Foto von Matthias Althoff

Prof. Dr.-Ing. Matthias Althoff

Technische Universität München

Informatik 6 - Lehrstuhl für Robotik, Künstliche Intelligenz und Echtzeitsysteme (Prof. Knoll)

Postadresse

Postal:
Boltzmannstr. 3
85748 Garching b. München

Dienstort

Informatik 6 - Professur für Cyber Physical Systems (Prof. Althoff)

Work:
Boltzmannstr. 3(5607)/III
85748 Garching b. München

  • Tel.: +49 (89) 289 - 18134
  • Raum: 5607.03.053
  • althoff(at)tum.de

Curriculum Vitae

Matthias Althoff received the diploma in Mechatronics and Information Technology from the department of mechanical engineering at the Technische Universität München, Germany, in 2005. He received his PhD degree (summa cum laude) in electrical engineering from the same university under the supervision of Univ.-Prof. Dr.-Ing./Univ. Tokio Martin Buss in 2010. From 2010 - 2012 he was a postdoctoral researcher at Carnegie Mellon University, USA, with a joint appointment in electrical engineering and the Robotics Institute. He joined the computer science department at Ilmenau University of Technology, Germany, in 2012 as assistant professor for automation systems. Since 2013 Matthias Althoff is assistant professor in computer science at the Technische Universität München.

His research interests include the design and analysis of cyber-physical systems, formal verification of continuous and hybrid systems, reachability analysis, planning algorithms, robust and fault-tolerant control. Main applications of his research are automated vehicles, robotics, power systems, and analog and mixed-signal circuits.

full CV

Modular Robotics Startup – RobCo

RobCo



Publications

2021

  • Gaßmann, Victor; Althoff, Matthias: Verified Polynomial Controller Synthesis for Disturbed Nonlinear Systems. IFAC-PapersOnLine 54 (5), 2021, 85-90 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Gruber, F.; Althoff, M.: Computing safe sets of linear sampled-data systems. IEEE Control Systems Letters 5 (2), 2021, 385-390 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Irani Liu, Edmond; Althoff, Matthias: Computing Specification-Compliant Reachable Sets for Motion Planning of Automated Vehicles. 2021 IEEE Intelligent Vehicles Symposium (IV), 2021, 1-8 more… BibTeX
  • Kochdumper, Niklas and Gruber, Felix and Schürmann, Bastian and Gaßmann, Victor and Klischat, Moritz and Althoff, Matthias: AROC: A Toolbox for Automated Reachset Optimal Controller Synthesis. Proc. of the 24th International Conference on Hybrid Systems: Computation and Control, 2021 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Kochdumper, Niklas; Althoff, Matthias: Sparse Polynomial Zonotopes: A Novel Set Representation for Reachability Analysis. IEEE Transactions on Automatic Control 66 (9), 2021, 4043 - 4058 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Krasowski, Hanna; Althoff, Matthias: Temporal Logic Formalization of Marine Traffic Rules. 2021 IEEE Intelligent Vehicles Symposium (IV), 2021 more… BibTeX Full text (mediaTUM)
  • Kulmburg, Adrian; Althoff, Matthias: On the co-NP-Completeness of the Zonotope Containment Problem. European Journal of Control, 2021 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Mark Wetzlinger, Adrian Kulmburg, Matthias Althoff: Adaptive Parameter Tuning for Reachability Analysis of Nonlinear Systems. HSCC '21: Proceedings of the 24th International Conference on Hybrid Systems: Computation and Control, ACM, 2021 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Matthias Althoff, Sebastian Maierhofer, and Christian Pek: Provably-Correct and Comfortable Adaptive Cruise Control. IEEE Transactions on Intelligent Vehicles 6 (1), 2021, 159-174 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Sebastian Maierhofer, Moritz Klischat, and Matthias Althoff: CommonRoad Scenario Designer: An Open-Source Toolbox for Map Conversion and Scenario Creation for Autonomous Vehicles. Proc. of the IEEE Int. Conf. on Intelligent Transportation Systems , 2021, 3176-3182 more… BibTeX Full text (mediaTUM)
  • Würsching, Gerald; Althoff, Matthias: Sampling-Based Optimal Trajectory Generation for Autonomous Vehicles Using Reachable Sets. IEEE International Conference on Intelligent Transportation Systems (ITSC), 2021 more… BibTeX
  • Xiao Wang; Hanna Krasowski; Matthias Althoff: CommonRoad-RL: A Configurable Reinforcement Learning Environment for Motion Planning of Autonomous Vehicles. IEEE International Conference on Intelligent Transportation Systems (ITSC), 2021 more… BibTeX Full text (mediaTUM)
  • Ye, Egon; Würsching, Gerald; Steyer, Sascha; Althoff, Matthias: Offline Dynamic Grid Generation for Automotive Environment Perception Using Temporal Inference Methods. IEEE Robotics and Automation Letters, 2021 more… BibTeX Full text ( DOI )
  • Yuanfei Lin; Sebastian Maierhofer; and Matthias Althoff: Sampling-Based Trajectory Repairing for Autonomous Vehicles. 2021 IEEE International Conference on Intelligent Transportation Systems (ITSC) , 2021 more… BibTeX Full text (mediaTUM)

