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Univ.-Prof. Dr.-Ing. Sandra Hirche
Contact Information
E-mail: 
Phone: +49-89-289-25722
Room: CCRL 522
 
Short Biography

2005-2007 JSPS-Postdoc@Fujita Lab, Tokyo Inst. of Technology

2005 Dr.-Ing. "Haptic Telepresence in Packet Switched Communication Networks," Technische Universität München, Rohde & Schwarz Award

 

Research Interests

Networked dynamical systems - control over communications

  • stability & performance with (random) delay & data loss
  • joint control/ communication design
  • distributed control and information topology

Human-robot & robot-robot cooperation - towards cognitive collaboration

  • human-robot joint manipulation
  • haptic information exchange and roles
  • cooperative control of multi-robot systems

Telepresence systems - create the feeling of being there

  • haptic feedback under communication uncertainties
  • haptic perception-oriented control design & evaluation
  • haptic perception of delay and dynamic perception models

 

Publications
Journal Articles
1. F. Deroo, S. Hirche , A Matlab Toolbox for Large-scale Networked Systems , at - Automatisierungstechnik , (2013) , accepted.
2. A. Molin, S. Hirche , On the Optimality of Certainty Equivalence for Event-triggered Control Systems , IEEE Transactions on Automatic Control , 58 (2013) , no. 2 , 470-474 .
3. E. Steinbach, S. Hirche, M. Ernst, F. Brandi, R. Chaudhari, J. Kammerl, I. Vittorias , Haptic communications , Proceedings of the IEEE , 100 (2012) , no. 4 , 937-956 , doi: 10.1109/JPROC.2011.2182100 .
4. H. Wu, L. Lou, C.-C. Chen, S. Hirche, K. Kühnlenz , Cloud-based Networked Visual Servo Control , IEEE Transactions on Industrial Electronics , 60 (2012) , no. 2 , 554 - 566 , accepted.
5. S. Hirche, M. Buss , Human-Oriented Control for Haptic Teleoperation , Proceedings of the IEEE , (2012) , accepted.
6. A. Mörtl, M. Lawitzky, A. Kucukyilmaz, M. Sezgin, C. Basdogan, S. Hirche , The Role of Roles: Physical Cooperation between Humans and Robots , International Journal of Robotics Research , 31 (2012) , no. 13 , 1657-1675 .
7. A. Mörtl, T. Lorenz, B. Vlaskamp, A. Gusrialdi, A. Schubö, S. Hirche , Modeling inter-human movement coordination: synchronization governs joint task dynamics , Biological Cybernetics , 106 (2012) , no. 4 , 241-259 .
8. A. Molin, S. Hirche , Entwurf vernetzter ereignisbasierter Regelungssysteme , at-Automatisierungstechnik , 60 (2012) , no. 8 , 476-486 .
9. J. Qin, C. Yu, S. Hirche, , Stationary Consensus of Asynchronous Discrete-Time Second-Order Multi-Agent Systems Under Switching Topology , IEEE Transactions on Industrial Informatics , (2012) , accepted.
10. C.-C. Chen, H. Wu, K. Kühnlenz, S. Hirche , Switching Control for a Networked Vision-based Control System , Automatisierungstechnik , 59 (2011) , 124-133 , http://www.at-automatisierungstechnik.de/ .
11. J. Liu, A. Benigni, D. Obradovic, S. Hirche, A. Monti , State Estimation and Branch Current Learning Using Independent Local Kalman Filter With Virtual Disturbance Model , IEEE Transactions on Instrumentation an Measurement , 60 (2011) , no. 9 , 3026-3034 .
12. I. Vittorias, S. Hirche , Improved Transparency of Networked Teleoperation through a Dissipativity-based Control Approach , IEEE Transactions on Robotics , (2011) , submitted .
13. E. Steinbach, S. Hirche, J. Kammerl, I. Vittorias, R. Chaudhari , Haptic Data Compression and Communication , IEEE Signal Processing Magazine , 28 (2011) , no. 1 , 87-96 .
14. J. Kammerl, I. Vittorias, V. Nitsch, B. Faerber, E. Steinbach, S. Hirche , Perception-based Data Reduction for Haptic Force-feedback Signals using Adaptive Deadbands , PRESENCE: Teleoperators and Virtual Environments , 19 (2010) , no. 5 , 450-462 , MIT Press Journals .
15. Z. Shi, H. Zou, M. Rank, L. Chen, S. Hirche, H. J. Müller , Effects of packet loss and latency on the temporal discrimination of visual-haptic events , IEEE Transactions on Haptics , 3 (2010) , no. 1 , 28-36 .
16. A. Kirsch, T. Kruse, E. A. Sisbot, R. Alami, M. Lawitzky, D. Brscic, S. Hirche, P. Basili, S. Glasauer , Plan-based Control of Joint Human-Robot Activities , Künstl. Intell. , 24 (2010) , 223-231 .
