Patrick Scheffe
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View article: Simultaneous Computation with Multiple Prioritizations in Multi-Agent Motion Planning
Simultaneous Computation with Multiple Prioritizations in Multi-Agent Motion Planning Open
Multi-agent path finding (MAPF) in large networks is computationally challenging. An approach for MAPF is prioritized planning (PP), in which agents plan sequentially according to their priority. Albeit a computationally efficient approach…
View article: Graph Coloring to Reduce Computation Time in Prioritized Planning
Graph Coloring to Reduce Computation Time in Prioritized Planning Open
Distributing computations among agents in large networks reduces computational effort in multi-agent path finding (MAPF). One distribution strategy is prioritized planning (PP). In PP, we couple and prioritize interacting agents to achieve…
View article: Limiting Computation Levels in Prioritized Trajectory Planning with Safety Guarantees
Limiting Computation Levels in Prioritized Trajectory Planning with Safety Guarantees Open
In prioritized planning for vehicles, vehicles plan trajectories in parallel\nor in sequence. Parallel prioritized planning offers approximately consistent\ncomputation time regardless of the number of vehicles but struggles to\nguarantee …
View article: Prioritized Trajectory Planning for Networked Vehicles Using Motion Primitives
Prioritized Trajectory Planning for Networked Vehicles Using Motion Primitives Open
The computation time required to solve nonconvex, nonlinear optimization problems increases rapidly with their size. This poses a challenge in trajectory planning for multiple networked vehicles with collision avoidance. In the centralized…
View article: A Survey on Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms
A Survey on Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms Open
Connected and automated vehicles and robot swarms hold transformative potential for enhancing safety, efficiency, and sustainability in the transportation and manufacturing sectors. Extensive testing and validation of these technologies is…
View article: Designing Maneuver Automata of Motion Primitives for Optimal Cooperative Trajectory Planning
Designing Maneuver Automata of Motion Primitives for Optimal Cooperative Trajectory Planning Open
Trajectory planning techniques form a central step to enable autonomous driving. The motion primitives method generates an automaton of precomputed maneuvers with structure-exploiting properties. Thereby, the trajectory planning problem ca…
View article: Testing distributed trajectory planning in the cyber-physical mobility lab
Testing distributed trajectory planning in the cyber-physical mobility lab Open
This article presents the testing of distributed trajectory planning algorithms using our rapid prototyping platform, the Cyber-Physical Mobility Lab (CPM Lab). We propose two algorithms for distributed trajectory planning which plan traje…
View article: Optimization-based motion primitive automata for autonomous driving
Optimization-based motion primitive automata for autonomous driving Open
Trajectory planning for autonomous cars can be addressed by primitive-based methods, which encode nonlinear dynamical system behavior into automata. In this paper, we focus on optimal trajectory planning. Since, typically, multiple criteri…
View article: Reducing Computation Time with Priority Assignment in Distributed MPC
Reducing Computation Time with Priority Assignment in Distributed MPC Open
Distributing computations among agents in a networked control system (NCS) reduces computational effort. One distribution strategy is prioritized distributed model predictive control (P-DMPC). In P-DMPC, we couple and prioritize interactin…
View article: An Architecture for Experiments in Connected and Automated Vehicles
An Architecture for Experiments in Connected and Automated Vehicles Open
Rapid prototyping of Connected and Automated Vehicles (CAV) is challenging because of the physical distribution of vehicles. Furthermore, experiments with CAV may be subject to external influences which prevent reproducibility. This articl…
View article: An Architecture for Experiments in Connected and Automated Vehicles
An Architecture for Experiments in Connected and Automated Vehicles Open
Rapid prototyping of Connected and Automated Vehicles (CAV) is challenging because of the physical distribution of vehicles. Furthermore, experiments with CAV may be subject to external influences which prevent reproducibility. This articl…
View article: Receding Horizon Control Using Graph Search for Multi-Agent Trajectory Planning
Receding Horizon Control Using Graph Search for Multi-Agent Trajectory Planning Open
It is hard to find the global optimum to general nonlinear, nonconvex optimization problems in reasonable time. This paper presents a method to transfer the receding horizon control approach, where nonlinear, nonconvex optimization problem…
View article: Increasing Feasibility with Dynamic Priority Assignment in Distributed Trajectory Planning for Road Vehicles
Increasing Feasibility with Dynamic Priority Assignment in Distributed Trajectory Planning for Road Vehicles Open
Nonconvex optimal control problems for large-scale networked control systems (NCSs) can be distributed to accelerate computation time. One distribution strategy is priority-based non-cooperative distributed model predictive control. The pr…
View article: Remote Teaching with the Cyber-Physical Mobility Lab
Remote Teaching with the Cyber-Physical Mobility Lab Open
Self-driving laboratories receive increasing acceptance as they are used in research and education. For research, they mainly serve as a platform on which algorithms can be tested under realistic conditions before getting deployed into the…
View article: Sequential Convex Programming Methods for Real-time Optimal Trajectory Planning in Autonomous Vehicle Racing
Sequential Convex Programming Methods for Real-time Optimal Trajectory Planning in Autonomous Vehicle Racing Open
Optimization problems for trajectory planning in autonomous vehicle racing are characterized by their nonlinearity and nonconvexity. Instead of solving these optimization problems, usually a convex approximation is solved instead to achiev…