2020

  • Alanwar, A.; Said, H.; Mehta, A.; Althoff, M.: Event-Triggered Diffusion Kalman Filters. Proc. of the 11th ACM/IEEE International Conference on Cyber-Physical Systems, 2020 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Althoff, M.: Reachability Analysis of Large Linear Systems With Uncertain Inputs in the Krylov Subspace. IEEE Transactions on Automatic Control 65 (2), 2020, 477-492 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Althoff, M.: Build Your Own Reachability Analyzer with CORA. Post-proceedings of the Summer School Marktoberdorf: Safety and Security of Software Systems - Logics, Proofs, Applications, 2020 more… BibTeX Full text (mediaTUM)
  • Althoff, Matthias; Bak, Stanley; Bao, Zongnan; Forets, Marcelo; Frehse, Goran; Freire, Daniel; Kochdumper, Niklas; Li, Yangge; Mitra, Sayan; Ray, Rajarshi; Schilling, Christian; Schupp, Stefan; Wetzlinger, Mark: ARCH-COMP20 Category Report: Continuous and Hybrid Systems with Linear Continuous Dynamics. Proc. of the 7th International Workshop on Applied Verification of Continuous and Hybrid Systems, EasyChair, 2020, 16-48 more… BibTeX Full text ( DOI )
  • Christian Pek, Vitaliy Rusinov, Stefanie Manzinger, Murat Can Üste, and Matthias Althoff: CommonRoad Drivability Checker: Simplifying the Development and Validation of Motion Planning Algorithms. Proc. of the IEEE Intelligent Vehicles Symposium, 2020 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Gaßmann, Victor; Althoff, Matthias: Scalable Zonotope-Ellipsoid Conversions using the Euclidean Zonotope Norm. 2020 American Control Conference (ACC), IEEE, 2020, 4715 - 4721 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Geretti, Luca; Alexandre Dit Sandretto, Julien; Althoff, Matthias; Benet, Luis; Chapoutot, Alexandre; Chen, Xin; Collins, Pieter; Forets, Marcelo; Freire, Daniel; Immler, Fabian; Kochdumper, Niklas; Sanders, David P.; Schilling, Christian: ARCH-COMP20 Category Report: Continuous and Hybrid Systems with Nonlinear Dynamics. Proc. of the 7th International Workshop on Applied Verification of Continuous and Hybrid Systems, EasyChair, 2020, 49-75 more… BibTeX Full text ( DOI )
  • Irani Liu, Edmond; Pek, Christian; Althoff, Matthias: Provably-Safe Cooperative Driving via Invariably Safe Sets. 2020 IEEE Intelligent Vehicles Symposium (IV), 2020, 1-8 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Klischat, Moritz; Althoff, Matthias: A Multi-Step Approach to Accelerate the Computation of Reachable Sets for Road Vehicles. Proc. of the IEEE Conf. on Intelligent Transportation Systems, 2020 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Klischat, Moritz; Althoff, Matthias: Synthesizing Traffic Scenarios from Formal Specifications for Testing Automated Vehicles. Proc. of the IEEE Intelligent Vehicles Symposium, 2020, 2065-2072 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Klischat, Moritz; Irani Liu, Edmond; Höltke, Fabian; Althoff, Matthias: Scenario Factory: Creating Safety-Critical Traffic Scenarios for Automated Vehicles. 2020 IEEE International Conference on Intelligent Transportation Systems (ITSC), 2020 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Kochdumper, Niklas and Althoff, Matthias: Computing Non-Convex Inner-Approximations of Reachable Sets for Nonlinear Continuous Systems. Proc. of the 59th Conference on Decision and Control, 2020 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Kochdumper, Niklas; Tarraf, Ahmad, Rechmal, Malgorzata; Olbrich, Markus; Hedrich, Lars; Althoff, Matthias: Establishing Reachset Conformance for the Formal Analysis of Analog Circuits. Proceedings of the 25th Asia and South Pacific Design Automation Conference, 2020, 199-204 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Kochdumper, Niklas; Althoff, Matthias: Reachability analysis for hybrid systems with nonlinear guard sets. Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control, ACM, 2020 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Kochdumper, Niklas; Schürmann, Bastian; Althoff, Matthias: Utilizing dependencies to obtain subsets of reachable sets. Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control, ACM, 2020 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Koschi, Markus; Althoff, Matthias: Set-based Prediction of Traffic Participants Considering Occlusions and Traffic Rules. IEEE Transactions on Intelligent Vehicles, 2020 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Krasowski, Hanna; Wang, Xiao; Althoff, Matthias: Safe Reinforcement Learning for Autonomous Lane Changing Using Set-Based Prediction. 2020 IEEE International Conference on Intelligent Transportation Systems (ITSC), 2020 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Liu, S. B.; Althoff, M.: Optimizing performance in automation through modular robots. IEEE International Conference on Robotics and Automation, 2020 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Maierhofer, Sebastian; Rettinger, Anna-Katharina; Mayer, Eva Charlotte; Althoff, Matthias: Formalization of Interstate Traffic Rules in Temporal Logic. Proc. of the IEEE Intelligent Vehicles Symposium, 2020 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Manzinger, Stefanie; Pek, Christian; Althoff, Matthias: Using Reachable Sets for Trajectory Planning of Automated Vehicles. IEEE Transactions on Intelligent Vehicles, 2020 more… BibTeX Full text ( DOI )
  • Mark Wetzlinger, Niklas Kochdumper, Matthias Althoff: Adaptive Parameter Tuning for Reachability Analysis of Linear Systems. 2020 59th IEEE Conference on Decision and Control (CDC), 2020 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Matthias Althoff, Matthias Mayer, Robert Müller: Automatic Synthesis of Human Motion from Temporal Logic Specifications. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Pek, Christian; Manzinger, Stefanie; Koschi, Markus; Althoff, Matthias: Using online verification to prevent autonomous vehicles from causing accidents. Nature Machine Intelligence 2 (9), 2020, 518-528 more… BibTeX Full text ( DOI )
  • Schieben, A.; Wilbrink, M.; Dietrich, A.; Ruenz, J.; Portouli, E.; Amditis, A.; Althoff, M.; Kaup, M.; Tango, F.; Lee, Y. -M.; Markkula, G.; Merat, N.; Weber, F.: Designing cooperative interaction of automated vehicles in mixed traffic environments: Insights from the interACT project. Proc. of 8th Transport Research Arena, 2020 more… BibTeX Full text (mediaTUM)
  • Schürmann, Bastian; Vignali, Riccardo; Prandini, Maria; Althoff, Matthias: Set-based Control for Disturbed Piecewise Affine Systems with State and Actuation Constraints. Nonlinear Analysis: Hybrid Systems 36, 2020 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Vogel, Paul; Althoff, Matthias: Rekonstruktion von durch vollautomatisierte Fahrzeuge verursachten Verkehrsunfällen. InTeR - Zeitschrift zum Innovations- und Technikrecht 8 (2), 2020, 89-94 more… BibTeX Full text (mediaTUM)
  • Xiao Wang, Anna-Katharina Rettinger, Md Tawhid Bin Waez, Matthias Althoff: Coupling Apollo with the CommonRoad Motion Planning Framework​. FISITA World Congress, 2020 more… BibTeX Full text (mediaTUM)
  • Xiao Wang; Saasha Nair; Matthias Althoff: Falsification-Based Robust Adversarial Reinforcement Learning. Proc. of IEEE International Conference on Machine Learning and Applications, 2020 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Ye, Egon; Althoff, Matthias: Mutual Absolute Calibration of Lidar Mounting Positions on Vehicles using CAD Models. Proc. of the 23rd IEEE International Conference on Intelligent Transportation Systems, 2020, 554–560 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Ye, Egon; Spiegel, Philip; Althoff, Matthias: Cooperative Raw Sensor Data Fusion for Ground Truth Generation in Autonomous Driving. Proc. of the 23rd IEEE International Conference on Intelligent Transportation Systems, 2020, 1498–1504 more… BibTeX Full text ( DOI ) Full text (mediaTUM)

