1 to 10 of 16 Results
Apr 20, 2026
Kargl, Arnim; Ebel, Henrik; Eberhard, Peter, 2026, "Supplementary Material from Investigating Advantageous Formulations of Multibody Systems for Optimal Control", https://doi.org/10.18419/DARUS-5751, DaRUS, V1
This repository provides supplementary material alongside the publication, namely the Matlab implementation, i.e., scripts and functions, for the studied five-bar linkage system, and an animation of the studied serial manipulator with flexible link. The Matlab implementation provides all variants of optimal control problems, which are mentioned wit... |
Mar 20, 2026
Krauspenhaar, Jasmin; Rosenfelder, Mario; Krendelsberger, Emilia; Eberhard, Peter, 2026, "Differential-Drive Robot Data Sets and Reference Trajectories for EDMD", https://doi.org/10.18419/DARUS-5799, DaRUS, V1
This repository provides real-world measurement data for data-driven modeling of a differential drive robot. The data sets are tailored for research on Extended Dynamic Mode Decomposition (EDMD) for control-affine systems. The repository contains data collected using two different sampling strategies. In the first strategy, arbitrary control inputs... |
Mar 12, 2026
Schneider, Jan; Könecke, Tom; Ebel, Henrik; Hanss, Michael, 2026, "Visualization of Possibilistic Filtering for Reliable Robot Localization", https://doi.org/10.18419/DARUS-5775, DaRUS, V1, UNF:6:Mo5+xjoqon3ZpoGoKUo/Eg== [fileUNF]
The video presents experimental results of a possibilistic filter applied to a real-world robot localization task using a particle-based implementation. The objective is to identify possible robot states based on the underlying dynamics and angular measurements obtained from a fisheye camera, which determines the robot’s orientation relative to fou... |
Feb 27, 2026
Rodegast, Philipp; Gesell, Jakob; Fehr, Jörg, 2026, "Experimental Video of Industrial Pick-and-Place Delta Robot used for Sparse Identification of Residual Dynamics", https://doi.org/10.18419/DARUS-5738, DaRUS, V1
This repository contains a video demonstration of the delta robot used in our publication. The video showcases the robot performing a typical pick-and-place motion without payload. In the associated paper, we applied a SINDy-like method to perform sparse regression on the residual dynamics and friction of the robot. The approach uses a nominal mode... |
Feb 4, 2026
Rosenfelder, Mario; Ebel, Henrik; Eberhard, Peter, 2026, "Experiment Videos on Setpoint Stabilization of Nonholonomic Mobile Robots and Their Formations Using Geometry-Conforming Model Predictive Control", https://doi.org/10.18419/DARUS-5706, DaRUS, V1
The provided videos document experimental results on setpoint stabilization of various wheeled mobile robots and their formations using tailored model predictive control (MPC) schemes. The controllers are formulated at the kinematic level, i.e., they employ kinematic models of the robots to predict their future behavior and use the robots' velociti... |
Dec 4, 2025
Baumann, Andreas; Eberhard, Peter, 2025, "Visualizations from Investigation of Reducing Metalworking Fluid Consumption in Deep-Hole Drilling using SPH", https://doi.org/10.18419/DARUS-5454, DaRUS, V1
The reduction of metalworking fluid (MWF) in machining processes allows the reduction of costs and energy consumption. However, the process reliability, especially for deep-hole drilling, is influenced significantly by the MWF and its ability to evacuate the created chips out of the borehole. The related work investigates the application of Smoothe... |
Oct 16, 2025
Leprich, David; Rosenfelder, Mario; Herrmann-Wicklmayr, Markus; Flaßkamp, Kathrin; Ebel, Henrik; Eberhard, Peter, 2025, "Visualizations from Efficient Collision-Avoidance Constraints for Ellipsoidal Obstacles in Optimal Control: Application to Path-Following MPC and UAVs", https://doi.org/10.18419/DARUS-5437, DaRUS, V1
The provided videos present an experimental validation of a Model Predictive Path-Following Controller (MPPFC) with integrated obstacle avoidance applied to a Crazyflie 2.1 nano quadrotor. The modular, optimization-based control framework incorporates explicit constraints for avoiding collisions between arbitrarily shaped ellipsoids. At the core of... |
Oct 10, 2025
Baumann, Andreas, 2025, "Visualizations from A Mesh-Free Multi-Physics Approach to Modeling Deep-Hole Drilling and Predicting Chip Jamming and Drill Failure", https://doi.org/10.18419/DARUS-5406, DaRUS, V1
Deep-hole drilling Deep-hole drilling (DHD), particularly at micro scales, presents significant challenges in experimental investigations due to inaccessibility and complex fluid-structure interaction. The related dissertation introduces a novel mesh-free multi-physics modeling approach that couples Smoothed Particle Hydrodynamics (SPH) and the Dis... |
Sep 26, 2025
Kurcsics, Mark; Eberhard, Peter, 2025, "Simulation Results for Versatile Absorption Modeling for Transmissive Optical Elements Using Ray Tracing and Finite Element Analysis", https://doi.org/10.18419/DARUS-5386, DaRUS, V1
Emerging quality requirements in modern optical systems increase the need for accurate simulation and compensation of disturbances. One key disturbance in high-power laser applications results from thermal loading due to absorption. The related paper presents a flexible modeling approach for absorption based on ray tracing, where point heat sources... |
Jun 26, 2025
Leprich, David; Rosenfelder, Mario; Hermle, Mario; Chen, Jingshan; Eberhard, Peter, 2025, "Experiment Video for Model Predictive Path-Following Control of a Quadrotor", https://doi.org/10.18419/DARUS-5099, DaRUS, V1
The provided video shows an experimental result of a Model Predictive Path-Following Controller (MPPFC) applied to a Crazyflie Quadrotor. The objective is to fly along the lemniscate path. The lemniscate is defined as a time-independent geometric curve, parameterized by a so-called timing law. Based on this, the MPPFC generates a dynamically feasib... |
