Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen angezeigt.

--- forschung:mobility [2023/05/26 17:56]
xu [Theses and Open Positions]
+++ forschung:mobility [2024/05/19 10:00] (aktuell)
alrifaee [Participation in Committees]
@@ Zeile 1: / Zeile 1: @@
 ====== Cyber-Physical Mobility Group ======
 ~~NOCACHE~~
-<color #ed1c24>**For Theses and Open Positions please click [[en:forschung:mobility#theses_and_open_positions|here]]**</color>
+<color #ed1c24>**For Theses and Open Positions please click [[en:forschung:mobility#theses_and_open_positions|here]].**</color>
 ===== Team =====
-| **Member**                      | **Position / Project** |
+| **Member**                      | **Project** |
-| [[en:lehrstuhl:mitarbeiter:alrifaee]]   | Senior Researcher and Lecturer/ \\ Head of Group |
+| [[en:lehrstuhl:mitarbeiter:kahle]]    | [[en:forschung:mobility#autotechagil_funded_by_the_bmbf | AUTOtech.agil]] |
-| [[en:lehrstuhl:mitarbeiter:beerwerth]] | [[en:forschung:mobility#autotechagil_funded_by_bmbf | AUTOtech.agil]], [[en:forschung:mobility#cyber-physical_mobility_lab_multiple_funding_see_below|CPM Lab]] |
+| [[en:lehrstuhl:mitarbeiter:kampmann]]   | [[en:forschung:mobility#autotechagil_funded_by_the_bmbf | AUTOtech.agil]] |
-| [[en:lehrstuhl:mitarbeiter:gress]] | [[en:forschung:mobility#service-oriented_model-based_control_funded_by_the_dfg|SOMC]], [[en:forschung:mobility#cyber-physical_mobility_lab_multiple_funding_see_below|CPM Lab]] |
+| [[en:lehrstuhl:mitarbeiter:kluener]]    | [[en:forschung:mobility#autotechagil_funded_by_the_bmbf | AUTOtech.agil]]|
-| [[en:lehrstuhl:mitarbeiter:kampmann]]   | [[en:forschung:mobility#unicaragil_funded_by_bmbf|UNICARagil]], [[en:forschung:mobility#Infrastructure-based_Localization|Localization]], [[en:forschung:mobility#cyber-physical_mobility_lab_multiple_funding_see_below|CPM Lab]] |
+| [[en:lehrstuhl:mitarbeiter:molz]]    | [[en:forschung:mobility#autotechagil_funded_by_the_bmbf | AUTOtech.agil]] |
-| [[en:lehrstuhl:mitarbeiter:kloock]]     | [[en:forschung:mobility#coincar_funded_by_the_dfg|AutoKnigge]], [[en:forschung:mobility#cyber-physical_mobility_lab_multiple_funding_see_below|CPM Lab]] |
+| [[en:lehrstuhl:mitarbeiter:schaefer]]    | [[en:forschung:mobility#digital_twin_of_the_road_system_funded_by_the_dfg|SFB-TRR 339]] |
-| [[en:lehrstuhl:mitarbeiter:mokhtarian]] | [[en:forschung:mobility#unicaragil_funded_by_bmbf|UNICARagil]], [[en:forschung:mobility#cyber-physical_mobility_lab_multiple_funding_see_below|CPM Lab]], [[https://cpm-remote.embedded.rwth-aachen.de/|CPM Remote]] |
+| [[en:lehrstuhl:mitarbeiter:scheffe]]    | [[en:forschung:mobility#coincar_funded_by_the_dfg|GROKO-Plan]] |
-| [[en:lehrstuhl:mitarbeiter:schaefer]]    | [[en:forschung:mobility#digital_twin_of_the_road_system_funded_by_the_dfg|SFB-TRR 339]], [[en:forschung:mobility#harmonizing_mobility_funded_by_the_bmdv|HarMobi]], [[en:forschung:mobility#cyber-physical_mobility_lab_multiple_funding_see_below|CPM Lab]]|
+| [[en:lehrstuhl:mitarbeiter:xu]]    | [[en:forschung:mobility#harmonizing_mobility_funded_by_the_bmdv|HarMobi]] |
-| [[en:lehrstuhl:mitarbeiter:scheffe]]    | [[en:forschung:mobility#coincar_funded_by_the_dfg|GROKO-Plan]], [[en:forschung:mobility#cyber-physical_mobility_lab_multiple_funding_see_below|CPM Lab]]|