2019

  • Alanwar, Amr; Said, Hazem; Althoff, Matthias: Distributed Secure State Estimation Using Diffusion Kalman Filters and Reachability Analysis. Proc. of the 58th IEEE Conference on Decsion and Control, 2019 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Althoff, M.; Giusti, A.; Liu, S. B.; Pereira, A.: Effortless creation of safe robots from modules through self-programming and self-verification. Science Robotics 4 (31), 2019, eaaw1924 more… BibTeX Full text ( DOI )
  • Althoff, Matthias; Bak, Stanley; Forets, Marcelo; Frehse, Goran; Kochdumper, Niklas; Ray, Rajarshi; Schilling, Christian; Schupp, Stefan: ARCH-COMP19 Category Report: Continuous and Hybrid Systems with Linear Continuous Dynamics. Proc. of the 6th International Workshop on Applied Verification of Continuous and Hybrid Systems (EPiC Series in Computing), 2019 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Christian Pek and Matthias Althoff: Ensuring Motion Safety of Autonomous Vehicles through Online Fail-safe Verification. Robotics: Science and Systems -- Pioneers Workshop, 2019 more… BibTeX Full text (mediaTUM)
  • Christian Pek, Markus Koschi, and Matthias Althoff: An Online Verification Framework for Motion Planning of Self-driving Vehicles with Safety Guarantees. AAET - Automatisiertes und vernetztes Fahren, 2019 more… BibTeX Full text (mediaTUM)
  • Ge, J. I.; Schürmann, B.; Murray, R. M.; Althoff, M.: Risk-aware motion planning for automated vehicle among human-driven cars. Proc. of the American Control Conference, 2019 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Gruber, F.; Althoff, M.: Scalable robust model predictive control for linear sampled-data systems. IEEE Conference on Decision and Control, 2019, 438-444 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Immler, Fabian; Althoff, Matthias; Benet, Luis; Chapoutot, Alexandre; Chen, Xin; Forets, Marcelo; Geretti, Luca; Kochdumper, Niklas; Sanders, David P.; Schilling, Christian: ARCH-COMP19 Category Report: Continuous and Hybrid Systems with Nonlinear Dynamics. Proc. of the 6th International Workshop on Applied Verification of Continuous and Hybrid Systems (EPiC Series in Computing), 2019 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Li, Yan; Zhang, Peng; Althoff, Matthias; Yue, Meng: Distributed Formal Analysis for Power Networks With Deep Integration of Distributed Energy Resources. IEEE Transactions on Power Systems 34 (6), 2019, 5147-5156 more… BibTeX Full text ( DOI )
  • Markus Koschi, Christian Pek, Sebastian Maierhofer, and Matthias Althoff: Computationally Efficient Safety Falsification of Adaptive Cruise Control Systems. Proc. of the IEEE Int. Conf. on Intelligent Transportation Systems, 2019 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Moritz Klischat and Matthias Althoff: Generating Critical Test Scenarios for Automated Vehicles with Evolutionary Algorithms. Proc. of the IEEE Intelligent Vehicles Symposium, 2019, 2352 - 2358 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Moritz Klischat, Octav Dragoi, Mostafa Eissa, and Matthias Althoff: Coupling SUMO with a Motion Planning Framework for Automated Vehicles. SUMO User Conference, 2019, 1-9 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Nikol, Daniel; Althoff, Matthias: Die Formalisierung von Rechtsnormen am Beispiel des Überholvorgangs. InTeR - Zeitschrift zum Innovations- und Technikrecht (1), 2019, 12-16 more… BibTeX Full text (mediaTUM)
  • Phan-Minh, T.; Guo, S.; Schürmann, B.; Althoff, M.; Murray, R. M.: A modal interface contract theory for guarded input/output automata with an application in traffic system design. Proc. of the American Control Conference, 2019 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Roehm, Hendrik; Oehlerking, Jens; Woehrle, Matthias; Althoff, Matthias: Model Conformance for Cyber-Physical Systems: A Survey. ACM Transactions on Cyber-Physical Systems 3 (3), 2019, 1-26 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Wu, Jingyuan; Ruenz, Johannes; Althoff, Matthias: Calibration of Controlled Markov Chains for Predicting Pedestrian Crossing Behavior Using Multi-objective Genetic Algorithms. Proc. of the 22nd Intelligent Transportation Systems Conference, 2019 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Ye, Egon; Althoff, Matthias: Model-based Offline Vehicle Tracking in Automotive Applications Using a Precise 3D Model. Proc. of the 22nd IEEE International Conference on Intelligent Transportation Systems, 2019, 1128–1135 more… BibTeX Full text ( DOI ) Full text (mediaTUM)

