Publications

Journal Papers

L. Brunke, M. Greeff, A.W. Hall, Z. Yuan, S. Zhou, J. Panerati, A.P. Schoellig, “Safe Learning in Robotics: From Learning-Based Control to Safe Reinforcement Learning,” to appear in the Annual Review of Control, Robotics, and Autonomous Systems. [paper] [talk]

K. Pereida, L. Brunke, A.P. Schoellig, “Robust adaptive model predictive control for guaranteed fast and accurate stabilization in the presence of model errors,” in Int J Robust Nonlinear Control, 2021;1–35. [paper]

M. Cordes, L. Brunke, and W. Hintze, “Correction to: Offline simulation of path deviation due to joint compliance and hysteresis for robot machining,” in The International Journal of Advanced Manufacturing Technology, 2019. [pdf]

Conference Papers

L. Brunke, S. Zhou, A.P. Schoellig, “RLO-MPC: Robust Learning-Based Output Feedback MPC for Improving the Performance of Uncertain Systems in Iterative Tasks,” in Proceedings of the 60th IEEE Conference on Decision and Control, 2021. [paper] [talk]

L. Brunke, P. Agrawal, N. George, “Evaluating Input Perturbation Methods for Interpreting CNNs and Saliency Map Comparison,” Proceedings of the European Conference on Computer Vision (ECCV) Workshops, to appear.

Preprints

Z. Yuan, A. W. Hall, S. Zhou, L. Brunke, M. Greeff, J. Panerati, A.P. Schoellig, “safe-control-gym: a Unified Benchmark Suite for Safe Learning-based Control and Reinforcement Learning.” [paper]

Theses

L. Brunke, “Learning Model Predictive Control for Competitive Autonomous Racing,” Master’s thesis, Hamburg, 2018. [pdf]
Supervisors: Prof. Francesco Borrelli (UC Berkeley), Ugo Rosolia (UC Berkeley)
Examiners: Prof. Robert Seifried (TUHH), Prof. Herbert Werner (TUHH)

L. Brunke, “Interpretation of Convolutional Neural Networks,” Project thesis, Hamburg, 2017.
Supervisors: Prof. Alexander Schlaefer (TUHH), Silviu Homoceanu (Volkswagen)

L. Brunke, “Identification and Modeling of Backlash in Robot Transmissions,” Bachelor’s thesis, Hamburg, 2015.
Supervisors: Prof. Wolfgang Hintze (TUHH), Marcel Cordes (TUHH)