Research interests

• Optimization Algorithms over Manifolds
• Analysis of Learning Dynamics
• Statistical Learning Theory and System Identification
• Data-driven Techniques in Control

Short CV

• 07/2023 - present     Post-doctoral researcher at Institute of Data-Science Foundations,TUHH
• 11/2016-06/2023       Research assistant at Institute of Control Systems, TUHH
• 09/2014-10/2016       M.Sc. in Mathematical modeling in Engineering (www.mathmods.eu)
• 07/2012–08/2014      Research Engineer, Mercedes Benz R&D, Pune, India / Diamler RD, Stuttgart, Germany
• 06/2012                      B.E. in Mechanical Engineering, University of Pune,India

Teaching Responsibilities

• Since 2023                            Machine Learning I and II (in collaboration with Prof. Nihat Ay and Dr. Manfred Eppe)
• 2018-2023                             Optimal and Robust Control

Experiments with Quadrotors

• Source-seeking experiments

Starting from arbitrary initial conditions, the quadrotors flock towards the source (minimum) of a scalar field. The idea is to estimate a local gradient and hessian and track continuous versions of steepest descent and newton method with momentum. Stability analysis and other details could be found in this paper:

Datar, A., Paulsen, P. and Werner, H., 2019, July. Flocking Towards the Source: Indoor Experiments with Quadrotors

Links to videos:

[1] Paper presentation at ECC 2020

[2] Source-seeking for a strictly convex quadratic scalar field 

[3] Source-seeking for a strictly log-convex scalar field

[4] Source-seeking for a non-convex quadratic scalar field with 2 minima 

[5] Data from all experiments visualized in an animation

Teaching Material

1. Exercise classes (videos): Optimal and Robust Control SoSe2020 
2. Material for exercise classes on Optimal and Robust Control (ORC)
3. Tutorial on Integral Quadratic Constraints

Past student projects

Student projects based on theory/simulations

• Koerkemeier, Leon(2022). Adaptive Controller and Observer Design for Unmanned Underwater Vehicles with Unknown Dynamics.
• Ramcke, Marius(2021): Predictive Formation Control in Indoor Experiments with Multiple Quadrotors. Project Work.
• Altalmas, Abdallah (2021): Attitude Stabilization of Quadrotors with quaternions within the LPV framework. Projecct Work.
• Hespe, Christian (2020): Analysis of distributed control algorithms for general non-linear mobile agents. Master's Thesis.
• Dio, Maximilian (2019): Investigations into the Control Architecture for Cooperative Control of Vehicles. Bachelor's Thesis.
• Shalghar, Ajay (2018): Comparison of LPV controller synthesis with LPV tools and synthesis with full block scalings.
• Häuslein, Julius (2018): Dynamic quantization for formation control of underwater robotic agents. Bachelor Thesis.
• Jadhav, Shashank (2017): Convergence of consensus algorithms for multi-agent systems under communication constraints. Master's Thesis.
• Naumann, Konrad (2017): Nonlinear control of a quadrotor for stabiliyation from arbitrary initial conditions. Master Thesis

Student projects based on data-driven control

• Dio, Maximilian(2021): Offline and Active learning for Data-Driven control of Construction Machines using Gaussian Processes. Master's Thesis.
• Ganz, Felix (2020): Applications of Koopman operators with LMI based control techniques: Case study on representative examples. Master Thesis.
• Ganz, Felix (2019): Koopman Operator based control with LMI methods. Project Work.
• Bakr, Mohamed Ahmed Mustafa (2018): Systematic procedure for Extended MIMO Data driven control and Implementation on Control Moment Gyroscope. Project Work.
• Ghoorchian, Saeed (2017): Kernelized principal component analysis of a Linear Parameter Varying model of a Gyroscope. Master's Thesis.
• {Esmaeilzadeh Fard}, Astiaj (2021): Design and Implementation of a Torque Vectoring Controller for an All-Wheel Drive Racing Car. Bachelor's Thesis.
• Dio, Maximilian (2021): Cooperative Control of multiple quadrotors with Model Predictive Control in an indoor experimental setup. Project Work.
• Kadaji, Keerthan (2020): Investigations into Bayesian estimation for position measurement of indoor quadrotor experiments. Project Work.
• Salomon Sanchez, Rafael(2020): Development of a Model Predictive Controller for an Anutonomous Drone. Master Thesis (at IAV Automotive Engineering Inc.)
• Paulsen, Peter(2019): Experimental Investigations into the effect of Communication Constraints on Performance of Cooperative Control Algorithms: Case Study with Quadrotors. Master's Thesis
• Paulsen, Peter (2019): Development of a software framework for implementation of Co-operative control algorithms on a swarm of small quadrotors. Project Work.
• Paulsen, Peter (2019): Literature review of Formation control and Flocking algorithms for cooperative control of mobile robots. Research Seminar.
• Sivanand, Shankar (2019): An online optimization based torque vectoring control technique for an electric racing car. Project Work.
• Strübing, Manuel (2019): An underwater test-bed setup for modeling acoustic communications in underwater test-bed setup for modeling acoustic communications in formation control of underwater robots. Bachelor Thesis.
• Salomon, Rafael (2018): Control of small quadrotor with LQ(Linear Quadratic) Techniques using ROS nodes within Simulink. Project Work.
• Ongrungroj, Pongpol (2018) : Attitude control of a small quadrotor with Quaternions. Project Work.
• Kothakapu, Raja Vardhan Reddy (2018): Hinf Controller Design for Position and Attitude Control of a small quadrotor. Project work.
• Schradick, Dennis (2018): Real-time calibration for localization of UAVs using ultra wide band sensors. (External) Master Thesis.
• Hastedt, Philipp (2017): System Identication of a Quadrotor using Indoor Positioning System. Bachelor thesis.
• Woidelko, Mirco Fabian (2017): Localization of a Quad-roter Helicopter using Indoor Positioning, Optical Flow Sensor and IMU Data. Bachelor Thesis
• Attar, Abdul Nasser (2017): Identication of a Linear Parameter Varying Dynamic Model of an electric sports car.. Master's Thesis.

Publications