This image shows Henrik Ebel

Henrik Ebel

Dr.-Ing.

Institute of Engineering and Computational Mechanics

Contact

+49 711 685 66554
+4971168566400

Business card (VCF)

Pfaffenwaldring 9
70569 Stuttgart
Deutschland
Room: 4.123

Subject

Control of Multibody Systems, Distributed Control of Mechanical Systems

black: published, green: accepted for publication, orange: submitted for publication

  • Rosenfelder, M.; Ebel, H.; Krauspenhaar, J.; Eberhard, P.: Model Predictive Control of Non-Holonomic Vehicles: Beyond Differential-Drive. Submitted for publication, 2022. Preprint: arXiv.2205.11400
  • Rosenfelder, M.; Ebel, H.; Eberhard, P.: A Force-Based Control Approach for the Non-Prehensile Cooperative Transportation of Objects Using Omnidirectional Mobile Robots. In Proceedings of the 6th IEEE Conference on Control Technology and Applications, Trieste, 2022.
  • Ebel, H.; Fahse, D.N.; Rosenfelder, M.; Eberhard, P.: Finding Formations for the Non-Prehensile Object Transportation with Differentially-Driven Mobile Robots. In Proceedings of the 24th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control (RoManSy), Udine, 2022.
  • Eschmann, H.; Ebel, H.; Eberhard, P.: High Accuracy Data-Based Trajectory Tracking of an Omnidirectional Mobile Robot. In Proceedings of the 31st International Conference on Robotics in Alpe-Adria-Danube Region, p. 420-427, Klagenfurt, 2022. DOI: 10.1007/978-3-031-04870-8_49
  • Ebel, H.; Eberhard, P.: Cooperative Transportation: Realizing the Promises of Robotic Networks Using a Tailored Software/Hardware Architecture. at - Automatisierungstechnik, Vol. 70, No. 4, p. 378-388, 2022. DOI: 10.1515/auto-2021-0105
  • Rosenfelder, M.; Ebel, H.; Eberhard, P.: Cooperative Distributed Nonlinear Model Predictive Control of a Formation of Differentially-Driven Mobile Robots. Robotics and Autonomous Systems, Vol. 150, p. 103993, 2022. DOI: 10.1016/j.robot.2021.103993
  • Schmid, P.; Ebel, H.; Eberhard, P.: Dependable Data-based Design of Embedded Model Predictive Control. In Proceedings of the European Control Conference (ECC), London, 2022.
  • Luo, W.; Ebel, H.; Eberhard, P.: An LSTM-based Approach to Precise Landing of a UAV on a Moving Platform. International Journal of Mechanical System Dynamics, Vol. 2, No. 1, pp. 99-107, 2022. DOI: 10.1002/msd2.12036
  • Ebel, H.; Eberhard, P.: Non-Prehensile Cooperative Object Transportation with Omnidirectional Mobile Robots: Organization, Control, Simulation, and Experimentation. In Proceedings of the 2021 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), Cambridge, UK, 2021. DOI: 10.1109/MRS50823.2021.9620541
  • Rosenfelder, M.; Ebel, H.; Eberhard, P.: Cooperative Distributed Model Predictive Formation Control of Non-Holonomic Robotic Agents. In Proceedings of the 2021 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), Cambridge, UK, 2021. DOI: 10.1109/MRS50823.2021.9620683
  • Ebel, H.: Distributed Control and Organization of Communicating Mobile Robots: Design, Simulation, and Experimentation. Dissertation, Schriften aus dem Institut für Technische und Numerische Mechanik der Universität Stuttgart, Vol. 69. Düren: Shaker Verlag, 2021. DOI: 10.2370/9783844081725, ISBN: 978-3-8440-8172-5
  • Eschmann, H.; Ebel, H.; Eberhard, P.: Trajectory Tracking of an Omnidirectional Mobile Robot Using Gaussian Process Regression. at - Automatisierungstechnik, Vol. 69, No. 8, pp. 656-666, 2021. DOI: 10.1515/auto-2021-0019
  • Eschmann, H.; Ebel, H.; Eberhard, P.: Data-Based Model of an Omnidirectional Mobile Robot Using Gaussian Processes. IFAC-PapersOnLine, Vol. 54, No. 7, pp. 13-18, Special Issue on the 19th IFAC Symposium on System Identification, 2021. DOI: 10.1016/j.ifacol.2021.08.327
  • Ebel, H.; Eberhard, P.: A Comparative Look at Two Formation Control Approaches Based On Optimization and Algebraic Graph Theory. Robotics and Autonomous Systems, Vol. 136, p. 103686, 2021. DOI: 10.1016/j.robot.2020.103686
  • Ebel, H.; Eberhard, P.: Comparison of Model Predictive and Graph Algebraic Approaches to Distributed Formation Control. Proceedings in Applied Mathematics and Mechanics, Vol. 20, p. e202000084, 2021. DOI: 10.1002/pamm.202000084
  • Ebel, H.; Luo, W.; Yu, F.; Tang, Q.; Eberhard, P.: Design and Experimental Validation of a Distributed Cooperative Transportation Scheme. IEEE Transactions on Automation Science and Engineering, Vol. 18, No. 3, pp. 1157-1169, 2021. DOI: 10.1109/TASE.2020.2997411
