Henrik Ebel

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

• Chen, J.; Luo, W.; Ebel, H.; Eberhard, P.: Optimization-Based Trajectory Planning for Transport Collaboration of Heterogeneous Systems. at - Automatisierungstechnik, Vol. 72, No. 2, pp. 80-90, 2024. DOI: 10.1515/auto-2023-0078

• Wenger, I.; Ebel, H.; Eberhard, P.: Anomalously Acting Agents: The Deployment Problem. Submitted for publication, 2023.

• Ebel, H.; Rosenfelder, M.; Eberhard, P.: Cooperative Object Transportation with Differential-Drive Mobile Robots: Control and Experimentation. Robotics and Autonomous Systems, Vol. 173, p. 104612, 2024. DOI: 10.1016/j.robot.2023.104612

• Rosenfelder, M.; Ebel, H.; Eberhard, P.: Force-Based Organization and Control Scheme for the Non-Prehensile Cooperative Transportation of Objects. Robotica, Vol. 42, No. 2, pp. 611-624, 2024. DOI: 10.1017/S0263574723001704

• Röder, B.; Ebel, H.; Eberhard, P.: Towards intelligent design assistants for planar multibody mechanisms. Proceedings in Applied Mathematics and Mechanics, Vol. 23, No. 4, p. e202300060, 2023. DOI: 10.1002/pamm.202300060

• Ebel, H.; Rosenfelder, M.; Eberhard, P.: A Note on the Predictive Control of Non-Holonomic Systems and Underactuated Vehicles in the Presence of Drift. Proceedings in Applied Mathematics and Mechanics, Vol. 23, No. 4, p. e202300022, 2023. DOI: 10.1002/pamm.202300022

• Bold, L.; Eschmann, H.; Rosenfelder, M.; Ebel, H.; Worthmann, K.: On Koopman-Based Surrogate Models for Non-Holonomic Robots. Manuscript, 2023. Preprint: arXiv:2301.07960

• Eschmann, H.; Ebel, H.; Eberhard, P.: Exploration-Exploitation-Based Trajectory Tracking of Mobile Robots Using Gaussian Processes and Model Predictive Control. Robotica, Vol. 41, No. 10, pp. 3040-3058, 2023. DOI: 10.1017/S0263574723000863

• Stomberg, G.; Ebel, H.; Faulwasser, T.; Eberhard, P.: Cooperative Distributed MPC via Decentralized Real-Time Optimization: Implementation Results for Robot Formations. Control Engineering Practice, Vol. 138, p. 105579, 2023. DOI: 10.1016/j.conengprac.2023.105579

• Rosenfelder, M.; Ebel, H.; Eberhard, P.: A Force-Based Formation Synthesis Approach for the Cooperative Transportation of Objects. In Petrič, T.; Ude, A.; Žlajpah, L. (Eds): Advances in Service and Industrial Robotics, RAAD 2023. Mechanisms and Machine Science, Vol. 135, pp. 317-324. Cham: Springer. DOI: 10.1007/978-3-031-32606-6_37

• Luo, W.; Chen, J.; Ebel, H.; Eberhard, P.: Time-Optimal Handover Trajectory Planning for Aerial Manipulators based on Discrete Mechanics and Complementarity Constraints. IEEE Transactions on Robotics, 2023. DOI: 10.1109/tro.2023.3301298

• Rosenfelder, M.; Ebel, H.; Krauspenhaar, J.; Eberhard, P.: Model Predictive Control of Non-Holonomic Systems: Beyond Differential-Drive Vehicles. Automatica, Vol. 152, p. 110972, 2023. DOI: 10.1016/j.automatica.2023.110972.

• 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, pp. 349-356, Triest, 2022. DOI: 10.1109/CCTA49430.2022.9966052

• 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), pp. 163-170, Udine, 2022. DOI: 10.1007/978-3-031-06409-8_17

• 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, pp. 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, pp. 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), pp. 859-866, London, 2022. DOI: 10.23919/ECC55457.2022.9838194

• 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), pp. 1-10, 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), pp. 11-19, 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, free access.

• 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. In Proceedings of the 8th IFAC Symposium on Mechatronic Systems (MECHATRONICS 2019), pp. 115-120, Vienna, 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, 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, 2017. DOI: 10.18419/opus-10734

• 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, 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, 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, pp. 1-12, 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, Vol. 88, No. 2, pp. 1075-1091, 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, NC, 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.)

• March 19, 2024: 94th Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM), Magdeburg; "Distributed Control Under Attack: Identifying Anomalous Behavior with Inverse Optimal-Control"

• January 18, 2024: Institute of Mechanics and Ocean Engineering, TUHH, Hamburg; "Predictive Control of Nonholonomic and Underactuated Systems: The Curse of Geometry"

• December 4, 2023: Workshop of the GAMM Student Chapter Stuttgart on Model Predictive Control, Stuttgart; "Nonholonomic Systems and MPC: What Does It Cost?"