2018

  • Althoff, M.; Grebenyuk, D.; Kochdumper, N.: Implementation of Taylor Models in CORA 2018. Proc. of the 5th International Workshop on Applied Verification for Continuous and Hybrid Systems, 2018 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Althoff, M.; Lutz, S.: Automatic Generation of Safety-Critical Test Scenarios for Collision Avoidance of Road Vehicles. Proc. of the IEEE Intelligent Vehicles Symposium, 2018 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Althoff, M.; Urban, S.; Koschi, M.: Automatic Conversion of Road Networks from OpenDRIVE to Lanelets. Proc. of the IEEE International Conference on Service Operations and Logistics, and Informatics, 2018 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Branka Mirchevska, Christian Pek, Moritz Werling, Matthias Althoff, Joschka Boedecker: High-level Decision Making for Safe and Reasonable Autonomous Lane Changing using Reinforcement Learning. Proc. of the IEEE Int. Conf. on Intelligent Transportation Systems, 2018 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Christian Pek and Matthias Althoff: Efficient Computation of Invariably Safe States for Motion Planning of Self-driving Vehicles. Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems, 2018 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Christian Pek and Matthias Althoff: Computationally Efficient Fail-safe Trajectory Planning for Self-driving Vehicles Using Convex Optimization. Proc. of the IEEE Int. Conf. on Intelligent Transportation Systems, 2018 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Giusti, A.; Althoff, M.: On-The-Fly Control Design of Modular Robot Manipulators. IEEE Transactions on Control Systems Technology 26 (4), 2018, 1484-1491 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Giusti, A.; Zeestraten, M. ~J. ~A.; Icer, E.; Pereira, A.; Caldwell, D. ~G.; Calinon, S.; Althoff, M.: Flexible Automation Driven by Demonstration: Leveraging Strategies that Simplify Robotics. IEEE Robotics Automation Magazine 25 (2), 2018, 18-27 more… BibTeX Full text (mediaTUM)
  • Giusti, Andrea; Malzahn, Jorn; Tsagarakis, Nikolaos G.; Althoff, Matthias: On the Combined Inverse-Dynamics/Passivity-Based Control of Elastic-Joint Robots. IEEE Transactions on Robotics 34 (6), 2018, 1461-1471 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Gruber, F.; Althoff, M.: Anytime safety verification of autonomous vehicles. IEEE Conference on Intelligent Transportation Systems, 2018, 1708-1714 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Immler, F.; Althoff, M.; Chen, X.; Fan, C.; Frehse, G.; Kochdumper, N.; Li, Y.; Mitra, S.; Tomar, M. S.; Zamani, M.: ARCH-COMP18 Category Report: Continuous and Hybrid Systems with Nonlinear Dynamics. Proc. of the 5th International Workshop on Applied Verification for Continuous and Hybrid Systems, 2018 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Liu, S. B.; Althoff, M.: Reachset Conformance of Forward Dynamic Models for the Formal Analysis of Robots. Proc. of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • M. Althoff, S. Bak, X. Chen, C. Fan, M. Forets, G. Frehse, N. Kochdumper, Y. Li, S. Mitra, R. Ray, C. Schilling and S. Schupp: ARCH-COMP18 Category Report: Continuous and Hybrid Systems with Linear Continuous Dynamics. Proc. of the 5th International Workshop on Applied Verification for Continuous and Hybrid Systems, 2018, 23-52 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Manzinger, S.; Althoff, M.: Tactical Decision Making for Cooperative Vehicles Using Reachable Sets. Proc. of the 21st IEEE International Conference on Intelligent Transportation Systems, 2018 more… BibTeX Full text (mediaTUM)