+\\
-| [[en:lehrstuhl:mitarbeiter:xu]]    | [[en:forschung:mobility#harmonizing_mobility_funded_by_the_bmdv|HarMobi]], [[https://cpm-remote.embedded.rwth-aachen.de/olympics|CPM Olympics]]|
+Completed PhD
+  * Dr.-Ing. Maximilian Kloock
+  * Dr.-Ing. Alexandru Kampmann
 \\
 \\
 {{ :forschung:websitejpg.jpg??nolink&575 |}}
 \\
-See our CPM Lab website [[https://cpm.embedded.rwth-aachen.de/|cpm.embedded.rwth-aachen.de]]\\
 Follow us on
-  * [[https://gepris.dfg.de/gepris/person/409656971?language=en|GEPRIS]]
-  * [[https://www.researchgate.net/lab/Bassam-Alrifaee-Lab|ResearchGate]]
   * [[https://github.com/embedded-software-laboratory|GitHub]]
   * [[https://www.youtube.com/user/rwthixi/playlists|YouTube]]
-  * [[https://twitter.com/i11cpm|Twitter]]
 \\
 ===== 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.
+Cyber-physical mobility systems represent multi-agent systems that share common goals. Our research in this field includes distributed predictive control, service-oriented architectures, localization systems, and their applications to connected and automated vehicles (CAVs), ultimately contributing to the enhancement of safety and efficiency in these systems.
 \\
 \\
-{{ :en:forschung:profile_cpm-group.png?nolink&550 |}}
+{{ :forschung:cpm:profile_cpm_group.png?nolink&550 |}}
 \\
-We conduct various projects in this research area funded by public organizations and industrial partners. The [[https://cpm.embedded.rwth-aachen.de/ | Cyber-Physical Mobility Lab]] is our group-wide project that makes our research results tangible, both for the scientific staff and students.
+We conduct various projects in this research area funded by public organizations and industrial partners.
 \\
 \\
-With our research, we contribute to the [[https://www.futuremobilitycenter.de/de/|Future Mobility Center]] and to the [[http://www.mobilem.rwth-aachen.de/index.php?id=2&L=2 | 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 [[https://www.mte.rwth-aachen.de/cms/~dvxc/Mobilitaet/?lidx=1|Mobility & Transport Engineering profile area]].
+With our research, we contribute to the [[https://www.futuremobilitycenter.de/de/|Future Mobility Center]]. We are also an active member of the [[https://www.mte.rwth-aachen.de/cms/~dvxc/Mobilitaet/?lidx=1|Mobility & Transport Engineering profile area]].
 \\
 \\
 ===== Publications =====
 /* <BIBTEX: file=publikationen style=i11 sort=year filter=alrifaee> */
-The list of publications can be found on Dr. Alrifaee's [[https://scholar.google.de/citations?user=M8JL-poAAAAJ&hl|Google Scholar page]].
+The latest list of our publications can be found on Dr. Alrifaee's [[https://scholar.google.de/citations?user=M8JL-poAAAAJ&hl|Google Scholar page]].
 \\
 \\
 ===== Research Projects =====
-==== CoInCar (funded by the DFG) ====
-The DFG priority program [[http://www.coincar.de/#/|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
+==== Cyber-Physical Mobility Lab (multiple funding) ====
-  * Cooperative maneuver and trajectory planning
+As of 01.03.2024, the CPM Lab moved with [[en:lehrstuhl:mitarbeiter:alrifaee]] to the University of the Bundeswehr Munich.
