },
	year = { 2022 },
	address = { Piscataway, NJ },
	organization = { 33. IEEE Intelligent Vehicles Symposium, Aachen (Germany),
		2022-06-04 - 2022-06-09 },
	doi = { 10.1109/IV51971.2022.9827429 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2022-08619 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/853127/files/853127.pdf },
}
[KLP+22]
Kampmann, A., Lamberti, M., Petrovic, N., Kowalewski, S., and Alrifaee, B., "Investigating Outdoor Recognition Performance of Infrared Beacons for Infrastructure-based Localization", in Proc. 2022 IEEE Intelligent Vehicles Symposium (IV) : 4-9 June 2022 / publisher: IEEE, Piscataway, NJ, 2022, IEEE, pp. 1107-1113.

Investigating Outdoor Recognition Performance of Infrared Beacons for Infrastructure-based Localization

Bibtex entry :

@inproceedings {  KLP+22,
	author = { Kampmann, Alexandru and Lamberti, Michael and Petrovic,
		Nikola and Kowalewski, Stefan and Alrifaee, Bassam },
	title = { Investigating Outdoor Recognition Performance of Infrared
		Beacons for Infrastructure-based Localization },
	booktitle = { 2022 IEEE Intelligent Vehicles Symposium (IV) : 4-9 June
		2022 / publisher: IEEE },
	publisher = { IEEE },
	pages = { 1107-1113 },
	year = { 2022 },
	address = { Piscataway, NJ },
	organization = { 33. IEEE Intelligent Vehicles Symposium, Aachen (Germany),
		2022-06-04 - 2022-06-09 },
	doi = { 10.1109/IV51971.2022.9827288 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2022-08618 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/853126/files/853126.pdf },
}
[KMK+22]
Kampmann, A., Mokhtarian, A., Kowalewski, S., and Alrifaee, B., "ASOA - A Dynamic Software Architecture for Software-defined Vehicles", in Proc. [31st Aachen Colloquium Sustainable Mobility 2022], 2022.

ASOA - A Dynamic Software Architecture for Software-defined Vehicles

Bibtex entry :

@inproceedings {  KMK+22,
	author = { Kampmann, Alexandru and Mokhtarian, Armin and Kowalewski,
		Stefan and Alrifaee, Bassam },
	title = { ASOA - A Dynamic Software Architecture for Software-defined
		Vehicles },
	booktitle = { [31st Aachen Colloquium Sustainable Mobility 2022] },
	year = { 2022 },
	organization = { 31. Aachen Colloquium Sustainable Mobility 2022 },
	typ = { PUB:(DE-HGF)8 },
	reportid = { RWTH-2022-11158 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/856836/files/856836.pdf },
}
[MA22]
Mokhtarian, A. and Alrifaee, B., "CPM Remote: A Remote Access to the CPM Lab", in Proc. 8th-2022 International Conference on Control, Decision and Information Technologies (CoDIT\'22) : May 17-20, 2022, Istanbul, Turkey / CoDIT 2022 ; IFAC - International Federation of Automation Control, IEEE, İzmir Ekonomi Üniversitesi, LISIER, IEEE SMC - System, Man, and Cybernetics Society, IEEE Control Systems Society, CNRS GDR - Groupement de recherche, RO - Recherche opérationelle ; honorary chairs: Okyay Kaynak (Bogazici University, Turkey), Mengchu Zhou (New Jersey Institute of Technology, USA) ; publication co-chairs: Mariagrazia Dotoli (Polytechnic University of Bari, Italy), Nicholas Karampetakis (Aristotle University of Thessaloniki, Greece), Kamal Medjaher (École nationale díngénieurs de Tarbes, France), [Piscataway, NJ], 2022, IEEE, pp. 1124-1129.

CPM Remote: A Remote Access to the CPM Lab

Bibtex entry :

@inproceedings {  MA22,
	author = { Mokhtarian, Armin and Alrifaee, Bassam },
	title = { CPM Remote: A Remote Access to the CPM Lab },
	booktitle = { 8th-2022 International Conference on Control, Decision and
		Information Technologies (CoDIT\'22) : May 17-20, 2022,
		Istanbul, Turkey / CoDIT 2022 ; IFAC - International
		Federation of Automation Control, IEEE, İzmir Ekonomi
		{\"U}niversitesi, LISIER, IEEE SMC - System, Man, and
		Cybernetics Society, IEEE Control Systems Society, CNRS GDR
		- Groupement de recherche, RO - Recherche opérationelle ;
		honorary chairs: Okyay Kaynak (Bogazici University, Turkey),
		Mengchu Zhou (New Jersey Institute of Technology, USA) ;
		publication co-chairs: Mariagrazia Dotoli (Polytechnic
		University of Bari, Italy), Nicholas Karampetakis (Aristotle
		University of Thessaloniki, Greece), Kamal Medjaher (École
		nationale d\'ingénieurs de Tarbes, France) },
	publisher = { IEEE },
	pages = { 1124-1129 },
	year = { 2022 },
	address = { [Piscataway, NJ] },
	organization = { 8. International Conference on Control, Decision and
		Information Technologies, Istanbul (Turkey), 2022-05-17 -
		2022-05-20 },
	doi = { 10.1109/CoDIT55151.2022.9804088 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2022-08485 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/852942/files/852942.pdf },
}
[MSA22]
Mokhtarian, A., Schäfer, S., and Alrifaee, B., "CPM Olympics: Development of Scenarios for Benchmarking in Networked and Autonomous Driving", in Proc. 2022 IEEE Intelligent Vehicles Symposium (IV) : 4-9 June 2022 / publisher: IEEE, Piscataway, NJ, 2022, IEEE, pp. 9-15.

