Matthias Althoff

According to our database1, Matthias Althoff authored at least 146 papers between 2007 and 2021.

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Bibliography

2021
Provably-Correct and Comfortable Adaptive Cruise Control.
IEEE Trans. Intell. Veh., 2021

Optimizing Sets of Solutions for Controlling Constrained Nonlinear Systems.
IEEE Trans. Autom. Control., 2021

Computing Safe Sets of Linear Sampled-Data Systems.
IEEE Control. Syst. Lett., 2021

Reachability-based Identification, Analysis, and Control Synthesis of Robot Systems.
CoRR, 2021

2020
Reachability Analysis of Large Linear Systems With Uncertain Inputs in the Krylov Subspace.
IEEE Trans. Autom. Control., 2020

Privacy Preserving Set-Based Estimation Using Partially Homomorphic Encryption.
CoRR, 2020

Formal synthesis of closed-form sampled-data controllers for nonlinear continuous-time systems under STL specifications.
CoRR, 2020

Pedestrian Models for Autonomous Driving Part II: high level models of human behaviour.
CoRR, 2020

Distributed Set-Based Observers Using Diffusion Strategy.
CoRR, 2020

Pedestrian Models for Autonomous Driving Part I: low level models, from sensing to tracking.
CoRR, 2020

CommonRoad Drivability Checker: Simplifying the Development and Validation of Motion Planning Algorithms.
Proceedings of the IEEE Intelligent Vehicles Symposium, 2020

Formalization of Interstate Traffic Rules in Temporal Logic.
Proceedings of the IEEE Intelligent Vehicles Symposium, 2020

Provably-Safe Cooperative Driving via Invariably Safe Sets.
Proceedings of the IEEE Intelligent Vehicles Symposium, 2020

Synthesizing Traffic Scenarios from Formal Specifications for Testing Automated Vehicles.
Proceedings of the IEEE Intelligent Vehicles Symposium, 2020

Cooperative Raw Sensor Data Fusion for Ground Truth Generation in Autonomous Driving.
Proceedings of the 23rd IEEE International Conference on Intelligent Transportation Systems, 2020

Mutual Absolute Calibration of Lidar Mounting Positions on Vehicles using CAD Models.
Proceedings of the 23rd IEEE International Conference on Intelligent Transportation Systems, 2020

Safe Reinforcement Learning for Autonomous Lane Changing Using Set-Based Prediction.
Proceedings of the 23rd IEEE International Conference on Intelligent Transportation Systems, 2020

Scenario Factory: Creating Safety-Critical Traffic Scenarios for Automated Vehicles.
Proceedings of the 23rd IEEE International Conference on Intelligent Transportation Systems, 2020

A Multi-Step Approach to Accelerate the Computation of Reachable Sets for Road Vehicles.
Proceedings of the 23rd IEEE International Conference on Intelligent Transportation Systems, 2020

Automatic Synthesis of Human Motion from Temporal Logic Specifications.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Optimizing performance in automation through modular robots.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Falsification-Based Robust Adversarial Reinforcement Learning.
Proceedings of the 19th IEEE International Conference on Machine Learning and Applications, 2020

Event-Triggered Diffusion Kalman Filters.
Proceedings of the 11th ACM/IEEE International Conference on Cyber-Physical Systems, 2020

Utilizing dependencies to obtain subsets of reachable sets.
Proceedings of the HSCC '20: 23rd ACM International Conference on Hybrid Systems: Computation and Control, 2020

Reachability analysis for hybrid systems with nonlinear guard sets.
Proceedings of the HSCC '20: 23rd ACM International Conference on Hybrid Systems: Computation and Control, 2020

Adaptive Parameter Tuning for Reachability Analysis of Linear Systems.
Proceedings of the 59th IEEE Conference on Decision and Control, 2020

Computing Non-Convex Inner-Approximations of Reachable Sets for Nonlinear Continuous Systems.
Proceedings of the 59th IEEE Conference on Decision and Control, 2020

Establishing Reachset Conformance for the Formal Analysis of Analog Circuits.
Proceedings of the 25th Asia and South Pacific Design Automation Conference, 2020