-  * Situation prediction
-  * Cooperative perception
-  * Data and information base
-  * System ergonomics
-  * Cross-cutting issues
-We are working on two subprojects of the priority program, namely [[https://www.coincar.de/#/projects/AutoKnigge_Modeling_Evaluation_and_Verification_of_Cooperative_Interacting_Automobiles | AutoKnigge]] and [[https://www.coincar.de/#/projects/GROKO-Plan_GRaph-based_Optimal_and_COoperative_Trajectory_planning_for_Interacting_Automobiles | 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.
 \\
 \\
-{{ :en:forschung:coincar_coop_traj_planning.png?nolink&600 |}}
+The CPM Lab website: [[https://cpm.embedded.rwth-aachen.de/|cpm.embedded.rwth-aachen.de]].
-\\
-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.
+==== Service-Oriented Model-based Control (funded by the DFG) ====
-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.
+As of 01.03.2024, this project moved with [[en:lehrstuhl:mitarbeiter:alrifaee]] to the University of the Bundeswehr Munich.
-\\
-\\
-**GROKO-Plan**
-\\
-In the subproject [[https://www.coincar.de/#/projects/GROKO-Plan_GRaph-based_Optimal_and_COoperative_Trajectory_planning_for_Interacting_Automobiles | 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: [[en:lehrstuhl:mitarbeiter:scheffe]]
-\\
-\\
-**AutoKnigge**
-\\
-In the subproject
-[[https://www.coincar.de/#/projects/AutoKnigge_Modeling_Evaluation_and_Verification_of_Cooperative_Interacting_Automobiles | 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: [[en:lehrstuhl:mitarbeiter:kloock]]
 ==== Digital Twin of the Road System (funded by the DFG) ====
@@ Zeile 110: / Zeile 85: @@
 \\
 \\
-Contact: [[en:lehrstuhl:mitarbeiter:schaefer]], [[en:lehrstuhl:mitarbeiter:xu]]
+Contact: [[en:lehrstuhl:mitarbeiter:xu]], [[en:lehrstuhl:mitarbeiter:schaefer]]
-==== Infrastructure-based Localization ====
+==== AUTOtech.agil (funded by the BMBF) ====
-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.
+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, connected, 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.
-\\
-\\
-{{ :en:forschung:localization2.jpg?nolink&550 |}}
-\\
-\\
-Contact: [[en:lehrstuhl:mitarbeiter:kampmann]]
-==== 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 [[http://unicaragil.de/en/|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**.
-\\
-\\
-[[en:lehrstuhl:mitarbeiter:alrifaee]] is responsible for the coordination of the digital architecture. [[en:lehrstuhl:mitarbeiter:kampmann]] and [[en:lehrstuhl:mitarbeiter:mokhtarian]] 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 [[https://github.com/embedded-software-laboratory/embeddedRTPS | Github]].
-\\
-\\
-[[https://www.unicaragil.de/en/project-information.html?modul=service#konzept | Read more on the service-oriented software architecture]].
-[[https://www.unicaragil.de/en/project-information.html?modul=cloud#konzept | Read more on the architecture of cloud-based services]].
-\\
-\\
-{{ :en:forschung:unicaragil.png?nolink&550 |}}
-\\
-\\
-Contact: [[en:lehrstuhl:mitarbeiter:kampmann]], [[en:lehrstuhl:mitarbeiter:mokhtarian]]
-==== 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.
-\\
-\\
-[[https://www.irt.rwth-aachen.de/cms/~iung/IRT/?lidx=1|More information about the Institute of Automatic Control]]
-\\
-\\
-[[https://gepris.dfg.de/gepris/projekt/468483200?language=en|More Information about the project]]
-\\
-\\
-{{ :forschung:cpm:somc.png?nolink&500 |}}
-\\
-\\
-Contact: [[en:lehrstuhl:mitarbeiter:gress]]
-==== 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.