CPM Olympics: Development of Scenarios for Benchmarking in Networked and Autonomous Driving

Bibtex entry :

@inproceedings {  MSA22,
	author = { Mokhtarian, Armin and Sch{\"a}fer, Simon and Alrifaee,
		Bassam },
	title = { CPM Olympics: Development of Scenarios for Benchmarking in
		Networked and Autonomous Driving },
	booktitle = { 2022 IEEE Intelligent Vehicles Symposium (IV) : 4-9 June
		2022 / publisher: IEEE },
	publisher = { IEEE },
	pages = { 9-15 },
	year = { 2022 },
	address = { Piscataway, NJ },
	organization = { 33. IEEE Intelligent Vehicles Symposium, Aachen (Germany),
		2022-06-04 - 2022-06-09 },
	doi = { 10.1109/IV51971.2022.9827299 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2022-08486 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/852943/files/852943.pdf },
}
[MSK+22]
Mokhtarian, A., Scheffe, P., Kowalewski, S., and Alrifaee, B., "Remote Teaching with the Cyber-Physical Mobility Lab", IFAC-PapersOnLine, vol. 55, iss. 17, pp. 386-391, 2022

Remote Teaching with the Cyber-Physical Mobility Lab

Bibtex entry :

@article {  MSK+22,
	author = { Mokhtarian, Armin and Scheffe, Patrick and Kowalewski,
		Stefan and Alrifaee, Bassam },
	title = { Remote Teaching with the Cyber-Physical Mobility Lab },
	journal = { IFAC-PapersOnLine },
	publisher = { Elsevier },
	pages = { 386-391 },
	volume = { 55 },
	number = { 17 },
	year = { 2022 },
	address = { Frankfurt ; M{\"u}nchen [u.a.] },
	issn = { 1474-6670 },
	organization = { 13.IFAC Symposium on Advances in Control Education, Hamburg
		(Germany), 2022-07-24 - 2022-07-27 },
	doi = { 10.1016/j.ifacol.2022.09.310 },
	typ = { PUB:(DE-HGF)16 },
	reportid = { RWTH-2022-10406 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/855749/files/855749.pdf },
}
[SDA22]
Scheffe, P., Dorndorf, G., and Alrifaee, B., "Increasing Feasibility with Dynamic Priority Assignment in Distributed Trajectory Planning for Road Vehicles", in Proc. 2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC) : 8-12 Oct. 2022, Piscataway, NJ, 2022, IEEE, pp. 3873-3879.

Increasing Feasibility with Dynamic Priority Assignment in Distributed Trajectory Planning for Road Vehicles

Bibtex entry :

@inproceedings {  SDA22,
	author = { Scheffe, Patrick and Dorndorf, Georg and Alrifaee, Bassam },
	title = { Increasing Feasibility with Dynamic Priority Assignment in
		Distributed Trajectory Planning for Road Vehicles },
	booktitle = { 2022 IEEE 25th International Conference on Intelligent
		Transportation Systems (ITSC) : 8-12 Oct. 2022 },
	publisher = { IEEE },
	pages = { 3873-3879 },
	year = { 2022 },
	address = { Piscataway, NJ },
	organization = { 25. International Conference on Intelligent Transportation
		Systems, Macau (Macau), 2022-10-08 - 2022-10-12 },
	doi = { 10.1109/ITSC55140.2022.9922028 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2022-10176 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/855355 },
}
[SPF+22]
Scheffe, P., Pedrosa, M. V. A., Flaßkamp, K., and Alrifaee, B., "Receding Horizon Control Using Graph Search for Multi-Agent Trajectory Planning", IEEE Transactions on Control Systems Technology, pp. 1-14, 2022

Receding Horizon Control Using Graph Search for Multi-Agent Trajectory Planning

Bibtex entry :

@article {  SPF+22,
	author = { Scheffe, Patrick and Pedrosa, Matheus V. A. and
		Fla{\ss}kamp, Kathrin and Alrifaee, Bassam },
	title = { Receding Horizon Control Using Graph Search for Multi-Agent
		Trajectory Planning },
	journal = { IEEE Transactions on Control Systems Technology },
	publisher = { IEEE },
	pages = { 1-14 },
	year = { 2022 },
	address = { New York, NY },
	issn = { 1063-6536 },
	doi = { 10.1109/TCST.2022.3214718 },
	typ = { PUB:(DE-HGF)16 },
	reportid = { RWTH-2022-10295 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/855597 },
}
[JSG+21]
Jatzkowski, I., Stolte, T., Graubohm, R., Maurer, M., Kampmann, A., Alrifaee, B., Kowalewski, S., Buchholz, M., and Dietmayer, K., "Integration of a Vehicle Operating Mode Management into UNICARagil’s Automotive Service-oriented Software Architecture", in Proc. 30. Aachen Colloquium Sustainable Mobility : October 4th-6th, 2021 / scientific management: Univ.-Prof. Dr.-Ing. Lutz Eckstein, Univ.-Prof. Dr.-Ing. Stefan Pischinger ; organizational management: Michaela Wacker (M. Sc.), Jonas Müller (M. Sc.) ; organized by: Institute for Automotive Engineering (RWTH Aachen University), Institute for Combustion Engines (RWTH Aachen University), Aachen, 2021, Institute for Automotive Engineering, RWTH Aachen University, pp. 595-614.

Integration of a Vehicle Operating Mode Management into UNICARagil’s Automotive Service-oriented Software Architecture

Bibtex entry :