17. M. Rank, Z. Shi, H.J. Müller, S. Hirche , Perception of Delay in Haptic Telepresence Systems , PRESENCE: Teleoperators and Virtual Environments , 19 (2010) , no. 5 , 389-399 .
18. M. Rambow, F. Rohrmüller, O. Kourakos, D. Brščić, D. Wollherr, S. Hirche, M. Buss , A Framework for Information Distribution, Task Execution and Decision Making in Multi-Robot Systems , IEICE Transactions on Information and Systems , E93-D (2010) , no. 6 , p. 1352-1360 .
19. T. Matiakis, S. Hirche, M. Buss , Control of Networked Systems Using the Scattering Transformation , Transactions on Control Systems Technology , 17 (2009) , no. 1 , 60-67 .
20. S. Hirche, T. Matiakis, M. Buss , A Distributed Controller Approach for Delay-Independent Stability of Networked Control Systems , automatica , 45 (2009) , no. 8 , 1828-1836 .
21. A. Gusrialdi, S. Hirche, D. Asikin, T. Hatanaka, M. Fujita , Voronoi Based Coverage Control with Anisotropic Sensors and Experimental Case Study , Intelligent Service Robotics , 2 (2009) , no. 4 , 195-204 .
22. T. Matiakis, S. Hirche, M. Buss , Networked Control Systems with Time-Varying Delay - Stability through Input-Output Transformation , at - Automatisierungstechnik , 56 (2008) , no. 1 , 29-37 .
23. P. Hinterseer, S. Hirche, S. Chaudhuri, E. Steinbach, M. Buss , Perception-based Data Reduction and Transmission of Haptic Data in Telepresence and Teleaction Systems , IEEE Transactions on Signal Processing , 56 (2008) , no. 2 , 588-597 .
24. S. Hirche, C.-C. Chen, M. Buss , Performance Oriented Control over Networks – Switching Controllers and Switched Time Delay , Asian Journal of Control , 10 (2008) , no. 1 , 24-33 .
25. C.-C. Chen, S. Hirche, M. Buss , Controller Design and Experimental Validation for Networked Control Systems with Time-Varying Random Delay , Journal of the Society of Instrument and Control Engineers , 47 (2008) , no. 8 , 676-685 .
26. S. Hirche, P. Hinterseer, E. Steinbach, M. Buss , Transparent Data Reduction in Networked Telepresence and Teleaction Systems Part I: Communication without Time Delay , PRESENCE: Teleoperators and Virtual Environments , 16 (2007) , no. 5 , 523-531 .
27. S. Hirche, M. Buss , Transparent Data Reduction in Networked Telepresence and Teleaction Systems Part II: Time-Delayed Communication , PRESENCE: Teleoperators and Virtual Environments , 16 (2007) , no. 5 , 532-542 .
28. S. Hirche, M. Buss , Insights on Human Adapted Control of Networked Telepresence and Teleaction systems , International Journal of Assistive Robotics and Mechatronics , 7 (2006) , no. 1 , 20-31 .
29. S. Hirche, M. Buss , Transparency of Haptic Telepresence Systems with Constant Time Delay , at---Automatisierungstechnik , 54 (2006) , no. 2 , 51-59 , Best Methodical Journal Paper 2006 Award .
Bookchapters
30. R. Aracil, M. Buss, M. Ferre, S. Cobos, S. Hirche, M. Kuschel, A. Peer , The Human Role in Telerobotics , STAR series , Springer , 2007 .
31. S. Hirche, M. Buss , Human Perceived Transparency with Time Delay , STAR series , Springer , 2007 .
32. S. Hirche, M. Ferre, J. Barrio, C. Melchiorri, M. Buss , Bilateral Control Architectures for Telerobotics , STAR series , Springer , Berlin , 2007 .
Conferences
33. T. Lorenz, A. Mörtl, B. Vlaskamp, A. Schubö, S. Hirche , Modelling joint action as human movement synchronization in goal-directed tasks , 4th Joint Action Meeting (JAM 4), Vienna, Austria , 2011 .
Contributions to Collections
34. M. Rank, T. Schauß, A. Peer, S. Hirche, R. L. Klatzky , Masking Effects for Damping JND , Haptics: Perception, Devices, Mobility, and Communication International Conference, EuroHaptics 2012, Tampere, Finland, June 13-15, 2012 Proceedings, Part II , 2012 , p. 145-150 .
35. I. Vittorias, S. Hirche , Transparency of the Generalized Scattering Transformation for Haptic Telepresence , Haptics: Generating and Perceiving Tangible Sensations , (A.M.L. Kappers et al., ed.) , Lecture Notes in Computer Science 6191 , Springer-Verlag Berlin Heidelberg , 2010 , p. 183-188 , DOI - 10.1007/978-3-642-14064-8_27 .
