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Patrick Scheffe, M.Sc. RWTH

Member of the Cyber-physical Mobility Group

Contact

Research Assistant

Tel. +49 241 80 21184
Fax +49 241 80 22150

Email: scheffe[at]embedded[dot]rwth-aachen[dot]de

Address: Ahornstr. 55, 52074 Aachen, Germany
Room: 2314

Research

My research focus lies on networked control systems in the context of the GROKO-Plan project. New approaches in networked control can be evaluated in the CPM Lab experimentally. The videos on YouTube give an impression of the CPM Lab and research done by members of the CPM Group.

Theses

Open topics in my research area usually exist. If you are interested in my research, we can meet up or you can contact me via email in order to draft a suitable thesis topic.

Students worked on the following topics under my supervision:

Analysis of existing autonomous and networked model-scale vehicles
Combining graphs for maneuver-based motion planning of networked vehicles
Sensor fusion for indoor position estimation of model-scale vehicles
Path tracking control of model-scale vehicles
Distributed trajectory planning for networked vehicles using graphs
Receding horizon control using graph search for networked vehicle trajectory planning
Priority assignment in graph-based distributed trajectory planning
Using dynamic priority assignment to increase feasibility in priority-based networked control
Dynamic priorities to increase feasiblity in graph-based trajectory planning for networked model-scale vehicles
Parallel Priority-based Trajectory Planning with Safety Guarantees for Networked Vehicles
Implementation of a Manual Controller for Model-scale Vehicles in Mixed Traffic
Computationally Efficient Graph-based Motion Planning of Networked Vehicles
Computationally Efficient Graph Search Algorithms for Experiments of Distributed Trajectory Planning
Generalizing Model-Scale Experiments in Networked and Autonomous Driving Using a Service-Oriented Architecture
Centralized Graph-Search Algorithms for Effective Trajectory Planning of Networked Vehicles

Teaching

Semester	Title	Style
22 Winter	Regelung und Wahrnehmung in vernetzten und autonomen Fahrzeugen	Lecture + Lab
21 Winter	Regelung und Wahrnehmung in vernetzten und autonomen Fahrzeugen	Lecture + Lab
20 Winter	Regelung und Wahrnehmung in vernetzten und automatisierten Fahrzeugen	Lecture + Lab
19 Winter	Regelung und Wahrnehmung in vernetzten und automatisierten Fahrzeugen	Lecture + Lab

Publications

Publikations-Export

[KSA23] PDF BIB

Kloock, M. M., Scheffe, P., and Alrifaee, B., "Testing distributed trajectory planning in the cyber-physical mobility lab", Automatisierungstechnik, vol. 71, iss. 4, pp. 317-325, 2023

Testing distributed trajectory planning in the cyber-physical mobility lab

Bibtex entry :

@article {  KSA23,
	author = { Kloock, Maximilian Martin and Scheffe, Patrick and Alrifaee,
		Bassam },
	title = { Testing distributed trajectory planning in the
		cyber-physical mobility lab },
	journal = { Automatisierungstechnik },
	publisher = { De Gruyter },
	pages = { 317-325 },
	volume = { 71 },
	number = { 4 },
	year = { 2023 },
	address = { Berlin },
	issn = { 2196-677X },
	doi = { 10.1515/auto-2022-0154 },
	typ = { PUB:(DE-HGF)16 },
	reportid = { RWTH-2023-03773 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/955879/files/955879.pdf },
}

[KSG+23] PDF BIB

Kloock, M. M., Scheffe, P., Gress, O., and Alrifaee, B., "An Architecture for Experiments in Connected and Automated Vehicles", IEEE open journal of intelligent transportation systems, vol. 4, pp. 175-186, 2023

An Architecture for Experiments in Connected and Automated Vehicles

Bibtex entry :

@article {  KSG+23,
	author = { Kloock, Maximilian Martin and Scheffe, Patrick and Gress,
		Ole and Alrifaee, Bassam },
	title = { An Architecture for Experiments in Connected and Automated
		Vehicles },
	journal = { IEEE open journal of intelligent transportation systems },
	publisher = { IEEE },
	pages = { 175-186 },
	volume = { 4 },
	year = { 2023 },
	address = { [New York, NY] },
	issn = { 2687-7813 },
	doi = { 10.18154/RWTH-2023-02350 },
	typ = { PUB:(DE-HGF)16 },
	reportid = { RWTH-2023-02350 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/952957/files/952957.pdf },
}

[PSA+23] PDF BIB

Pedrosa, M. V. A., Scheffe, P., Alrifaee, B., and Flaßkamp, K., "Optimization-based motion primitive automata for autonomous driving", Automatisierungstechnik : AT, vol. 71, iss. 4, pp. 294-300, 2023

Optimization-based motion primitive automata for autonomous driving

Bibtex entry :

