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christoph.roesmann@tu-dortmund.de
Research focus
- (Model) predictive, nonlinear control methods & optimal control.
- Online trajectory planning and control of mobile robots.
- Efficient solution of sparse optimization problems.
Conference papers and presentations
2021
- Rösmann, C., A. Makarow, T. Bertram, Online Motion Planning based on Nonlinear Model Predictive Control with Non-Euclidean Rotation Groups, 2021 European Control Conference, Rotterdam
Netherlands 29.06 - 02.07.2021
2020
- Krämer, M., F. I. Muster, C. Rösmann, and T. Bertram: Elasticity-Aware Online Motion Optimization for Link-Elastic Manipulators, IFAC-PapersOnline, vol. 53, no. 2, pp. 9980-9985,
2020 - Makarow, A., C. Rösmann, and T. Bertram :Single Degree of Freedom Model Predictive Control with Variable Horizon, in American Control Conference (ACC), Denver, CO, USA, DOI:10.23919/ACC45564.2020.9147967
July, 2020
2019
- Rösmann, C., A. Makarow and T. Bertram: Practical stability and dual-mode for time-optimal nonlinear model predictive control with time-varying discretization, GMA Symposium (1.40), Anif, Austria
September 2019 - Mares, E., C. Rösmann, T. Bertram: F. Keller, M. Skutek and T. Ottenhues: Time-optimal trajectory planning for automated parking processes of vehicles, VDI Mechatronics Conference 2019, Paderborn, Germany
March 2019 - Rösmann, C. and T. Bertram: Time-optimal nonlinear model predictive control with variable discretization grids, 53rd Control Engineering Colloquium, Boppard, 20-22.02.2019
February 2019
2018
- Makarow, A., J. Braun, C. Rösmann, G. Schoppel, I. Glowatzky and T. Bertram: Introduction of Model Predictive Control for the System Optimization of a Proportional Directional Control Valve, IEEE Conference on Control Technology and Applications (CCTA), Copenhagen, Denmark, DOI: 10.1109/CCTA.2018.8511392
August 2018 - Rösmann, C., M. Krämer, A. Makarow, F. Hoffmann and T. Bertram: Exploiting Sparse Structures in Nonlinear Model Predictive Control with Hypergraphs, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Auckland, New Zealand, DOI: 10.1109/AIM.2018.8452378
July 2018 - Makarow, A., J. Braun, C. Rösmann, G. Schoppel, I. Glowatzky and T. Bertram: Cascaded Evolutionary Multi-Objective System Optimization for a Proportional Directional Control Valve, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Auckland, New Zealand, DOI: 10.1109/AIM.2018.8452356
July 2018 - Makarow, A., M. Keller, C. Rösmann and T. Bertram: Model Predictive Trajectory Set Control with Adaptive Input Domain Discretization, American Control Conference (ACC), Milwaukee, WI, USA, DOI: 10.23919/ACC.2018.8431313
June 2018 - Makarow, A., C. Rösmann, M. Keller, and T. Bertram : Comparison of model predictive trajectory coulter control with conventional control methods, International Federation for the Promotion of Mechanism and Machine Science D-A-CH Conference (IFToMM D-A-CH), Lausanne, Switzerland
February 2018 - Rösmann, C., A. Makarow, F. Hoffmann and T. Bertram: Gain scheduling between time-optimal and quadratic model predictive control, International Federation for the Promotion of Mechanism and Machine Science D-A-CH Conference (IFToMM D-A-CH), Lausanne, Switzerland
February 2018
2017
- Rösmann, C., A. Makarow, F. Hoffmann and T. Bertram: Sparse Shooting at Adaptive Temporal Resolution for Time-Optimal Model Predictive Control, IEEE Conference on Decision and Control (CDC), pp. 5551-5556, Melbourne, Australia
December 2017 - Rösmann, C., F. Hoffmann and T. Bertram: Kinodynamic Trajectory Optimization and Control for Car-Like Robots, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada, DOI: 10.1109/IROS.2017.8206458
September 2017 - Rösmann, C., A. Makarow, F. Hoffmann and T. Bertram: Time-Optimal Nonlinear Model Predictive Control with Minimal Control Interventions, IEEE Conference on Control Technology and Applications (CCTA), Kohala Coast, Hawai'i, DOI: 10.1109/CCTA.2017.8062434
