Hannes Eschmann

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

• Bold, L.; Eschmann, H.; Rosenfelder, M.; Ebel, H.; Worthmann, K.: On Koopman-Based Surrogate Models for Non-Holonomic Robots. Submitted for publication, 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, DOI: 10.1017/S0263574723000863, 2023.
• Fehr, J.; Kargl, A.; Eschmann, H.: Identification of Friction Models for MPC-based Control of a PowerCube Serial Robot. 10th European Nonlinear Dynamics Conference (ENOC22), Lyon, France, DOI: 10.48550/arXiv.2203.10896, 2022.
• W. Luo; Eschmann, H.; Eberhard, P.: Gaussian Process Regression-augmented Nonlinear Model Predictive Control for Quadrotor Object Grasping. International Conference on Unmanned Aircraft Systems (ICUAS), Vol. 16, pp. 11-19, DOI: 10.1109/ICUAS54217.2022.9836200, 2022.
• Eschmann, H.; Ebel, H.; Eberhard, P.: High Accuracy Data-Based Trajectory Tracking of an Omnidirectional Mobile Robot., 31st International Conference on Robotics in Alpe-Adria-Danube Region, DOI:10.1007/978-3-031-04870-8_49 ,2022.
• Eschmann, H.; Ebel, H.; Eberhard, P.: Trajectory Tracking of an Omnidirectional Mobile Robot Using Gaussian Process Regression. at - Automatisierungstechnik, Vol. 69, No. 8, DOI:10.1515/auto-2021-0019, 2021.
• 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, DOI: 10.1016/j.ifacol.2021.08.327, 2021.
• Eschmann, H.; Eberhard, P.: Learning-Based Model Predictive Control for Multi-Agent Systems using Gaussian Processes. Proceedings in Applied Mathematics and Mechanics, Vol. 20, No. 1, DOI: 10.1002/pamm.202000009, 2020.
• Eschmann, H.: System- und Regleranalyse von Schwingungsphänomenen im Antriebsstrang mit Ausgleichsgetriebe bei Lastfällen mit unterschiedlichen links-, rechts- Straßenreibwert, Masterarbeit. Institut für Mechanik und Meerestechnik, Technische Universität Hamburg, 2019. (Seifried, R.; Pham, H. T.; Werner, H.)

• 4. June 2019: ITM Statusseminar, Bad Herrenalb; "System- und controller analysis of oscillations in a drivetrain with differential gear box with alternating road friction coefficients"
• 30. October 2019: SimTech Machine-Learning Spotlight Session, Stuttgart; "Learning-based Model Predictive Control using Gaussian Processes"
• 12. December 2019: SimTech Statusseminar, Bad Boll, "Theoretical Guarantees for Predictive Control in Adaptive Multi-Agent Scenarios"
• 12. June 2020: SimTech PN4 Meetup; "PN4-4: Theoretical Guarantees for Predictive Control in Adaptive Multi-Agent Scenarios"
• 12. February 2020: SimTech Graduate Seminar, "The Mathemathics of Gaussian-Processes in Controls", Stuttgart; "Safe and Cautious Model Predictive Control using Gaussian-Processes"
• 16 Juli 2020: ITM Statusseminar 2020, Learning-Based Model Predictive Control for Multi-Agent Systems using Gaussian Processes
• 16. March 2021: 91st Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM); "Learning-Based Model Predictive Control for Multi-Agent Systems using Gaussian Processes"
• 13. July 2021: 19th IFAC Symposium on System Identification(SYSID); "Data-Based Model of an Omnidirectional Mobile Robot Using Gaussian Processes"
• 20. July 2021: SimTech Graduate Seminar, "Recent scientific advances in robotics"; "Particle robotics based on statistical mechanics of loosely coupled components"
• 22. July 2021: SimTech PN4 Meetup; "Robotics and Distributed Robotics at the ITM: Challenges for Learning and Control"
• 25. November 2021: ITM Statusseminar, Monbachtal; "HERA Meets Gaussian Processes: Possibilities of Data-Based Techniques for Mobile Robot Applications"
• 12. January 2022: SimTech Machine-Learning Spotlight Session, Stuttgart; "Data-driven methods for engineering applications @ ITM"
• 9. June 2022: 31st International Conference on Robotics in
  Alpe-Adria-Danube Region; "High accuracy data-based trajectory tracking of an omnidirectional mobile robot"
• 25. July 2022: ITM Statusseminar, Hösbach; "A Computationally Efficcient Robust Control Framework for Omnidirectional Mobile Robots"

• Modeling and Simulation of a Robotic Manipulator, Bachelorarbeit.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2023. (running)
  In co-supervision with Dr.-Ing. Henrik Ebel, and Mario Rosenfelder, M.Sc.
• Data-Based Modelling and Control of a Mobile Robot on Force Level, Bachelorarbeit.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2022.
  In co-supervision with Dr.-Ing. Henrik Ebel
• Set-Membership Particle Filtering for Robot Localization.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2022.
  In co-supervision with Dr.-Ing. Henrik Ebel and Tom Könecke, M.Sc.
• Analysis of the Usage of Highly Exact Motion Models for Simultaneous Localization and Mapping, Bachelorarbeit. University of Stuttgart, 2021. In co-supervision with Dr.-Ing. Henrik Ebel

• Model Predictive Path-Following Control of Wheeled Mobile Robots, Bachelorarbeit.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2021.
  

  In co-supervision with Mario Rosenfelder, M.Sc.
• Adaptive data-based Trajectory Tracking Control of an Omnidirectional Mobile Robot, Bachelorarbeit.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2021.
• Data-Based Modeling and Control of a Differential-Drive Mobile Robot, Bachelorarbeit.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2021.
  In co-supervision with Dr.-Ing. Henrik Ebel
• Distributed Model Predictive Control of Non-Holonomic Omnidirectional Mobile Robots, Masterarbeit.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, Universität Stuttgart, 2020.
  In co-supervision with Henrik Ebel, M.Sc.
• Statistical Stability Guarantees for the Magnet Control System of the Transrapid under Model Predictive Control, Master Thesis.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2020.
  In co-supervision with Patrick Schmid, M.Sc.
• Implementation and Comparison of Stochastic Regressionalgorithms for adaptive data-based Modelling, Bachelorarbeit.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, Universität Stuttgart, 2020.
• Modeling and Simulation of a Mobile Robot with Mecanum Wheels, Bachelorarbeit.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, Universität Stuttgart, 2020.
  In co-supervision with Dr.-Ing. Henrik Ebel
• DMD Methods to identify Friction Models for a Schunk PowerCube Robot, Bachelorarbeit.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, Universität Stuttgart, 2020.

• seminar in Applied Mechanics III (WT 2019/2020)
• seminar in Applied Mechanics IV (ST 2020)
• Exercises and teaching assistant of the lecture Applied Mechanics I (WT 2020/2021)
• Exercises and teaching assistant of the lecture Applied Mechanics III (WT 2021/2022)
• Organization of the seminar and advisor of the tutor seminar in Applied Mechanics I (WT 2022/2023)

• organisation of the practical trainings (SS 2019-SS2022)