36. M. Rank, Z. Shi, H.J. Müller, S. Hirche , The Influence of Different Haptic Environments on Time Delay Discrimination in Force Feedback , Haptics: Generating and Perceiving Tangible Sensations International Conference, EuroHaptics 2010, Amsterdam, July 8-10, 2010. Proceedings, Part I , Springer , 2010 , p. 205-212 .
37. D. Althoff, O. Kourakos, M. Lawitzky, A. Mörtl, M. Rambow, F. Rohrmüller, D. Brščić, D. Wollherr, S. Hirche, M. Buss , An Architecture for Real-time Control in Multi-robot Systems , Human Centered Robot Systems, (H. Ritter, G. Sagerer, R. Dillmann, M. Buss, ed.) , Cognitive Systems Monographs , Springer , 2009 , p. 43-52 .
38. P. Basili, M. Huber, T. Brandt, S. Hirche, S. Glasauer , Investigating human-human approach and hand-over , Human Centered Robot Systems, (H. Ritter, G. Sagerer, R. Dillmann, M. Buss, ed.) , Cognitive Systems Monographs , Springer , 2009 , p. 151-160 .
39. S. Hirche, M. Buss , Haptic Internet-Telepresence , The Internet Challenge: Technology and Applications , (G. Hommel, H. Sheng, ed.) , 2002 , p. 63-72 .
40. S. Hirche, I. Santibanez-Koref, I. Boblan , Design of Strong Causal Fitness Functions , Soft Computing Systems , (Amsterdam) , (A. Abraham, J. Ruiz-Del-Solar, M. Koeppen, ed.) , IOS Press , 2002 , p. 183-192 .
Peer Reviewed Conference Papers
41. P. Donner, A. Mörtl, S. Hirche, M. Buss , Human-Robot Cooperative Object Swinging , IEEE International Conference on Robotics and Automation (ICRA) , 2013 , p. 4328-4334 .
42. M. Lawitzky, M. Kimmel, P. Ritzer, S. Hirche , Trajectory Generation under the Least Action Principle for Physical Human-Robot Cooperation , Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) , Karlsruhe, Germany , 2013 .
43. J.R. Medina Hernández, M. Lawitzky, A. Molin, S. Hirche , Dynamic Strategy Selection for Physical Robotic Assistance in Partially Known Tasks , Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) , Karlsruhe, Germany , 2013 .
44. J.R. Medina Hernández, D. Sieber, S. Hirche , Risk-sensitive Interaction Control in Uncertain Manipulation Tasks , Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) , Karlsruhe, Germany , 2013 .
45. Y. Mozafari, A. Kiani, S. Hirche , Oscillator Network Synchronization by Distributed Control , IEEE Multi-Conference on Systems and Control MSC , 102012 .
46. H. Huang, C. Yu, A. Gusrialdi, S. Hirche , Topology design for distributed formation control towards optimal convergence rate , American Control Conference , 2012 , p. 3895-3900 .
47. A. Gusrialdi, S. Hirche , On the explicit solution of communication topology design for distributed control of large-scale interconnected systems , American Control Conference , 2012 , p. 6370-6375 .
48. H. Mangesius, S. Hirche, D. Obradovic , Quasi-Stationarity of Electric Power Grid Dynamics Based on a Spatially Embedded Kuramoto Model , American Control Conference , 2012 , p. 2159- 2164 .
49. M. Lawitzky, J.R. Medina Hernández, S. Hirche , Rapid Prototyping of Planning, Learning and Control in Physical Human-Robot Interaction , 13th International Symposium on Experimental Robotics (ISER) , 2012 .
50. A. Molin, S. Hirche , An Iterative Algorithm for Optimal Event-Triggered Estimation , 4th IFAC Conference on Analysis and Design of Hybrid Systems (ADHS'12) , 2012 , p. 64-69 .
51. J.R. Medina Hernández, Dongheui Lee, S. Hirche , Risk-Sensitive Optimal Feedback Control for Haptic Assistance , IEEE International Conference on Robotics and Automation (ICRA) , 2012 .
52. M. Lawitzky, J.R. Medina Hernández, Dongheui Lee, S. Hirche , Feedback Motion Planning and Learning from Demonstration in Physical Robotic Assistance: Differences and Synergies , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 .
53. M. Kimmel, M. Lawitzky, S. Hirche , 6D Workspace Constraints for Physical Human-Robot Interaction using Invariance Control with Chattering Reduction , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 , Best Student Paper Finalist, Best ICROS Application Paper Finalist .
54. J.R. Medina Hernández, T. Lorenz, Dongheui Lee, S. Hirche , Disagreement-Aware Physical Assistance Through Risk-Sensitive Optimal Feedback Control , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 .
55. J.R. Medina Hernández, M. Shelley, Dongheui Lee, W. Takano, S. Hirche , Towards Interactive Physical Robotic Assistance: Parameterizing Motion Primitives Through Natural Language , 21st IEEE International Symposium on Robot and Human Interactive Communication (RoMan) , 2012 .
