Cyber-Physical Mobility Group

Team

Research

Our research in the field of Cyber-Physical Mobility is located in the interdisciplinary intersection of software engineering, control engineering, mathematical optimization and communication technology. In our applications we deal with autonomous and networked mobility.

With our research we contribute to the Future Mobility Center. We are also active as a member of the Mobility & Transport Engineering profile area.

Cyber-Physical Mobility Lab

UNICARagil

CoInCar

The DFG priority program CoInCar (Cooperatively Interacting Automobiles) is an interdisciplinary cooperation of researchers to provide a holistic system view on cooperative traffic and autonomous vehicles. The Cyber-Physical Mobility Group is working on two subprojects in this priority program, namely AutoKnigge and GROKO-Plan.

AutoKnigge

The part-project AutoKnigge (Modeling, Evaluation and Verification of Cooperative Interacting Automobiles), the project partners Institute for Automotive Engineering (ika), Chair of Software Engineering (SE) and the Chair of Embedded Software (i11) research on motion-planning methods for networked vehicles and methods to ensure safety of the vehicle's motion.

This project focuses on distributed trajectory planning with low computation time, collision-free trajectories and affortable communication requirements. The main challenge is to distribute the planning to the vehicles without any central coordinator to achieve low computation time on the one side, but to generate feasible and stable trajectories on the other side. For rubustness analysis, communication problems are considered.

Contact: Maximilian Kloock, M.Sc. RWTH

Source: https://blog.degruyter.com/automated-vehicles-towards-zero-accident-future/

Publications of this project are listed below. Videos can be found here:
https://youtu.be/XGql8FrjW6I
https://youtu.be/7sq3N8vwusA
https://youtu.be/kbooJFK52Fg

GROKO-Plan

The project GROKO-Plan (graph-based, optimal and cooperative trajectory planning) aims at developing a graph-based planning method for optimal cooperative trajectories for interacting vehicles. Our research includes the theoretical analysis as well as the practical implementation of a distributed cooperative trajectory planning method.

Major challenges of distributed cooperative trajectory planning are (I) dependability of planned trajectories, (II) real-time compliance of the optimizer on board of the vehicles, and (III) a realizable communication effort between vehicles. The first challenge arises since conflict-free trajectories are mandatory. The second challenge is due to high-dimensional non-convex optimization problems, as they occur when many road users have to be taken into account. The third challenge is caused by the thrive for cooperation, i.e. to solve the cooperative optimization problem on one vehicle, parts of the optimization problems of other road users have to be exchanged.

In order to meet these challenges, trim and maneuver primitives are used for cooperative trajectory planning. This reduces the search space in order to enable real-time optimization. Uncertainty in perception and prediction is considered in robust distributed model predictive control methods.

Contact: Patrick Scheffe, M. Sc. RWTH

Publications


Publikations-Export
[KAK+19]
Kampmann, A., Alrifaee, B., Kohout, M., Wüstenberg, A., Woopen, T., Nolte, M., Eckstein, L., and Kowalewski, S., "A Dynamic Service-Oriented Software Architecture for Highly Automated Vehicles", in Proc. 2019 IEEE Intelligent Transportation Systems Conference (ITSC) : [Proceedings], 2019, IEEE, pp. 2101-2108.

A Dynamic Service-Oriented Software Architecture for Highly Automated Vehicles

Bibtex entry :

@inproceedings {  KAK+19,
	author = { Kampmann, Alexandru and Alrifaee, Bassam and Kohout, Markus
		and W{\"u}stenberg, Andreas and Woopen, Timo and Nolte,
		Marcus and Eckstein, Lutz and Kowalewski, Stefan },
	title = { A Dynamic Service-Oriented Software Architecture for Highly
		Automated Vehicles },
	booktitle = { 2019 IEEE Intelligent Transportation Systems Conference
		(ITSC) : [Proceedings] },
	publisher = { IEEE },
	pages = { 2101-2108 },
	year = { 2019 },
	organization = { IEEE Intelligent Transportation Systems Conference - ITSC,
		Auckland (New Zealand), 2019-10-27 - 2019-10-30 },
	doi = { 10.1109/ITSC.2019.8916841 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2019-11214 },
	cin = { 122810 / 414110 / 120000 },
	url = { http://publications.rwth-aachen.de/record/773699 },
}
[KKM+19]
Kloock, M., Kragl, L., Maczijewski, J., Alrifaee, B., and Kowalewski, S., "Distributed Model Predictive Pose Control of Multiple Nonholonomic Vehicles", in Proc. 2019 IEEE Intelligent Vehicles Symposium (IV) : [Proceedings], [Piscataway, NJ], 2019, IEEE, pp. 1620-1625.