 \\
 \\
@@ Zeile 186: / Zeile 107: @@
 \\
 \\
-Contact: [[en:lehrstuhl:mitarbeiter:beerwerth]], [[en:lehrstuhl:mitarbeiter:kampmann]]
+Contact: [[en:lehrstuhl:mitarbeiter:kluener]], [[en:lehrstuhl:mitarbeiter:kahle]], [[en:lehrstuhl:mitarbeiter:molz]], [[en:lehrstuhl:mitarbeiter:kampmann]]
-==== Cyber-Physical Mobility Lab (multiple funding, see below) ====
-The Cyber-Physical Mobility Lab (CPM Lab) is an open source, [[https://cpm-remote.embedded.rwth-aachen.de/| 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 [[https://cpm.embedded.rwth-aachen.de/|cpm.embedded.rwth-aachen.de]].
-\\
-\\
-{{ :en:forschung:lab-remote.png?nolink&550 |}}
-\\
-\\
-We thank the following programs for providing funds to the CPM Lab
-  * [[https://www.rwth-aachen.de/cms/root/Studium/Lehre/Blended-Learning/Exploratory-Teaching-Space/Digitalisierte-Lernszenarien-an-der-RWTH/ETS-Projekte/~lest/Details/?file=445 | The exploratory teaching space of RWTH Aachen University]]
-  * [[https://www.rwth-aachen.de/cms/root/Forschung/Projekte/Koordinierte-DFG-Programme/Graduiertenkollegs-an-der-RWTH/~elvj/GRK-1856-mobilEM-Integrated-Energy-Sup/ | The DFG Research Training Group mobilEM]]
-  * [[https://www.futuremobilitycenter.de/de/forschung/%C3%B6ffentliche-projekte/citi.html | The project CiTi – Center for integrative Traffic investigation]]
-  * [[https://www.dh.nrw/kooperationen/Digitale%20Lehr-Lerninfrastrukturen-40 | The fund "digital teaching and learning infrastructure" of the state NRW]]
-  * [[https://www.rwth-aachen.de/cms/root/Studium/Lehre/Exzellente-Lehre/~bmgf/Mittel-zur-Qualitaetsverbesserung/?lidx=1 | The quality improvement funds at RWTH Aachen University]]
-\\
-Contact: All [[en:forschung:mobility|Cyber-Physical Mobility]] group members: cpm-info[at]embedded[dot]rwth-aachen[dot]de
-\\
-\\
 ===== Teaching =====
 === Control and Perception in Networked and Autonomous Vehicles ===
@@ Zeile 215: / Zeile 116: @@
 {{ :en:forschung:cpmvl.png?nolink&400 |}}
 \\
-Contact: [[en:lehrstuhl:mitarbeiter:scheffe]], [[en:lehrstuhl:mitarbeiter:schaefer]]
+Contact: [[en:lehrstuhl:mitarbeiter:schaefer]]
 === Practical Course ===
@@ Zeile 223: / Zeile 124: @@
 {{ :en:forschung:cyber-physical_mobility_lab.png?nolink&200 |}}
 \\
-Contact: [[en:lehrstuhl:mitarbeiter:mokhtarian]]
+Contact: [[en:lehrstuhl:mitarbeiter:xu]]
 === 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.
+Since 2008, our student group Team GalaXIs implements perception and control algorithms on an autonomous scaled vehicle in order to participate in competitions.
 More information can be found at [[http://galaxis.rwth-aachen.de|galaxis.rwth-aachen.de]].
 \\
@@ Zeile 235: / Zeile 136: @@
 {{ :en:forschung:galaxis_fahrzeug.png?nolink&300 |}}
 \\
-Contact: [[en:lehrstuhl:mitarbeiter:kampmann]], [[en:lehrstuhl:mitarbeiter:gress]]
+Contact: [[en:lehrstuhl:mitarbeiter:kluener]]
 \\
 \\
@@ Zeile 251: / Zeile 152: @@
 === PhD Positions ===
 Current open PhD positions can be found [[Lehrstuhl:Stellen|here]].