  • Markus Koschi, Christian Pek, Mona Beikirch, and Matthias Althoff: Set-Based Prediction of Pedestrians in Urban Environments Considering Formalized Traffic Rules. Proc. of the IEEE Int. Conf. on Intelligent Transportation Systems, 2018 more… BibTeX Full text (mediaTUM)
  • Matthias Althoff; Stefan Urban; Markus Koschi: Automatic Conversion of Road Networks from OpenDRIVE to Lanelets. Proc. of the IEEE International Conference on Service Operations and Logistics, and Informatics, 2018 more… BibTeX Full text (mediaTUM)
  • Mesesan, G.; Roa, M.~A.; Icer, E.; Althoff, M.: Hierarchical Path Planner using Workspace Decomposition and Parallel Task-Space RRTs. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Miller, Christina and Pek, Christian and Althoff, Matthias: Efficient Mixed-Integer Programming for Longitudinal and Lateral Motion Planning of Autonomous Vehicles. Proc. of the IEEE Intelligent Vehicles Symposium, 2018 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Pereira, A.; Althoff, M.: Overapproximative, Real-Time Human Arm Occupancy Prediction for Human-Robot Interaction. IEEE Transactions on Robotics 15 (2), 2018, 818-831 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Rizaldi, A.; Immler, F.; Schürmann, B.; Althoff, M.: A Formally Verified Motion Planner for Autonomous Vehicles. Proc. of the International Symposium on Automated Technology for Verification and Analysis, 2018 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Schürmann, Bastian; Kochdumper, Niklas; Althoff, Matthias: Reachset Model Predictive Control for Disturbed Nonlinear Systems. Proc. of the 57th IEEE Conference on Decision and Control, 2018 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Stark, C.; Pereira, A.; Althoff, M.: Reachset Conformance Testing of Human Arms with a Biomechanical Model. Proc. {IEEE} Int. Conf. Robotic Computing, 2018 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Söntges, S.; Althoff, M.: Computing the Drivable Area of Autonomous Road Vehicles in Dynamic Road Scenes. IEEE Transactions on Intelligent Transportation Systems 19 (6), 2018, 1855-1866 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Söntges, Sebastian; Koschi, Markus; Althoff, Matthias: Worst-case Analysis of the Time-To-React Using Reachable Sets. Proc. of the IEEE Intelligent Vehicles Symposium, 2018 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Wagner, M.; Liu, S. B.; Giusti, A.; Althoff, M.: Interval-Arithmetic-Based Trajectory Scaling and Collision Detection for Robots with Uncertain Dynamics. Proc. of the IEEE International Conference on Robotic Computing, 2018 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Wu, Jingyuan; Ruenz, Johannes; Althoff, Matthias: Probabilistic Map-based Pedestrian Motion Prediction Taking Traffic Participants into Consideration. Proc. of the IEEE Intelligent Vehicles Symposium, 2018 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Zhu, A.; Manzinger, S.; Althoff, M.: Evaluating Location Compliance Approaches for Automated Road Vehicles. Proc. of the IEEE Intelligent Vehicles Symposium, 2018 more… BibTeX Full text ( DOI ) Full text (mediaTUM)

