Publications

Haptic Intelligence Intelligent Control Systems Article Multimodal Multi-User Surface Recognition with the Kernel Two-Sample Test Khojasteh, B., Solowjow, F., Trimpe, S., Kuchenbecker, K. J. IEEE Transactions on Automation Science and Engineering, 21(3):4432-4447, July 2024 (Published) DOI BibTeX

Haptic Intelligence Intelligent Control Systems Miscellaneous Multimodal Multi-User Surface Recognition with the Kernel Two-Sample Test: Code Khojasteh, B., Solowjow, F., Trimpe, S., Kuchenbecker, K. J. Code published as a companion to the journal article "Multimodal Multi-User Surface Recognition with the Kernel Two-Sample Test" in IEEE Transactions on Automation Science and Engineering, July 2023 (Published) DOI BibTeX

Intelligent Control Systems Robotics Article The Wheelbot: A Jumping Reaction Wheel Unicycle Geist, A. R., Fiene, J., Tashiro, N., Jia, Z., Trimpe, S. IEEE Robotics and Automation Letters, 7(4):9683-9690, IEEE, 2022 (Published) DOI URL BibTeX

Intelligent Control Systems Article Learning Fast and Precise Pixel-to-Torque Control: A Platform for Reproducible Research of Learning on Hardware Bleher, S., Heim, S., Trimpe, S. IEEE Robotics & Automation Magazine, 29(2):75-84 , June 2022 (Published) DOI BibTeX

Intelligent Control Systems Conference Paper Learning-enhanced robust controller synthesis with rigorous statistical and control-theoretic guarantees Fiedler, C., Scherer, C. W., Trimpe, S. In 60th IEEE Conference on Decision and Control (CDC), IEEE, December 2021, Accepted (Accepted) URL BibTeX

Intelligent Control Systems Conference Paper Local policy search with Bayesian optimization Müller, S., von Rohr, A., Trimpe, S. In Advances in Neural Information Processing Systems 34, 25:20708-20720, (Editors: Ranzato, M. and Beygelzimer, A. and Dauphin, Y. and Liang, P. S. and Wortman Vaughan, J.), Curran Associates, Inc., Red Hook, NY, 35th Conference on Neural Information Processing Systems (NeurIPS 2021) , December 2021 (Published) arXiv GitHub URL BibTeX

Physical Intelligence Intelligent Control Systems Article Task space adaptation via the learning of gait controllers of magnetic soft millirobots Demir, S. O., Culha, U., Karacakol, A. C., Pena-Francesch, A., Trimpe, S., Sitti, M. The International Journal of Robotics Research, 40(12-14):1331-1351, December 2021 () DOI BibTeX

Intelligent Control Systems Conference Paper Using Physics Knowledge for Learning Rigid-Body Forward Dynamics with Gaussian Process Force Priors Rath, L., Geist, A. R., Trimpe, S. In Proceedings of the 5th Conference on Robot Learning, 164:101-111, Proceedings of Machine Learning Research, (Editors: Faust, Aleksandra and Hsu, David and Neumann, Gerhard), PMLR, 5th Conference on Robot Learning (CoRL 2021), November 2021 (Published) URL BibTeX

Intelligent Control Systems Conference Paper GoSafe: Globally Optimal Safe Robot Learning Baumann, D., Marco, A., Turchetta, M., Trimpe, S. In 2021 IEEE International Conference on Robotics and Automation (ICRA 2021), :4452-4458, IEEE, Piscataway, NJ, IEEE International Conference on Robotics and Automation (ICRA 2021), October 2021 (Published) DOI BibTeX

Intelligent Control Systems Ph.D. Thesis Models for Data-Efficient Reinforcement Learning on Real-World Applications Doerr, A. University of Stuttgart, Stuttgart, October 2021 () DOI BibTeX

Intelligent Control Systems Conference Paper Probabilistic robust linear quadratic regulators with Gaussian processes von Rohr, A., Neumann-Brosig, M., Trimpe, S. Proceedings of the 3rd Conference on Learning for Dynamics and Control, :324-335, Proceedings of Machine Learning Research (PMLR), Vol. 144, (Editors: Jadbabaie, Ali and Lygeros, John and Pappas, George J. and Parrilo, Pablo A. and Recht, Benjamin and Tomlin, Claire J. and Zeilinger, Melanie N.), PMLR, Brookline, MA 02446 , 3rd Annual Conference on Learning for Dynamics and Control (L4DC), June 2021 (Published) DOI URL BibTeX