-Additionally, initiative applications for PhD positions are very welcome, please contact [[en:lehrstuhl:mitarbeiter:alrifaee]].
 === Theses and Student Positions ===
@@ Zeile 259: / Zeile 159: @@
     * [[https://embedded.rwth-aachen.de/lib/exe/fetch.php?media=en:forschung:cpm_lab.pdf | Cyber-Physical Mobility Lab]]
     * [[https://embedded.rwth-aachen.de/lib/exe/fetch.php?media=en:forschung:ausschreibung_studenten.pdf | CPM Remote]]
-    * [[ https://embedded.rwth-aachen.de/lib/exe/fetch.php?media=en:forschung:unicaragil.pdf | Software for networked and autonomous vehicles]]
+    * [[ https://embedded.rwth-aachen.de/lib/exe/fetch.php?media=en:forschung:autotechagil.pdf | Software for Connected and Automated Vehicles]]
     * [[ https://embedded.rwth-aachen.de/lib/exe/fetch.php?media=en:forschung:coincar.pdf | Cooperative interacting vehicles]]
     * [[ https://embedded.rwth-aachen.de/lib/exe/fetch.php?media=en:forschung:localization.pdf | Localization of autonomous vehicles]]
-    * [[https://embedded.rwth-aachen.de/lib/exe/fetch.php?media=en:forschung:sfb_trr_339_allgemeine_stellenausschreibung.pdf|Digital Twin of the Road System - Sensor Data Fusion]]
+    * [[https://embedded.rwth-aachen.de/lib/exe/fetch.php?media=en:forschung:learning-based_motion_planner.pdf|Learning-Based Motion Planning for Connected and Automated Vehicles]]
-    * [[https://embedded.rwth-aachen.de/lib/exe/fetch.php?media=en:forschung:2022_vehicle_matching_and_sensor_data_fusion_for_model-scale_vehicles.pdf|Vehicle Matching and Sensor Data Fusion for Model-Scale Vehicles]]
+    * [[https://embedded.rwth-aachen.de/lib/exe/fetch.php?media=forschung:projekte:somc_general_student_position.pdf|Service-Oriented Model-based Control]]
-    * [[https://embedded.rwth-aachen.de/lib/exe/fetch.php?media=forschung:projekte:202207_somc_general_student_position.pdf|Service-Oriented Model-based Control]]
+    * [[https://embedded.rwth-aachen.de/lib/exe/fetch.php?media=en:forschung:2024_ba_a_request-driven_approach_for_efficient_messaging_in_networked_systems.pdf|Selective Data Transmission: A Request-Driven Approach for Efficient Messaging in Automotive Middlewares]]
-    * [[https://embedded.rwth-aachen.de/lib/exe/fetch.php?media=en:forschung:bestimmung_der_bewegung_des_benutzers_mit_smartphone.pdf|Bestimmung der Bewegung des Benutzers mit Smartphone]]
+    * [[https://embedded.rwth-aachen.de/lib/exe/fetch.php?media=en:forschung:2024_ma_event-based_simulation_of_task_scheduling_for_an_automotive_service-oriented_architecture.pdf|Event-based Simulation of Task Scheduling for Middlewares]]
+    * [[https://embedded.rwth-aachen.de/lib/exe/fetch.php?media=en:forschung:AF_XDP_en.pdf|Latency Minimization in Distributed Real-Time Systems through Linux Kernel Bypass Techniques]]
+    * [[https://embedded.rwth-aachen.de/lib/exe/fetch.php?media=en:forschung:Determinismus_en.pdf|Deterministic Execution in a Service-Oriented Software Architecture
+for the Automotive Domain]]
+    * [[https://embedded.rwth-aachen.de/lib/exe/fetch.php?media=en:forschung:Latency_Optimization_en.pdf|Optimizing Latency in Multi-Effect Chain Systems through Parameter
+Generation using Mathematical Optimization]]
+\\
+\\
 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
 \\
 \\
@@ Zeile 274: / Zeile 184: @@
   * [[https://www.rwth-aachen.de/cms/root/Studium/Vor-dem-Studium/Studiengaenge/Liste-Aktuelle-Studiengaenge/Studiengangbeschreibung/~bjtg/Automatisierungstechnik-M-Sc-/?lidx=1| Examination board]] of the Master's study program Automation Engineering of RWTH Aachen University
   * [[http://www.matlab.rwth-aachen.de/?id=42| MATLAB-AG]] of RWTH Aachen University
-  * [[https://tc.ifac-control.org/7/1|IFAC Technical Committee 7.1 on Automotive Control]]
-  * [[https://tc.ifac-control.org/9/4|IFAC Technical Committee 9.4 on Control Education]]
 We also contribute to the organization of meetings and conferences in our research area, e.g., by organizing special sessions.