@inproceedings {  JSG+21,
	author = { Jatzkowski, Inga and Stolte, Torben and Graubohm, Robert and
		Maurer, Markus and Kampmann, Alexandru and Alrifaee, Bassam
		and Kowalewski, Stefan and Buchholz, Michael and Dietmayer,
		Klaus },
	title = { Integration of a Vehicle Operating Mode Management into
		UNICARagil’s Automotive Service-oriented Software
		Architecture },
	booktitle = { 30. Aachen Colloquium Sustainable Mobility : October
		4th-6th, 2021 / scientific management: Univ.-Prof. Dr.-Ing.
		Lutz Eckstein, Univ.-Prof. Dr.-Ing. Stefan Pischinger ;
		organizational management: Michaela Wacker (M. Sc.), Jonas
		M{\"u}ller (M. Sc.) ; organized by: Institute for Automotive
		Engineering (RWTH Aachen University), Institute for
		Combustion Engines (RWTH Aachen University) },
	publisher = { Institute for Automotive Engineering, RWTH Aachen University },
	pages = { 595-614 },
	year = { 2021 },
	address = { Aachen },
	organization = { 30. Aachen Colloquium Sustainable Mobility, Aachen
		(Germany), 2021-10-04 - 2021-10-06 },
	doi = { 10.24355/DBBS.084-202110271613-0 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2022-01307 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/840892/files/840892.pdf },
}
[KHK+21]
Kloock, M. M., He, Q., Kowalewski, S., and Alrifaee, B., "Trajectory Verification for Networked and Autonomous Vehicles using Temporal Logic and Model Checking", in Proc. 2021 IEEE International Intelligent Transportation Systems Conference (ITSC) : 19-22 Sept. 2021 / publisher: IEEE, [Piscataway, NJ], 2021, IEEE, pp. 244-250.

Trajectory Verification for Networked and Autonomous Vehicles using Temporal Logic and Model Checking

Bibtex entry :

@inproceedings {  KHK+21,
	author = { Kloock, Maximilian Martin and He, Qingyun and Kowalewski,
		Stefan and Alrifaee, Bassam },
	title = { Trajectory Verification for Networked and Autonomous
		Vehicles using Temporal Logic and Model Checking },
	booktitle = { 2021 IEEE International Intelligent Transportation Systems
		Conference (ITSC) : 19-22 Sept. 2021 / publisher: IEEE },
	publisher = { IEEE },
	pages = { 244-250 },
	year = { 2021 },
	address = { [Piscataway, NJ] },
	organization = { 24. International Intelligent Transportation Systems
		Conference, Indianapolis, IN (USA), 2021-09-19 - 2021-09-22 },
	doi = { 10.1109/ITSC48978.2021.9564414 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2021-10124 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/834750/files/834750.pdf },
}
[KSM+21]
Kloock, M. M., Scheffe, P., Maczijewski, J., Kampmann, A., Mokhtarian, A., Kowalewski, S., and Alrifaee, B., "Cyber-Physical Mobility Lab : An Open-Source Platform for Networked and Autonomous Vehicles", in Proc. 2021 European Control Conference (ECC), [Piscataway, NJ], 2021, IEEE, pp. 1937-1944.

Cyber-Physical Mobility Lab : An Open-Source Platform for Networked and Autonomous Vehicles

Bibtex entry :

@inproceedings {  KSM+21,
	author = { Kloock, Maximilian Martin and Scheffe, Patrick and
		Maczijewski, Janis and Kampmann, Alexandru and Mokhtarian,
		Armin and Kowalewski, Stefan and Alrifaee, Bassam },
	title = { Cyber-Physical Mobility Lab : An Open-Source Platform for
		Networked and Autonomous Vehicles },
	booktitle = { 2021 European Control Conference (ECC) },
	publisher = { IEEE },
	pages = { 1937-1944 },
	year = { 2021 },
	address = { [Piscataway, NJ] },
	organization = { 2021 European Control Conference, online, 2021-06-29 -
		2021-07-02 },
	doi = { 10.23919/ECC54610.2021.9654986 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2022-00305 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/838069 },
}
[MKL+21]
Mokhtarian, A., Kampmann, A., Lüer, M., Kowalewski, S., and Alrifaee, B., "A Cloud Architecture for Networked and Autonomous Vehicles", IFAC-PapersOnLine, vol. 54, iss. 2, pp. 233-239, 2021

A Cloud Architecture for Networked and Autonomous Vehicles

Bibtex entry :

@article {  MKL+21,
	author = { Mokhtarian, Armin and Kampmann, Alexandru and L{\"u}er,
		Maximilian and Kowalewski, Stefan and Alrifaee, Bassam },
	title = { A Cloud Architecture for Networked and Autonomous Vehicles },
	journal = { IFAC-PapersOnLine },
	publisher = { Elsevier },
	pages = { 233-239 },
	volume = { 54 },
	number = { 2 },
	year = { 2021 },
	address = { Frankfurt },
	issn = { 2405-8963 },
	organization = { 16. IFAC Symposium on Control in Transportation Systems,
		online, 2021-06-08 - 2021-06-10 },
	doi = { 10.1016/j.ifacol.2021.06.028 },
	typ = { PUB:(DE-HGF)16 },
	reportid = { RWTH-2021-09294 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/828696/files/828696.pdf },
}
[KMR+20]
Kampmann, A., Mokhtarian, A., Rogalski, J., Kowalewski, S., and Alrifaee, B., "Agile Latency Estimation for a Real-time Service-oriented Software Architecture", IFAC-PapersOnLine, vol. 53, iss. 2, pp. 5795-5800, 2020

Agile Latency Estimation for a Real-time Service-oriented Software Architecture

Bibtex entry :

@article {  KMR+20,
	author = { Kampmann, Alexandru and Mokhtarian, Armin and Rogalski, Jan
		and Kowalewski, Stefan and Alrifaee, Bassam },
	title = { Agile Latency Estimation for a Real-time Service-oriented
		Software Architecture },
	journal = { IFAC-PapersOnLine },
	publisher = { Elsevier },
	pages = { 5795-5800 },
	volume = { 53 },
	number = { 2 },
	year = { 2020 },
	address = { Frankfurt ; M{\"u}nchen [u.a.] },
	issn = { 2405-8963 },
	organization = { 21. IFAC World Congress on Automatic Control - Meeting
		Societal Challenges, Berlin (Germany), 2020-07-11 -
		2020-07-17 },
	doi = { 10.1016/j.ifacol.2020.12.1619 },
	typ = { PUB:(DE-HGF)16 },
	reportid = { RWTH-2021-06497 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/822016/files/822016.pdf },
}
[KST+20]
Kloock, M. M., Scheffe, P., Tülleners, I., Maczijewski, J., Kowalewski, S., and Alrifaee, B., "Vision-Based Real-Time Indoor Positioning System for Multiple Vehicles", IFAC-PapersOnLine, vol. 53, iss. 2, pp. 15446-15453, 2020