• October 5, 2023: Status Seminar of the DFG Priority Programme 2353, Cologne; "A Status Update on Collaboration"

• July 26, 2023: The 11th ECCOMAS Thematic Conference on Multibody Dynamics, Lisbon; "Cooperative Object Transportation With Non-Holonomic Mobile Robots: Multibody Dynamics Meets Distributed Optimization"

• July 18, 2023: ITM Statusseminar, Kloster Schmerlenbach, Hösbach; "Automating the Mechanical World: Productivity and Prosperity for a Brighter Future"

• May 31, 2023: 93nd Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM), Dresden; "Non-Holonomic Systems: Geometry, Design of Predictive Controllers, and Remaining Difficulties"

• April 4, 2023: Doctoral Colloquium of the DFG Priority Programme 2353 (Summer School), Bad Liebenzell; "Priority Programme 'Daring More Intelligence – Design Assistants in Mechanics and Dynamics': Assistants, Modules, Collaboration"

• October 5, 2022: Kickoff Meeting of the DFG Priority Programme 2353, Schwerte; "Priority Programme "Daring More Intelligence – Design Assistants in Mechanics and Dynamics": Assistants, Modules, Collaboration"

• August 16, 2022: 92nd Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM), Aachen; "Cooperation of Non-holonomic Mobile Robots: Object Transportation and Beyond"

• July 27, 2022: ITM Statusseminar, Kloster Schmerlenbach, Hösbach; "A Travel Guide Through Robotics and Toward Design Assistants"

• July 5, 2022: ROMANSY 2022, CISM, Udine, Italy; "Finding Formations for the Non-Prehensile Object Transportation with Differentially-Driven Mobile Robots"

• November 25, 2021: ITM Statusseminar, Monbachtal / online; "Current and Future Challenges in Distributed Robotics and Assisted Multibody System Design"

• 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 Committee 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"

• July 16 and July 17, 2022: GAMM Juniors’ Poster Session, 92nd Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM-Jahrestagung), Aachen; "Optimization-Based Organization and Control in Mobile Robotics: Beyond Omnidirectional 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"

• Control Design for Path Tracking with a Nano-Quadrotor, Bachelorarbeit BSC-164.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2024.
  In co-supervision with Jingshan Chen, M.Sc.

• Digital Twin for Planar Four-Bar Linkages, Bachelorarbeit BSC-163.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2024.
  In co-supervision with Benedict Röder, M.Sc.

• Efficient Obstacle-Avoiding Motion Planning for Mobile Robots, Bachelorarbeit BSC-162.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2024.
  In co-supervision with Mario Rosenfelder, M.Sc.

• Hybrid Force-Position Control of a Robotic Manipulator, Bachelorarbeit BSC-161.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2024.
  In co-supervision with Mario Rosenfelder, M.Sc.

• Implementation of a Data-Driven Model Predictive Controller, Bachelorarbeit BSC-160.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2024.
  In co-supervision with Jingshan Chen, M.Sc.

• Dynamic Robot Localization Using a Possibilistic Filter, Masterarbeit MSC-347.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2024.
  In co-supervision with Tom Könecke, M.Sc.

• Development of a Camera-based Localization System for Mobile Robots, SimTech-Projektarbeit SA-44.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2024.
  In co-supervision with Tom Könecke, M.Sc.

• MPC-based Path Planning for Autonomously Parking Non-Holonomic Vehicles, Bachelorarbeit BSC-159.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2023.
  In co-supervision with Mario Rosenfelder, M.Sc.

• Parking Non-Holonomic Vehicles with Reinforcement Learning, Masterarbeit MSC-343.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2023.
  In co-supervision with Ingeborg Wenger, M.Sc.

• Trajectory Planning and Control for Quadrotors via Reinforcement Learning, Bachelorarbeit BSC-155.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2023.
  In co-supervision with Jingshan Chen, M.Sc., and Ingeborg Wenger, M.Sc.

• Modeling and Simulation of a Robotic Manipulator, Bachelorarbeit BSC-154.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2023.
  In co-supervision with Hannes Eschmann, M.Sc., and Mario Rosenfelder, M.Sc.

• Data-Based Modelling and Control of a Mobile Robot on Force Level, Bachelorarbeit BSC-152.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2023.
  In co-supervision with Hannes Eschmann, M.Sc.

• Koopman-Based Analysis and Control of Non-holonomic Vehicles, Masterarbeit MSC-341.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2023. 
  In co-supervision with Mario Rosenfelder, M.Sc.

• Decentralized Self-Assembly and Coordinated Motion with Mobile Robots, Masterarbeit MSC-339.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2023.
  In co-supervision with Mario Rosenfelder, M.Sc.

• Avoiding Obstacles Using Control Barrier Functions in Mobile Robotics, Bachelorarbeit BSC-149.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2022.
  In co-supervision with Mario Rosenfelder, M.Sc.

• Set-Membership Particle Filtering for Robot Localization, Bachelorarbeit BSC-150.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2022.
  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 MSC-334.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2022.
  In co-supervision with apl. Prof. Dr.-Ing. Jörg Fehr and Kai Diel, M.Sc. (PREMIUM ROBOTICS GmbH)

• 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.
  In co-supervision with Michael Koeppl, M.Sc. (Robert Bosch GmbH)

• 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 MSC-297.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2020.
  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. (thyssenkrupp Transrapid GmbH); 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.

• lecturer of Optimization of Mechanical Systems (WT 2022/23)
• organisation of the seminar and advisor of the tutor seminar in Applied Mechanics II (ST 2021)
• exercises and teaching assistant of the lecture Applied Mechanics IV (ST 2020)
• exercises and teaching assistant of the lecture Applied Mechanics III (WT 2019/20)
• organisation of the seminar and advisor of the tutor seminar in Applied Mechanics II (ST 2019)
• advisor for the practical training Controller Design for a Model Railway (ST 2019)
• organisation of the seminar and advisor of the tutor seminar in Applied Mechanics I (WT 2018/19)
• organisation of the seminar and advisor of the tutor seminar in Applied Mechanics IV, in cooperation with B. Fröhlich (ST 2018)
• advisor for the practical training Controller Design for a Model Railway (ST 2018)
• organisation of the seminar and advisor of the tutor seminar in Applied Mechanics III (WT 2017/18)
• seminar in Applied Mechanics II (ST 2017)

• organisation of the practical trainings (ST 2017 to ST 2019)