Institute of Control Systems (IRS)
FS

M. Sc. Florian Siebenrock

  • Karlsruher Institut für Technologie (KIT) Campus Süd
    Institut für Regelungs- und Steuerungssysteme
    Geb. 11.20 (Engler-Villa)
    Kaiserstr. 12
    D-76131 Karlsruhe

Curriculum Vitae

Studies of electrical engineering and information technology at the Karlsruhe Institute of Technology (KIT). Bachelor’s thesis at the Institute of Control Systems (IRS) (2014). Internship at the Automotive Products Research Laboratory of Hitachi America Ltd. in Farmington Hills, MI/USA. Student trainee at the research and technology division of SEW Eurodrive in Bruchsal. Master’s thesis at the IRS on driving dynamics control of a four wheel steered and four wheel driven electrical vehicle by model predictive control methods (2017). Since January 2018 PhD candidate at the IRS.

 

Research

Safe motion planning for mobile robots
The potential for applications of autonomous robots in urban environments is very large. Regarding the development towards smart cities in future the delivery of goods in inner-city areas will be carried out by autonomous platforms to meet the demands for higher efficiency and sustainability in urban logistic processes.
A key component of such a autonomous platform is the collision-free navigation in an unstructured and highly dynamic environment. The technical requirements for this task are very high, which makes the verification of the planned path or trajectory very challenging.
In the last few years there have been several activities in the field of motion planning methods for mobile platforms. Nonethless small advanced have been made in the development of motion planning methods which provide a verification of the planned trajectory in unstructured and dynamically changing environments.
Main objective of this research project is the development of motion planning algorithms which provide a verification of the planned trajectory. This verification has to be carried out online to guarantee the safety of the surrounding traffic participants.

Publications


LTV-MPC Based Trajectory Planning Considering Uncertain Object Prediction Through Adaptive Potential Fields.
Siebenrock, F.; Günther, M.; Hohmann, S.
2020. The 4th IEEE Conference on Control Technology and Applications (CCTA), Montréal, Canada, August 24 - 26, 2020
Model Predictive Control Allocation of an Over-actuated Electric Vehicle with Single Wheel Actuators.
Schwartz, M.; Siebenrock, F.; Hohmann, S.
2019. IFAC-PapersOnLine, 52 (8), 162–169. doi:10.1016/j.ifacol.2019.08.065