@article {  PSA+23,
	author = { Pedrosa, Matheus V. A. and Scheffe, Patrick and Alrifaee,
		Bassam and Fla{\ss}kamp, Kathrin },
	title = { Optimization-based motion primitive automata for autonomous
		driving },
	journal = { Automatisierungstechnik : AT },
	publisher = { De Gruyter },
	pages = { 294-300 },
	volume = { 71 },
	number = { 4 },
	year = { 2023 },
	address = { Berlin },
	issn = { 2196-677X },
	doi = { 10.1515/auto-2022-0158 },
	typ = { PUB:(DE-HGF)16 },
	reportid = { RWTH-2023-03780 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/955890 },
	i11key = { DFG project 412371229 - GROKO-Plan: GRaphenbasierte,
		Optimale und KOoperative Trajektorienplanung f{\"u}r
		Interagierende Automobile (412371229) },
}

[SA23] PDFBIB

Scheffe, P. and Alrifaee, B., "A Scaled Experiment Platform to Study Interactions Between Humans and CAVs", in Proc. 2023 IEEE Intelligent Vehicles Symposium (IV) : 4-7 June 2023, 2023, IEEE.

A Scaled Experiment Platform to Study Interactions Between Humans and CAVs

Bibtex entry :

@inproceedings {  SA23,
	author = { Scheffe, Patrick and Alrifaee, Bassam },
	title = { A Scaled Experiment Platform to Study Interactions Between
		Humans and CAVs },
	booktitle = { 2023 IEEE Intelligent Vehicles Symposium (IV) : 4-7 June
		2023 },
	publisher = { IEEE },
	year = { 2023 },
	organization = { 2023 IEEE Intelligent Vehicles Symposium, Anchorage (USA),
		2023-06-04 - 2023-06-07 },
	doi = { 10.1109/IV55152.2023.10186623 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2023-07513 },
	cin = { 122810 / 120000 },
}

[SHK+23] PDF BIB

Scheffe, P., Henneken, T. M., Kloock, M. M., and Alrifaee, B., "Sequential Convex Programming Methods for Real-time Optimal Trajectory Planning in Autonomous Vehicle Racing", IEEE Transactions on Intelligent Vehicles : T-IV, vol. 8, iss. 1, pp. 661-672, 2023

Sequential Convex Programming Methods for Real-time Optimal Trajectory Planning in Autonomous Vehicle Racing

Bibtex entry :

@article {  SHK+23,
	author = { Scheffe, Patrick and Henneken, Theodor Mario and Kloock,
		Maximilian Martin and Alrifaee, Bassam },
	title = { Sequential Convex Programming Methods for Real-time Optimal
		Trajectory Planning in Autonomous Vehicle Racing },
	journal = { IEEE Transactions on Intelligent Vehicles : T-IV },
	publisher = { IEEE },
	pages = { 661-672 },
	volume = { 8 },
	number = { 1 },
	year = { 2023 },
	address = { New York, NY },
	issn = { 2379-8858 },
	doi = { 10.1109/TIV.2022.3168130 },
	typ = { PUB:(DE-HGF)16 },
	reportid = { RWTH-2022-10294 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/855596 },
}

[MSK+22] PDF BIB

Mokhtarian, A., Scheffe, P., Kowalewski, S., and Alrifaee, B., "Remote Teaching with the Cyber-Physical Mobility Lab", IFAC-PapersOnLine, vol. 55, iss. 17, pp. 386-391, 2022

Remote Teaching with the Cyber-Physical Mobility Lab

Bibtex entry :

@article {  MSK+22,
	author = { Mokhtarian, Armin and Scheffe, Patrick and Kowalewski,
		Stefan and Alrifaee, Bassam },
	title = { Remote Teaching with the Cyber-Physical Mobility Lab },
	journal = { IFAC-PapersOnLine },
	publisher = { Elsevier },
	pages = { 386-391 },
	volume = { 55 },
	number = { 17 },
	year = { 2022 },
	address = { Frankfurt ; M{\"u}nchen [u.a.] },
	issn = { 1474-6670 },
	organization = { 13.IFAC Symposium on Advances in Control Education, Hamburg
		(Germany), 2022-07-24 - 2022-07-27 },
	doi = { 10.1016/j.ifacol.2022.09.310 },
	typ = { PUB:(DE-HGF)16 },
	reportid = { RWTH-2022-10406 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/855749/files/855749.pdf },
}

[SDA22] PDF BIB

Scheffe, P., Dorndorf, G., and Alrifaee, B., "Increasing Feasibility with Dynamic Priority Assignment in Distributed Trajectory Planning for Road Vehicles", in Proc. 2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC) : 8-12 Oct. 2022, Piscataway, NJ, 2022, IEEE, pp. 3873-3879.

