This image showsMario Rosenfelder

Mario Rosenfelder

M.Sc.

Institute of Engineering and Computational Mechanics (ITM)

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+49 711 685 66625
 +49 711 685 66400
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Pfaffenwaldring 9
70569 Stuttgart
Deutschland
Room: 4.123

Subject

  1. Leprich, D., Rosenfelder, M., Herrmann-Wicklmayr, M., Flaβkamp, K., Ebel, H., & Eberhard, P. (2026). Efficient Collision-Avoidance Constraints for Ellipsoidal Obstacles in Optimal Control: Application to Path-Following MPC and UAVs. Proceedings of the 34th Mediterranean Conference on Control and Automation (MED), 171–176. https://doi.org/10.1109/med70602.2026.11598421
  2. Rosenfelder, M., Ebel, H., & Eberhard, P. (2026). Setpoint Control for Wheeled Mobile Robots Using Geometry-Conforming Model Predictive Controllers. In Š. Havlík, A. Mueller, F. Duchoň, Š. Kozák, & J. Vachálek (Eds.), Advances in Service and Industrial Robotics (pp. 430–438). Springer Nature Switzerland.
  3. Leprich, D., Rosenfelder, M., Hermle, M., Chen, J., & Eberhard, P. (2026). Model Predictive Path-Following Control for a Quadrotor. Pamm, 26, Article 1. https://doi.org/10.1002/pamm.70056
  4. Fuchs, M., Leprich, D., Rosenfelder, M., & Eberhard, P. (2026). Distributed Cooperative Transportation of an Elastic Object Using Omnidirectional Mobile Robots. Multibody System Dynamics, Special Issue IMSD 2026 Conference (Research in Multibody System Dynamics after the AI Takeoff). https://doi.org/10.1007/s11044-026-10181-6
  5. Rosenfelder, M., Bold, L., Eschmann, H., Eberhard, P., Worthmann, K., & Ebel, H. (2025). Data-Driven Predictive Control of Nonholonomic Robots Based on a Bilinear Koopman Realization: Data Does Not Replace Geometry. Robotics and Autonomous Systems, 194, 105156. https://doi.org/10.1016/j.robot.2025.105156
  6. Rosenfelder, M., Carius, H., Herrmann-Wicklmayr, M., Eberhard, P., Flaßkamp, K., & Ebel, H. (2025). Efficient Avoidance of Ellipsoidal Obstacles with Model Predictive Control for Mobile Robots and Vehicles. Mechatronics, 10, 103386. https://doi.org/10.1016/j.mechatronics.2025.103386
  7. Ebel, H., Rosenfelder, M., & Eberhard, P. (2024). Cooperative object transportation with differential-drive mobile robots: control and experimentation. Robotics and Autonomous Systems, 173, 104612. https://doi.org/10.1016/j.robot.2023.104612
  8. Bold, L., Rosenfelder, M., Eschmann, H., Ebel, H., & Worthmann, K. (2024). On Koopman-based surrogate models for non-holonomic robots. Proceedings of the 4th Conference of Modelling, Identification and Control of Nonlinear Sytstems. https://doi.org/10.1016/j.ifacol.2024.10.142
  9. Rosenfelder, M., Ebel, H., Krauspenhaar, J., & Eberhard, P. (2023). Model Predictive Control of Non-Holonomic Systems: Beyond Differential-Drive Vehicles. Automatica, 152, 110972. https://doi.org/10.1016/j.automatica.2023.110972
  10. Rosenfelder, M., Ebel, H., & Eberhard, P. (2023). A Force-Based Formation Synthesis Approach for the Cooperative Transportation of Objects. In Advances in Service and Industrial Robotics, RAAD 2023. Mechanisms and Machine Science (pp. 317–324). Cham: Springer. https://doi.org/10.1007/978-3-031-32606-6_37
  11. Ebel, H., Rosenfelder, M., & Eberhard, P. (2023). A Note on the Predictive Control of Non- Holonomic Systems and Underactuated Vehicles in the Presence of Drift. Proceedings in Applied Mathematics and Mechanics, 23, Article 4. https://doi.org/10.1002/pamm.202300022
  12. Rosenfelder, M., Ebel, H., & Eberhard, P. (2023). Force-based organization and control scheme for the non-prehensile cooperative transportation of objects. Robotica, 42, Article 2. https://doi.org/10.1017/S0263574723001704
  13. Ebel, H., Fahse, D. N., Rosenfelder, M., & Eberhard, P. (2022). Finding Formations for the Non-Prehensile Object Transportation with Differentially-Driven Mobile Robots. 24th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control (ROMANSY), 163–170. https://doi.org/10.1007/978-3-031-06409-8_17
  14. Rosenfelder, M., Ebel, H., & Eberhard, P. (2022). A Force-Based Control Approach for the Non-Prehensile Cooperative Transportation of Objects Using Omnidirectional Mobile Robots. 6th IEEE Conference on Control Technology and Applications. https://doi.org/10.1109/ccta49430.2022.9966052
  15. Rosenfelder, M., Ebel, H., & Eberhard, P. (2021). Cooperative Distributed Nonlinear Model Predictive Control of a Formation of Differentially-Driven Mobile Robots. Robotics and Autonomous Systems, 150, 103993. https://doi.org/10.1016/j.robot.2021.103993
  16. Rosenfelder, M., Ebel, H., & Eberhard, P. (2021). Cooperative Distributed Model Predictive Formation Control of Non-Holonomic Robotic Agents. 2021 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 11–19. https://doi.org/10.1109/MRS50823.2021.9620683
  17. Rosenfelder, M. (2020). Analysis of the Applicability of Cooperative Distributed MPC to Nonlinear Robot Control (Master Thesis Nos. MSC–306).