56. M. Saida, J.R. Medina Hernández, S. Hirche , Dynamic Role Adaptation with Risk-Sensitive Optimal Feedback Control in Physical Human-Robot Interaction , 21st IEEE International Symposium on Robot and Human Interactive Communication (RoMan) , 2012 .
57. M. Rambow, T. Schauß, M. Buss, S. Hirche , Autonomous Manipulation of Deformable Objects based on Teleoperated Demonstrations , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 , p. 2809-2814 .
58. S.Norouzzadeh, T. Lorenz, S. Hirche , Towards Safe Physical Human-Robot Interaction: an Online Optimal Control Scheme , 21st IEEE International Symposium on Robot and Human Interactive Communication , 2012 , Runner up for Kazuo Taine award .
59. T. Nierhoff, K. Heunisch, S. Hirche , Strategic Play for a Pool-Playing Robot , Proceedings of the IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO) , 2012 , p. 72-78 .
60. T. Nierhoff, S. Hirche , Trajectory Classification in N Dimensions using Subspace Projection , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 , p. 1318-1323 .
61. V. Okunev, T. Nierhoff, S. Hirche , A Human Perception-based Adaptive Admittance Controller for Robotic Manipulators , 21st IEEE International Symposium on Robot and Human Interactive Communication (RoMan) , 2012 , p. 443-448 .
62. T. Nierhoff, L. Lou, V. Koropouli, M. Eggers, T. Fritzsch, O. Kourakos, K. Kühnlenz, Dongheui Lee, B. Radig, M. Buss, S. Hirche , Tire Mounting on a Car Using the Real-Time Control Architecture ARCADE , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 , p. 4804-4805 .
63. T. Nierhoff, S. Hirche , Fast Trajectory Replanning using Laplacian Mesh Optimization , Proceedings of the International Conference on Control, Automation, Robotics and Vision (ICARCV) , 2012 , p. 154-159 .
64. F. Deroo, M. Ulbrich, B. D. O. Anderson, S. Hirche , Accelerated Iterative Distributed Controller Synthesis with a Barzilai-Borwein Step Size , Proceedings of the 51st IEEE Conference on Decision and Control (CDC) , 2012 , p. 4864 - 4870 .
65. A. Molin, S. Hirche , Adaptive Event-triggered Control over a Shared Network , Proceedings of the 51st IEEE Conference on Decision and Control (CDC'12) , 2012 .
66. V. Koropouli, S. Hirche, Dongheui Lee , Learning and generalizing force control policies for sculpting , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 .
67. T. Schauß, C. Passenberg, N. Stefanov, D. Feth, I. Vittorias, A. Peer, S. Hirche, M. Buss, M. Rothbucher, K. Diepold, J. Kammerl, E. Steinbach , Video: Beyond classical teleoperation: Assistance, cooperation, data reduction, and spatial audio , IEEE International Conference on Robotics and Automation (ICRA) , Saint Paul, MN, USA , 2012 , p. 3553-3554 .
68. Mohammad H. Mamduhi, S. Hirche , Analyzing Human and Virtual Agent Interaction Under Irrational Decision Making , 2012 .
69. P. Basili, M. Huber, O. Kourakos, T. Lorenz, T. Brandt, S. Hirche, S. Glasauer , Inferring the goal of an approaching agent: A human-robot study , 21st IEEE International Symposium on Robot and Human Interactive Communication (RoMan) , 2012 , p. 527 - 532 .
70. T. Lorenz, A. Mörtl, B. Vlaskamp, A. Schubö, S. Hirche , Synchronization in a goal-directed task: human movement coordination with each other and robotic partners , 20th IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man) , 2011 , p. 198-203 .
71. T. Nierhoff, O. Kourakos, S. Hirche , Playing Pool with a Dual-Armed Robot , IEEE International Conference on Robotics and Automation (ICRA) , 2011 , p. 3445-3446 .
72. A. Molin, S. Hirche , On the Optimal Design of Decentralized Event-triggered Controllers for Large-scale Systems with Contention-based Communication , Proceedings of the IEEE International Conference on Decision and Control (CDC'11) , 2011 , p. 4710–4716 .
73. J.R. Medina Hernández, M. Lawitzky, A. Mörtl, Dongheui Lee, S. Hirche , An Experience-Driven Robotic Assistant Acquiring Human Knowledge to Improve Haptic Cooperation , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2011 .
74. V. Koropouli, Dongheui Lee, and S. Hirche , Learning interaction control policies by demonstration , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2011 , p. 344-349 .
75. W. Wang, D. Brščić, Z. He, S. Hirche, K. Kühnlenz , Real-time human body motion estimation based on multi-layer laser scans , IEEE International Conference on Ubiquitous Robots and Ambient Intelligence , 2011 , p. 297-302 .
76. J. Liu, A. Gusrialdi, S. Hirche, A. Monti , Joint Controller-Communication Topology Design for Distributed Wide-Area Damping Control of Power Systems , the 18th IFAC World Congress , 2011 , p. 519-525 .