  • Ebel, H.; Eberhard, P.: Optimization-Driven Control and Organization of a Robot Swarm for Cooperative Transportation. The 8th IFAC Symposium on Mechatronic Systems (MECHATRONICS 2019), Vienna, September 4-6, 2019. DOI: 10.1016/j.ifacol.2019.11.660
  • Luo, W.; Xiao Z.; Ebel, H.; Eberhard, P.: Stereo Vision-based Autonomous Target Detection and Tracking on an Omnidirectional Mobile Robot. 16th International Conference on Informatics in Control, Automation and Robotics (ICINCO), Prague, July 29-31, 2019.
  • Ebel, H.; Eberhard, P.: Distributed Decision Making and Control for Cooperative Transportation Using Mobile Robots. In Tan, Y.; Shi, Y.; Tang, Q. (Eds.): Advances in Swarm Intelligence, 9th International Conference, ICSI 2018, pp. 89–101, Cham: Springer International Publishing, 2018. DOI: 10.1007/978-3-319-93818-9_9
  • Sharafian Ardakani, E.; Ebel, H.; Eberhard, P.: Study on the Cooperative Transportation of a Load Using Swarm Robots. Proceedings of the 5th Joint International Conference on Multibody System Dynamics, Lisbon, 2018.
  • Ebel, H.; Sharafian Ardakani, E.; Eberhard, P.: Comparison of Distributed Model Predictive Control Approaches for Transporting a Load by a Formation of Mobile Robots. Proceedings of the 8th ECCOMAS Thematic Conference on Multibody Dynamics, Prague, June 19-22, 2017.
  • Ebel, H.; Sharafian Ardakani, E.; Eberhard, P.: Distributed Model Predictive Formation Control with Discretization-Free Path Planning for Transporting a Load. Robotics and Autonomous Systems, Vol. 96, pp. 211-223, October 2017. DOI: 10.1016/j.robot.2017.07.007
  • Sharafian Ardakani, E.; Ebel, H.; Eberhard, P.: Transporting an Elastic Plate Using a Group of Swarm Mobile Robots. In Proceedings of the 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Munich, July 3-7, 2017.
  • Ebel, H.; Matikainen, M.K.; Hurskainen, V.; Mikkola, A.: Analysis of High-Order Quadrilateral Plate Elements Based on the Absolute Nodal Coordinate Formulation for Three-Dimensional Elasticity. Advances in Mechanical Engineering, Vol. 9, No. 6, 2017. DOI: 10.1177/1687814017705069
  • Ebel, H.; Matikainen, M.K.; Hurskainen, V.; Mikkola, A.: Higher-Order Beam Elements Based on the Absolute Nodal Coordinate Formulation for Three-Dimensional Elasticity. Nonlinear Dynamics, 88(2), pp. 1075-1091, April 2017. DOI: 10.1007/s11071-016-3296-x
  • Ebel, H.; Matikainen, M.K.; Hurskainen, V.; Mikkola, A.: Higher-Order Plate Elements for Large Deformation Analysis in Multibody Applications. Proceedings of the ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 6: 12th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Paper No. DETC2016-59381, pp. V006T09A024. Charlotte, North Carolina, USA, August 21-24, 2016. DOI: 10.1115/DETC2016-59381
  • Ebel, H.: Model Predictive Formation Control of Swarm Mobile Robots for Transporting a Load, Masterarbeit MSC-239. Institute of Engineering and Computational Mechanics, University of Stuttgart, 2016. (Eberhard, P.; Sharafian Ardakani, E.)
  • Ebel, H.: Design and Implementation of an Explicit MPC Algorithm, bachelor thesis BSC-39. Institute of Engineering and Computational Mechanics, University of Stuttgart, 2014. (Eberhard, P.; Schnelle, F.)
  • Ebel, H.: Modeling of a Shack-Hartmann Wavefront Sensor for Dynamic Optical Simulations, SimTech project thesis SA-6. Institute of Engineering and Computational Mechanics, University of Stuttgart, 2014. (Eberhard, P.; Störkle, J.; Wengert, N.)
  • November 4, 2021: IEEE International Symposium on Multi-Robot and Multi-Agent Systems, University of Cambridge, UK; "Non-Prehensile Cooperative Object Transportation with Omnidirectional Mobile Robots: Organization, Control, Simulation, and Experimentation"
  • September 21, 2021: Public talk on the dissertation topic, online; "Distributed Control and Organization of Communicating Mobile Robots: Design, Simulation and Experimentation"
  • August 25, 2021: International Congress of Theoretical and Applied Mechanics (ICTAM) Milano 2020+1, online; "Multi-Robot Object Transportation with Optimized Manipulation Kinematics"
  • July 14, 2021: Talk as part of the doctoral examination at the University of Stuttgart; "Distributed Control and Organization of Communicating Mobile Robots: Design, Simulation and Experimentation"