Distributed Model Predictive Pose Control of Multiple Nonholonomic Vehicles

Bibtex entry :

@inproceedings {  KKM+19,
	author = { Kloock, Maximilian and Kragl, Ludwig and Maczijewski, Janis
		and Alrifaee, Bassam and Kowalewski, Stefan },
	title = { Distributed Model Predictive Pose Control of Multiple
		Nonholonomic Vehicles },
	booktitle = { 2019 IEEE Intelligent Vehicles Symposium (IV) :
		[Proceedings] },
	publisher = { IEEE },
	pages = { 1620-1625 },
	year = { 2019 },
	address = { [Piscataway, NJ] },
	organization = { 2019 IEEE Intelligent Vehicles Symposium (IV), Paris
		(France), 2019-06-09 - 2019-06-12 },
	doi = { 10.1109/IVS.2019.8813980 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2019-08197 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/766610 },
}
[KNR+19]
Keilhoff, D., Niedballa, D., Reuss, H., Buchholz, M., Gies, F., Dietmayer, K., Lauer, M., Stiller, C., Ackermann, S., Winner, H., Kampmann, A., Alrifaee, B., Kowalewski, S., Klein, F., Struth, M. M., Woopen, T., and Eckstein, L., "UNICARagil - New architectures for disruptive vehicle concepts", in Proc. 19. Internationales Stuttgarter Symposium : Automobil- und Motorentechnik / herausgegeben von Michael Bargende, Hans-Christian Reuss, Andreas Wagner, Jochen Wiedemann, Wiesbaden, 2019 in Proceedings Springer eBooks, Springer Fachmedien Wiesbaden, pp. 830-842.

UNICARagil - New architectures for disruptive vehicle concepts

Bibtex entry :

@inproceedings {  KNR+19,
	author = { Keilhoff, Dan and Niedballa, Dennis and Reuss,
		Hans-Christian and Buchholz, Michael and Gies, Fabian and
		Dietmayer, Klaus and Lauer, Martin and Stiller, Christoph
		and Ackermann, Stefan and Winner, Hermann and Kampmann,
		Alexandru and Alrifaee, Bassam and Kowalewski, Stefan and
		Klein, Fabian and Struth, Michael Manfred and Woopen, Timo
		and Eckstein, Lutz },
	title = { UNICARagil - New architectures for disruptive vehicle
		concepts },
	booktitle = { 19. Internationales Stuttgarter Symposium : Automobil- und
		Motorentechnik / herausgegeben von Michael Bargende,
		Hans-Christian Reuss, Andreas Wagner, Jochen Wiedemann },
	publisher = { Springer Fachmedien Wiesbaden },
	pages = { 830-842 },
	series = { Proceedings Springer eBooks },
	year = { 2019 },
	address = { Wiesbaden },
	organization = { 19. Internationales Stuttgarter Symposium : Automobil- und
		Motorentechnik, Stuttgart (Germany), 2019-03-19 - 2019-03-20 },
	doi = { 10.1007/978-3-658-25939-6_65 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2019-09748 },
	cin = { 122810 / 120000 / 414110 },
	url = { http://publications.rwth-aachen.de/record/770823 },
}
[KSB+19]
Kloock, M. M., Scheffe, P., Botz, L., Maczijewski, J., Alrifaee, B., and Kowalewski, S., "Networked Model Predictive Vehicle Race Control", in Proc. 2019 IEEE Intelligent Transportation Systems Conference (ITSC) : [Proceedings], 2019, IEEE, pp. 1552-1557.

