Foto von Christian Pek

Christian Pek, M.Sc.

Technische Universität München

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

Postadresse

Postal:
Boltzmannstr. 3
85748 Garching b. München

Curriculum Vitae

Execution of a fail-safe trajectory to avoid collisions with a pedestrian dummy.

Christian Pek is a researcher in the Cyber-Physical Systems Group under Prof. Dr.-Ing. Matthias Althoff since 2015. He was a research assistant in the motion planning group at the BMW Group Autonomous Driving Department under the supervision of PD. Dr.-Ing. Moritz Werling from 11/2015 until 04/2019. Christian graduated with the Master of Science degree in computer science and robotics from the Technische Universität Braunschweig, Germany, in 2015. From the same university, he received the Bachelor of Science degree in computer science and medicine in 2013. Christian was a visiting researcher in the medical robotics research group at the University of Auckland, New Zealand, in 2014. 

Christian's vision is a future of robots which robustly and safely accomplish tasks with and around humans. Currently, his research focuses on safe motion planning for mobile robots, in particular autonomous vehicles. His approach ensures that planned motions are only executed by the robot if they have been verified as safe. Therefore, Christian develops fail-safe trajectory planning approaches, which ensure that a provably safe fallback plan exists at all times. In safety-critical situations, robots can execute the computed fail-safe trajectory to remain safe.  

Research interests

  • Robot motion planning
  • Autonomous vehicles, manipulation, and human-robot interaction
  • Safety and robustness
  • Formal verification of robotic systems

Further interests are: optimization theory, set-based techniques, reachability analysis, robust planning, decision making, control theory, modeling & simulation.

Currently, Christian is working in the CAR@TUM project with the objective to plan safe maneuvers of autonomous vehicles.

Offered Theses

Please contact me (email or visit my office) if you are interested in a thesis (Bachelor, Master, Guided Research) in my research area.

Supervised theses:

  • M: Marco Both - "Cross-Modal Learning for Gripping Area Detection" (ongoing)
  • M: Maria Althaus - "Consideration of Safe Distances in Online Verification for Motion Planning of Autonomous Vehicles" (ongoing)
  • M: Sebastian Kaster - "Online Prediction of Vehicles and Pedestrians for Guaranteed Motion Safety of Autonomous Vehicles" (finished)
  • M: Sebastian Maierhofer - "Enhancement and Evaluation of a Novel Adaptive Cruise Control System with Formal Guarantees in a Real Driving Simulator " (finished)
  • M: Anna-Katharina Rettinger - "Ensuring Drivability of Fail-safe Trajectories for Autonomous Vehicles using Set-based Control Techniques" (finished)
  • B: Julia Kabalar - "Evaluation of Variational Fail-safe Trajectory Planning for Self-driving Vehicles Using the CommonRoad Benchmark Suite" (finished)
  • B: Leo Tappe - "Computation of Invariably Safe Sets for Autonomous Vehicles along arbitrary Road Networks" (finished)
  • M: Christina Miller - "Efficient Mixed-Integer Planning for Longitudinal and Lateral Control of Autonomous Vehicles" (finished)
  • M: Mona Beikirch - "Collision Avoidance in Urban Environments using Set-based Prediction" (finished)

Teaching

SS 2019

- Master Practical Course: Motion Planning for Autonomous Vehicles

WS 2018/19

- Seminar: Cyber-Physical Systems
- Master Practical Course: Motion Planning for Autonomous Vehicles
- Lecture: Techniques in Artificial Intelligence

SS 2018

- Seminar: Cyber-Physical Systems
- Master Practical Course: Motion Planning for Autonomous Vehicles

WS 2017/18

- Seminar: Cyber-Physical Systems
- Master Practical Course: Motion Planning for Autonomous Vehicles

SS 2017 

- Seminar: Cyber-Physical Systems

WS 2016/17

- Seminar: Cyber-Physical Systems

Publications

2019

  • Christian Pek and Matthias Althoff: Ensuring Motion Safety of Autonomous Vehicles through Online Fail-safe Verification. Robotics: Science and Systems -- Pioneers Workshop, 2019 more… BibTeX Full text (mediaTUM)
  • Christian Pek, Markus Koschi, and Matthias Althoff: An Online Verification Framework for Motion Planning of Self-driving Vehicles with Safety Guarantees. AAET - Automatisiertes und vernetztes Fahren, 2019 more… BibTeX Full text (mediaTUM)
  • Markus Koschi, Christian Pek, Sebastian Maierhofer, and Matthias Althoff: Computationally Efficient Safety Falsification of Adaptive Cruise Control Systems. Proc. of the IEEE Int. Conf. on Intelligent Transportation Systems, 2019 more… BibTeX Full text (mediaTUM)

2018

  • Branka Mirchevska, Christian Pek, Moritz Werling, Matthias Althoff, Joschka Boedecker: High-level Decision Making for Safe and Reasonable Autonomous Lane Changing using Reinforcement Learning. Proc. of the IEEE Int. Conf. on Intelligent Transportation Systems, 2018 more… BibTeX Full text (mediaTUM)
  • Christian Pek and Matthias Althoff: Efficient Computation of Invariably Safe States for Motion Planning of Self-driving Vehicles. Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems, 2018 more… BibTeX Full text (mediaTUM)
  • Christian Pek and Matthias Althoff: Computationally Efficient Fail-safe Trajectory Planning for Self-driving Vehicles Using Convex Optimization. Proc. of the IEEE Int. Conf. on Intelligent Transportation Systems, 2018 more… BibTeX Full text (mediaTUM)
  • Markus Koschi, Christian Pek, Mona Beikirch, and Matthias Althoff: Set-Based Prediction of Pedestrians in Urban Environments Considering Formalized Traffic Rules. Proc. of the IEEE Int. Conf. on Intelligent Transportation Systems, 2018 more… BibTeX Full text (mediaTUM)
  • Miller, Christina and Pek, Christian and Althoff, Matthias: Efficient Mixed-Integer Programming for Longitudinal and Lateral Motion Planning of Autonomous Vehicles. Proc. of the IEEE Intelligent Vehicles Symposium, 2018 more… BibTeX Full text (mediaTUM)

2017

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

2016

  • Gutjahr, Benjamin and Pek, Christian and Gröll, Lutz and Werling, Moritz: Efficient trajectory optimization for vehicles using quadratic programming. Automatisierungstechnik 64 (10), 2016, 786--794 more… BibTeX
  • Pek, Christian and Muxfeldt, Arne and Kubus, Daniel: Simplifying synchronization in cooperative robot tasks-An enhancement of the Manipulation Primitive paradigm. Proc. of the IEEE Int. Conf. on Emerging Technologies and Factory Automation, 2016 more… BibTeX

2015

  • Svenja Langenberg, Mareike Schulze, Merle Bartsch, Kerstin Gruner-Labitzke, Christian Pek, Hinrich Köhler, Ross D. Crosby, Michael Marschollek, Martina de Zwaan, and Astrid Müller: Physical activity is unrelated to cognitive performance in pre-bariatric surgery patients. Journal of Psychosomatic Research 79 (2), 2015, 165 - 170 more… BibTeX Full text ( DOI )

2014

  • Homoceanu, Silviu and Geilert, Felix and Pek, Christian and Balke, Wolf-Tilo: Any suggestions? Active schema support for structuring web information. Proc. of the Int. Conf. on Database Systems for Advanced Applications, 2014 more… BibTeX