Vision-Based Real-Time Indoor Positioning System for Multiple Vehicles

Bibtex entry :

@article {  KST+20,
	author = { Kloock, Maximilian Martin and Scheffe, Patrick and
		T{\"u}lleners, Isabelle and Maczijewski, Janis and
		Kowalewski, Stefan and Alrifaee, Bassam },
	title = { Vision-Based Real-Time Indoor Positioning System for
		Multiple Vehicles },
	journal = { IFAC-PapersOnLine },
	publisher = { Elsevier },
	pages = { 15446-15453 },
	volume = { 53 },
	number = { 2 },
	year = { 2020 },
	address = { Frankfurt },
	issn = { 2405-8963 },
	organization = { 21. IFAC World Congress, online, 2020-07-11 - 2020-07-17 },
	doi = { 10.1016/j.ifacol.2020.12.2367 },
	typ = { PUB:(DE-HGF)16 },
	reportid = { RWTH-2021-03830 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/817298/files/817298.pdf },
}
[LvW+20]
Lampe, B., van Kempen, R., Woopen, T., Kampmann, A., Alrifaee, B., and Eckstein, L., "Reducing Uncertainty by Fusing Dynamic Occupancy Grid Maps in a Cloud-based Collective Environment Model", in Proc. 2020 IEEE Intelligent Vehicles Symposium (IV) / publisher: IEEE, Piscataway, NJ, 2020, IEEE, pp. 837-843.

Reducing Uncertainty by Fusing Dynamic Occupancy Grid Maps in a Cloud-based Collective Environment Model

Bibtex entry :

@inproceedings {  LvW+20,
	author = { Lampe, Bastian and van Kempen, Raphael and Woopen, Timo and
		Kampmann, Alexandru and Alrifaee, Bassam and Eckstein, Lutz },
	title = { Reducing Uncertainty by Fusing Dynamic Occupancy Grid Maps
		in a Cloud-based Collective Environment Model },
	booktitle = { 2020 IEEE Intelligent Vehicles Symposium (IV) / publisher:
		IEEE },
	publisher = { IEEE },
	pages = { 837-843 },
	year = { 2020 },
	address = { Piscataway, NJ },
	organization = { 31. IEEE Intelligent Vehicles Symposium, online, 2020-10-19
		- 2020-11-13 },
	doi = { 10.1109/IV47402.2020.9304816 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2021-02777 },
	cin = { 414110 / 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/815706 },
}
[LvW+20a]
Lampe, B., van Kempen, R., Woopen, T., Kampmann, A., Alrifaee, B., and Eckstein, L., "Reducing Uncertainty by Fusing Dynamic Occupancy Grid Maps in a Cloud-based Collective Environment Model", , p. 7, 2020

Reducing Uncertainty by Fusing Dynamic Occupancy Grid Maps in a Cloud-based Collective Environment Model

Bibtex entry :

@article {  LvW+20a,
	author = { Lampe, Bastian and van Kempen, Raphael and Woopen, Timo and
		Kampmann, Alexandru and Alrifaee, Bassam and Eckstein, Lutz },
	title = { Reducing Uncertainty by Fusing Dynamic Occupancy Grid Maps
		in a Cloud-based Collective Environment Model },
	pages = { 7 Seiten },
	year = { 2020 },
	typ = { PUB:(DE-HGF)25 },
	reportid = { RWTH-2021-04037 },
	cin = { 414110 / 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/817686/files/817686.pdf },
}
[MKA+20]
PDFBIB
Mokhtarian, A., Kampmann, A., Alrifaee, B., Kowalewski, S., Lampe, B., and Eckstein, L., "Agile Requirement Engineering for a Cloud System for Automated and Networked Vehicles", in Proc. 2nd International Workshop on Autonomous Systems Design : ASD 2020, March 13, 2020, Grenoble, France, converted to a virtual event due to COVID-19, held in April 2020 / edited by Sebastian Steinhorst, Jyotirmoy V. Deshmukh, Saarbrücken/Wadern, Germany, 2020 in OpenAccess Series in Informatics, Schloss Dagstuhl - Leibniz-Zentrum für Informatik GmbH, Dagstuhl Publishing, August, p. 4:1-4:8.

Agile Requirement Engineering for a Cloud System for Automated and Networked Vehicles

Bibtex entry :

@inproceedings {  MKA+20,
	author = { Mokhtarian, Armin and Kampmann, Alexandru and Alrifaee,
		Bassam and Kowalewski, Stefan and Lampe, Bastian and
		Eckstein, Lutz },
	title = { Agile Requirement Engineering for a Cloud System for
		Automated and Networked Vehicles },
	booktitle = { 2nd International Workshop on Autonomous Systems Design :
		ASD 2020, March 13, 2020, Grenoble, France, converted to a
		virtual event due to COVID-19, held in April 2020 / edited
		by Sebastian Steinhorst, Jyotirmoy V. Deshmukh },
	publisher = { Schloss Dagstuhl - Leibniz-Zentrum f{\"u}r Informatik GmbH,
		Dagstuhl Publishing, August },
	pages = { 4:1-4:8 },
	series = { OpenAccess Series in Informatics },
	year = { 2020 },
	address = { Saarbr{\"u}cken/Wadern, Germany },
	organization = { 2. International Workshop on Autonomous Systems Design,
		Grenoble (France), 2020-03-12 - 2020-03-13 },
	doi = { 10.4230/OASIcs.ASD.2020.4 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2020-08417 },
	cin = { 122810 / 120000 / 414110 },
}
[MKA+20a]
Mokhtarian, A., Kampmann, A., Alrifaee, B., and Kowalewski, S., "The Dynamic Service-oriented Software Architecture for the UNICARagil Project", in Proc. 29. Aachen Colloquium Sustainable Mobility : October 5th-7th, 2020, digital event / scientific management: Univ.-Prof. Dr.-Ing. Lutz Eckstein, Univ.-Prof. Dr.-Ing. Stefan Pischinger ; organizational management: Michaela Wacker (M. Sc.), Jonas Müller (M. Sc.) ; organized by: Institute for Automotive Engineering, RWTH Aachen University; Institute for Combustion Engines, RWTH Aachen University. - 1: October 6th, 2020, Aachen, 2020, Institute for Automotive Engineering, RWTH Aachen University ; Aachen : Institute for Combustion Engines, RWTH Aachen University, pp. 275-284.