August 2017 - Makarow, A., M. Keller, C. Rösmann, T. Bertram, G. Schoppel and I. Glowatzky: Model Predictive Trajectory Set Control for a Proportional Directional Control Valve, IEEE Conference on Control Technology and Applications (CCTA), Kohala Coast, Hawai'i, DOI: 10.1109/CCTA.2017.8062627
August 2017 - Rösmann, C., M. Oeljeklaus, F. Hoffmann and T. Bertram: Online Trajectory Prediction and Planning for Social Robot Navigation, IEEE International Conference on Advanced Intelligent Mechatronics (AIM), pp. 1255-1260, Munich, Germany, DOI: 10.1109/AIM.2017.8014190
July 2017 - Rösmann, C., F. Hoffmann and T. Bertram: Time-optimal motion planning for mobile robots with Ackermann steering, Fachtagung Mechatronik 2017, pp. 238-243, Dresden, Germany
March 2017 - Krämer, M., C. Rösmann, F. I. John and T. Bertram: Time-optimal control of the boom assembly of a truck-mounted concrete pump under static, kinodynamic and geometric constraints, 3rd IFToMM D-A-CH, Chemnitz, Germany
February 2017
2016
- Götte, C., M. Keller, C. Rösmann, T. Nattermann, C. Haß, K.-H. Glander, A. Seewald and T. Bertram: A Real-Time Capable Model Predictive Approach to Lateral Vehicle Guidance , IEEE International Conference on Intelligent Transportation Systems (ITSC), Rio de Janeiro, Brazil
November 2016 - Alsayegh, M., C. Rösmann, F. Hoffmann and T. Bertram: Model Predictive Control for Learning from Demonstration, 26th Workshop Computational Intelligence
November 2016 - Rösmann, C., F. Hoffman and T. Bertram: Convergence Analysis of Time-Optimal Model Predictive Control under Limited Computational Resources, European Control Conference (ECC), Denmark, DOI: 10.1109/ECC.2016.7810328
June 2016
2015
- Rösmann, C., F. Hoffmann and T. Bertram: Planning of Multiple Robot Trajectories in Distinctive Topologies, 14th IEEE European Conference on Mobile Robots (ECMR), Lincoln, UK, DOI: 10.1109/ECMR.2015.7324179.
September 2015 - Rösmann, C., F. Hoffmann and T. Bertram: Timed-Elastic-Bands for Time-Optimal Point-to-Point Nonlinear Model Predictive Control, 14th European Control Conference (ECC) Linz, Austria, DOI: 10.1109/ECC.2015.7331052.
July 2015 - Wissing, C., J. Braun, C. Rösmann and T. Bertram: Development of a control concept for an articulated arm robot for automated loading, Fachtagung Mechatronik 2015, pp. 31-36, Dortmund, Germany
March 2015
2013
- Oeljeklaus, M., C. Rösmann, F. Hoffmann and T. Bertram: Trajectory Planning with Timed Elastic Bands for Proxemic Interaction between Humans and Mobile Robots , Proceedings 23rd Workshop Computational Intelligence, Dortmund
December 2013 - Rösmann, C., W. Feiten, T. Wösch, F. Hoffmann and T. Bertram: Efficient Trajectory Optimization using a Sparse Model, 6th European Conference on Mobile Robots, Barcelona, DOI: 10.1109/ECMR.2013.6698833
September 2013
2012
- Rösmann, C., W. Feiten, T. Woesch, F. Hoffmann and T. Bertram: Trajectory Modification Considering Dynamic Constraints of Autonomous Robots, Proceedings of ROBOTIK 2012; 7th German Conference on Robotics pages 1-6
May 2012
Journal and book contributions
2022
- Makarow, A., Christoph Rösmann, Torsten Bertram:"Suboptimal nonlinear model predictive control with input move-blocking" International Journal of Control December 2022
2021
- Makarow, A., C. Rösmann, T. Bertram: Suboptimal model predictive control with one degree of freedom for subordinate control loops, at-Automatisierungstechnik, Volume 69, Issue 7 - Focus Issue: Selected Contributions of the GMA Technical Committee 1.40, Part 1/Thomas Meurer, Alexander Schaum, DOI: 10.1515/auto-2021-0034,
June 2021 - Krämer, M., F. I. Muster, C. Rösmann, and T. Bertram: An optimization-based approach for elasticity-aware trajectory planning of link-elastic manipulators, Mechatronics, vol. 75,