  • March 16, 2021: 91st Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM), online; "Comparison of Model Predictive and Graph Algebraic Approaches to Distributed Formation Control"
  • March 3, 2021: GMA technical committe 1.50, online; "Distributed Swarm Robotics and Control at the ITM"
  • October 7, 2019: GAMM Juniors' Autumn Meeting, Hannover; "Perspectives on Modeling and Control for Distributed Robotics"
  • September 16, 2019: GAMM Fachausschuss "Dynamik und Regelungstheorie", Ilmenau; "Distributed Organization and Control of Robotic Swarms"
  • September 4, 2019: 8th IFAC Symposium on Mechatronic Systems, Vienna; "Optimization-Driven Control and Organization of a Robot Swarm for Cooperative Transportation"
  • June 4, 2019: ITM Statusseminar, Bad Herrenalb; "Distributed Control Design, Simulations, and Experiments in a Cooperative Transportation Scenario"
  • December 14, 2018: The 11th SimTech Status Seminar, Bad Boll; "Predictive Control and Distributed Decision Making in Multi-Agent Robotics Applications"
  • June 19, 2018: The Ninth International Conference on Swarm Intelligence, Shanghai; "Distributed Decision Making and Control for Cooperative Transportation Using Mobile Robots"
  • May 28, 2018: ITM Statusseminar, Bad Herrenalb; "On the Design and Application of Distributed Control Methods"
  • June 19, 2017: The 8th ECCOMAS Thematic Conference on Multibody Dynamics, Prague; "Comparison of Distributed Model Predictive Control Approaches for Transporting a Load by a Formation of Mobile Robots"
  • May 22, 2017: ITM Status Seminar, Monbachtal; "On Formation Control of Mobile Robots"
  • November 5, 2021: IEEE International Symposium on Multi-Robot and Multi-Agent Systems, University of Cambridge, UK; "Non-Prehensile Cooperative Object Transportation with Omnidirectional Mobile Robots: Organization, Control, Simulation, and Experimentation"
  • March 17, 2021: GAMM Juniors’ Poster Session, 91st Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM-Jahrestagung), online; "Cooperative Object Transportation: Modeling, Control Design and Experiments"
  • Set-Membership Particle Filtering for Robot Localization, Bachelorarbeit.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2022. (running)
    In co-supervision with Tom Könecke, M.Sc. and Hannes Eschmann, M.Sc.
  • Digital Twin of a Picking Robot with a Roll-on Gripper, Masterarbeit.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2022. (running)
    Betreuung gemeinsam mit apl. Prof. Dr.-Ing. Jörg Fehr
  • Analysis of the Usage of Highly Exact Motion Models for Simultaneous Localization and Mapping, Bachelorarbeit BSC-146. Institute of Engineering and Computational Mechanics, University of Stuttgart, 2022.
    In co-supervision with Hannes Eschmann, M.Sc.
  • Nonlinear Model Predictive Control with Non-quadratic Cost for Non-holonomic Mobile Robots, Bachelorarbeit BSC-145.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2022.
    In co-supervision with Mario Rosenfelder, M.Sc.
  • Robotization of a Test Bed for Keyless Vehicle Access Systems Operating in the Ultra-Wideband Range, Masterarbeit MSC-325.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2022.
  • Cooperative Object Transportation with Non-Holonomic Mobile Robots, Masterarbeit MSC-320.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2021. 
    In co-supervision with Mario Rosenfelder, M.Sc.
  • Extension of Concepts for the Cooperative Manipulation of Objects to Problems from Seafaring, Bachelorarbeit BSC-140.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2021. 
  • Data-Based Modeling and Control of a Differential-Drive Mobile Robot, Bachelorarbeit BSC-138.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2021.
    In co-supervision with Hannes Eschmann, M.Sc.
  • Distributed Model Predictive Control of Non-Holonomic Omnidirectional Mobile Robots, Masterarbeit MSC-314.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, Universität Stuttgart, 2021.
    In co-supervision with Hannes Eschmann, M.Sc.
  • Set-Membership Particle Filtering as a Foundation for Robust Control Concepts, SimTech-Projektarbeit SA-31.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2021.
    In co-supervision with Dominik Hose, M.Sc.