77. A. Molin, H. Tischer, S. Hirche , Order Reduction in Optimal Event-triggered Control Design for Linear Stochastic Systems , American Control Conference (ACC'11) , San Fransisco, USA , 2011 , p. 2222 - 2227 .
78. H. Wu, L. Lou, C.-C. Chen, S. Hirche, K. Kühnlenz , Performance-Oriented Networked Visual Servo Control with Sending Rate Scheduling , Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) , 2011 , p. 6180-6185 .
79. A. Gusrialdi, R. Dirza, S. Hirche , Information-driven distributed coverage algorithms for mobile sensor networks , IEEE International Conference on Networking, Sensing and Control , 2011 , p. 242-247 .
80. A. Gusrialdi, S. Hirche , Communication topology design for large-scale interconnected systems with time delay , American Control Conference , 2011 , p. 4508-4513 .
81. I. Vittorias, S. Hirche , Stable Teleoperation with Communication Unreliabilities and Approximate Human/Environment Dynamics Knowledge , Proceedings of the American Control Conference (ACC), Baltimore, ML, USA , 2010 , p. 2791-2796 .
82. H. Wu, C.-C. Chen, J. Feng, K. Kühnlenz, S. Hirche , A Switching Control Law for a Networked Visual Servo Control System , Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) , Anchorage, Alaska, USA , 2010 , p. 5556 - 5563 .
83. E. Lutscher, M. Lawitzky, G. Cheng, S. Hirche , A Control Strategy for Operating Unknown Constrained Mechanisms , Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) , Anchorage, Alaska, USA , 2010 .
84. M. Lawitzky, A. Mörtl, S. Hirche , Load Sharing in Human-Robot Cooperative Manipulation , 19th IEEE International Symposium on Robot and Human Interactive Communication (RoMan) , 2010 .
85. I. Vittorias, H. Ben Rached, S. Hirche , Haptic Data Reduction in Multi-DoF Teleoperation Systems , Proceedings of the International Symposium on Haptics Audio-Visual Environments and Games (HAVE), Phoenix, AZ, USA , 2010 , p. 1-6 .
86. F. Rohrmüller, O. Kourakos, M. Rambow, D. Brščić, D. Wollherr, S. Hirche, M. Buss , Interconnected Performance Optimization in Complex Robotic Systems , Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2010 , p. 4113-4118 .
87. H. Wu, L. Lou, C.-C. Chen, K. Kühnlenz, S. Hirche , Distributed Computation and Data Scheduling for Networked Visual Servo Control Systems , Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2010 , p. 6216 - 6221 .
88. H. Wu, L. Lou, C.-C. Chen, S. Hirche, K. Kühnlenz , A Framework of Networked Visual Servo Control System with Distributed Computation , Proceedings of the International Conference on Control, Automation, Robotics and Vision (ICARCV) , 2010 , p. 1466 - 1471 .
89. A. Molin, S. Hirche , Optimal Event-triggered Control under Costly Observations , Proceedings of the 19th International Symposium on Mathematical Theory of Networks and Systems (MTNS'10) , Budapest, Hungary , 2010 , p. 2203-2208 .
90. J.-M. P. Franosch, S. Sosnowski, N. Kuhenuri Chami, K. Kühnlenz, S. Hirche, J. L. van Hemmen , Biomimetic Lateral-Line System for Underwater Vehicles , Abstracts of the 9th IEEE SENSORS CONFERENCE 2010 , 2010 .
91. S. Sosnowski, J.-M. P. Franosch, L. Zhang, Y. Nie, S. Hirche, J. L. van Hemmen , Simulation of the Underwater Vehicle “Snookie”: Navigating like a Fish , Proceedings of the 1st International Conference on Applied Bionics and Biomechanics (ICABB 2010) , 2010 .
92. A. Molin, S. Hirche , Suboptimal Event-based Control of Linear Systems over Lossy Channels , 2nd IFAC Workshop on Estimation and Control of Networked Systems (NecSys'10) , Annecy, France , 2010 , p. 55-60 .
93. J. Li, A. Gusrialdi, S. Hirche, A. Schuboe , The effect of the non-target object position on wrist motion , IEEE International Conference on Robotics and Biomemetics , 2010 , p. 1716-1721 .
94. A. Gusrialdi, S. Hirche , Performance-oriented communication topology design for large-scale interconnected systems , IEEE Conference on Decision and Control , 2010 , p. 5707-5713 .
95. A. Molin, S. Hirche , Structural Characterization of Optimal Event-based Controllers for Linear Stochastic Systems , Proceedings of the IEEE International Conference on Decision and Control (CDC'10) , Atlanta, USA , 2010 , p. 3227-3233 .
96. C.-C. Chen, A. Molin, S. Hirche , Guaranteed Cost Control over Quality-of-Service Networks , European Control Conference (ECC'09) , Budapest, Hungary , 2009 , p. 2355-2360 .
