Bassam Alrifaee

Bassam Alrifaee
RWTH Aachen University · Software for Embedded Systems Research Group

PhD

About

80
Publications
21,105
Reads
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345
Citations
Introduction
Bassam is a Senior Researcher and Lecturer at the Chair of Embedded Software, RWTH Aachen University, Germany. He is the founder of the Cyber-Physical Mobility Group and Lab. His research interests include (i) Networked Control Systems, (ii) Service-Oriented Software Architectures for Control Systems, and (iii) applications of (i) and (ii) to Connected and Autonomous Vehicles. He is the Principal Investigator of several projects. The most current information can be found at my website.
Additional affiliations
March 2011 - December 2016
RWTH Aachen University
Position
  • Research Associate
Description
  • PhD thesis: Networked Model Predictive Control for Vehicle Collision Avoidance. Download here: http://publications.rwth-aachen.de/record/689037/files/689037.pdf See also: https://scholar.google.de/citations?user=M8JL-poAAAAJ&hl=de
April 2008 - June 2010
Technische Universität Ilmenau
Position
  • Researcher
Education
January 2014 - May 2017
RWTH Aachen University
Field of study
  • Automatic Control
October 2002 - June 2010
Technische Universität Ilmenau
Field of study
  • Computer Science & Automation

Publications

Publications (80)
Conference Paper
Full-text available
This paper proposes a novel strategy for Non-Cooperative Distributed Model Predictive Control (Non-Coop. DMPC) of Networked Control Systems (NCS) consisting of dynamically decoupled agents where the coupling is achieved in the objective function or in the constraints. Moreover, the coupling is considered to be time-variant. We call this strategy Pr...
Conference Paper
Full-text available
This paper presents a novel design of a collision avoidance controller of networked vehicles using a centralized Model Predictive Control (MPC) concept. The primary objective is to avoid collisions. The secondary objective is dealing with the quality of the collision-free trajectory, which is defined in comparison to the predefined reference trajec...
Preprint
Full-text available
p>In cooperative decision-making, agents locally plan for a subset of all agents. Due to only local system knowledge of the agents, these local plans may be inconsistent to local plans of other agents. This inconsistency leads to infeasibility of the plans. This article introduces an algorithm for synchronizing local plans for cooperative distribut...
Preprint
Full-text available
p>Optimization problems for trajectory planning in autonomous vehicle racing are characterized by their nonlinearity and nonconvexity. Instead of solving these optimization problems, usually a convex approximation is solved instead to achieve a high update rate. We present a real-time-capable model predictive control (MPC) trajectory planner based...
Preprint
Full-text available
Self-driving laboratories receive increasing acceptance as they are used in research and education. For research, they mainly serve as a platform on which algorithms can be tested under realistic conditions before getting deployed into the real world. In education, they can add value by creating a reference to reality as they o er an application fo...
Preprint
Full-text available
Self-driving laboratories receive increasing acceptance as they are used in research and education. For research, they mainly serve as a platform on which algorithms can be tested under realistic conditions before getting deployed into the real world. In education, they can add value by creating a reference to reality as they o er an application fo...
Preprint
Full-text available
Self-driving laboratories receive increasing acceptance as they are used in research and education. For research, they mainly serve as a platform on which algorithms can be tested under realistic conditions before getting deployed into the real world. In education, they can add value by creating a reference to reality as they o er an application fo...
Preprint
p>Networked control problems of multi-agent systems can be distributed to the agents to reduce computational effort. One distribution strategy is priority-based non-cooperative distributed model predictive control (P-DMPC), in which the computation time is mainly determined by the longest path in the coupling directed acyclic graph (DAG). The longe...
Preprint
p>Networked control problems of multi-agent systems can be distributed to the agents to reduce computational effort. One distribution strategy is priority-based non-cooperative distributed model predictive control (P-DMPC), in which the computation time is mainly determined by the longest path in the coupling directed acyclic graph (DAG). The longe...
Conference Paper
Full-text available
This paper presents an approach for allocation of resources in an automotive service-oriented software architecture. Using mathematical optimization, we assign computational resources of an automotive compute cluster to a set of software services. Additionally, scheduling parameters of services are optimized under the consideration of dependencies...
Conference Paper
Full-text available
This paper presents a method for generating coupling topologies for multi-agent systems. Our method is based on a non-cooperative game in which each agent chooses couplings to activate or deactivate using a utility function. The utility function measures the importance of agents to one another and enables conflict avoidance in distributed decision-...
Conference Paper
Full-text available
The Cyber-Physical Mobility (CPM) Remote project provides web-based access to a simulation service and the CPM Lab itself, which is provided by the Chair of Embedded Software at RWTH Aachen University. With this approach, users no longer need special hardware, software, or physical access to use the simulation tool and the CPM Lab. This reduces the...
Conference Paper
Full-text available
This paper demonstrates a system comprised of infrared beacons and a camera equipped with an optical band-pass filter. Our system can reliably detect and identify individual beacons at 100 m distance regardless of lighting conditions. We describe the camera and beacon design as well as the image processing pipeline in detail. In our experiments, we...
