M.Sc. Johanna Bethge

Ph.D. Student and Research Assistant Institute for Automation Engineering (IFAT) Laboratory for Systems Theory and Automatic Control Otto-von-Guericke University Magdeburg 39106 Magdeburg, Germany room: G07 - 005 phone: (+49) 0391-67 58894 fax: (+49) 0391-67 11191 email: johanna.bethgeno-spam@ovgu.de

• Nonlinear model predictive control
• Predictive control for uncertain systems with multiple dynamics, e.g. applications as autonomous driving
• Path following and force control in autonomous robotics
• Machine learning algorithm for control and classification,
  e.g. in the context of autonomous driving, Gaussian processes, neural networks, nearest neighbor comparison

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Publications

[2]	J. Matschek, J. Bethge, and R. Findeisen. Safe machine-learning-suppored model predictive force and motion control in robotics. 2022. accepted.
[1]	J. Bethge, R. Findeisen, D. D. Le, M. Merkert, H. Rewald, S. Sager, A. Savchenko, and S. Sorgatz. Mathematical optimization and machine learning for efficient urban traffic. German Success Stories in Industrial Mathematics, 35:113--120, 2021. [ DOI ]

[8]	J. Bethge, M. Pfefferkorn, A. Rose, J. Peters, and R. Findeisen. Model predictive control with gaussian-process-supported dynamical constraints for autonomous In Proceedings of IFAC World Congress, 2023. accepted.
[7]	T. Zieger, P. Holzmann, J. Bethge, T. Oehlschl"gel, and R. Findeisen. Rigid-tube nonlinear model predictive control for path following. In Proceedings of IFAC World Congress, 2023. accepted.
[6]	J. Matschek, J. Bethge, M. Soliman, B. Elsayed, and R. Findeisen. Constrained reference learning for continuous-time model predictive tracking control of autonomous systems. volume 54, pages 329--334, 2021. Proceedings of the 7th IFAC Conference on Nonlinear Model Predictive Control.
[5]	J. Bethge, B. Morabito, H. Rewald, A. Ahsan, S. Sorgatz, and R. Findeisen. Model predictive control of mixed traffic at intersections using learning and classification of human driving behavior. In Proceedings of IFAC World Congress, pages 14557--14563, 2020.
[4]	J. Bethge, S. Yu, and R. Findeisen. Model predictive control with guarantees for discrete linear stochastic systems subject to additive disturbances with chance constraints. In 2020 American Control Conference (ACC), pages 1943--1948, 2020. [ DOI ]
[3]	J. Bethge, B. Morabito, J. Matschek, and R. Findeisen. Multi-mode learning supported model predictive control with guarantees. In Proceedings of 6th Nonlinear Model Predictive Control Conference (NMPC), pages 616--621, Madison, United States, 2018. [ DOI ]
[2]	K. J. Kazim, J. Bethge, J. Matschek, and R. Findeisen. Combined predictive path following and admittance control. In Proceedings of American Control Conference (ACC), pages 3153--3158, Milwaukee, United States, 2018. [ DOI ]
[1]	J. Matschek, J. Bethge, P. Zometa, and R. Findeisen. Force feedback and path following using predictive control: Concept and application to a lightweight robot. In Proceedings of 19th IFAC World Congress Toulouse, pages 10243--10248, Toulouse, France, 2017. [ DOI ]

Miscellaneous

• J. Bethge. Entwurf und Implementierung einer modellprädiktiven Kraft- und Pfadverfolgungsregelung für Kontaktszenarien in der Robotik.
  Master thesis, Institute for Automation Engineering, Otto von Guericke University Magdeburg. 2016.
• J. Bethge. Unscented Kalman filtering of a robotic manipulator.
  Bachelor thesis, Institute for Automation Engineering, Otto von Guericke University Magdeburg. 2013.

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Winter term 2021/22	Assistant in Steuerungstechnik
Summer term 2021	Assistant in Machine Learning, Dynamical Systems, and Control
Winter term 2020/21	Assistant in Steuerungstechnik
Summer term 2020	Assistant in Machine Learning, Dynamical Systems, and Control
Winter term 2019/20	Assistant in Steuerungstechnik
Winter term 2018/19	Assistant in Steuerungstechnik
Summer term 2018	Assistant in Regelungstechnik II/Systemtheorie
Winter term 2017/18	Assistant in Regelungstechnik I
Summer term 2017	Assistant in Regelungstechnik II/Systemtheorie

Supervisor and Co-Supervisor

Supervisor of the following master theses:

• Robust Model Predictive Control for Trajectory Tracking of a Quadcopter (Alfred Khafizov, 2022)
• Path Planning and Control of an Autonomous Vehicle (Johannes Bröcker, 2022)
• Learning-Supported Predictive Control of Autonomous Vehicles subject to Mixed-Traffic (Alexander Rose, 2022)
• Position Prediction and Performance Evaluation comparing Model-based and Machine-Learning Approaches for autonomous vehicles
    (Diego Jorge Torrico Carvajal, 2021)
• Model predictive control for path-following applied to a ground vehicle (Alexander Schulzke, 2020)
• Multi-mode Model-Predictive Control of an Autonomous Vehicle at an Intersection (Syed Adil Muddassir Ahsan, 2019)
• Two-degree-of-freedom control for distance-to-ground tracking of airplanes (Ruslan Valeev, 2019)
• Learning based Model Predictive Control with application to a robotic hand (Peter Eskander, 2018)
• Simulation und Reglerentwurf eines Zweiradmodells mit Fahrer im 3-dimensionalen Raum (Jan-Erik Hehn, 2018)

Supervisor of the following student projects:

• Predictive Path Following for an autonomous ground vehicle (Alexander Rose, 2021)
• Parameterschätzung und Systemidentifikation am HAMSTER (Alexander Schulzke, 2019)
• Comparison of Machine Learning algorithm for autonomous vehicles at an Intersection (Syed Adil Muddassir Ahsan, 2018)

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If you are interested in doing your thesis or a project on Model Predictive Control in the context of robotics or autonomous driving
Send me a short e-mail with the following information, this may increase your chances of being considered as a candidate:
- a brief description of who you are: name, study program, time planned for developing the project,
- A transcript of your grades from Bachelor and Master studies (pdf-file),
- which project are you interested in,
- a short, but clear statement of why you think you could succesfully complete the project,
- A curriculum vitae (max. 1 page) with the information that is relevant to the project (e.g. do not include hobbies or primary school info, but include programming languages) (pdf-file).

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I am working as a Ph.D. student and research assistant under the supervision of Prof. Dr.-Ing. Rolf Findeisen at the Institute for Automation Engineering at the Otto-von-Guericke University Magdeburg. Since April 2017 I am additionally a fellow of the research training group Mathematical Complexity Reduction. In 2018 I had a 1-month stay on the Jilin University of China in Changchun for research exchange.

I studied Systems Engineering and Engineering Cybernetics at the Otto-von-Guericke-University Magdeburg until November 2016. The topic of my master thesis was the conceptuation and implementation of a hybrid force/position model predictive controller for path following. The application was the KUKA lightweight robot IV. During 2013/2014 I studied abroad, at the Tampere University of Technology in Finland.

I have spent internships at the Robert Bosch GmbH in Schwieberdingen in 2012 and at the Cibite AG in Donauwörth in 2014. In 2011 and 2012 I was part of the organizing team of the RoboCup German Open. Since December 2016 I am a member of Rolf Findeisen's Group for Systems Theory and Automatic Control.

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