Intelligent Control Systems Conference Paper On exploration requirements for learning safety constraints Massiani, P., Heim, S., Trimpe, S. In Proceedings of the 3rd Conference on Learning for Dynamics and Control, :905-916, Proceedings of Machine Learning Research (PMLR), Vol. 144, (Editors: Jadbabaie, Ali and Lygeros, John and Pappas, George J. and Parrilo, Pablo A. and Recht, Benjamin and Tomlin, Claire J. and Zeilinger, Melanie), PMLR, 3rd Annual Conference on Learning for Dynamics and Control (L4DC), June 2021 (Published) URL BibTeX

Intelligent Control Systems Article Structured learning of rigid-body dynamics: A survey and unified view from a robotics perspective Geist, A. R., Trimpe, S. GAMM-Mitteilungen, 44(2):e202100009, Special Issue: Scientific Machine Learning, 2021 (Published) DOI BibTeX

Intelligent Control Systems Conference Paper Practical and Rigorous Uncertainty Bounds for Gaussian Process Regression Fiedler, C., Scherer, C. W., Trimpe, S. In The Thirty-Fifth AAAI Conference on Artificial Intelligence, the Thirty-Third Conference on Innovative Applications of Artificial Intelligence, the Eleventh Symposium on Educational Advances in Artificial Intelligence, 8:7439-7447, AAAI Press, Palo Alto, CA, Thirty-Fifth AAAI Conference on Artificial Intelligence (AAAI 2021), Thirty-Third Conference on Innovative Applications of Artificial Intelligence (IAAI 2021), Eleventh Symposium on Educational Advances in Artificial Intelligence (EAAI 2021), May 2021 () URL BibTeX

Dynamic Locomotion Intelligent Control Systems Conference Paper A little damping goes a long way Heim, S., Millard, M., Mouel, C. L., Badri-Spröwitz, A. In Integrative and Comparative Biology, 61(Supplement 1):E367-E367, Oxford University Press, Society for Integrative and Comparative Biology Annual Meeting (SICB Annual Meeting 2021) , March 2021 (Published) DOI URL BibTeX

Intelligent Control Systems Movement Generation and Control Probabilistic Numerics Empirical Inference Article Robot Learning with Crash Constraints Marco, A., Baumann, D., Khadiv, M., Hennig, P., Righetti, L., Trimpe, S. IEEE Robotics and Automation Letters, 6(2):1439-1446, IEEE, February 2021 (Published) DOI URL BibTeX

Intelligent Control Systems Article Controller Design via Experimental Exploration With Robustness Guarantees Holicki, T., Scherer, C. W., Trimpe, J. S. IEEE Control Systems Letters, 5(2):641-646, 2021 () DOI BibTeX

Intelligent Control Systems Article Event-triggered Learning for Linear Quadratic Control Schlüter, H., Solowjow, F., Trimpe, S. IEEE Transactions on Automatic Control, 66(10):4485-4498, 2021 (Published) arXiv DOI BibTeX

Intelligent Control Systems Empirical Inference Article Learning Event-triggered Control from Data through Joint Optimization Funk, N., Baumann, D., Berenz, V., Trimpe, S. IFAC Journal of Systems and Control, 16:100144, 2021 () arXiv DOI URL BibTeX

Intelligent Control Systems Article Wireless Control for Smart Manufacturing: Recent Approaches and Open Challenges Baumann, D., Mager, F., Wetzker, U., Thiele, L., Zimmerling, M., Trimpe, S. Proceedings of the IEEE, 109(4):441-467, 2021 (Published) arXiv DOI BibTeX

Intelligent Control Systems Ph.D. Thesis Learning and Control Strategies for Cyber-physical Systems: From Wireless Control over Deep Reinforcement Learning to Causal Identification Baumann, D. KTH Royal Institute of Technology, Stockholm, Sweden, December 2020 (Published) PDF URL BibTeX

Dynamic Locomotion Intelligent Control Systems Article A Learnable Safety Measure Heim, S., Rohr, A. V., Trimpe, S., Badri-Spröwitz, A. Proceedings of the Conference on Robot Learning, 100:627-639, Proceedings of Machine Learning Research, (Editors: Kaelbling, Leslie Pack and Kragic, Danica and Sugiura, Komei), PMLR, Conference on Robot Learning, October 2020 (Published) Arxiv BibTeX

Dynamic Locomotion Intelligent Control Systems Article A little damping goes a long way: a simulation study of how damping influences task-level stability in running Heim, S., Millard, M., Le Mouel, C., Badri-Spröwitz, A. Biology Letters, 16(9):20200467, September 2020 (Published) DOI URL BibTeX

Intelligent Control Systems Ph.D. Thesis Bayesian Optimization in Robot Learning - Automatic Controller Tuning and Sample-Efficient Methods Marco-Valle, A. Eberhard Karls Universität Tübingen, Tübingen, July 2020 () Repository (Universitätsbibliothek) - University of Tübingen PDF DOI BibTeX

