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Cooperative Systems

Cooperative Control Systems

Vision

How will automation interact with humans in the future?

How to create synergies between humans and machines in the context of Industry 4.0?

The research group Cooperative Systems develops a framework for modeling and control of interactions between humans and machines. The individual strengths of human and machine are combined to achieve high performance systems, ready to meet future challenges of automatization. The fields of applications are e.g. Advanced Driver Assistance Systems, Robotics, Medical Technologies and Aerospace Engineering.

Cooperative Control Loop

Cooperative Control Loop

Modeling and Identification

The modeling of cooperative systems forms the basis of automation design for cooperative scenarios. In this context, uncertainties in perception and action need to be considered. Furthermore, semantics enable a strategic description of the interaction. Moreover, the identification of human behavior is essential in automation design.

Control Synthesis

Automation design in a cooperative scenario needs to be capable of a dynamic allocation of authority. Furthermore, it requires the ability to negotiate a common goal with the human. One approach to control cooperative systems is based on game theory and Model Predictive Control (MPC). In order to achieve real-time control, motion primitives are examined.

 

Experiments

Motion Tracking is used in various scenarios to measure human motion and validate identification methods.

An Advanced Driving Simulator with haptic feedback human machine interfaces was developed at the IRS. It is used to validate cooperative control methods in the context of advanced driver assistance systems.

A newly developed Ball-on-Plate experiment will be used to apply cooperative identification and control methods in a highly dynamical scenario.

Staff

Michael Flad

Group Leader

   

Julian Ludwig

Research Associate

Research Interest:
Shifting Authority between Driver and Automation

Jairo Inga Charaja

Research Associate

Research Interest:
Identification of Human Behavior in Cooperative Scenarios

Florian Köpf

Research Associate

Research Interest:
Design of Cooperative Control Considering Uncertainties

Simon Rothfuß

Research Associate

Research Interest:
Modeling of Cooperative Goal Negotiation

Esther Bischoff

Research Associate

Research Interest:

Christian Braun

Research Associate

Research Interest:
Shared control of heterogenous robot swarms

Philipp Karg

Research Associate

Research Interest:
 

   

Student Assistants

 

Omar Abdulbaki

Entwicklung eines Simulators für autonome Fahrzeuge

Michael Meyling

Entwicklung eines Human-Machine-Interfaces für Multi-Roboter-Systeme

Recent job offers for student assistants can be found here.

Bachelor and Master Students

Tim Stoll

Bachelor Thesis

Aufbau einer Simulationsumgebung für Multi-Roboter-Systeme

Andreas Creutz

Master Thesis

Online-Identifikation des menschlichen Verhaltens auf der Grundlage inverser dynamischer Optimierung

Linus Witucki

Bachelor Thesis

Entwicklung und Realisierung einer Systemarchitektur für ein mobiles Indoor-Robotersystem

Julian Schneider

Master Thesis

Intentionsbasierte kooperative Regelung für die Mensch-Roboter-Interaktion

Fabian Meyer

Master Thesis

Entwicklung eines Planungsalgorithmus zur Sequenzierung und Zuweisung von Aufgaben in Multi-Roboter-Systemen

Etienne Bührle

Master Thesis

Reinforcement Learning zur adaptiven Folgeregelung nichtlinearer Systeme

Manuel Thomas

Bachelor Thesis

Entwicklung und Aufbau eines flexiblen mobilen Robotersystems für Indoor-Anwendungen

Toshiaki Sebastian Tanaka

Master Thesis

Kooperative Methoden für das Autonome Fahren

Aymen Blanco

Bachelor Thesis

Experiment zur Evaluation kooperativer Fahrerassistenzsysteme

Sean Kille

Master  Thesis

Anwendung Reinforcement-Learning-basierter Trajektorienfolgeregler auf ein Ball-auf-Platte-System

Christopher Bohn

Master Thesis

Kooperative Regelung mit variablem Automatisierungsgrad für die  Mensch-Roboter-Interaktion

Lars Erik Fischer

Bachelor Thesis

Aufbau und Untersuchung eines haptischen Force-Feedback-Interfaces mit Exoskeletten und einem Roboterarm

Hanfeng Zhang

Master Thesis

Entwicklung einer Automation mit variablem Automatisierungsgrad für die Mensch-Roboter-Kooperation

Catarina Ayllon

Master Thesis

Implementierung kooperativer Fahrerassistenz basierend auf Verhandlungsmethoden

Open Theses

Open Theses Cooperative Systems
Title Type Supervisor
Master Thesis
Bachelor Thesis
Master Thesis
Bachelor Thesis
Master Thesis
Bachelor Thesis
Master Thesis
Bachelor Thesis
Master Thesis
Master Thesis
Master Thesis


Publications


2019
2018
2017
2016
2015
2014
2013