Preprint
p>Nonconvex optimal control problems for large-scale networked control systems (NCSs) can be distributed to accelerate computation time. One distribution strategy is priority-based non-cooperative distributed model predictive control. The priorities assigned to agents determine if a feasible solution for all agents exists. This problem has been inv...
Preprint
Full-text available
The Cyber-Physical Mobility (CPM) Remote project provides web-based access to a simulation service and the CPM Lab itself, which is provided by the Chair of Embedded Software at RWTH Aachen University. With this approach, users no longer need special hardware, software, or physical access to use the simulation tool and the CPM Lab. This reduces the...
Preprint
p>This paper presents an approach for allocation of resources in an automotive service-oriented software architecture. Using mathematical optimization, we assign computational resources of an automotive compute cluster to a set of software services. Additionally, scheduling parameters of services are optimized under the consideration of dependencie...
Preprint
p>This paper presents a method for generating coupling topologies for multi-agent systems. Our method is based on a non-cooperative game in which each agent chooses couplings to activate or deactivate using a utility function. The utility function measures the importance of agents to one another and enables conflict avoidance in distributed decisio...
Preprint
p>This paper presents an approach for allocation of resources in an automotive service-oriented software architecture. Using mathematical optimization, we assign computational resources of an automotive compute cluster to a set of software services. Additionally, scheduling parameters of services are optimized under the consideration of dependencie...
Preprint
p>This paper presents a method for generating coupling topologies for multi-agent systems. Our method is based on a non-cooperative game in which each agent chooses couplings to activate or deactivate using a utility function. The utility function measures the importance of agents to one another and enables conflict avoidance in distributed decisio...
Preprint
p>Nonconvex optimal control problems for large-scale networked control systems (NCSs) can be distributed to accelerate computation time. One distribution strategy is priority-based non-cooperative distributed model predictive control. The priorities assigned to agents determine if a feasible solution for all agents exists. This problem has been inv...
Preprint
p>Nonconvex optimal control problems for large-scale networked control systems (NCSs) can be distributed to accelerate computation time. One distribution strategy is priority-based non-cooperative distributed model predictive control. The priorities assigned to agents determine if a feasible solution for all agents exists. This problem has been inv...
Conference Paper
Full-text available
Laboratories with model vehicles offer a middle ground between field tests and simulations. Thereby, the laboratories benefit from the advantages of more realistic setups and reduce acquisition and maintenance costs. However, the efficient use of a fixed laboratory presents further organizational hurdles. In addition, special hardware requirements, com...
Preprint
div>We present a real-time-capable Model Predictive Controller (MPC) based on a single-track vehicle model and Pacejka’s magic tire formula for autonomous racing applications. After formulating the general non-convex trajectory optimization problem, the model is linearized around estimated operating points and the constraints are convexified using...
Preprint
Full-text available
We present a real-time-capable Model Predictive Controller (MPC) based on a single-track vehicle model and Pacejka’s magic tire formula for autonomous racing applications. After formulating the general non-convex trajectory optimization problem, the model is linearized around estimated operating points and the constraints are convexified using the...
Preprint
Full-text available
In cooperative decision-making, agents locally plan for a subset of all agents. Due to only local system knowledge of the agents, these local plans may be inconsistent to local plans of other agents. This inconsistency leads to infeasibility of the plans. This article introduces an algorithm for synchronizing local plans for cooperative distributed...
Preprint
In cooperative decision-making, agents locally plan for a subset of all agents. Due to only local system knowledge of the agents, these local plans may be inconsistent to local plans of other agents. This inconsistency leads to infeasibility of the plans. This article introduces an algorithm for synchronizing local plans for cooperative distributed...
Preprint
Full-text available
It is hard to find the global optimum to general nonlinear, nonconvex optimization problems in reasonable time. This paper presents a method to transfer the receding horizon control approach, where nonlinear, nonconvex optimization problems are considered, into graph-search problems. Specifically, systems with symmetries are considered to transfer...
Preprint
Full-text available
It is hard to find the global optimum to general nonlinear, nonconvex optimization problems in reasonable time. This paper presents a method to transfer the receding horizon control approach, where nonlinear, nonconvex optimization problems are considered, into graph-search problems. Specifically, systems with symmetries are considered to transfer...
Conference Paper
Full-text available
This paper outlines a novel framework for a cloud-based computational model that supports the interconnection of autonomous vehicles, road-infrastructure and humans. Besides serving as a central entity to call autonomous vehicles like the private vehicle, taxi or bus, this architecture can be used to automate and manage vehicle delivery services. E...
Preprint
Full-text available
This paper presents a localization system that uses infrared beacons and a camera equipped with an optical band-pass filter. Our system can reliably detect and identify individual beacons at 100m distance regardless of lighting conditions. We describe the camera and beacon design as well as the image processing pipeline in detail. In our experiment...