97. I. Vittorias, J. Kammerl, S. Hirche, E. Steinbach , Perceptual Coding of Haptic Data in Time-delayed Teleoperation , Third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (Worldhaptics 2009), Salt Lake City, UT, USA , 2009 , p. 208-213 ,
Best Paper Award .
98. D. Feth, R. Groten, A. Peer, S. Hirche, M. Buss , Performance Related Energy Exchange in Haptic Human-Human Interaction in a Shared Virtual Object Manipulation Task , Third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems , 2009 , p. 338-343 .
99. A. Molin, S. Hirche , On LQG Joint Optimal Scheduling and Control under Communication Constraints , Proceedings of the IEEE International Conference on Decision and Control (CDC'09) , Shanghai, China , 2009 , p. 5832-5838 .
100. R. Bauernschmitt, E. Braun, M. Buss, F. Froehlich, S. Hirche, G. Hirzinger, J. Kammerl, A. Knoll, R. Konietschke, B. Kuebler, R. Lange, H. Mayer, M. Rank, G. Schillhuber, C. Staub, E. Steinbach, A. Tobergte, H. Ulbrich, I. Vittorias, C. Zhao , On the Role of Multimodal Communication in Telesurgery Systems , IEEE International Workshop on Multimedia Signal Processing (MMSP), Rio de Janeiro, Brasil, Oct. 5-7 , 2009 .
101. I. Vittorias, S. Hirche , The Generalized Scattering Transformation for Stable Teleoperation with Communication Unreliabilities , Workshop on Network Induced Constraints in Control (NETCOC), Stuttgart, Germany, 29 September , 2009 , extended abstract .
102. A. Molin, S. Hirche , Distributed event-triggered scheduling of wireless networked control systems , Symposium on Recent Trends in Networked Systems and Cooperative Control (NESTCOC'09), Stuttgart, Germany, 28/29 September , 2009 , , extended abstract .
103. J. Liu, A. Gusrialdi, D. Obradovic, S. Hirche , Study on the Effect of Time Delay on the Performance of Distributed Power Grids with Networked Cooperative Control , 1st IFAC Workshop on Estimation and Control of Networked Systems , 2009 , p. 168-173 .
104. N. Martiny, S. Sosnowski , K. Kühnlenz , S. Hirche , Y. Nie , J-M. P. Franosch , J. L. van Hemmen , Design of a Lateral-Line Sensor for an Autonomous Underwater Vehicle , Proceedings of the 8th IFAC International Conference on Manoeuvring and Control of Marine Craft , Guarujá (SP), Brazil , 2009 ,
Best Student Paper Award .
105. T. Matiakis, S. Hirche , Delay-independent stability of (Q,S,R)-dissipative networked systems with a distributed controller , European Control Conference (ECC) , Budapest, Hungary , 2009 , p. 2349-2354 .
106. S. Shi, S. Hirche, W. X. Schneider, H. Mueller , Influence of visuomotor action on visual-haptic simultaneous perception: A psychophysical study , Haptics Symposium , 2008 , p. 65-70 .
107. C.-C. Chen, S. Hirche, M. Buss , Stability, Stabilization and Experiments for Networked Control Systems with Random Time Delay , American Control Conference (ACC) , Seattle (WA), U.S. , 2008 , p. 1552-1557 , Best presentation award .
108. C.-C. Chen, S. Hirche, M. Buss , Sampled-Data Networked Control Systems with Random Time Delay , 17th IFAC World Congress , 2008 .
109. S. Hirche, S. Hara , Stabilizing Interconnection Characterization for Multi-Agent Systems with Dissipative Properties , 17th IFAC World Congress , 2008 .
110. N. Hubel，S. Hirche，A. Gusrialdi，T. Hatanaka，M. Fujita, O. Sawodny , Coverage Control with Information Decay in Dynamic Environments , 17th IFAC World Congress , 2008 .
111. A. Gusrialdi, S. Hirche, T. Hatanaka, M. Fujita , Voronoi based Coverage Control with Anisotropic Sensors , American Control Conference , 2008 .
112. T. Matiakis, S. Hirche, M. Buss , Local and remote control measures for networked control systems , 47th IEEE Conference on Decision and Control , 2008 , p. 4626 - 4631 .
113. A. Peer, S. Hirche, C. Weber (C. Passenberg), I. Krause, M. Buss, S. Miossec, P. Evrard, O. Stasse, E. S. Neo, A. Kheddar, K. Yokoi , Intercontinental multimodal Tele-Cooperation using a Humanoid Robot , IEEE/RSJ International Conference on Intelligent Robots and Systems , Nice, France , 2008 , p. 405-411 .
114. A. Peer, S. Hirche, C. Weber (C. Passenberg), I. Krause, M. Buss, S. Miossec, P. Evrard, O. Stasse, E. S. Neo, A. Kheddar, K. Yokoi , Video: Intercontinental Cooperative Telemanipulation between Germany and Japan , IEEE/RSJ International Conference on Intelligent Robots and Systems , 2008 , p. 2715-2716 .