2021. - Rösmann, C., A. Makarow, T. Bertram: Stabilising Quasi-Time-Optimal Nonlinear Model Predictive Control with Variable Discretisation, International Journal of Control, Taylor & Francis, DOI:10.1080/00207179.2021.1929497,
2021
2020
- M. Krämer, C. Rösmann, F. Hoffmann, and T. Bertram: Model predictive control of a collaborative manipulator considering dynamic obstacles, Video, Optimal Control Applications and Methods, John Wiley & Sons Ltd 2020
2018
- Albers, F., C. Rösmann, F. Hoffmann and T. Bertram: Online Trajectory Optimization and Navigation in Dynamic Environments, In: Robot Operating System (ROS) - The Complete Reference 3 (A. Koubaa, ed.), Studies in Computational Intelligence, Springer International Publishing, vol. 778, pp. 231-261
July 2018
2017
- Krämer, M., C. Rösmann, F. I. John and T. Bertram: Time-optimal boom assembly of a mobile truck-mounted concrete pump under constraints, Research in Engineering 2017, Springer, Berlin Heidelberg
December 2017 - Rösmann, C., F. Hoffmann and T. Bertram: Online Trajectory Planning in ROS under Kinodynamic Constraints with Timed-Elastic-Bands, Robot Operating System (ROS) - The Complete Reference 2 (A. Koubaa, ed.), Studies in Computational Intelligence, Springer International Publishing, vol. 707, pp. 231-261
May 2017 - Rösmann, C., F. Hoffmann and T. Bertram: Integrated online trajectory planning and optimization in distinctive topologies, Robotics and Autonomous Systems, vol. 88, pp. 142-153
February 2017
2014
- Rösmann, C., F. Hoffmann and T. Bertram: Predictive Control with Timed Elastic Bands, at - Automatisierungstechnik: Vol. 62, No. 10, pp. 720-731. doi: 10.1515/auto-2014-1120
2014
ArXiv - Contributions
2020
- Rösmann, C. , A. Makarow, and T. Bertram, Online Motion Planning based on Nonlinear Model Predictive Control with Non-Euclidean Rotation Groups, arXiv:2006.03534v1 [cs.RO],
June 2020 - Rösmann, C., A. Makarow, and T. Bertram, Time-optimal control with direct collocation and variable discretization, arXiv:2005.12136 [eess.SY],
May 2020 - Rösmann, C., A. Makarow, and T. Bertram, Stabilizing Quasi-Time-Optimal Nonlinear Model Predictive Control with Variable Discretization, arXiv:2004.09561v1 [eess.SY],
April 2020
Videos
2017
- Rösmann, C., F. Hoffmann and T. Bertram: Kinodynamic Trajectory Optimization and Control for Car-Like Robots,
July 2017
2016
- Rösmann, C., F. Hoffmann and T. Bertram: teb local planner - Car-like Robots and Costmap Conversion,
February 2016
2015
- Rösmann, C., F. Hoffmann and T. Bertram: teb_local_planner - An Optimal Trajectory Planner for Mobile Robots,
June 2015
2014
- Rösmann, C., M. Oeljeklaus, F. Hoffmann and T. Bertram: Human-Aware Motion Planning of Mobile Robots in Social Encounters ,
February 2014
Software
2016
- Rösmann, C. and F. Albers: costmap_converter, A ROS package that includes plugins and nodes to convert occupied costmap2d cells to primitive types, e.g., for trajectory optimization and motion prediction,
October 2016
2015
- Rösmann, C.: teb_local_planner, An optimal trajectory planner with distinctive topologies for mobile robots based on Timed-Elastic-Bands, available as package for the Robot Operating System (ROS),
May 2015
Patents
2018
- Bertram, T., C. Rösmann, F. Hoffmann, F. I. John, J. Henikl and M. Krämer: Large manipulator with automated mast assembly,
June 2018 - Bertram, T., C. Rösmann, F. Hoffmann, F. I. John, J. Henikl and M. Krämer: Large manipulator with automated boom construction,
June 2018
Student research projects / Bachelor's / Master's theses
- K. Ramthun:
Systematic analysis of explicit model predictive control using the example of a mechatronic system,
Bachelorthesis at the Chair of Control Systems Engineering at the Technical University of Dortmund,
February 2020
Supervision: A. Makarow,C. Rösmann,G. Rudolph,T. Bertram - M. Seemann:
Systematic analysis of various multivariable controllers using the example of a system for mixed water preparation,
Bachelor's thesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
December 2018.