Intelligent Control Systems Article Event-triggered Learning Solowjow, F., Trimpe, S. Automatica, 117:109009, Elsevier, July 2020 (Published) arXiv PDF DOI BibTeX

Physical Intelligence Intelligent Control Systems Conference Paper Learning of sub-optimal gait controllers for magnetic walking soft millirobots Culha, U., Demir, S. O., Trimpe, S., Sitti, M. In Robotics: Science and Systems XVI, :P070, (Editors: Toussaint, Marc and Bicchi, Antonio and Hermans, Tucker), RSS Foundation, Robotics: Science and Systems 2020 (RSS 2020), 2020 (Published) DOI URL BibTeX

Intelligent Control Systems Conference Paper Actively Learning Gaussian Process Dynamics Buisson-Fenet, M., Solowjow, F., Trimpe, S. Proceedings of the 2nd Conference on Learning for Dynamics and Control, 120:5-15, Proceedings of Machine Learning Research (PMLR), (Editors: Bayen, Alexandre M. and Jadbabaie, Ali and Pappas, George and Parrilo, Pablo A. and Recht, Benjamin and Tomlin, Claire and Zeilinger, Melanie), PMLR, 2nd Annual Conference on Learning for Dynamics and Control (L4DC), June 2020 (Published) ArXiv URL BibTeX

Intelligent Control Systems Conference Paper Learning Constrained Dynamics with Gauss Principle adhering Gaussian Processes Geist, A. R., Trimpe, S. In Proceedings of the 2nd Conference on Learning for Dynamics and Control, 120:225-234, Proceedings of Machine Learning Research (PMLR), (Editors: Bayen, Alexandre M. and Jadbabaie, Ali and Pappas, George and Parrilo, Pablo A. and Recht, Benjamin and Tomlin, Claire and Zeilinger, Melanie), PMLR, 2nd Annual Conference on Learning for Dynamics and Control (L4DC), June 2020 (Published) Proceedings of Machine Learning Research URL BibTeX

Intelligent Control Systems Article Data-efficient Autotuning with Bayesian Optimization: An Industrial Control Study Neumann-Brosig, M., Marco, A., Schwarzmann, D., Trimpe, S. IEEE Transactions on Control Systems Technology, 28(3):730-740, May 2020 (Published) arXiv (PDF) DOI BibTeX

Intelligent Control Systems Conference Paper Robust Model-free Reinforcement Learning with Multi-objective Bayesian Optimization Turchetta, M., Krause, A., Trimpe, S. In 2020 IEEE International Conference on Robotics and Automation (ICRA 2020), :10702-10708, IEEE, Piscataway, NJ, IEEE International Conference on Robotics and Automation (ICRA 2020), May 2020 (Published) DOI BibTeX

Intelligent Control Systems Article Sliding Mode Control with Gaussian Process Regression for Underwater Robots Lima, G. S., Trimpe, S., Bessa, W. M. Journal of Intelligent & Robotic Systems, 99(3-4):487-498, January 2020 (Published) DOI BibTeX

Intelligent Control Systems Article Control-guided Communication: Efficient Resource Arbitration and Allocation in Multi-hop Wireless Control Systems Baumann, D., Mager, F., Zimmerling, M., Trimpe, S. IEEE Control Systems Letters, 4(1):127-132, January 2020 (Published) arXiv PDF DOI BibTeX

Intelligent Control Systems Article Hierarchical Event-triggered Learning for Cyclically Excited Systems with Application to Wireless Sensor Networks Beuchert, J., Solowjow, F., Raisch, J., Trimpe, S., Seel, T. IEEE Control Systems Letters, 4(1):103-108, January 2020 (Published) arXiv PDF DOI BibTeX

Intelligent Control Systems Article Overcoming Bandwidth Limitations in Wireless Sensor Networks by Exploitation of Cyclic Signal Patterns: An Event-triggered Learning Approach Beuchert, J., Solowjow, F., Trimpe, S., Seel, T. Sensors, 20(1):260, January 2020 (Published) PDF DOI BibTeX

Intelligent Control Systems Autonomous Motion Proceedings Excursion Search for Constrained Bayesian Optimization under a Limited Budget of Failures Marco, A., Rohr, A. V., Baumann, D., Hernández-Lobato, J. M., Trimpe, S. 2020, In revision (In revision) arXiv code (python) PDF BibTeX

Intelligent Control Systems Technical Report Identifying Causal Structure in Dynamical Systems Baumann, D., Solowjow, F., Johansson, K. H., Trimpe, S. 2020 () arXiv BibTeX