Scalable Zonotope-Ellipsoid Conversions using the Euclidean Zonotope Norm.
Proceedings of the 2020 American Control Conference, 2020

2019
Model Conformance for Cyber-Physical Systems: A Survey.
ACM Trans. Cyber Phys. Syst., 2019

Effortless creation of safe robots from modules through self-programming and self-verification.
Sci. Robotics, 2019

Sparse Polynomial Zonotopes: A Novel Set Representation for Reachability Analysis.
CoRR, 2019

Coupling SUMO with a Motion Planning Framework for Automated Vehicles.
Proceedings of the Simulating Connected Urban Mobility, 2019

Generating Critical Test Scenarios for Automated Vehicles with Evolutionary Algorithms.
Proceedings of the 2019 IEEE Intelligent Vehicles Symposium, 2019

Model-based Offline Vehicle Tracking in Automotive Applications Using a Precise 3D Model.
Proceedings of the 2019 IEEE Intelligent Transportation Systems Conference, 2019

Calibration of Controlled Markov Chains for Predicting Pedestrian Crossing Behavior Using Multi-objective Genetic Algorithms.
Proceedings of the 2019 IEEE Intelligent Transportation Systems Conference, 2019

Computationally Efficient Safety Falsification of Adaptive Cruise Control Systems.
Proceedings of the 2019 IEEE Intelligent Transportation Systems Conference, 2019

ARCH-COMP19 Category Report: Continuous and Hybrid Systems with Nonlinear Dynamics.
Proceedings of the ARCH19. 6th International Workshop on Applied Verification of Continuous and Hybrid Systemsi, 2019

ARCH-COMP19 Category Report: Continuous and Hybrid Systems with Linear Continuous Dynamics.
Proceedings of the ARCH19. 6th International Workshop on Applied Verification of Continuous and Hybrid Systemsi, 2019

Scalable Robust Model Predictive Control for Linear Sampled-Data Systems.
Proceedings of the 58th IEEE Conference on Decision and Control, 2019

Distributed Secure State Estimation Using Diffusion Kalman Filters and Reachability Analysis.
Proceedings of the 58th IEEE Conference on Decision and Control, 2019

A modal interface contract theory for guarded input/output automata with an application in traffic system design.
Proceedings of the 2019 American Control Conference, 2019

Risk-aware motion planning for automated vehicle among human-driven cars.
Proceedings of the 2019 American Control Conference, 2019

2018
On the Combined Inverse-Dynamics/Passivity-Based Control of Elastic-Joint Robots.
IEEE Trans. Robotics, 2018

Computing the Drivable Area of Autonomous Road Vehicles in Dynamic Road Scenes.
IEEE Trans. Intell. Transp. Syst., 2018

On-the-Fly Control Design of Modular Robot Manipulators.
IEEE Trans. Control. Syst. Technol., 2018

Overapproximative Human Arm Occupancy Prediction for Collision Avoidance.
IEEE Trans Autom. Sci. Eng., 2018

Flexible Automation Driven by Demonstration: Leveraging Strategies that Simplify Robotics.
IEEE Robotics Autom. Mag., 2018

Evaluating Location Compliance Approaches for Automated Road Vehicles.
Proceedings of the 2018 IEEE Intelligent Vehicles Symposium, 2018

Probabilistic Map-based Pedestrian Motion Prediction Taking Traffic Participants into Consideration.
Proceedings of the 2018 IEEE Intelligent Vehicles Symposium, 2018

Worst-case Analysis of the Time-To-React Using Reachable Sets.
Proceedings of the 2018 IEEE Intelligent Vehicles Symposium, 2018

Efficient Mixed-Integer Programming for Longitudinal and Lateral Motion Planning of Autonomous Vehicles.
Proceedings of the 2018 IEEE Intelligent Vehicles Symposium, 2018

Automatic Generation of Safety-Critical Test Scenarios for Collision Avoidance of Road Vehicles.
Proceedings of the 2018 IEEE Intelligent Vehicles Symposium, 2018

Computationally Efficient Fail-safe Trajectory Planning for Self-driving Vehicles Using Convex Optimization.
Proceedings of the 21st International Conference on Intelligent Transportation Systems, 2018