Supervision: A. Makarow,C. Rösmann,M. Sternke,T. Bertram - M. Klöpper:
Design of the Model Predictive Trajectory Set Control for a Wide Operation Range of a Proportional Directional Control Valve,
Master's thesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
November 2018.
Supervision: A. Makarow,C. Rösmann,J. Braun,T. Bertram - Q. Bui:
Online trajectory planning based on initialization using homotopy classes for a robot arm with obstacles,
Master's thesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
October 2018.
Supervision: M. Krämer,C. Rösmann,F. Hoffmann,T.Bertram - M. Mokhadri:
Model Predictive Path Integral Control for Joint Space Control of a Link-Elastic Robot Arm,
Masterthesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
October 2018.
Supervision: F. Hoffmann,C. Rösmann,F. Muster,A. Makarov - Y. Liu:
Motion Tracking and System Identification of a Carrera Slot Car,
Masterthesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
October 2018.
Supervision: F. Hoffmann,F. John,A. Makarow,C. Rösmann,T. Bertram - O. Ojekunle:
Systematic analysis and design of real-time capable model predictive controls using the example of the inverse pendulum,
Master's thesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
October 2018.
Supervision: C. Rösmann,A. Makarow,T. Bertram - S. Kurzawe:
Modellprädikatives Ballancieren eines Stabs mit einem seriellen Roboterarm,
Masterthesis am Lehrstuhl für Regelungssystemtechnik der Technischen Universität Dortmund,
September 2018.
Supervision: C. Rösmann,M. Krämer,A. Makarow,T. Bertram - C. Schmickler:
Simulationsbasierte Stabilitätsuntersuchung der modellprädikativen Trajektorienscharregelung für mechatronische Systeme,
Bachelorthesis am Lehrstuhl für Regelungssystemtechnik der Technischen Universität Dortmund,
July 2018.
Supervision: A. Makarow,C. Rösmann,T. Bertram - Danting Feng:
Development of a parking space detection system for automated vehicles with Ackermann steering,
Bachelorthesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
July 2018.
Supervision: E. Mares, C. Rösmann - L. Zeng:
Online Trajectory Planning for Mobile Robots with Dynamic Obstacles,
Master's thesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
June 2018.
Supervision: F. Albers,C. Rösmann,F. Hoffmann,T. Bertram - Patrick Marcel Andre Hartmann:
Rapidly-Exploring-Random-Trees als globaler Planungsansatz für automatisierte Fahrzeuge mit Ackermann-Lenkung,
Bachelorthesis am Lehrstuhl für Regelungssystemtechnik der Technischen Universität Dortmund,
June 2018.
Supervision: E. Mares, C. Rösmann - V. Rodríguez:
Vision-based Simultaneous Localization and Mapping with Multiple Mobile Robots,
Master's thesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
April 2018.
Supervision: C. Rösmann,M. Krämer,T. Bertram - A. Puzicha:
Modellprädiktive Regelung eines strukturelastischen Roboterarms im Gelenkraum,
Bachelorthesis am Lehrstuhl für Regelungssystemtechnik der Technischen Universität Dortmund,
February 2018.
Supervision: C. Rösmann, A. Makarow, F. John, M. Krämer, G. Rudolph, T. Bertram - E. Mares:
Radar-based parking assistant,
Master's thesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
November 2017.
Supervision: C. Rösmann,M. Skutek,F. Keller,T.Bertram - P. Dorpmüller:
Analyse und Vergleich von numerischen Optimierungsalgorithmen für die Trajektorienplanung automatisierter Fahrzeuge,
Bachelorthesis am Lehrstuhl für Regelungssystemtechnik der Technischen Universität Dortmund,
October 2017.
Supervision: C. Götte,C. Rösmann,A. Homann,T. Bertram - J. Bahne:
Automatisches Differenzieren für die modellprädiktive Regelung,
Bachelorthesis am Lehrstuhl für Regelungssystemtechnik der Technischen Universität Dortmund,
October 2017.
