Foto von Matthias Althoff

Prof. Dr.-Ing. Matthias Althoff

Technische Universität München

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

Postadresse

Postal:
Boltzmannstr. 3
85748 Garching b. München

Dienstort

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

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

Curriculum Vitae

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

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

full CV

Modular Robotics Startup

www.modularrobotics.de



Publications

2020

  • Niklas Kochdumper, Ahmad Tarraf, Malgorzata Rechmal, Markus Olbrich, Lars Hedrich, Matthias Althoff: Establishing Reachset Conformance for the Formal Analysis of Analog Circuits. ASP-DAC, 2020 mehr… BibTeX Volltext (mediaTUM)

2019

  • Althoff, M.; Giusti, A.; Liu, S. B.; Pereira, A.: Effortless creation of safe robots from modules through self-programming and self-verification. Science Robotics 4 (31), 2019, eaaw1924 mehr… BibTeX Volltext ( DOI )
  • Christian Pek and Matthias Althoff: Ensuring Motion Safety of Autonomous Vehicles through Online Fail-safe Verification. Robotics: Science and Systems -- Pioneers Workshop, 2019 mehr… BibTeX Volltext (mediaTUM)
  • Christian Pek, Markus Koschi, and Matthias Althoff: An Online Verification Framework for Motion Planning of Self-driving Vehicles with Safety Guarantees. AAET - Automatisiertes und vernetztes Fahren, 2019 mehr… BibTeX Volltext (mediaTUM)
  • Gruber, F.; Althoff, M.: Scalable robust model predictive control for linear sampled-data systems. IEEE Conference on Decision and Control, 2019 mehr… BibTeX Volltext (mediaTUM)
  • Markus Koschi, Christian Pek, Sebastian Maierhofer, and Matthias Althoff: Computationally Efficient Safety Falsification of Adaptive Cruise Control Systems. Proc. of the IEEE Int. Conf. on Intelligent Transportation Systems, 2019 mehr… BibTeX Volltext (mediaTUM)
  • Moritz Klischat and Matthias Althoff: Generating Critical Test Scenarios for Automated Vehicles with Evolutionary Algorithms. Proc. of the IEEE Intelligent Vehicles Symposium, 2019, 2352 - 2358 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
  • Moritz Klischat, Octav Dragoi, Mostafa Eissa, and Matthias Althoff: Coupling SUMO with a Motion Planning Framework for Automated Vehicles. SUMO User Conference, 2019 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)

2018

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

2017

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

2016

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

2015

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

2014

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

2013

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

2012

  • Althoff, M.; Cvetkovi'c, M.; Ili'c, M.: Transient Stability Analysis by Reachable Set Computation. Proc. of the IEEE PES Conference on Innovative Smart Grid Technologies Europe, 2012 mehr… BibTeX Volltext (mediaTUM)
  • Althoff, M.; Dolan, J. M.: Reachability Computation of Low-Order Models for the Safety Verification of High-Order Road Vehicle Models. Proc. of the American Control Conference, 2012 mehr… BibTeX Volltext (mediaTUM)
  • Althoff, M.; Krogh, B. H.: Avoiding Geometric Intersection Operations in Reachability Analysis of Hybrid Systems. Hybrid Systems: Computation and Control, 2012 mehr… BibTeX Volltext (mediaTUM)

2011

  • Althoff, M.; Dolan, J. M.: Set-Based Computation of Vehicle Behaviors for the Online Verification of Autonomous Vehicles. Proc. of the 14th IEEE Conference on Intelligent Transportation Systems, 2011 mehr… BibTeX Volltext (mediaTUM)
  • Althoff, M.; Guernic, C. Le; Krogh, B. H.: Reachable Set Computation for Uncertain Time-Varying Linear Systems. Hybrid Systems: Computation and Control, 2011 mehr… BibTeX Volltext (mediaTUM)
  • Althoff, M.; Krogh, B. H.: Zonotope Bundles for the Efficient Computation of Reachable Sets. Proc. of the 50th IEEE Conference on Decision and Control, 2011 mehr… BibTeX Volltext (mediaTUM)
  • Althoff, M.; Krogh, B. H.; Stursberg, O.: Modeling, Design, and Simulation of Systems with Uncertainties – Analyzing Reachability of Linear Dynamic Systems with Parametric Uncertainties. In: Rauh, A.; Auer, E. (Hrsg.): Springer, 2011, 69-94 mehr… BibTeX Volltext (mediaTUM)
  • Althoff, M.; Mergel, A.: Comparison of Markov Chain Abstraction and Monte Carlo Simulation for the Safety Assessment of Autonomous Cars. IEEE Transactions on Intelligent Transportation Systems 12 (4), 2011, 1237-1247 mehr… BibTeX Volltext (mediaTUM)
  • Althoff, M.; Patil, M. J.; Traugott, J. P.: Nonlinear Modeling and Control Design of Active Helicopter Blades. Journal of the American Helicopter Society 57 (1), 2011, 1-11 mehr… BibTeX Volltext (mediaTUM)
  • Althoff, M.; Rajhans, A.; Krogh, B. H.; Yaldiz, S.; Li, X.; Pileggi, L.: Formal Verification of Phase-Locked Loops Using Reachability Analysis and Continuization. Proc. of the Int. Conference on Computer Aided Design, 2011 mehr… BibTeX Volltext (mediaTUM)
  • Patil, M. J.; Althoff, M.: Energy-consistent, Galerkin approach for the nonlinear dynamics of beams using intrinsic equations. Journal of Vibration and Control 17 (11), 2011, 1748-1758 mehr… BibTeX Volltext (mediaTUM)

2010

  • Althoff, D.; Althoff, M.; Wollherr, D.; Buss, M.: Probabilistic Collision State Checker for Crowded Environments. Proc. of the IEEE International Conference on Robotics and Automation, 2010 mehr… BibTeX Volltext (mediaTUM)
  • Althoff, M.; Althoff, D.; Wollherr, D.; Buss, M.: Safety Verification of Autonomous Vehicles for Coordinated Evasive Maneuvers. Proc. of the IEEE Intelligent Vehicles Symposium, 2010 mehr… BibTeX Volltext (mediaTUM)
  • Althoff, M.; Stursberg, O.; Buss, M.: Computing Reachable Sets of Hybrid Systems Using a Combination of Zonotopes and Polytopes. Nonlinear Analysis: Hybrid Systems 4 (2), 2010, 233-249 mehr… BibTeX Volltext (mediaTUM)
  • Brvsči'c, D.; Eggers, M.; Rohrmüller, F.; Kourakos, O.; Sosnowski, S.; Althoff, D.; Lawitzky, M.; Mörtl, A.; Rambow, M.; Koropouli, V.; Hernàndez, J.R. Medina; Zang, X.; Wang, W.; Wollherr, D.; Kühnlenz, K.; Mayer, C.; Kruse, T.; Kirsch, A.; Blume, J.; Bannat, A.; Rehrl, T.; Wallhoff, F.; Lorenz, T.; Basili, P.; Lenz, C.; Röder, T.; Panin, G.; Maier, W.; Hirche, S.; Buss, M.; Beetz, M.; Radig, B.; Schubö, A.; Glasauer, S.; Knoll, A.; Steinbach, E.: Multi Joint Action in CoTeSys - Setup and Challenges. CoTeSys Cluster of Excellence: Technische Universität München & Ludwig-Maximilians-Universität München, 2010, mehr… BibTeX Volltext (mediaTUM)

2009

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

2008

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

2007

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

2006

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