The Dynamic Service-oriented Software Architecture for the UNICARagil Project

Bibtex entry :

@inproceedings {  MKA+20a,
	author = { Mokhtarian, Armin and Kampmann, Alexandru and Alrifaee,
		Bassam and Kowalewski, Stefan },
	title = { The Dynamic Service-oriented Software Architecture for the
		UNICARagil Project },
	booktitle = { 29. Aachen Colloquium Sustainable Mobility : October
		5th-7th, 2020, digital event / scientific management:
		Univ.-Prof. Dr.-Ing. Lutz Eckstein, Univ.-Prof. Dr.-Ing.
		Stefan Pischinger ; organizational management: Michaela
		Wacker (M. Sc.), Jonas M{\"u}ller (M. Sc.) ; organized by:
		Institute for Automotive Engineering, RWTH Aachen
		University; Institute for Combustion Engines, RWTH Aachen
		University. - 1: October 6th, 2020 },
	publisher = { Institute for Automotive Engineering, RWTH Aachen University
		; Aachen : Institute for Combustion Engines, RWTH Aachen
		University },
	pages = { 275-284 },
	year = { 2020 },
	address = { Aachen },
	organization = { 29. Aachen Colloquium Sustainable Mobility = 29. Aachener
		Kolloquium Fahrzeug- und Motorentechnik, Aachen (Germany),
		2020-10-05 - 2020-10-07 },
	doi = { 10.18154/RWTH-2020-11256 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2020-11256 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/807282/files/807282.pdf },
}
[SMK+20]
Scheffe, P., Maczijewski, J., Kloock, M. M., Kampmann, A., Derks, A., Kowalewski, S., and Alrifaee, B., "Networked and Autonomous Model-scale Vehicles for Experiments in Research and Education", IFAC-PapersOnLine, vol. 53, iss. 2, pp. 17332-17337, 2020

Networked and Autonomous Model-scale Vehicles for Experiments in Research and Education

Bibtex entry :

@article {  SMK+20,
	author = { Scheffe, Patrick and Maczijewski, Janis and Kloock,
		Maximilian Martin and Kampmann, Alexandru and Derks, Andreas
		and Kowalewski, Stefan and Alrifaee, Bassam },
	title = { Networked and Autonomous Model-scale Vehicles for
		Experiments in Research and Education },
	journal = { IFAC-PapersOnLine },
	publisher = { Elsevier },
	pages = { 17332-17337 },
	volume = { 53 },
	number = { 2 },
	year = { 2020 },
	address = { Frankfurt },
	issn = { 2405-8963 },
	organization = { 21. IFAC World Congress, online, 2020-07-11 - 2020-07-17 },
	doi = { 10.1016/j.ifacol.2020.12.1821 },
	typ = { PUB:(DE-HGF)16 },
	reportid = { RWTH-2021-03987 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/817552/files/817552.pdf },
}
[KAK+19]
Kampmann, A., Alrifaee, B., Kohout, M., Wüstenberg, A., Woopen, T., Nolte, M., Eckstein, L., and Kowalewski, S., "A Dynamic Service-Oriented Software Architecture for Highly Automated Vehicles", in Proc. The 2019 IEEE Intelligent Transportation Systems Conference - ITSC : Auckland, New Zealand, 27-30 October 2019 / IEEE, IEEE-ITSC 2019, ITSS - IEEE Intelligent Transportation Systems Society, Piscataway, NJ, 2019, IEEE, pp. 2101-2108.

A Dynamic Service-Oriented Software Architecture for Highly Automated Vehicles

Bibtex entry :

@inproceedings {  KAK+19,
	author = { Kampmann, Alexandru and Alrifaee, Bassam and Kohout, Markus
		and W{\"u}stenberg, Andreas and Woopen, Timo and Nolte,
		Marcus and Eckstein, Lutz and Kowalewski, Stefan },
	title = { A Dynamic Service-Oriented Software Architecture for Highly
		Automated Vehicles },
	booktitle = { The 2019 IEEE Intelligent Transportation Systems Conference
		- ITSC : Auckland, New Zealand, 27-30 October 2019 / IEEE,
		IEEE-ITSC 2019, ITSS - IEEE Intelligent Transportation
		Systems Society },
	publisher = { IEEE },
	pages = { 2101-2108 },
	year = { 2019 },
	address = { Piscataway, NJ },
	organization = { 22. IEEE Intelligent Transportation Systems Conference,
		Auckland (New Zealand), 2019-10-27 - 2019-10-30 },
	doi = { 10.1109/ITSC.2019.8916841 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2019-11214 },
	cin = { 122810 / 414110 / 120000 },
	url = { http://publications.rwth-aachen.de/record/773699 },
}
[KKM+19]
Kloock, M. M., Kragl, L., Maczijewski, J., Alrifaee, B., and Kowalewski, S., "Distributed Model Predictive Pose Control of Multiple Nonholonomic Vehicles", in Proc. IV19 : 30th IEEE Intelligent Vehicles Symposium : 9-12 June 2019, Paris / publisher: IEEE, Piscataway, NJ, 2019, IEEE, pp. 1620-1625.