Intelligent Control Systems Article Online learning with stability guarantees: A memory-based warm starting for real-time MPC Schwenkel, L., Gharbi, M., Trimpe, S., Ebenbauer, C. Automatica, 122:109247, 2020 (Published) DOI BibTeX

Intelligent Control Systems Autonomous Motion Article Safe and Fast Tracking on a Robot Manipulator: Robust MPC and Neural Network Control Nubert, J., Koehler, J., Berenz, V., Allgower, F., Trimpe, S. IEEE Robotics and Automation Letters, 5(2):3050-3057, 2020 (Published) arXiv PDF DOI BibTeX

Intelligent Control Systems Article Spatial Scheduling of Informative Meetings for Multi-Agent Persistent Coverage Haksar, R. N., Trimpe, S., Schwager, M. IEEE Robotics and Automation Letters, 5(2):3027-3034, 2020 (Published) DOI BibTeX

Intelligent Control Systems Conference Paper Controlling Heterogeneous Stochastic Growth Processes on Lattices with Limited Resources Haksar, R., Solowjow, F., Trimpe, S., Schwager, M. In Proceedings of the 58th IEEE International Conference on Decision and Control (CDC) , :1315-1322, 58th IEEE International Conference on Decision and Control (CDC), December 2019 (Published) PDF BibTeX

Intelligent Control Systems Article Fast Feedback Control over Multi-hop Wireless Networks with Mode Changes and Stability Guarantees Baumann, D., Mager, F., Jacob, R., Thiele, L., Zimmerling, M., Trimpe, S. ACM Transactions on Cyber-Physical Systems, 4(2):18, November 2019 (Published) arXiv PDF DOI BibTeX

Intelligent Control Systems Conference Paper Predictive Triggering for Distributed Control of Resource Constrained Multi-agent Systems Mastrangelo, J. M., Baumann, D., Trimpe, S. In Proceedings of the 8th IFAC Workshop on Distributed Estimation and Control in Networked Systems, :79-84, 8th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NecSys), September 2019 (Published) arXiv PDF DOI BibTeX

Intelligent Control Systems Conference Paper Event-triggered Pulse Control with Model Learning (if Necessary) Baumann, D., Solowjow, F., Johansson, K. H., Trimpe, S. In Proceedings of the American Control Conference, :792-797, American Control Conference (ACC), July 2019 (Published) arXiv PDF BibTeX

Intelligent Control Systems Conference Paper Data-driven inference of passivity properties via Gaussian process optimization Romer, A., Trimpe, S., Allgöwer, F. In Proceedings of the European Control Conference, European Control Conference (ECC), June 2019 (Published) PDF BibTeX

Intelligent Control Systems Article Resource-aware IoT Control: Saving Communication through Predictive Triggering Trimpe, S., Baumann, D. IEEE Internet of Things Journal, 6(3):5013-5028, June 2019 (Published) PDF arXiv DOI BibTeX

Intelligent Control Systems Conference Paper Trajectory-Based Off-Policy Deep Reinforcement Learning Doerr, A., Volpp, M., Toussaint, M., Trimpe, S., Daniel, C. In Proceedings of the International Conference on Machine Learning (ICML), International Conference on Machine Learning (ICML), June 2019 (Published) arXiv PDF BibTeX

Intelligent Control Systems Poster Demo Abstract: Fast Feedback Control and Coordination with Mode Changes for Wireless Cyber-Physical Systems Mager, F., Baumann, D., Jacob, R., Thiele, L., Trimpe, S., Zimmerling, M. Proceedings of the 18th ACM/IEEE Conference on Information Processing in Sensor Networks (IPSN), :340-341, 18th ACM/IEEE Conference on Information Processing in Sensor Networks (IPSN), April 2019 (Published) arXiv PDF DOI BibTeX

Intelligent Control Systems Conference Paper Feedback Control Goes Wireless: Guaranteed Stability over Low-power Multi-hop Networks Mager, F., Baumann, D., Jacob, R., Thiele, L., Trimpe, S., Zimmerling, M. In Proceedings of the 10th ACM/IEEE International Conference on Cyber-Physical Systems, :97-108, 10th ACM/IEEE International Conference on Cyber-Physical Systems, April 2019 (Published) arXiv PDF DOI BibTeX

Intelligent Control Systems Ph.D. Thesis Fast and Resource-Efficient Control of Wireless Cyber-Physical Systems Baumann, D. KTH Royal Institute of Technology, Stockholm, February 2019 (Published) PDF BibTeX

Intelligent Control Systems Article Learning Environmental Field Exploration with Computationally Constrained Underwater Robots: Gaussian Processes Meet Stochastic Optimal Control Duecker, D. A., Geist, A. R., Kreuzer, E., Solowjow, E. Sensors, 19, 2019 (Published) URL BibTeX

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