2017

2016

2015

2014

2013

2012

  • Althoff, M.; Cvetkovi'c, M.; Ili'c, M.: Transient Stability Analysis by Reachable Set Computation. Proc. of the IEEE PES Conference on Innovative Smart Grid Technologies Europe, 2012 more… BibTeX Full text (mediaTUM)
  • Althoff, M.; Dolan, J. M.: Reachability Computation of Low-Order Models for the Safety Verification of High-Order Road Vehicle Models. Proc. of the American Control Conference, 2012 more… BibTeX Full text (mediaTUM)
  • Althoff, M.; Krogh, B. H.: Avoiding Geometric Intersection Operations in Reachability Analysis of Hybrid Systems. Hybrid Systems: Computation and Control, 2012 more… BibTeX Full text (mediaTUM)
  • Althoff, M.; Patil, M. J.; Traugott, J. P.: Nonlinear Modeling and Control Design of Active Helicopter Blades. Journal of the American Helicopter Society 57 (1), 2012, 1-11 more… BibTeX Full text ( DOI ) Full text (mediaTUM)

2011

2010

  • Althoff, D.; Althoff, M.; Wollherr, D.; Buss, M.: Probabilistic Collision State Checker for Crowded Environments. Proc. of the IEEE International Conference on Robotics and Automation, 2010, 1492-1498 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Althoff, M.; Althoff, D.; Wollherr, D.; Buss, M.: Safety Verification of Autonomous Vehicles for Coordinated Evasive Maneuvers. Proc. of the IEEE Intelligent Vehicles Symposium, 2010, 1078-1083 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Althoff, M.; Stursberg, O.; Buss, M.: Computing Reachable Sets of Hybrid Systems Using a Combination of Zonotopes and Polytopes. Nonlinear Analysis: Hybrid Systems 4 (2), 2010, 233-249 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Brvsči'c, D.; Eggers, M.; Rohrmüller, F.; Kourakos, O.; Sosnowski, S.; Althoff, D.; Lawitzky, M.; Mörtl, A.; Rambow, M.; Koropouli, V.; Hernàndez, J.R. Medina; Zang, X.; Wang, W.; Wollherr, D.; Kühnlenz, K.; Mayer, C.; Kruse, T.; Kirsch, A.; Blume, J.; Bannat, A.; Rehrl, T.; Wallhoff, F.; Lorenz, T.; Basili, P.; Lenz, C.; Röder, T.; Panin, G.; Maier, W.; Hirche, S.; Buss, M.; Beetz, M.; Radig, B.; Schubö, A.; Glasauer, S.; Knoll, A.; Steinbach, E.: Multi Joint Action in CoTeSys - Setup and Challenges. CoTeSys Cluster of Excellence: Technische Universität München & Ludwig-Maximilians-Universität München, 2010, more… BibTeX Full text (mediaTUM)