Distributed Model Predictive Pose Control of Multiple Nonholonomic Vehicles

Bibtex entry :

@inproceedings {  KKM+19,
	author = { Kloock, Maximilian Martin and Kragl, Ludwig and Maczijewski,
		Janis and Alrifaee, Bassam and Kowalewski, Stefan },
	title = { Distributed Model Predictive Pose Control of Multiple
		Nonholonomic Vehicles },
	booktitle = { IV19 : 30th IEEE Intelligent Vehicles Symposium : 9-12 June
		2019, Paris / publisher: IEEE },
	publisher = { IEEE },
	pages = { 1620-1625 },
	year = { 2019 },
	address = { Piscataway, NJ },
	organization = { 30. IEEE Intelligent Vehicles Symposium, Paris (France),
		2019-06-09 - 2019-06-12 },
	doi = { 10.1109/IVS.2019.8813980 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2019-08197 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/766610 },
}
[KNR+19]
Keilhoff, D., Niedballa, D., Reuss, H., Buchholz, M., Gies, F., Dietmayer, K., Lauer, M., Stiller, C., Ackermann, S., Winner, H., Kampmann, A., Alrifaee, B., Kowalewski, S., Klein, F., Struth, M. M., Woopen, T., and Eckstein, L., "UNICARagil - New architectures for disruptive vehicle concepts", in Proc. 19. Internationales Stuttgarter Symposium : Automobil- und Motorentechnik / Michael Bargende, Hans-Christian Reuss, Andreas Wagner, Jochen Wiedemann (Hrsg.), Wiesbaden ; [Heidelberg], 2019 in Proceedings, Springer Vieweg, pp. 830-842.

UNICARagil - New architectures for disruptive vehicle concepts

Bibtex entry :

@inproceedings {  KNR+19,
	author = { Keilhoff, Dan and Niedballa, Dennis and Reuss,
		Hans-Christian and Buchholz, Michael and Gies, Fabian and
		Dietmayer, Klaus and Lauer, Martin and Stiller, Christoph
		and Ackermann, Stefan and Winner, Hermann and Kampmann,
		Alexandru and Alrifaee, Bassam and Kowalewski, Stefan and
		Klein, Fabian and Struth, Michael Manfred and Woopen, Timo
		and Eckstein, Lutz },
	title = { UNICARagil - New architectures for disruptive vehicle
		concepts },
	booktitle = { 19. Internationales Stuttgarter Symposium : Automobil- und
		Motorentechnik / Michael Bargende, Hans-Christian Reuss,
		Andreas Wagner, Jochen Wiedemann (Hrsg.) },
	publisher = { Springer Vieweg },
	pages = { 830-842 },
	series = { Proceedings },
	year = { 2019 },
	address = { Wiesbaden ; [Heidelberg] },
	organization = { 19. Internationales Stuttgarter Symposium Automobil- und
		Motorentechnik = 19th Stuttgart International Symposium
		Automotive and Engine Technology, Stuttgart (Germany),
		2019-03-19 - 2019-03-20 },
	doi = { 10.1007/978-3-658-25939-6_65 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2019-09748 },
	cin = { 122810 / 120000 / 414110 },
	url = { http://publications.rwth-aachen.de/record/770823 },
}
[KSB+19]
Kloock, M. M., Scheffe, P., Botz, L., Maczijewski, J., Alrifaee, B., and Kowalewski, S., "Networked Model Predictive Vehicle Race Control", in Proc. The 2019 IEEE Intelligent Transportation Systems Conference - ITSC : Auckland, New Zealand, 27-30 October 2019 / IEEE, IEEE-ITSC 2019, ITSS - IEEE Intelligent Transportation Systems Society, Piscataway, NJ, 2019, IEEE, pp. 1552-1557.

Networked Model Predictive Vehicle Race Control

Bibtex entry :

@inproceedings {  KSB+19,
	author = { Kloock, Maximilian Martin and Scheffe, Patrick and Botz,
		Lukas and Maczijewski, Janis and Alrifaee, Bassam and
		Kowalewski, Stefan },
	title = { Networked Model Predictive Vehicle Race Control },
	booktitle = { The 2019 IEEE Intelligent Transportation Systems Conference
		- ITSC : Auckland, New Zealand, 27-30 October 2019 / IEEE,
		IEEE-ITSC 2019, ITSS - IEEE Intelligent Transportation
		Systems Society },
	publisher = { IEEE },
	pages = { 1552-1557 },
	year = { 2019 },
	address = { Piscataway, NJ },
	organization = { 22. IEEE Intelligent Transportation Systems Conference,
		Auckland (New Zealand), 2019-10-27 - 2019-10-30 },
	doi = { 10.1109/ITSC.2019.8917222 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2019-11241 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/773727 },
}
[KSM+19]
Kloock, M. M., Scheffe, P., Marquardt, S., Maczijewski, J., Alrifaee, B., and Kowalewski, S., "Distributed Model Predictive Intersection Control of Multiple Vehicles", in Proc. The 2019 IEEE Intelligent Transportation Systems Conference - ITSC : Auckland, New Zealand, 27-30 October 2019 / IEEE, IEEE-ITSC 2019, ITSS - IEEE Intelligent Transportation Systems Society, Piscataway, NJ, 2019, IEEE, p. 8917117, 1735-1740.

Distributed Model Predictive Intersection Control of Multiple Vehicles

Bibtex entry :

@inproceedings {  KSM+19,
	author = { Kloock, Maximilian Martin and Scheffe, Patrick and
		Marquardt, Sascha and Maczijewski, Janis and Alrifaee,
		Bassam and Kowalewski, Stefan },
	title = { Distributed Model Predictive Intersection Control of
		Multiple Vehicles },
	booktitle = { The 2019 IEEE Intelligent Transportation Systems Conference
		- ITSC : Auckland, New Zealand, 27-30 October 2019 / IEEE,
		IEEE-ITSC 2019, ITSS - IEEE Intelligent Transportation
		Systems Society },
	publisher = { IEEE },
	pages = { 8917117, 1735-1740 },
	year = { 2019 },
	address = { Piscataway, NJ },
	organization = { 22. IEEE Intelligent Transportation Systems Conference,
		Auckland (New Zealand), 2019-10-27 - 2019-10-30 },
	doi = { 10.1109/ITSC.2019.8917117 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2019-11242 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/773728 },
}
[KWA+19]
Kampmann, A., Wüstenberg, A., Alrifaee, B., and Kowalewski, S., "A Portable Implementation of the Real-Time Publish-Subscribe Protocol for Microcontrollers in Distributed Robotic Applications", in Proc. The 2019 IEEE Intelligent Transportation Systems Conference - ITSC : Auckland, New Zealand, 27-30 October 2019 / IEEE, IEEE-ITSC 2019, ITSS - IEEE Intelligent Transportation Systems Society, Piscataway, NJ, 2019, IEEE, pp. 443-448.

