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12 results (View BibTeX file of all listed publications)

2014

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Wenn es was zu sagen gibt

(Klaus Tschira Award 2014 in Computer Science)

Trimpe, S.

Bild der Wissenschaft, pages: 20-23, November 2014, (popular science article in German) (article)

am ics

PDF Project Page [BibTex]

2014

am ics Trimpe, S. Wenn es was zu sagen gibt Bild der Wissenschaft, pages: 20-23, November 2014, (popular science article in German) (article)

PDF Project Page [BibTex]

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A Self-Tuning LQR Approach Demonstrated on an Inverted Pendulum

Trimpe, S., Millane, A., Doessegger, S., D’Andrea, R.

In Proceedings of the 19th IFAC World Congress, Cape Town, South Africa, 2014 (inproceedings)

am ics

PDF Supplementary material DOI [BibTex]

am ics Trimpe, S., Millane, A., Doessegger, S., D’Andrea, R. A Self-Tuning LQR Approach Demonstrated on an Inverted Pendulum In Proceedings of the 19th IFAC World Congress, Cape Town, South Africa, 2014 (inproceedings)

PDF Supplementary material DOI [BibTex]

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A Limiting Property of the Matrix Exponential

Trimpe, S., D’Andrea, R.

IEEE Transactions on Automatic Control, 59(4):1105-1110, 2014 (article)

am ics

PDF DOI [BibTex]

am ics Trimpe, S., D’Andrea, R. A Limiting Property of the Matrix Exponential IEEE Transactions on Automatic Control, 59(4):1105-1110, 2014 (article)

PDF DOI [BibTex]

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Event-Based State Estimation With Variance-Based Triggering

Trimpe, S., D’Andrea, R.

IEEE Transactions on Automatic Control, 59(12):3266-3281, 2014 (article)

am ics

PDF Supplementary material DOI Project Page [BibTex]

am ics Trimpe, S., D’Andrea, R. Event-Based State Estimation With Variance-Based Triggering IEEE Transactions on Automatic Control, 59(12):3266-3281, 2014 (article)

PDF Supplementary material DOI Project Page [BibTex]

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Stability Analysis of Distributed Event-Based State Estimation

Trimpe, S.

In Proceedings of the 53rd IEEE Conference on Decision and Control, Los Angeles, CA, 2014 (inproceedings)

Abstract
An approach for distributed and event-based state estimation that was proposed in previous work [1] is analyzed and extended to practical networked systems in this paper. Multiple sensor-actuator-agents observe a dynamic process, sporadically exchange their measurements over a broadcast network according to an event-based protocol, and estimate the process state from the received data. The event-based approach was shown in [1] to mimic a centralized Luenberger observer up to guaranteed bounds, under the assumption of identical estimates on all agents. This assumption, however, is unrealistic (it is violated by a single packet drop or slight numerical inaccuracy) and removed herein. By means of a simulation example, it is shown that non-identical estimates can actually destabilize the overall system. To achieve stability, the event-based communication scheme is supplemented by periodic (but infrequent) exchange of the agentsâ?? estimates and reset to their joint average. When the local estimates are used for feedback control, the stability guarantee for the estimation problem extends to the event-based control system.

am ics

PDF Supplementary material DOI Project Page [BibTex]

am ics Trimpe, S. Stability Analysis of Distributed Event-Based State Estimation In Proceedings of the 53rd IEEE Conference on Decision and Control, Los Angeles, CA, 2014 (inproceedings)

PDF Supplementary material DOI Project Page [BibTex]

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Self-Exploration of the Stumpy Robot with Predictive Information Maximization

Martius, G., Jahn, L., Hauser, H., V. Hafner, V.

In Proc. From Animals to Animats, SAB 2014, 8575, pages: 32-42, LNCS, Springer, 2014 (inproceedings)

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[BibTex]

al Martius, G., Jahn, L., Hauser, H., V. Hafner, V. Self-Exploration of the Stumpy Robot with Predictive Information Maximization In Proc. From Animals to Animats, SAB 2014, 8575, pages: 32-42, LNCS, Springer, 2014 (inproceedings)

[BibTex]

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Robot Learning by Guided Self-Organization

Martius, G., Der, R., Herrmann, J. M.

In Guided Self-Organization: Inception, 9, pages: 223-260, Emergence, Complexity and Computation, Springer Berlin Heidelberg, 2014 (incollection)

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link (url) DOI [BibTex]

al Martius, G., Der, R., Herrmann, J. M. Robot Learning by Guided Self-Organization In Guided Self-Organization: Inception, 9, pages: 223-260, Emergence, Complexity and Computation, Springer Berlin Heidelberg, 2014 (incollection)

link (url) DOI [BibTex]

2011

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Tipping the Scales: Guidance and Intrinsically Motivated Behavior

Martius, G., Herrmann, J. M.

In Advances in Artificial Life, ECAL 2011, pages: 506-513, (Editors: Tom Lenaerts and Mario Giacobini and Hugues Bersini and Paul Bourgine and Marco Dorigo and René Doursat), MIT Press, 2011 (incollection)

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[BibTex]

2011

al Martius, G., Herrmann, J. M. Tipping the Scales: Guidance and Intrinsically Motivated Behavior In Advances in Artificial Life, ECAL 2011, pages: 506-513, (Editors: Tom Lenaerts and Mario Giacobini and Hugues Bersini and Paul Bourgine and Marco Dorigo and René Doursat), MIT Press, 2011 (incollection)

[BibTex]

2010

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Goal-Oriented Control of Self-Organizing Behavior in Autonomous Robots

Martius, G.

Georg-August-Universität Göttingen, 2010 (phdthesis)

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link (url) [BibTex]

2010

al Martius, G. Goal-Oriented Control of Self-Organizing Behavior in Autonomous Robots Georg-August-Universität Göttingen, 2010 (phdthesis)

link (url) [BibTex]

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\textscLpzRobots: A free and powerful robot simulator

Martius, G., Hesse, F., Güttler, F., Der, R.

\urlhttp://robot.informatik.uni-leipzig.de/software, 2010 (misc)

al

[BibTex]

al Martius, G., Hesse, F., Güttler, F., Der, R. \textscLpzRobots: A free and powerful robot simulator \urlhttp://robot.informatik.uni-leipzig.de/software, 2010 (misc)

[BibTex]

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Playful Machines: Tutorial

Der, R., Martius, G.

\urlhttp://robot.informatik.uni-leipzig.de/tutorial?lang=en, 2010 (misc)

al

[BibTex]

al Der, R., Martius, G. Playful Machines: Tutorial \urlhttp://robot.informatik.uni-leipzig.de/tutorial?lang=en, 2010 (misc)

[BibTex]

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Taming the Beast: Guided Self-organization of Behavior in Autonomous Robots

Martius, G., Herrmann, J. M.

In From Animals to Animats 11, 6226, pages: 50-61, LNCS, Springer, 2010 (incollection)

al

link (url) DOI [BibTex]

al Martius, G., Herrmann, J. M. Taming the Beast: Guided Self-organization of Behavior in Autonomous Robots In From Animals to Animats 11, 6226, pages: 50-61, LNCS, Springer, 2010 (incollection)

link (url) DOI [BibTex]