Mario Rosenfelder

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

• 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, free access

• 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

• 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, 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

• 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, Bd. 135. Cham: Springer. DOI: 10.1007/978-3-031-32606-6_37

• 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. (Preprint)

• 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, pp. 349-356, Trieste, 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

• 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

• Rosenfelder, M.; Ebel, H.; Eberhard, P.: Cooperative Distributed Model Predictive Formation Control of Non-Holonomic Robotic Agents. In Proceedings of the 3rd International Symposium on Multi-Robot and Multi-Agent Systems (MRS), pp. 11-19, Cambridge, UK, 2021. DOI: 10.1109/MRS50823.2021.9620683

• Rosenfelder, M.: Analysis of the Applicability of Cooperative Distributed MPC to Nonlinear Robot Control, Master Thesis MSC-306. Institute of Engineering and Computational Mechanics, University of Stuttgart, 2020. (Eberhard, P.; Ebel, H.)

• Rosenfelder, M.; Köhler, J.; Allgöwer, F.: Stability and performance in transient average constrained economic MPC without terminal constraints. Proceedings of the 21st IFAC World Congress, Berlin, Germany, 2020. IFAC-PapersOnLine, Vol. 53, No. 2, pp. 6943-6950. [DOI: https://doi.org/10.1016/j.ifacol.2020.12.407]

• Rosenfelder, M.: Stability and Performance in transient average constrained Economic Model Predictive Control without terminal constraints, Student Thesis 211. Institute for Systems Theory and Automatic Control, University of Stuttgart, 2019.
  [OPUS: http://dx.doi.org/10.18419/opus-10645]

• July 15, 2024: ITM Statusseminar, Monbachtal (Bad Liebenzell); "Mobile Robotics at the ITM: Advances in Cooperative Transportation and the Control of Non-holonomic Vehicles"

• June 10, 2024: 7th International Conference on Multibody System Dynamics, Madison (WI); "Cooperative Force-Based Transportation of Flexible Objects in Distributed Mobile Robotics"

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

• October 25 & 26, 2023: DeCAIR Erasmus+ Project, Jordan University of Science and Technology, Irbid, Jordan; "Workshop: Advanced Kinematics and Control of Wheeled Mobile Robots"

• July 18, 2023: ITM Statusseminar, Kloster Schmerlenbach, Hösbach; "Cooperative Force-Based Manipulation of Flexible Objects: Within the Scope of Mobile Robotics?"

• June 14, 2023: 32nd International Conference on Robotics in Alpe-Adria-Danube Region, Bled; "A Force-Based Formation Synthesis Approach for the Cooperative Transportation of Objects"

• August 23, 2022: 6th Conference on Control Technology and Applications, Trieste; "A Force-Based Control Approach for the Non-Prehensile Cooperative Transportation of Objects Using Omnidirectional Mobile Robots"

• July 27, 2022: ITM Statusseminar, Kloster Schmerlenbach, Hösbach; "Toward a Force-Based Control Approach for the Cooperative Transportation of Objects"

• March 31, 2022: GAMM Fachausschuss "Dynamik und Regelungstheorie", Stuttgart; "Model Predictive Control of Non-Holonomic Vehicles: Beyond Differential Drive"

• November 25, 2021: ITM Statusseminar, Monbachtal (Bad Liebenzell); "On Force-Based Control in Cooperative Object Transportation"

• November 4, 2021: 3rd International Symposium on Multi-Robot and Multi-Agent Systems (MRS), Cambridge; "Cooperative Distributed Model Predictive Formation Control of Non Holonomic Robotic Agents"

• November 5, 2021: 3rd International Symposium on Multi-Robot and Multi-Agent Systems (MRS), Cambridge; "Cooperative Distributed Model Predictive Formation Control of Non Holonomic Robotic Agents"

• Distributed Model Predictive Path-Following Control of Heterogeneous Robot Swarms, Master Thesis.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2024. (running)
  In co-supervision with Mario Hermle, M.Sc. and Jingshan Chen, M.Sc.

• Koopman-Based Modeling of a Car-Like Robot , Bachelor Thesis.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2024. (running)

• Optimization-Based Control of Mechanical Systems Subject to Uncertainties, Bachelor Thesis.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2024.
  In co-supervision with Tom Könecke, M.Sc.

• Efficient Obstacle-Avoiding Motion Planning for Mobile Robots, Bachelor Thesis.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2024.
  In co-supervision with Dr.-Ing. Henrik Ebel

• Hybrid Force-Position Control of a Robotic Manipulator, Bachelor Thesis.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2024.
  In co-supervision with Dr.-Ing. Henrik Ebel

• MPC-based Path Planning for Autonomously Parking Non-Holonomic Vehicles, Bachelor Thesis.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2023.
  In co-supervision with Dr.-Ing. Henrik Ebel

• Modeling and Simulation of a Robotic Manipulator, Bachelor Thesis.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2023.
  In co-supervision with Hannes Eschmann, M.Sc., and Dr.-Ing. Henrik Ebel

• Koopman-Based Analysis and Control of Non-holonomic Vehicles, Master Thesis.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2023.
  In co-supervision with Dr.-Ing. Henrik Ebel

• Decentralized Self-Assembly and Coordinated Motion with Mobile Robots, Master Thesis.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2023.
  In co-supervision with Dr.-Ing. Henrik Ebel

• Avoiding Obstacles Using Control Barrier Functions in Mobile Robotics, Bachelor Thesis.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2022.
  In co-supervision with Dr.-Ing. Henrik Ebel

• Model Predictive Path-Following Control of Wheeled Mobile Robots, Master Thesis.
  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, Bachelor Thesis.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2022.
  In co-supervision with Henrik Ebel, M.Sc.

• Cooperative Object Transportation with Non-Holonomic Mobile Robots, Master Thesis.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2021.
  In co-supervision with Henrik Ebel, M.Sc.

• Implementation of MPC Algorithms on a Microcontroller by the Example of Magnet Control of the Transrapid, Master Thesis.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2021.
  In co-supervision with Patrick Schmid, M.Sc.

• teaching assistant of the lecture Modelling and Simulation in Mechatronics (WT 2023/24, WT 2024/25)

• exercises and teaching assistant of the lecture Applied Mechanics IV (ST 2022)

• advisor for the practical training Balanced Ball on Rim (ST 2021 - ST 2024)

• exercises and teaching assistant of the lecture Applied Mechanics II (ST 2021)

• Erasmus+ program DeCAIR (Developing Curricula for Artificial Intelligence and Robotics)