A Portable Implementation of the Real-Time Publish-Subscribe Protocol for Microcontrollers in Distributed Robotic Applications

Bibtex entry :

@inproceedings {  KWA+19,
	author = { Kampmann, Alexandru and W{\"u}stenberg, Andreas and
		Alrifaee, Bassam and Kowalewski, Stefan },
	title = { A Portable Implementation of the Real-Time Publish-Subscribe
		Protocol for Microcontrollers in Distributed Robotic
		Applications },
	booktitle = { The 2019 IEEE Intelligent Transportation Systems Conference
		- ITSC : Auckland, New Zealand, 27-30 October 2019 / IEEE,
		IEEE-ITSC 2019, ITSS - IEEE Intelligent Transportation
		Systems Society },
	publisher = { IEEE },
	pages = { 443-448 },
	year = { 2019 },
	address = { Piscataway, NJ },
	organization = { 22. IEEE Intelligent Transportation Systems Conference,
		Auckland (New Zealand), 2019-10-27 - 2019-10-30 },
	doi = { 10.1109/ITSC.2019.8916835 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2019-11216 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/773701 },
}
[VKR+19]
Völker, M., Kloock, M. M., Rabanus, L., Alrifaee, B., and Kowalewski, S., "Verification of Cooperative Vehicle Behavior using Temporal Logic", IFAC-PapersOnLine, vol. 52, iss. 8, pp. 99-104, 2019

Verification of Cooperative Vehicle Behavior using Temporal Logic

Bibtex entry :

@article {  VKR+19,
	author = { V{\"o}lker, Marcus and Kloock, Maximilian Martin and
		Rabanus, Leon and Alrifaee, Bassam and Kowalewski, Stefan },
	title = { Verification of Cooperative Vehicle Behavior using Temporal
		Logic },
	journal = { IFAC-PapersOnLine },
	publisher = { Elsevier },
	pages = { 99-104 },
	volume = { 52 },
	number = { 8 },
	year = { 2019 },
	address = { Frankfurt ; M{\"u}nchen [u.a.] },
	issn = { 2405-8963 },
	organization = { 10. IFAC Symposium on Intelligent Autonomous Vehicles,
		Gdansk (Poland), 2019-07-03 - 2019-07-05 },
	doi = { 10.1016/j.ifacol.2019.08.055 },
	typ = { PUB:(DE-HGF)16 },
	reportid = { RWTH-2019-08318 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/766778 },
}
[AM18]
Alrifaee, B. and Maczijewski, J., "Real-time Trajectory optimization for Autonomous Vehicle Racing using Sequential Linearization", in Proc. 2018 IEEE Intelligent Vehicles Symposium (IV) : 26-30 June 2018 / [sponsored by the IEEE Intelligent Transportation Systems Society (ITSS)], Piscataway, NJ, 2018, IEEE.

Real-time Trajectory optimization for Autonomous Vehicle Racing using Sequential Linearization

Bibtex entry :

@inproceedings {  AM18,
	author = { Alrifaee, Bassam and Maczijewski, Janis },
	title = { Real-time Trajectory optimization for Autonomous Vehicle
		Racing using Sequential Linearization },
	booktitle = { 2018 IEEE Intelligent Vehicles Symposium (IV) : 26-30 June
		2018 / [sponsored by the IEEE Intelligent Transportation
		Systems Society (ITSS)] },
	publisher = { IEEE },
	year = { 2018 },
	address = { Piscataway, NJ },
	organization = { 29. IEEE Intelligent Vehicles Symposium, Changshu (Peoples R
		China), 2018-06-26 - 2018-06-30 },
	doi = { 10.1109/IVS.2018.8500634 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2018-229489 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/748563 },
}
[GSA+18]
Grochowski, M., Schweigler, M., Alrifaee, B., and Kowalewski, S., "A GPS-aided Inertial Navigation System for Vehicular Navigation using a Smartphone", IFAC-PapersOnLine, vol. 51, iss. 10, pp. 121-126, 2018

A GPS-aided Inertial Navigation System for Vehicular Navigation using a Smartphone

Bibtex entry :

@article {  GSA+18,
	author = { Grochowski, Marco and Schweigler, Martin and Alrifaee,
		Bassam and Kowalewski, Stefan },
	title = { A GPS-aided Inertial Navigation System for Vehicular
		Navigation using a Smartphone },
	journal = { IFAC-PapersOnLine },
	pages = { 121-126 },
	volume = { 51 },
	number = { 10 },
	year = { 2018 },
	address = { Laxenburg },
	issn = { 2405-8963 },
	organization = { 3. IFAC Conference on Embedded Systems, Computational
		Intelligence and Telematics in Control, Farod (Portugal),
		2018-06-06 - 2018-06-08 },
	doi = { 10.1016/j.ifacol.2018.06.247 },
	typ = { PUB:(DE-HGF)16 },
	reportid = { RWTH-2018-227583 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/731577 },
}
[WLB+18]
Woopen, T., Lampe, B., Böddeker, T., Eckstein, L., Kampmann, A., Alrifaee, B., Kowalewski, S., Moormann, D., Stolte, T., Jatzkowski, I., Maurer, M., Möstl, M., Ernst, R., Ackermann, S., Amersbach, C., Winner, H., Püllen, D., Katzenbeisser, S., Leinen, S., Becker, M., Stiller, C., Furmans, K., Bengler, K., Diermeyer, F., Lienkamp, M., Keilhoff, D., Reuss, H., Buchholz, M., Dietmayer, K., Lategahn, H., Siepenkötter, N., Elbs, M., v. Hinüber, E., Dupuis, M., and Hecker, C., "UNICARagil - Disruptive Modular Architectures for Agile, Automated Vehicle Concepts", in Proc. { 27. Aachener Kolloquium Fahrzeug- und Motorentechnik : October 8th - 10th, 2018 - Eurogress Aachen, Aachen, Germany, 2018, Aachener Kolloquium Fahrzeug- und Motorentechnik GbR, pp. 663-694.