2009

2008

  • Althoff, M.; Stursberg, O.; Buss, M.: Erreichbarkeitsanalyse von Verkehrsteilnehmern zur Verbesserung von Fahrerassistenzsystemen. Proc. of 3. Tagung Aktive Sicherheit durch Fahrerassistenz, 2008 more… BibTeX Full text (mediaTUM)
  • Althoff, M.; Stursberg, O.; Buss, M.: Sicherheitsbewertung von Fahrstrategien kognitiver Automobile. at - Automatisierungstechnik 56, 2008, 653-661 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Althoff, M.; Stursberg, O.; Buss, M.: Reachability Analysis of Nonlinear Systems with Uncertain Parameters using Conservative Linearization. Proc. of the 47th IEEE Conference on Decision and Control, 2008, 4042-4048 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Althoff, M.; Stursberg, O.; Buss, M.: Stochastic Reachable Sets of Interacting Traffic Participants. Proc. of the IEEE Intelligent Vehicles Symposium, 2008, 1086-1092 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Althoff, M.; Stursberg, O.; Buss, M.: Online-Analyse von Fahrstrategien kognitiver autonomer Fahrzeuge. Proc. of Automatisierungssysteme, Assistenzsysteme und eingebettete Systeme für Transportmittel (AAET), 2008, 314-330 more… BibTeX Full text (mediaTUM)
  • Althoff, M.; Stursberg,O.; Buss,M.: Verification of Uncertain Embedded Systems by Computing Reachable Sets based on Zonotopes. Proc. of the 17th IFAC World Congress, 2008, 5125-5130 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Goebl, M.; Althoff, M.; Buss, M.; Färber, G.; Hecker, F.; Heissing, B.; Kraus, S.; Nagel, R.; Le'on, F. Puente; Rattei, F.; Russ, M.; Schweitzer, M.; Thuy, M.; Wang, C.; Wünsche, H.-J.: Design and Capabilities of the Munich Cognitive Automobile. Proc. of the IEEE Intelligent Vehicles Symposium, 2008, 1101-1107 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Rohrmüller, F.; Althoff, M.; Wollherr, D.; Buss, M.: Probabilistic Mapping of Dynamic Obstacles Using Markov Chains for Replanning in Dynamic Environments. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008, 2504-2510 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Thuy, M.; Goebl, M.; Rattei, F.; Althoff, M.; Obermeier, F.; Hawe, S.; Nagel, R.; Kraus, S.; Wang, C.; Hecker, F.; Russ, M.; Schweitzer, M.; Le'on, F. Puente; Färber, G.; Buss, M.; Diepold, K.; Eberspächer, J.; Heissing, B.; Wünsche, H.-J.: Kognitive Automobile: Neue Konzepte und Ideen des Sonderforschungsbereiches/TR-28. Proc. of 3. Tagung Aktive Sicherheit durch Fahrerassistenz, 2008 more… BibTeX Full text (mediaTUM)

2007

2006

  • Althoff, M.; Patil, M.J.; Traugott, J.P.: Nonlinear Modeling and Control Design of Active Helicopter Blades. Proc. of the 47th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, 2006AIAA Paper 2006-2040 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Broy, V.; Althoff, F.; Klinker, G.: iFlip: A Metaphor for In-vehicle Information Systems. Proceedings of the Conference on Advanced Visual Interfaces (AVI), 2006 more… BibTeX
  • Broy, V.; Althoff, F.; Klinker, G.: Animationen für Fahrerinformationssysteme: Ablenkungspotenzial oder Steigerung der Usability? (Graphical Animations for In-Vehicle Information Systems). Tagungsband der Fachtagung für Nutzergerechte Gestaltung Technischer Systeme, 2006 more… BibTeX
  • Patil, M.J.; Althoff, M.: Energy-Consistent, Galerkin Approach for the Nonlinear Dynamics of Beams Using Mixed, Intrinsic Equations. Proc. of the 47th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, 2006AIAA Paper 2006-1737 more… BibTeX Full text ( DOI ) Full text (mediaTUM)

2005

  • Althoff, F.; Lindl, R.; Walchshäusl, L.: Robust Multimodal Hand- and Head Gesture Recognition for controlling Automotive Infotainment Systems. VDI-Tagung: Der Fahrer im 21. Jahrhundert, 2005 more… BibTeX