115. A. Gusrialdi, S. Hirche, M. Fujita , Quality-of-Service Control of Networked Systems with Packet Loss , Proceedings of the 7th SICE Annual Conference on Control Systems , Chofu, Japan , 2007 , p. 83-2-2 .
116. A. Gusrialdi, S. Hirche, T. Hatanaka，M. Fujita , Towards Coverage Control Problem with Anisotropic Sensors in 2D Space , 36th SICE Annual Control Theory Symposium , 2007 , p. 31-34 .
117. N. Hubel，S. Hirche，A. Gusrialdi，T. Hatanaka，M. Fujita，O. Sawodny , Infinite Time Coverage Control with Information Decay , 36th SICE Annual Control Theory Symposium , 2007 , p. 23-26 .
118. S. Hirche, C.-C. Chen, M. Buss , Performance Oriented Control over Networks – Switching Controllers and Switched Time Delay , 45th IEEE Conference on Decision and Control , San Diego, California, US , 2006 , p. 4999-5005 .
119. C.-C. Chen, S. Hirche, M. Buss , Towards Quality-of-Service Control of Networked Control Systems: A Switched Time Delay Systems Approach , IEEE International Conference on Control Applications , Munich, Germany , 2006 , p. 1325-1330 .
120. T. Matiakis, S. Hirche, M. Buss , Independent-of-Delay Stability of Nonlinear Networked Control Systems by Scattering Transformation , Proceedings of the 2006 American Control Conference , 2006 , p. 2801-2806 .
121. T. Matiakis, S. Hirche , Memoryless Input-Output Encoding for Networked Systems with Unknown Constant Time Delay , Proceedings of the 2006 IEEE International Conference on Control Applications , 2006 , p. 1707-1712 .
122. T. Matiakis, S. Hirche, M. Buss , A Novel Input-Output Transformation Method to Stabilize Networked Control Systems Independent of Delay , Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems , 2006 , p. 2890-2897 .
123. M. Kuschel, P. Kremer, S. Hirche, M. Buss , Lossy Data Reduction Methods for Haptic Telepresence Systems , Proceedings of IEEE International Conference on Robotics and Automation ICRA , Orlando, USA , 2006 , p. 2933-2938 .
124. P. Hinterseer, E. Steinbach, S. Hirche, M. Buss , Parsimonious Data Transmission in Haptic Telepresence Systems , Proceedings of 2nd International Workshop on Human Centered Robotics , Munich, Germany , 2006 .
125. S. Hirche , A Study on Networked Dissipative Systems , Proceedings of SICE Symposium on Control Theory , Osaka, Japan , 2006 .
126. M. Kuschel, S. Hirche, M. Buss , Communication-Induced Disturbances in Haptic Telepresence Systems , Proceedings of the IFAC World Congress , Prague, Czech Republic , 2005 .
127. S. Hirche, P. Hinterseer, E. Steinbach, M. Buss , Network Traffic Reduction in Haptic Telepresence Systems by Deadband Control , Proceedings of the IFAC World Congress , Prague, Czech Republic , 2005 .
128. S. Hirche, P. Hinterseer, E. Steinbach, M. Buss , Towards Deadband Control in Networked Teleoperation Systems , Proceedings of the IFAC World Congress , Prague, Czech Republic , 2005 , IFAC World Congress Best Poster Award .
129. P. Hinterseer, S. Hirche, E. Steinbach, M. Buss , A Novel Psychophysically Motivated Transmission Approach for Haptic Data Streams in Telepresence and Teleaction Systems , Proceedings of the IEEE International Conference on Acoustics, Speech, and Signal Processing , 2005 , p. 1097–1100 .
130. S. Hirche, M. Buss , Transparent Design of Haptic Telepresence Systems with Time-varying Delay and Packet Loss , Proceedings of Joint International COE/HAM-SFB453 Workshop on Human Adaptive Mechatronics and High Fidelity Telepresence , 2005 , p. 13-18 .
131. T. Matiakis, S. Hirche, M. Buss , The Scattering Transformation for Networked Control Systems , Proceedings of the 2005 IEEE Conference on Control Applications , 2005 , p. 705-710 .
132. S. Hirche, A. Bauer, M. Buss , Transparency of Haptic Telepresence Systems with Constant Time Delay , Proceedings of IEEE International Conference on Control Applications CCA’05 , Toronto, Canada , 2005 , p. 328–333 .
133. S. Hirche and M. Buss , Human Adapted Control of Networked Telepresence and Teleaction Systems , Proceedings of the 2nd COE Workshop on Human Adaptive Mechatronics , Saitama, Japan , 2005 .
134. S. Hirche, M. Buss , Human Perception Oriented Control Aspects of Networked Telepresence and Teleaction Systems , Proceedings of the International Conference on Instrumentation, Control and Information Technology SICE’05 , Okayama, Japan , 2005 , p. 3430-3435 .