UNICARagil - Disruptive Modular Architectures for Agile, Automated Vehicle Concepts

Bibtex entry :

@inproceedings {  WLB+18,
	author = { Woopen, Timo and Lampe, Bastian and B{\"o}ddeker, Torben and
		Eckstein, Lutz and Kampmann, Alexandru and Alrifaee, Bassam
		and Kowalewski, Stefan and Moormann, Dieter and Stolte,
		Torben and Jatzkowski, Inga and Maurer, Markus and
		M{\"o}stl, Mischa and Ernst, Rolf and Ackermann, Stefan and
		Amersbach, Christian and Winner, Hermann and P{\"u}llen,
		Dominik and Katzenbeisser, Stefan and Leinen, Stefan and
		Becker, Matthias and Stiller, Christoph and Furmans, Kai and
		Bengler, Klaus and Diermeyer, Frank and Lienkamp, Markus and
		Keilhoff, Dan and Reuss, Hans-Christian and Buchholz,
		Michael and Dietmayer, Klaus and Lategahn, Henning and
		Siepenk{\"o}tter, Norbert and Elbs, Martin and v.
		Hin{\"u}ber, Edgar and Dupuis, Marius and Hecker, Christian },
	title = { UNICARagil - Disruptive Modular Architectures for Agile,
		Automated Vehicle Concepts },
	booktitle = { { 27. Aachener Kolloquium Fahrzeug- und Motorentechnik :
		October 8th - 10th, 2018 - Eurogress Aachen },
	germany = { 27. Aachen Colloquium Automobile and Engine Technology } },
	publisher = { Aachener Kolloquium Fahrzeug- und Motorentechnik GbR },
	pages = { 663-694 },
	year = { 2018 },
	address = { Aachen, Germany },
	organization = { 27. Aachen Colloquium Automobile and Engine Technology 2018
		= 27. Aachen Colloquium Automobile and Engine Technology,
		Aachen (Germany), 2018-10-08 - 2018-10-10 },
	doi = { 10.18154/RWTH-2018-229909 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2018-229909 },
	cin = { 414110 / 122810 / 415410 / 120000 },
	url = { http://publications.rwth-aachen.de/record/749158/files/749158_Liste%20der%20Partner%20.pdf },
	i11key = { DESIREE - Konzeptionierung und Umsetzung des automatisierten
		AUTOshuttles },
}
[AMA17]
Alrifaee, B., Maczijewski, J., and Abel, D., "Sequential Convex Programming MPC for Dynamic Vehicle Collision Avoidance", in Proc. First Annual IEEE Conference on Control Technology and Applications : Kohala Coast, Hawai’i, August 27-30, 2017 : CCTA 2017 / IEEE, CSS, IEEE Robotics & Automation Society, SICE, Piscataway, NJ, 2017, IEEE, pp. 2202-2207.

Sequential Convex Programming MPC for Dynamic Vehicle Collision Avoidance

Bibtex entry :

@inproceedings {  AMA17,
	author = { Alrifaee, Bassam and Maczijewski, Janis and Abel, Dirk },
	title = { Sequential Convex Programming MPC for Dynamic Vehicle
		Collision Avoidance },
	booktitle = { First Annual IEEE Conference on Control Technology and
		Applications : Kohala Coast, Hawai’i, August 27-30, 2017 :
		CCTA 2017 / IEEE, CSS, IEEE Robotics & Automation Society,
		SICE },
	publisher = { IEEE },
	pages = { 2202-2207 },
	year = { 2017 },
	address = { Piscataway, NJ },
	organization = { 1. Annual IEEE Conference on Control Technology and
		Applications, Mauna Lani, HI (USA), 2017-08-27 - 2017-08-30 },
	doi = { 10.1109/CCTA.2017.8062778 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2017-09124 },
	cin = { 122810 / 416610 / 120000 },
	url = { http://publications.rwth-aachen.de/record/707229 },
}



Finished Projects

eNav

The project eNav aimed at the development of a navigation system for disabled electric wheelchair users. For a selected navigation goal, eNav computes a route that

  • avoids inaccessible routes for an electric wheelchair
  • avoids uncomfortable routes for the electric wheelchair user
  • considers the state of charge of the battery
  • offers a multi-modal route by combining rides using the electric wheelchair with rides using public transportation systems.

The system can be transferred to the research of other electric vehicles, e.g., e-bikes. Read more on the project website.

Statistical Road Surface Model for Improved Positioning

This project pursues the development of a state-of-the-art GNSS/INS, which receives input from a Statistical Absolute Position Estimator (SAPE) for an additional update step. SAPE uses features of the road surface to determine the absolute location of the vehicle. More specifically, Hidden Markov Models (HMM) are used for the classification of inputs from acceleration sensors. The project has been implemented using a Pedelec.

Bicycle Safety

Especially in recent years, the number of bicycles on the road is increasing. In contrast to all other traffic participants, the number of accidents for bicycles is increasing as well. While multiple active safety systems exist for cars, such systems are rare for bicycles and pedelecs. The Bicycle Safety project aimed to develop a low-cost and portable active safety system for bicycles. This system shall warn riders before a potentially dangerous situation occurs. Possible dangerous situations are sharp corners and changing road surfaces.

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