High-level Decision Making for Safe and Reasonable Autonomous Lane Changing using Reinforcement Learning.
Proceedings of the 21st International Conference on Intelligent Transportation Systems, 2018

Tactical Decision Making for Cooperative Vehicles Using Reachable Sets.
Proceedings of the 21st International Conference on Intelligent Transportation Systems, 2018

Set-Based Prediction of Pedestrians in Urban Environments Considering Formalized Traffic Rules.
Proceedings of the 21st International Conference on Intelligent Transportation Systems, 2018

Anytime Safety Verification of Autonomous Vehicles.
Proceedings of the 21st International Conference on Intelligent Transportation Systems, 2018

Efficient Computation of Invariably Safe States for Motion Planning of Self-Driving Vehicles.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Hierarchical Path Planner Using Workspace Decomposition and Parallel Task-Space RRTs.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Reachset Conformance of Forward Dynamic Models for the Formal Analysis of Robots.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Interval-Arithmetic-Based Trajectory Scaling and Collision Detection for Robots with Uncertain Dynamics.
Proceedings of the Second IEEE International Conference on Robotic Computing, 2018

Reachset Conformance Testing of Human Arms with a Biomechanical Model.
Proceedings of the Second IEEE International Conference on Robotic Computing, 2018

Reachset Model Predictive Control for Disturbed Nonlinear Systems.
Proceedings of the 57th IEEE Conference on Decision and Control, 2018

A Formally Verified Motion Planner for Autonomous Vehicles.
Proceedings of the Automated Technology for Verification and Analysis, 2018

ARCH-COMP18 Category Report: Continuous and Hybrid Systems with Nonlinear Dynamics.
Proceedings of the ARCH18. 5th International Workshop on Applied Verification of Continuous and Hybrid Systems, 2018

Implementation of Taylor models in CORA 2018.
Proceedings of the ARCH18. 5th International Workshop on Applied Verification of Continuous and Hybrid Systems, 2018

ARCH-COMP18 Category Report: Continuous and Hybrid Systems with Linear Continuous Dynamics.
Proceedings of the ARCH18. 5th International Workshop on Applied Verification of Continuous and Hybrid Systems, 2018

2017
IEEE Transactions on Intelligent Vehicles New Senior Editors and Associate Editors.
IEEE Trans. Intell. Veh., 2017

Computing possible driving corridors for automated vehicles.
Proceedings of the IEEE Intelligent Vehicles Symposium, 2017

Verifying the safety of lane change maneuvers of self-driving vehicles based on formalized traffic rules.
Proceedings of the IEEE Intelligent Vehicles Symposium, 2017

Driving strategy selection for cooperative vehicles using maneuver templates.
Proceedings of the IEEE Intelligent Vehicles Symposium, 2017

SPOT: A tool for set-based prediction of traffic participants.
Proceedings of the IEEE Intelligent Vehicles Symposium, 2017

CommonRoad: Composable benchmarks for motion planning on roads.
Proceedings of the IEEE Intelligent Vehicles Symposium, 2017

Ensuring drivability of planned motions using formal methods.
Proceedings of the 20th IEEE International Conference on Intelligent Transportation Systems, 2017

Negotiation of drivable areas of cooperative vehicles for conflict resolution.
Proceedings of the 20th IEEE International Conference on Intelligent Transportation Systems, 2017

Determining the maximum time horizon for vehicles to safely follow a trajectory.
Proceedings of the 20th IEEE International Conference on Intelligent Transportation Systems, 2017

Interaction-aware occupancy prediction of road vehicles.
Proceedings of the 20th IEEE International Conference on Intelligent Transportation Systems, 2017

Comparison of trajectory tracking controllers for autonomous vehicles.
Proceedings of the 20th IEEE International Conference on Intelligent Transportation Systems, 2017

Calculating human reachable occupancy for guaranteed collision-free planning.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Provably safe motion of mobile robots in human environments.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Evolutionary cost-optimal composition synthesis of modular robots considering a given task.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Efficient Computation of Interval-Arithmetic-Based Robust Controllers for Rigid Robots.
Proceedings of the First IEEE International Conference on Robotic Computing, 2017

Formalising and Monitoring Traffic Rules for Autonomous Vehicles in Isabelle/HOL.
Proceedings of the Integrated Formal Methods - 13th International Conference, 2017