Networked Model Predictive Vehicle Race Control

Bibtex entry :

@inproceedings {  KSB+19,
	author = { Kloock, Maximilian Martin and Scheffe, Patrick and Botz,
		Lukas and Maczijewski, Janis and Alrifaee, Bassam and
		Kowalewski, Stefan },
	title = { Networked Model Predictive Vehicle Race Control },
	booktitle = { 2019 IEEE Intelligent Transportation Systems Conference
		(ITSC) : [Proceedings] },
	publisher = { IEEE },
	pages = { 1552-1557 },
	year = { 2019 },
	organization = { IEEE Intelligent Transportation Systems Conference - ITSC,
		Auckland (New Zealand), 2019-10-27 - 2019-10-30 },
	doi = { 10.1109/ITSC.2019.8917222 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2019-11241 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/773727 },
}
[KSM+19]
Kloock, M. M., Scheffe, P., Marquardt, S., Maczijewski, J., Alrifaee, B., and Kowalewski, S., "Distributed Model Predictive Intersection Control of Multiple Vehicles", in Proc. 2019 IEEE Intelligent Transportation Systems Conference (ITSC) : [Proceedings], Piscataway, NJ, 2019, IEEE, p. 8917117, 1735-1740.

Distributed Model Predictive Intersection Control of Multiple Vehicles

Bibtex entry :

@inproceedings {  KSM+19,
	author = { Kloock, Maximilian Martin and Scheffe, Patrick and
		Marquardt, Sascha and Maczijewski, Janis and Alrifaee,
		Bassam and Kowalewski, Stefan },
	title = { Distributed Model Predictive Intersection Control of
		Multiple Vehicles },
	booktitle = { 2019 IEEE Intelligent Transportation Systems Conference
		(ITSC) : [Proceedings] },
	publisher = { IEEE },
	pages = { 8917117, 1735-1740 },
	year = { 2019 },
	address = { Piscataway, NJ },
	organization = { 2019 IEEE Intelligent Transportation Systems Conference,
		Auckland (New Zealand), 2019-10-27 - 2019-10-30 },
	doi = { 10.1109/ITSC.2019.8917117 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2019-11242 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/773728 },
}
[KWA+19]
Kampmann, A., Wüstenberg, A., Alrifaee, B., and Kowalewski, S., "A Portable Implementation of the Real-Time Publish-Subscribe Protocol for Microcontrollers in Distributed Robotic Applications", in Proc. 2019 IEEE Intelligent Transportation Systems Conference (ITSC) : [Proceedings], 2019, IEEE, pp. 443-448.

A Portable Implementation of the Real-Time Publish-Subscribe Protocol for Microcontrollers in Distributed Robotic Applications

Bibtex entry :

@inproceedings {  KWA+19,
	author = { Kampmann, Alexandru and W{\"u}stenberg, Andreas and
		Alrifaee, Bassam and Kowalewski, Stefan },
	title = { A Portable Implementation of the Real-Time Publish-Subscribe
		Protocol for Microcontrollers in Distributed Robotic
		Applications },
	booktitle = { 2019 IEEE Intelligent Transportation Systems Conference
		(ITSC) : [Proceedings] },
	publisher = { IEEE },
	pages = { 443-448 },
	year = { 2019 },
	organization = { IEEE Intelligent Transportation Systems Conference - ITSC,
		Auckland (New Zealand), 2019-10-27 - 2019-10-30 },
	doi = { 10.1109/ITSC.2019.8916835 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2019-11216 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/773701 },
}
[VKR+19]
Völker, M., Kloock, M., Rabanus, L., Alrifaee, B., and Kowalewski, S., "Verification of Cooperative Vehicle Behavior using Temporal Logic", IFAC-PapersOnLine, vol. 52, iss. 8, pp. 99-104, 2019

Verification of Cooperative Vehicle Behavior using Temporal Logic

Bibtex entry :