View article: Reducing Computation Time with Priority Assignment in Distributed MPC
Reducing Computation Time with Priority Assignment in Distributed MPC Open
Distributing computations among agents in a networked control system (NCS) reduces computational effort. One distribution strategy is prioritized distributed model predictive control (P-DMPC). In P-DMPC, we couple and prioritize interactin…
View article: Reducing Computation Time with Priority Assignment in Distributed MPC
Reducing Computation Time with Priority Assignment in Distributed MPC Open
Networked control problems of multi-agent systems can be distributed to the agents to reduce computational effort. One distribution strategy is priority-based non-cooperative distributed model predictive control (P-DMPC), in which the comp…
View article: Increasing Feasibility with Priority Assignment in Distributed Trajectory Planning for Road Vehicles
Increasing Feasibility with Priority Assignment in Distributed Trajectory Planning for Road Vehicles Open
Nonconvex optimal control problems for large-scale networked control systems (NCSs) can be distributed to accelerate computation time. One distribution strategy is priority-based non-cooperative distributed model predictive control. The pr…
View article: Remote Teaching with the Cyber-Physical Mobility Lab
Remote Teaching with the Cyber-Physical Mobility Lab Open
Self-driving laboratories receive increasing acceptance as they are used in research and education. For research, they mainly serve as a platform on which algorithms can be tested under realistic conditions before getting deployed into the…
View article: Increasing Feasibility with Priority Assignment in Distributed Trajectory Planning for Road Vehicles
Increasing Feasibility with Priority Assignment in Distributed Trajectory Planning for Road Vehicles Open
Nonconvex optimal control problems for large-scale networked control systems (NCSs) can be distributed to accelerate computation time. One distribution strategy is priority-based non-cooperative distributed model predictive control. The pr…
View article: Remote Teaching with the Cyber-Physical Mobility Lab
Remote Teaching with the Cyber-Physical Mobility Lab Open
Self-driving laboratories receive increasing acceptance as they are used in research and education. For research, they mainly serve as a platform on which algorithms can be tested under realistic conditions before getting deployed into the…
View article: Increasing Feasibility with Dynamic Priority Assignment in Distributed Trajectory Planning for Road Vehicles
Increasing Feasibility with Dynamic Priority Assignment in Distributed Trajectory Planning for Road Vehicles Open
Nonconvex optimal control problems for large-scale networked control systems (NCSs) can be distributed to accelerate computation time. One distribution strategy is priority-based non-cooperative distributed model predictive control. The pr…
View article: An Architecture for Experiments in Networked Control Systems
An Architecture for Experiments in Networked Control Systems Open
Rapid prototyping of a Networked Control System (NCS) is challenging because of the physical distribution of agents. Furthermore, experiments with NCS may be subject to external influences which prevent reproducibility. This article presen…
View article: An Architecture for Experiments in Connected and Automated Vehicles
An Architecture for Experiments in Connected and Automated Vehicles Open
Rapid prototyping of Connected and Automated Vehicles (CAV) is challenging because of the physical distribution of vehicles. Furthermore, experiments with CAV may be subject to external influences which prevent reproducibility. This articl…
View article: Remote Teaching with the Cyber-Physical Mobility Lab
Remote Teaching with the Cyber-Physical Mobility Lab Open
Self-driving laboratories receive increasing acceptance as they are used in research and education. For research, they mainly serve as a platform on which algorithms can be tested under realistic conditions before getting deployed into the…
View article: Sequential Convex Programming Methods for Real-time Optimal Trajectory Planning in Autonomous Vehicle Racing
Sequential Convex Programming Methods for Real-time Optimal Trajectory Planning in Autonomous Vehicle Racing Open
Optimization problems for trajectory planning in autonomous vehicle racing are characterized by their nonlinearity and nonconvexity. Instead of solving these optimization problems, usually a convex approximation is solved instead to achiev…
View article: Sequential Convex Programming Methods for Real-time Trajectory Optimization in Autonomous Vehicle Racing
Sequential Convex Programming Methods for Real-time Trajectory Optimization in Autonomous Vehicle Racing Open
We present a real-time-capable Model Predictive Controller (MPC) based on a single-track vehicle model and Pacejka’s magic tire formula for autonomous racing applications. After formulating the general non-convex trajectory optimization pr…
View article: Receding Horizon Control Using Graph Search for Multi-Agent Trajectory Planning
Receding Horizon Control Using Graph Search for Multi-Agent Trajectory Planning Open
It is hard to find the global optimum to general nonlinear, nonconvex optimization problems in reasonable time. This paper presents a method to transfer the receding horizon control approach, where nonlinear, nonconvex optimization problem…
View article: Receding Horizon Control Using Graph Search for Multi-Agent Trajectory Planning
Receding Horizon Control Using Graph Search for Multi-Agent Trajectory Planning Open
It is hard to find the global optimum to general nonlinear, nonconvex optimization problems in reasonable time. This paper presents a method to transfer the receding horizon control approach, where nonlinear, nonconvex optimization problem…
View article: Cyber-Physical Mobility Lab: An Open-Source Platform for Networked and Autonomous Vehicles
Cyber-Physical Mobility Lab: An Open-Source Platform for Networked and Autonomous Vehicles Open
This paper introduces our Cyber-Physical Mobility Lab (CPM Lab). It is an open-source development environment for networked and autonomous vehicles with focus on networked decision-making, trajectory planning, and control. The CPM Lab host…