 \\
 \\
 ===== Finished Projects =====
+==== CoInCar (funded by the DFG) ====
+The DFG priority program [[http://www.coincar.de/#/|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 [[https://www.coincar.de/#/projects/AutoKnigge_Modeling_Evaluation_and_Verification_of_Cooperative_Interacting_Automobiles | AutoKnigge]] and [[https://www.coincar.de/#/projects/GROKO-Plan_GRaph-based_Optimal_and_COoperative_Trajectory_planning_for_Interacting_Automobiles | 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.
+\\
+\\
+{{ :en:forschung:coincar_coop_traj_planning.png?nolink&600 |}}
+\\
+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 [[https://www.coincar.de/#/projects/GROKO-Plan_GRaph-based_Optimal_and_COoperative_Trajectory_planning_for_Interacting_Automobiles | GROKO-Plan]] (Graph-based, Optimal and Cooperative Trajectory Planning for Interacting Automobiles), we research trajectory planning methods for connected vehicles using graph-based methods with our project partner from 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: [[en:lehrstuhl:mitarbeiter:scheffe]]
+\\
+\\
+**AutoKnigge**
+\\
+In the subproject
+[[https://www.coincar.de/#/projects/AutoKnigge_Modeling_Evaluation_and_Verification_of_Cooperative_Interacting_Automobiles | AutoKnigge]] (Modeling, Evaluation, and Verification of Cooperative Interacting Automobiles), we research trajectory planning methods for connected 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: [[en:lehrstuhl:mitarbeiter:beerwerth]]
+==== UNICARagil (funded by the BMBF) ====
+Germany's leading universities in the field of automated vehicles have joined forces with selected specialists from industry in the BMBF-funded project [[http://unicaragil.de/en/|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**.
+\\
+\\
+[[en:lehrstuhl:mitarbeiter:alrifaee]] is responsible for the coordination of the digital architecture. [[en:lehrstuhl:mitarbeiter:kampmann]] and [[en:lehrstuhl:mitarbeiter:mokhtarian]] 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 [[https://github.com/embedded-software-laboratory/embeddedRTPS | Github]].
+\\
+\\
+[[https://www.unicaragil.de/en/project-information.html?modul=service#konzept | Read more on the service-oriented software architecture]].
+[[https://www.unicaragil.de/en/project-information.html?modul=cloud#konzept | Read more on the architecture of cloud-based services]].
+\\
+\\
+{{ :en:forschung:unicaragil.png?nolink&550 |}}
+\\
+\\
+Contact: [[en:lehrstuhl:mitarbeiter:kluener]], [[en:lehrstuhl:mitarbeiter:kampmann]], [[en:lehrstuhl:mitarbeiter:mokhtarian]]
+==== 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.
+\\
+\\
+{{ :en:forschung:localization2.jpg?nolink&550 |}}
+\\
+\\
+Contact: [[en:lehrstuhl:mitarbeiter:kampmann]]
+=== 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.
 === 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
@@ Zeile 291: / Zeile 273: @@
 === 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.