@article {  VKR+19,
	author = { V{\"o}lker, Marcus and Kloock, Maximilian and Rabanus, Leon
		and Alrifaee, Bassam and Kowalewski, Stefan },
	title = { Verification of Cooperative Vehicle Behavior using Temporal
		Logic },
	journal = { IFAC-PapersOnLine },
	publisher = { Elsevier },
	pages = { 99-104 },
	volume = { 52 },
	number = { 8 },
	year = { 2019 },
	address = { Frankfurt ; M{\"u}nchen [u.a.] },
	issn = { 2405-8963 },
	organization = { 10th IFAC Symposium on Intelligent Autonomous Vehicles,
		Gdansk (Poland), 2019-07-03 - 2019-07-05 },
	doi = { 10.1016/j.ifacol.2019.08.055 },
	typ = { PUB:(DE-HGF)16 },
	reportid = { RWTH-2019-08318 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/766778 },
}
[AM18]
Alrifaee, B. and Maczijewski, J., "Real-time Trajectory optimization for Autonomous Vehicle Racing using Sequential Linearization", in Proc. 2018 IEEE Intelligent Vehicles Symposium (IV) : 26-30 June 2018 / [sponsored by the IEEE Intelligent Transportation Systems Society (ITSS)], Piscataway, NJ, 2018, IEEE.

Real-time Trajectory optimization for Autonomous Vehicle Racing using Sequential Linearization

Bibtex entry :

@inproceedings {  AM18,
	author = { Alrifaee, Bassam and Maczijewski, Janis },
	title = { Real-time Trajectory optimization for Autonomous Vehicle
		Racing using Sequential Linearization },
	booktitle = { 2018 IEEE Intelligent Vehicles Symposium (IV) : 26-30 June
		2018 / [sponsored by the IEEE Intelligent Transportation
		Systems Society (ITSS)] },
	publisher = { IEEE },
	year = { 2018 },
	address = { Piscataway, NJ },
	organization = { 2018 IEEE Intelligent Vehicles Symposium, Changshu (Peoples
		R China), 2018-06-26 - 2018-06-30 },
	doi = { 10.1109/IVS.2018.8500634 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2018-229489 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/748563 },
}
[GSA+18]
Grochowski, M., Schweigler, M., Alrifaee, B., and Kowalewski, S., "A GPS-aided Inertial Navigation System for Vehicular Navigation using a Smartphone", IFAC-PapersOnLine, vol. 51, iss. 10, pp. 121-126, 2018

A GPS-aided Inertial Navigation System for Vehicular Navigation using a Smartphone

Bibtex entry :

@article {  GSA+18,
	author = { Grochowski, Marco and Schweigler, Martin and Alrifaee,
		Bassam and Kowalewski, Stefan },
	title = { A GPS-aided Inertial Navigation System for Vehicular
		Navigation using a Smartphone },
	journal = { IFAC-PapersOnLine },
	pages = { 121-126 },
	volume = { 51 },
	number = { 10 },
	year = { 2018 },
	address = { Laxenburg },
	issn = { 2405-8963 },
	organization = { 3rd IFAC Conference on Embedded Systems, Computational
		Intelligence and Telematics in Control, Farod (Portugal),
		2018-06-06 - 2018-06-08 },
	doi = { 10.1016/j.ifacol.2018.06.247 },
	typ = { PUB:(DE-HGF)16 },
	reportid = { RWTH-2018-227583 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/731577 },
}
[WLB+18]
Woopen, T., Lampe, B., Böddeker, T., Eckstein, L., Kampmann, A., Alrifaee, B., Kowalewski, S., Moormann, D., Stolte, T., Jatzkowski, I., Maurer, M., Möstl, M., Ernst, R., Ackermann, S., Amersbach, C., Winner, H., Püllen, D., Katzenbeisser, S., Leinen, S., Becker, M., Stiller, C., Furmans, K., Bengler, K., Diermeyer, F., Lienkamp, M., Keilhoff, D., Reuss, H., Buchholz, M., Dietmayer, K., Lategahn, H., Siepenkötter, N., Elbs, M., v. Hinüber, E., Dupuis, M., and Hecker, C., "UNICARagil - Disruptive Modular Architectures for Agile, Automated Vehicle Concepts", in Proc. { 27. Aachener Kolloquium Fahrzeug- und Motorentechnik : October 8th - 10th, 2018 - Eurogress Aachen, Aachen, 2018, Aachener Kolloquium Fahrzeug- und Motorentechnik GbR, pp. 663-694.