Supervision: C. Rösmann, A. Makarow, F. Hoffmann, G. Rudolph, T. Bertram - M. Golonka:
Systematic analysis of PID and model-predictive controller design using the example of a mechatronic system,
Bachelorthesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
July 2017.
Supervision: A. Makarow,C. Rösmann,T. Bertram - F. Albers:
Online trajectory optimization for mobile robots with dynamic obstacles and alternative topologies,
Master's thesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
July 2017.
Supervision: C. Rösmann,F. Hoffmann,T. Bertram - S. Neumann:
Benchmarking von Trajektorienplanern im Robot Operating System,
Bachelorthesis am Lehrstuhl für Regelungssystemtechnik der Technischen Universität Dortmund,
January 2017.
Supervision: C. Rösmann,F. Hoffmann,T. Bertram - C. Booms:
Navigation mobiler Roboter mit Ackermann Lenkung am Beispiel von Lego Mindstorms EV3 Plattformen,
Bachelorthesis am Lehrstuhl für Regelungssystemtechnik der Technischen Universität Dortmund,
November 2016.
Supervision: C. Rösmann,F. Hoffmann,T.Bertram - C. Wolf:
Design and evaluation of a model predictive controller for a mechatronic drive system,
Bachelorthesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
September 2016.
Supervision: C. Rösmann,C. Krimpmann,T. Bertram - S. Kurzawe:
Evaluation framework for the comparative long-term analysis of navigation behavior of mobile robots,
Bachelorthesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
September 2016.
Supervision: C. Rösmann,F. Hoffmann,T. Bertram - O. Mogylenko:
Vergleich prädiktiver Trajektorienregelungen und -optimierungen für nicht-holonome mobile Roboter,
Bachelorthesis am Lehrstuhl für Regelungssystemtechnik der Technischen Universität Dortmund,
August 2016.
Supervision: C. Rösmann,F. Hoffmann,T. Bertram - Q.T. Bui:
Setup of an experimental environment for the localization and trajectory control of LEGO Mindstorms robots with a motion capture system,
Bachelorthesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
July 2016.
Supervision: M. Alsayegh,C. Rösmann,F.Hoffmann,T. Bertram - L.Tan:
Exploration Strategies for Vision Based topological Map Building,
Masterthesis am Lehrstuhl für Regelungssystemtechnik der Technischen Universität Dortmund,
November 2015.
Supervision: C. Rösmann,F. Hoffmann,T. Bertram - D. Thielsch:
Ein modellprädiktives Planungs- und regelungsverfahren zur Fahrzeugführung in Notsituationen,
Masterthesis am Lehrstuhl für Regelungssystemtechnik der Technischen Universität Dortmund,
October 2015.
Supervision: M. Keller,C. Rösmann,T. Bertram - A. Navarro:
Trajectory Planning for Non-Holonomic Mobile Robots with Timed Elastic Bands,
Masterthesis am Lehrstuhl für Regelungssystemtechnik der Technischen Universität Dortmund,
October 2015.
Supervision: F. Hoffmann,C. Rösmann,T. Bertram - O. Rinaldo:
ROS Framework for Local Trajectory Planning with Times Elastic Bands,
Masterthesis am Lehrstuhl für Regelungssystemtechnik der Technischen Universität Dortmund,
October 2015.
Supervision: C. Rösmann,F. Hoffmann,T. Bertram - A. Bussmann:
Parallel Online Trajectory Planning for Mobile Robots in Alternative Homotopy Classes,
Masterthesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
October 2015.
Supervision: C. Rösmann,F. Hoffmann,T. Bertram - M. Theile:
Monte-Carlo based robustness analysis for nonlinear model predictive control,
Bachelorthesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
September 2015.
Supervision: C. Rösmann,T. Bertram - F. Tabassum,C. Hebbeker:
Recherche und Implementierung von Konzepten zur Regelung von Portalkränen am Beispiel eines Linearpendel-Experimentalsystems,
Bachelorthesis am Lehrstuhl für Regelungssystemtechnik der Technischen Universität Dortmund,
September 2015.
Supervision: C. Krimpmann,C. Rösmann,T. Bertram - S. Gillet:
Semantic Spatial Hierarchy for Mobile Robot Navigation and Topological Mapping,
Masterthesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
May 2015.
Supervision: C. Rösmann,F. Hoffmann,T. Bertram