  • Modeling and Simulation of a Mobile Robot with Mecanum Wheels, Bachelorarbeit BSC-134.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, Universität Stuttgart, 2020.
    In co-supervision with Hannes Eschmann, M.Sc.
  • Analysis of the Applicability of Cooperative Distributed MPC to Nonlinear Robot Control, Masterarbeit MSC-306.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, Universität Stuttgart, 2020.
  • Implementation, Experimental Realization and Testing of a Mapping and Localization Algorithm for Mobile Robots with LIDAR Sensors, Bachelorarbeit BSC-123.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2020.
    In co-supervision with Wei Luo, M.Sc.
  • Analysis and Extension of a Distributed Augmented Lagrangian Particle Swarm Optimization Algorithm, Bachelorarbeit BSC-122.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2020.
  • Model Predictive Tracking Control of a Quadrotor in an Indoor Environment, Masterarbeit.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2020. (running)
    In co-supervision with Wei Luo, M.Sc.
  • Investigation of Different Modeling Approaches for the Formation Control of Mobile Robots, Bachelorarbeit BSC-107.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2019.
  • Cooperative Distributed Model Predictive Control of the Vertical Dynamics of a Maglev Train, Masterarbeit MSC-284.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2019. 
    In co-supervision with Patrick Schmid, M.Sc.
  • Stereo Vision-Based Object Estimation and Tracking in Robotics, Masterarbeit MSC-281.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2019.
    In co-supervision with Wei Luo, M.Sc.
  • Implementation and Analysis of Stochastic Sampling-Based Moving Horizon Estimation for the State and Parameter Estimation of Time-Variant Systems, Studienarbeit STUD-489.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2019.
  • Development of New Control Concepts for the Magnetic Levitation System of the Transrapid, Masterarbeit MSC-269.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2018.
    In co-supervision with Florian Dignath, Dr.-Ing.; Fabian Schnelle, Dr.-Ing.
  • Localization of Objects with Markers and an Infrared Camera for Network-Based Usage in Control Tasks, Bachelorarbeit BSC-96.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2018.
    In co-supervision with Fabian Kempter, M.Sc.
  • Implementation and Analysis of a Communication-Based Cosimulation Environment for Swarm Robotic Tasks in Matlab and Gazebo, Bachelorarbeit BSC-95.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2018.
  • Implementation and Analysis of Stochastic Sampling-Based Model Predictive Control for the Control of Nonlinear Mechanical Systems, Studienarbeit STUD-479.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2018.
    In co-supervision with Ehsan Sharafian, M.Sc.
  • Trajectory Planning and Tracking Control of a Quadrotor in an Unknown and Dynamic Environment, Studienarbeit STUD-481.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2018.
    In co-supervision with Ehsan Sharafian, M.Sc.
  • Modeling, Parameter Identification and Model Validation for a Quadrotor, SimTech project thesis SA-20.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2018.
    In co-supervision with Ehsan Sharafian, M.Sc.
  • Implementation and Analysis of Moving Horizon Estimation for Multibody Systems, Masterarbeit MSC-261.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2018.
    In co-supervision with Fabian Schnelle, M.Sc.
  • Implementation and Analysis of Methods for the Solution of Deployment Problems for Mobile Robots, Bachelorarbeit BSC-70.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017.
  • Implementation of a Learning-Based Model Predictive Control Algorithm with Application to a Quadrotor, Masterarbeit MSC-258.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017.
  • Formation Control of Mobile Robots Using Results from Algebraic Graph Theory, Masterarbeit MSC-254.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017.
    In co-supervision with Ehsan Sharafian, M.Sc.
  • Attitude and Motion Control of an Elastic Plate Transported by a Formation of Mobile Robots, Studienarbeit STUD-473.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017.
    In co-supervision with Ehsan Sharafian, M.Sc.
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