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Technical University of Munich
Technical University of Munich

Baha Zarrouki, M.Sc.

Baha Zarrouki
e-mail baha.zarrouki@tum.de
room MW 3505
phone +49.89.289.10498
fax +49.89.289.15357
  ResearchGate | LinkedIn

Research Topic

Adaptive and robust Model Predictive Control (MPC) for trajectory following of autonomous vehicles

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Projects

  • EDGAR: Excellent Driving GARching
  • ATLAS-L4: Automated transport between logistics centers on highways in level 4

Student Projects

If you are interested in a student research project, you are welcome to apply intiatively. Feel free to send me an email with a short motivation, curriculum vitae and a current transcript of records.
BASAMAHWexpthekonEintrag
Titel
–✔✔–●●-2024-03-04
Safe Deep Reinforcement Learning based on Bayesian Optimization for Weights-varying Model Predictive Control
✔✔✔–●●-2024-03-04
Machine Learning & Model Predictive Control for Autonomous Vehicle Motion Control
–✔✔–●●-2024-03-04
Multimodal Large Language Models for Autonomous Vehicles Awareness
✔✔✔–●●-2024-03-04
Deep Reinforcement Learning for Model Predictive Control based Autonomous Vehicle Motion Control
–✔✔–●●-2024-01-03
Bayesian Optimization of Model Predictive Control Parameters for Autonomous Vehicle Guidance
–✔✔–●●-2023-10-18
Motion control of autonomous vehicles with Stochastic Model Predictive Control
–✔✔–●●-2023-10-18
Estimating Parameters for Autonomous Vehicle Dynamics using Unscented Kalman Filter and Heuristics of Differential Evolution Algorithms
–✔✔–●●-2023-08-09
Learning-Based Model Predictive Control for Autonomous Vehicle Trajectory Following using Gaussian Process Regression
–✔✔–●●-2023-01-30
Motion control of autonomous vehicles with Tube Nonlinear Model Predictive Control
✔–✔–●●-2022-05-20
Sensitivity Analysis for Tractor-Trailer Dynamics – Prediction Model Quality Assessment

Publications

2023

  • Zarrouki, Baha; Nunes, João; Betz, Johannes: R2NMPC: A Real-Time Reduced Robustified Nonlinear Model Predictive Control with Ellipsoidal Uncertainty Sets for Autonomous Vehicle Motion Control. , 2023 more…
  • Zarrouki, Baha; Wang, Chenyang; Betz, Johannes: A Stochastic Nonlinear Model Predictive Control with an Uncertainty Propagation Horizon for Autonomous Vehicle Motion Control. , 2023 more…
  • Zarrouki, Baha; Wang, Chenyang; Betz, Johannes: Adaptive Stochastic Nonlinear Model Predictive Control with Look-ahead Deep Reinforcement Learning for Autonomous Vehicle Motion Control. , 2023 more…

2021

  • Zarrouki, Baha; Klos, Verena; Heppner, Nikolas; Schwan, Simon; Ritschel, Robert; Voswinkel, Rick: Weights-varying MPC for Autonomous Vehicle Guidance: a Deep Reinforcement Learning Approach. 2021 European Control Conference (ECC), IEEE, 2021 more…

2020

  • Zarrouki, Baha: Reinforcement Learning of Model Predictive Control Parameters for Autonomous Vehicle Guidance. Master's thesis, 2020 more…

2019

  • Zarrouki, M. Baha E.; Klös, Verena; Grabowski, Markus; Glesner, Sabine: Fault-Tolerance by Graceful Degradation for Car Platoons. Workshop on Autonomous Systems Design (ASD 2019), 2019 more…
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