Combined inverse-dynamics/passivity-based control for robots with elastic joints.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Convex Interpolation Control with Formal Guarantees for Disturbed and Constrained Nonlinear Systems.
Proceedings of the 20th International Conference on Hybrid Systems: Computation and Control, 2017

Time-Triggered Conversion of Guards for Reachability Analysis of Hybrid Automata.
Proceedings of the Formal Modeling and Analysis of Timed Systems, 2017

ARCH-COMP17 Category Report: Continuous Systems with Nonlinear Dynamics.
Proceedings of the ARCH17. 4th International Workshop on Applied Verification of Continuous and Hybrid Systems, 2017

ARCH-COMP17 Category Report: Continuous and Hybrid Systems with Linear Continuous Dynamics.
Proceedings of the ARCH17. 4th International Workshop on Applied Verification of Continuous and Hybrid Systems, 2017

Enhancing motion safety by identifying safety-critical passageways.
Proceedings of the 56th IEEE Annual Conference on Decision and Control, 2017

Methods for order reduction of zonotopes.
Proceedings of the 56th IEEE Annual Conference on Decision and Control, 2017

Online verification of multiple safety criteria for a robot trajectory.
Proceedings of the 56th IEEE Annual Conference on Decision and Control, 2017

Optimal control of sets of solutions to formally guarantee constraints of disturbed linear systems.
Proceedings of the 2017 American Control Conference, 2017

Estimating the region of attraction via forward reachable sets.
Proceedings of the 2017 American Control Conference, 2017

Compositional transient stability analysis of power systems via the computation of reachable sets.
Proceedings of the 2017 American Control Conference, 2017

2016
Set-Based Prediction of Traffic Participants on Arbitrary Road Networks.
IEEE Trans. Intell. Veh., 2016

Online motion synthesis with minimal intervention control and formal safety guarantees.
Proceedings of the 2016 IEEE International Conference on Systems, Man, and Cybernetics, 2016

A Formally Verified Checker of the Safe Distance Traffic Rules for Autonomous Vehicles.
Proceedings of the NASA Formal Methods - 8th International Symposium, 2016

Fail-safe motion planning of autonomous vehicles.
Proceedings of the 19th IEEE International Conference on Intelligent Transportation Systems, 2016

Can automated road vehicles harmonize with traffic flow while guaranteeing a safe distance?
Proceedings of the 19th IEEE International Conference on Intelligent Transportation Systems, 2016

Overapproximative arm occupancy prediction for human-robot co-existence built from archetypal movements.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

A task-driven algorithm for configuration synthesis of modular robots.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Reachset Conformance Testing of Hybrid Automata.
Proceedings of the 19th International Conference on Hybrid Systems: Computation and Control, 2016

Implementation of Interval Arithmetic in CORA 2016.
Proceedings of the ARCH@CPSWeek 2016, 2016

Estimating the domain of attraction based on the invariance principle.
Proceedings of the 55th IEEE Conference on Decision and Control, 2016

On estimating the Robust Domain of Attraction for uncertain non-polynomial systems: An LMI approach.
Proceedings of the 55th IEEE Conference on Decision and Control, 2016

Combining zonotopes and support functions for efficient reachability analysis of linear systems.
Proceedings of the 55th IEEE Conference on Decision and Control, 2016

STL Model Checking of Continuous and Hybrid Systems.
Proceedings of the Automated Technology for Verification and Analysis, 2016

Closed-form expressions of convex combinations.
Proceedings of the 2016 American Control Conference, 2016

Ultimate robust performance control of rigid robot manipulators using interval arithmetic.
Proceedings of the 2016 American Control Conference, 2016

On enlarging backward reachable sets via Zonotopic set membership.
Proceedings of the IEEE International Symposium on Intelligent Control, 2016

Cost-optimal composition synthesis for modular robots.
Proceedings of the 2016 IEEE Conference on Control Applications, 2016

2015
On Computing the Minkowski Difference of Zonotopes.
CoRR, 2015

On time-memory trade-off for collision detection.
Proceedings of the 2015 IEEE Intelligent Vehicles Symposium, 2015