Conference Paper
Full-text available
Accurate environment perception is essential for automated vehicles. Since occlusions and inaccuracies regularly occur, the exchange and combination of perception data of multiple vehicles seems promising. This paper describes a method to combine perception data of automated and connected vehicles in the form of evidential Dynamic Occupany Grid Map...
Conference Paper
Full-text available
This paper presents the Automotive Service-Oriented Software Architecture (ASOA) [1]. ASOA enables software to be built using a runtime-integrated service-oriented software architecture. Software components in ASOA are split into platform-agnostic services , that can be integrated at runtime by a central controller. Services also possess generic in...
Conference Paper
Full-text available
This paper presents a methodology for the agile development of a cloud system in a multi-partner project centered around automated vehicles. Besides providing an external environment model as an additional input to the automation, the cloud system is also the main gateway for users to interact with automated vehicles through applications on mobile...
Poster
Full-text available
Poster presenting the Cyber-Physical Mobility (CPM) Group at the chair of Embedded Software, RWTH Aachen University. See also: https://embedded.rwth-aachen.de/doku.php?id=en:forschung:mobility
Poster
Full-text available
Poster presenting our activities in service-oriented software architectures in the project UNICARagil. See also: https://embedded.rwth-aachen.de/doku.php?id=en:forschung:mobility#unicaragil
Poster
Full-text available
Poster presenting our cyber-physical mobility lab. See also: http://cpm.embedded.rwth-aachen.de/
Poster
Full-text available
Poster presenting our activities in distributed decision-making and verification of interacting vehicles in the context of the project CoInCar (Cooperative Interacting Automobiles). See also: https://embedded.rwth-aachen.de/doku.php?id=en:forschung:mobility#coincar
Preprint
Full-text available
Accurate environment perception is essential for automated vehicles. Since occlusions and inaccuracies regularly occur, the exchange and combination of perception data of multiple vehicles seems promising. This paper describes a method to combine perception data of automated and connected vehicles in the form of evidential Dynamic Occupany Grid Map...
Preprint
Full-text available
We introduce our Cyber-Physical Mobility Lab (CPM Lab), a development environment for networked and autonomous vehicles. It consists of 20 model-scale vehicles for experiments and a simulation environment. We show our four-layered architecture that enables the seamless use of the same software in simulations and in experiments without any adaptions...
Preprint
This paper presents the $\mathrm{\mu}$Car, a 1:18 model-scale vehicle with Ackermann steering geometry developed for experiments in networked and autonomous driving in research and education. The vehicle is open source, moderately costed and highly flexible, which allows for many applications. It is equipped with an inertial measurement unit and an...
Preprint
We propose a novel external indoor positioning system that computes the position and orientation of multiple model-scale vehicles. For this purpose, we use a camera mounted at a height of 3.3m and LEDs attached to each vehicle. We reach an accuracy of about 1.1cm for the position and around 0.6{\deg} for the orientation in the mean. Our system is r...
Article
Full-text available
This paper presents the µCar, a 1:18 model-scale vehicle with Ackermann steering geometry developed for experiments in networked and autonomous driving in research and education. The vehicle is open source, moderately costed and highly flexible, which allows for many applications. It is equipped with an inertial measurement unit and an odometer and...
Article
Full-text available
We propose a novel external indoor positioning system that computes the position and orientation of multiple model-scale vehicles. For this purpose, we use a camera mounted at a height of 3.3 m and LEDs attached to each vehicle. We reach an accuracy of about 1.1 cm for the position and around 0.6° for the orientation in the mean. Our system is real...
Article
Full-text available
This paper presents our testbed and software pipeline for automatic latency estimation for a service-oriented software architecture (SOA). This type of architecture consists of modular services that are dynamically combined at runtime to form a functioning system. As different service combinations become possible at runtime, agile approaches for te...
Article
Full-text available
This paper presents a method to use model checking techniques to verify the safety of the behavior of cooperative vehicles. We model the roadway, cooperative and non-cooperative actors as automata that are used to construct the state space of the local traffic system using techniques from automata theory. We then translate the automata into format...
Research
Full-text available
Invitation: http://www.konsulting.gda.pl/iav2019/web/IAV_Open-Invited-Track_CIA.pdf
Conference Paper
Full-text available
This paper introduces UNICARagil, a collaborative project carried out by a consortium of seven German universities and six industrial partners, with funding provided by the Federal Ministry of Education and Research of Germany. In the scope of this project, disruptive modular structures for agile, automated vehicle concepts are researched and devel...
Conference Paper
Full-text available
This paper presents a real-time Model Predictive Controller (MPC) for racing trajectory optimization. The vehicle must respect its dynamic limitations and the track boundaries while simultaneously minimizing lap times. Due to the track boundary constraints, the feasible set of the optimization problem is non-convex. This paper presents the method o...
Conference Paper
Full-text available
The accuracy of a low-cost inertial navigation system is highly dependent on the overall accuracy provided by the respective sensors and the quality of the mathematical modeling of the error sources. Sensor fusion allows to alleviate and bound the occurring errors, resulting in increased precision of the navigation solution. This paper investigates...