135. S. Hirche, M. Buss , Packet Loss Effects in Passive Telepresence Systems , Proceedings of the 43rd IEEE Conference on Decision and Control CDC'04 , Paradise Island, Bahamas , 2004 , p. 4010–4015 .
136. S. Hirche, M. Buss , Telepresence Control in Packet Switched Communication Networks , Proceedings of the IEEE International Conference on Control Applications CCA'04 , Taipei, Taiwan , 2004 , p. 236–241 .
137. B. Stanczyk, S. Hirche, M. Buss , Telemanipulation over the Internet: a Tele-Assembly Experiment , Proceedings of the IEEE International Conference on Mechatronics and Robotics, MechRob2004 , Aachen, Germany , 2004 , p. 315–320 .
138. S. Hirche, B. Stanczyk, M. Buss , Haptic Tele-Assembly over the Internet , Proceedings of the EuroHaptics’2004 Conference , Munich, Germany , 2004 , p. 417–421 .
139. S. Hirche, B. Stanczyk, M. Buss , Transparent Exploration of Remote Environments by Internet Telepresence , Proceedings of the International Workshop on High-Fidelity Telepresence and Teleaction, jointly with the IEEE conference HUMANOIDS’2003 , Munich, Germany , 2003 .
140. S. Hirche, M. Buss , Study of Teleoperation Using Realtime Communication Network Emulation , Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM'03 , Kobe, Japan , 2003 , p. 586–591 .
141. S. Hirche, M. Buss , Passive Position Controlled Telepresence System with Time Delay , Proceedings of the American Control Conference ACC'03 , Denver (CO), U.S.A. , 2003 , p. 168–173 .
142. N. Chopra, M. Spong, S. Hirche, M. Buss , Bilateral Teleoperation over Internet: the Time Varying Delay Problem , Proceedings of the American Control Conference ACC'03 , Denver (CO), U.S.A. , 2003 , p. 155–160 .
PhD thesis
143. S. Hirche , Haptic Telepresence in Packet Switched Communication Networks , 2005 .
Technical Reports
144. D. Brščić, M. Eggers, F. Rohrmüller, O. Kourakos, S. Sosnowski, D. Althoff, M. Lawitzky, A. Mörtl, M. Rambow, V. Koropouli, J.R. Medina Hernández, X. Zang, W. Wang, D. Wollherr, K. Kühnlenz, C. Mayer, T. Kruse, A. Kirsch, J. Blume, A. Bannat, T. Rehrl, F. Wallhoff, T. Lorenz, P. Basili, C. Lenz, T. Röder, G. Panin, W. Maier, S. Hirche, M. Buss, M. Beetz, B. Radig, A. Schubö, S. Glasauer, A. Knoll, E. Steinbach , Multi Joint Action in CoTeSys - setup and challenges , Technische Universität München & Ludwig-Maximilians-Universität München , Munich, Germany , 2010 .
Miscellaneous
145. A. Molin, S. Hirche , Event-Triggered Estimation of Linear Systems: An Iterative Algorithm and Optimality Properties , Arxiv preprint arXiv:1203.4980 , 2012 .
146. A. Molin, S. Hirche , Entwurf vernetzter ereignisbasierter Regelungssysteme mit Kommunikations-beschränkungen , GMA Fachausschuss 1.40 "Theoretische Verfahren der Regelungstechnik" , 2011 .
147. F. Brandi, R. Chaudhari, S. Hirche, J. Kammerl, E. Steinbach, I. Vittorias , Perceptual Haptic Data Reduction in Telepresence and Teleaction Systems , Multimedia Communication Technical Committee E-Letter, vol. 6, no. 1, pp. 7-10 , 2011 .
Poster
148. T. Lorenz, A. Mörtl, S. Hirche , Movement Synchronization Fails during Non-Adaptive Human-Robot Interaction , ACM/IEEE International Conference on Human-Robot Interaction (HRI) , 2013 .
149. M. Lawitzky, A. Mörtl, J.R. Medina Hernández, Dongheui Lee, S. Hirche , Enhancing Physical Human-Robot Cooperation Through Behavior Anticipation and Interactive Planning , Proc. 5th International Conference on Cognitive Systems (CogSys) , 2012 .
150. S. Erhart, D. Sieber, T. Nierhoff, T. Fritzsch, K. Kühnlenz, S. Hirche , Cognitive Cooperative Mobile Multi-Robot Manipulation , Proc. 5th International Conference on Cognitive Systems (CogSys) , 2012 .
151. M. Lawitzky, S.Norouzzadeh, M. Kimmel, S. Hirche , Constraint-Preserving Compliant Control for Active Safety in Physical Human-Robot Interaction , IROS Workshop on Safety in Human-Robot Coexistence & Interaction. , 2012 .
152. A. Mörtl, M. Lawitzky, J.R. Medina Hernandez, Dongheui Lee, S. Hirche , Design Concepts for Physical Human-Robot Cooperation , IROS Workshop on Learning and Interaction in Haptic Robots , 2012 .