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

  • Rosenfelder, M.; Ebel, H.; Eberhard, P.: On the Design of Model Predictive Setpoint Controllers for Nonholonomic Multibody Systems.
  • Behrend, J.; Könecke, T.; Rosenfelder, M.; Schneider, J.; Hanss, M.; Eberhard, P.: Possibilistic Uncertainty Modeling with Hyperellipsoids.
  • Krauspenhaar, J.; Krendelsberger, E.; Rosenfelder, M.; Bold, L.; Schimperna, I.; Worthmann, K.; Eberhard, P.; Ebel, H.: Advanced Bilinear Koopman Models for Predictive Control of Nonholonomic Systems.
  • Fuchs, M.; Rosenfelder, M.; Leprich, D.; Ebel, H.; Eberhard, P.: Using Reduced-Order FE Models in Predictive Controllers for the Cooperative Transport of Highly Elastic Objects.
  • Schmitz, P.; Bold, L.; Philipp, F.M.; Rosenfelder, M.; Eberhard, P.; Ebel, H.; Worthmann, K.: On excitation of control-affine systems and its use for data-driven Koopman approximants. Preprint
  • Elangasinghe, A.; Könecke, T.; Schneider, J.; Rosenfelder, M.; Hanss, M.; Eberhard, P.: Possibilistic Filtering and Control of a Highly Dynamic Mechanical System in the Presence of Uncertainty.
  • 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 24, 2026: ITM Statusseminar, Löwenstein; "Modeling and Control in Mobile Robotics — An Extension"
  • July 13, 2026: Doctoral Thesis Presentation, Stuttgart; "Modeling and Control in Mobile Robotics: Nonholonomic Constraints, Predictive Control, and Collaboration"
  • June 17, 2026: 35th International Conference on Robotics in Alpe-Adria-Danube Region, Bratislava; "Setpoint Control for Wheeled Mobile Robots Using Geometry-Conforming Model Predictive Controllers"
  • March, 17 2026: 96th Annual Meeting of the International Association of Applied Mathematics and Mechanics, Stuttgart; "On the Design of Model Predictive Controllers for Nonholonomic Multibody Systems"
  • September, 23 2025: Workshop on Advances in Machine learning, Data assimiltation and Beyond, Lappeenranta; "Koopman-based Surrogate Modeling of Nonholonomic Mobile Robots"
  • July 21, 2025: ITM Statusseminar, Monbachtal (Bad Liebenzell); "Control of Nonholonomic Vehicles and Koopman-based Surrogate Modeling"
  • April 10, 2025: 95th Annual Meeting of the International Association of Applied Mathematics and Mechanics, Poznan; "Using Polar Coordinates for Sub-Riemannian Formation Control of Mobile Robots"
  • March 20, 2025: GAMM Activity Group Dynamics and Control, Chemnitz; "Koopman-based Control of Nonholonomic Mobile Robots"
  • October 23 & 24, 2024: LUT University, Lahti: "Workshop: Advanced Kinematics and Control of Wheeled Mobile Robots"
  • October 22, 2024: LUT University, Lappeenranta; "Sub-Riemannian Model Predictive Control for Nonholonomic Mobile Robots"
  • 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" Talk
  • 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"
  • Model Predictive Obstacle Avoidance for Mobile Robots Using Separating Hyperplanes, Bachelor Thesis with Propaedeuticum.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2026 (ongoing).
    In co-supervision with David Leprich, M.Sc.
  • Modeling and Control of Mobile Robot Formations Using the Port-Hamiltonian Framework, Bachelorarbeit.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2026 (ongoing).
    In co-supervision with Nicholas Lüer, M.Sc.
  • Koopman-based Control for Obstacle Avoidance in Mobile Robotics, Master Thesis.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2026 (ongoing).
    In co-supervision with Jasmin Krauspenhaar, M.Sc.
  • Model Predictive Contouring Control in Mobile Robotics, Master Thesis.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2026 (ongoing).
    In co-supervision with David Leprich, M.Sc.
  • Modeling and Control of a Flexible Mnaipulator, Researchthesis.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2026 (ongoing).
    In co-supervision with Marius Fuchs, M.Sc. and David Leprich, M.Sc.
  • Possibilistic Uncertainty Modeling with Hyperellipsoids, Bachelor Thesis.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2025.
    In co-supervision with Tom Könecke, M.Sc.
  • Surrogate Modeling of Very Flexible Objects in Distributed Robotics, Master Thesis.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2025.
    In co-supervision with David Leprich, M.Sc.
  • Model-based Control Design for a Robot Manipulator, Bachelor Thesis.
    nstitute of Engineering and Computational Mechanics, University of Stuttgart, 2024. In co-supervision with Mario Hermle, M.Sc.
  • Modeling and Control of a Two-Wheeled Balancing Robot, Bachelor Thesis with Propaedeuticum.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2024.
    In co-supervision with Arnim Kargl, M.Sc.
  • Considering Uncertainty in Optimization-based Obstacle Avoidance for Mobile Robots, Bachelor Thesis.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2024. In co-supervision with Tom Könecke, M.Sc. and Jan Schneider, M.Sc.
  • Mixed Reality Interface for Collaborative Human-Robot Navigation and Interaction, Master Thesis.
    University of Stuttgart, 2024.
    In co-supervision with Michael Pabst, M.Sc.
  • Possibilistic Filtering and Control of a Highly Dynamic Mechanical Systems in the Presence of Uncertainty, Master Thesis.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2024. In co-supervision with Tom Könecke, M.Sc. und Jan Schneider, M.Sc.
  • Model Predictive Path Following Control of a Quadrotor, Master Thesis.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2024.
    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.
  • 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.

 

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