UNICARagil - Disruptive Modular Architectures for Agile, Automated Vehicle Concepts

Bibtex entry :

@inproceedings {  WLB+18,
	author = { Woopen, Timo and Lampe, Bastian and B{\"o}ddeker, Torben and
		Eckstein, Lutz and Kampmann, Alexandru and Alrifaee, Bassam
		and Kowalewski, Stefan and Moormann, Dieter and Stolte,
		Torben and Jatzkowski, Inga and Maurer, Markus and
		M{\"o}stl, Mischa and Ernst, Rolf and Ackermann, Stefan and
		Amersbach, Christian and Winner, Hermann and P{\"u}llen,
		Dominik and Katzenbeisser, Stefan and Leinen, Stefan and
		Becker, Matthias and Stiller, Christoph and Furmans, Kai and
		Bengler, Klaus and Diermeyer, Frank and Lienkamp, Markus and
		Keilhoff, Dan and Reuss, Hans-Christian and Buchholz,
		Michael and Dietmayer, Klaus and Lategahn, Henning and
		Siepenk{\"o}tter, Norbert and Elbs, Martin and v.
		Hin{\"u}ber, Edgar and Dupuis, Marius and Hecker, Christian },
	title = { UNICARagil - Disruptive Modular Architectures for Agile,
		Automated Vehicle Concepts },
	booktitle = { { 27. Aachener Kolloquium Fahrzeug- und Motorentechnik :
		October 8th - 10th, 2018 - Eurogress Aachen },
	germany = { 27. Aachen Colloquium Automobile and Engine Technology. - 1
		} },
	publisher = { Aachener Kolloquium Fahrzeug- und Motorentechnik GbR },
	pages = { 663-694 },
	year = { 2018 },
	address = { Aachen },
	organization = { 27th Aachen Colloquium Automobile and Engine Technology
		2018, Aachen (Germany), 2018-10-08 - 2018-10-10 },
	doi = { 10.18154/RWTH-2018-229909 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2018-229909 },
	cin = { 414110 / 122810 / 415410 / 120000 },
	url = { http://publications.rwth-aachen.de/record/749158/files/749158_Liste%20der%20Partner%20.pdf },
}
[AMA17]
Alrifaee, B., Maczijewski, J., and Abel, D., "Sequential Convex Programming MPC for Dynamic Vehicle Collision Avoidance", in Proc. First Annual IEEE Conference on Control Technology and Applications : Kohala Coast, Hawai’i, August 27-30, 2017 : CCTA 2017 / IEEE, CSS, IEEE Robotics & Automation Society, SICE, Piscataway, NJ, 2017, IEEE, pp. 2202-2207.

Sequential Convex Programming MPC for Dynamic Vehicle Collision Avoidance

Bibtex entry :

@inproceedings {  AMA17,
	author = { Alrifaee, Bassam and Maczijewski, Janis and Abel, Dirk },
	title = { Sequential Convex Programming MPC for Dynamic Vehicle
		Collision Avoidance },
	booktitle = { First Annual IEEE Conference on Control Technology and
		Applications : Kohala Coast, Hawai’i, August 27-30, 2017 :
		CCTA 2017 / IEEE, CSS, IEEE Robotics & Automation Society,
		SICE },
	publisher = { IEEE },
	pages = { 2202-2207 },
	year = { 2017 },
	address = { Piscataway, NJ },
	organization = { 2017 IEEE Conference on Control Technology and Applications,
		Mauna Lani, HI (USA), 2017-08-27 - 2017-08-30 },
	doi = { 10.1109/CCTA.2017.8062778 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2017-09124 },
	cin = { 122810 / 416610 / 120000 },
	url = { http://publications.rwth-aachen.de/record/707229 },
}

RWTH Aachen University - Chair of Computer Science 11 - Ahornstr. 55 - 52074 Aachen - Germany