Determining the Nonexistence of Evasive Trajectories for Collision Avoidance Systems.
Proceedings of the IEEE 18th International Conference on Intelligent Transportation Systems, 2015

Formalising Traffic Rules for Accountability of Autonomous Vehicles.
Proceedings of the IEEE 18th International Conference on Intelligent Transportation Systems, 2015

Automatic centralized controller design for modular and reconfigurable robot manipulators.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Online safety verification of trajectories for unmanned flight with offline computed robust invariant sets.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Safety control of robots under Computed Torque control using reachable sets.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

An Introduction to CORA 2015.
Proceedings of the 1st and 2nd International Workshop on Applied veRification for Continuous and Hybrid Systems, 2015

Control synthesis for non-polynomial systems: A domain of attraction perspective.
Proceedings of the 54th IEEE Conference on Decision and Control, 2015

Automated generation of hybrid system models for reachability analysis of nonlinear analog circuits.
Proceedings of the 20th Asia and South Pacific Design Automation Conference, 2015

2014
Online Verification of Automated Road Vehicles Using Reachability Analysis.
IEEE Trans. Robotics, 2014

Reachability Analysis of Nonlinear Differential-Algebraic Systems.
IEEE Trans. Autom. Control., 2014

Formal verification of maneuver automata for parameterized motion primitives.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

2013
Formal verification of phase-locked loops using reachability analysis and continuization.
Commun. ACM, 2013

Comparison of trajectory tracking controllers for emergency situations.
Proceedings of the 2013 IEEE Intelligent Vehicles Symposium (IV), 2013

Should collision avoidance systems use yaw stabilization?
Proceedings of the 16th International IEEE Conference on Intelligent Transportation Systems, 2013

Road occupancy prediction of traffic participants.
Proceedings of the 16th International IEEE Conference on Intelligent Transportation Systems, 2013

Reachability analysis of nonlinear systems using conservative polynomialization and non-convex sets.
Proceedings of the 16th international conference on Hybrid systems: computation and control, 2013

2012
Transient stability analysis by reachable set computation.
Proceedings of the 3rd IEEE PES Innovative Smart Grid Technologies Europe, 2012

Avoiding geometric intersection operations in reachability analysis of hybrid systems.
Proceedings of the Hybrid Systems: Computation and Control (part of CPS Week 2012), 2012

Reachability computation of low-order models for the safety verification of high-order road vehicle models.
Proceedings of the American Control Conference, 2012

2011
Comparison of Markov Chain Abstraction and Monte Carlo Simulation for the Safety Assessment of Autonomous Cars.
IEEE Trans. Intell. Transp. Syst., 2011

Set-based computation of vehicle behaviors for the online verification of autonomous vehicles.
Proceedings of the 14th International IEEE Conference on Intelligent Transportation Systems, 2011

Reachable set computation for uncertain time-varying linear systems.
Proceedings of the 14th ACM International Conference on Hybrid Systems: Computation and Control, 2011

Zonotope bundles for the efficient computation of reachable sets.
Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, 2011

2010
Safety verification of autonomous vehicles for coordinated evasive maneuvers.
Proceedings of the IEEE Intelligent Vehicles Symposium (IV), 2010

Probabilistic collision state checker for crowded environments.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

2009
Model-Based Probabilistic Collision Detection in Autonomous Driving.
IEEE Trans. Intell. Transp. Syst., 2009

Safety assessment for stochastic linear systems using enclosing hulls of probability density functions.
Proceedings of the 10th European Control Conference, 2009

2008
Sicherheitsbewertung von Fahrstrategien kognitiver Automobile (Safety Assessment of Driving Strategies of Cognitive Cars).
Autom., 2008

Probabilistic mapping of dynamic obstacles using Markov chains for replanning in dynamic environments.
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

Reachability analysis of nonlinear systems with uncertain parameters using conservative linearization.
Proceedings of the 47th IEEE Conference on Decision and Control, 2008

2007
Reachability analysis of linear systems with uncertain parameters and inputs.
Proceedings of the 46th IEEE Conference on Decision and Control, 2007

Safety Assessment of Autonomous Cars using Verification Techniques.
Proceedings of the American Control Conference, 2007


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