Increasing Feasibility with Dynamic Priority Assignment in Distributed Trajectory Planning for Road Vehicles

Bibtex entry :

@inproceedings {  SDA22,
	author = { Scheffe, Patrick and Dorndorf, Georg and Alrifaee, Bassam },
	title = { Increasing Feasibility with Dynamic Priority Assignment in
		Distributed Trajectory Planning for Road Vehicles },
	booktitle = { 2022 IEEE 25th International Conference on Intelligent
		Transportation Systems (ITSC) : 8-12 Oct. 2022 },
	publisher = { IEEE },
	pages = { 3873-3879 },
	year = { 2022 },
	address = { Piscataway, NJ },
	organization = { 25. International Conference on Intelligent Transportation
		Systems, Macau (Macau), 2022-10-08 - 2022-10-12 },
	doi = { 10.1109/ITSC55140.2022.9922028 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2022-10176 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/855355 },
}

[SPF+22] PDF BIB

Scheffe, P., Pedrosa, M. V. A., Flaßkamp, K., and Alrifaee, B., "Receding Horizon Control Using Graph Search for Multi-Agent Trajectory Planning", IEEE Transactions on Control Systems Technology, vol. 31, iss. 3, pp. 1092-1105, 2022

Receding Horizon Control Using Graph Search for Multi-Agent Trajectory Planning

Bibtex entry :

@article {  SPF+22,
	author = { Scheffe, Patrick and Pedrosa, Matheus V. A. and
		Fla{\ss}kamp, Kathrin and Alrifaee, Bassam },
	title = { Receding Horizon Control Using Graph Search for Multi-Agent
		Trajectory Planning },
	journal = { IEEE Transactions on Control Systems Technology },
	publisher = { IEEE },
	pages = { 1092-1105 },
	volume = { 31 },
	number = { 3 },
	year = { 2022 },
	address = { New York, NY },
	issn = { 1063-6536 },
	doi = { 10.1109/TCST.2022.3214718 },
	typ = { PUB:(DE-HGF)16 },
	reportid = { RWTH-2022-10295 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/855597 },
}

[KSM+21] PDF BIB

Kloock, M. M., Scheffe, P., Maczijewski, J., Kampmann, A., Mokhtarian, A., Kowalewski, S., and Alrifaee, B., "Cyber-Physical Mobility Lab : An Open-Source Platform for Networked and Autonomous Vehicles", in Proc. 2021 European Control Conference (ECC), [Piscataway, NJ], 2021, IEEE, pp. 1937-1944.

Cyber-Physical Mobility Lab : An Open-Source Platform for Networked and Autonomous Vehicles

Bibtex entry :

@inproceedings {  KSM+21,
	author = { Kloock, Maximilian Martin and Scheffe, Patrick and
		Maczijewski, Janis and Kampmann, Alexandru and Mokhtarian,
		Armin and Kowalewski, Stefan and Alrifaee, Bassam },
	title = { Cyber-Physical Mobility Lab : An Open-Source Platform for
		Networked and Autonomous Vehicles },
	booktitle = { 2021 European Control Conference (ECC) },
	publisher = { IEEE },
	pages = { 1937-1944 },
	year = { 2021 },
	address = { [Piscataway, NJ] },
	organization = { 2021 European Control Conference, online, 2021-06-29 -
		2021-07-02 },
	doi = { 10.23919/ECC54610.2021.9654986 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2022-00305 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/838069 },
}

[KST+20] PDF BIB

Kloock, M. M., Scheffe, P., Tülleners, I., Maczijewski, J., Kowalewski, S., and Alrifaee, B., "Vision-Based Real-Time Indoor Positioning System for Multiple Vehicles", IFAC-PapersOnLine, vol. 53, iss. 2, pp. 15446-15453, 2020

Vision-Based Real-Time Indoor Positioning System for Multiple Vehicles

Bibtex entry :

@article {  KST+20,
	author = { Kloock, Maximilian Martin and Scheffe, Patrick and
		T{\"u}lleners, Isabelle and Maczijewski, Janis and
		Kowalewski, Stefan and Alrifaee, Bassam },
	title = { Vision-Based Real-Time Indoor Positioning System for
		Multiple Vehicles },
	journal = { IFAC-PapersOnLine },
	publisher = { Elsevier },
	pages = { 15446-15453 },
	volume = { 53 },
	number = { 2 },
	year = { 2020 },
	address = { Frankfurt },
	issn = { 2405-8963 },
	organization = { 21. IFAC World Congress, online, 2020-07-11 - 2020-07-17 },
	doi = { 10.1016/j.ifacol.2020.12.2367 },
	typ = { PUB:(DE-HGF)16 },
	reportid = { RWTH-2021-03830 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/817298/files/817298.pdf },
}

[SMK+20] PDF BIB

Scheffe, P., Maczijewski, J., Kloock, M. M., Kampmann, A., Derks, A., Kowalewski, S., and Alrifaee, B., "Networked and Autonomous Model-scale Vehicles for Experiments in Research and Education", IFAC-PapersOnLine, vol. 53, iss. 2, pp. 17332-17337, 2020

Networked and Autonomous Model-scale Vehicles for Experiments in Research and Education

Bibtex entry :

@article {  SMK+20,
	author = { Scheffe, Patrick and Maczijewski, Janis and Kloock,
		Maximilian Martin and Kampmann, Alexandru and Derks, Andreas
		and Kowalewski, Stefan and Alrifaee, Bassam },
	title = { Networked and Autonomous Model-scale Vehicles for
		Experiments in Research and Education },
	journal = { IFAC-PapersOnLine },
	publisher = { Elsevier },
	pages = { 17332-17337 },
	volume = { 53 },
	number = { 2 },
	year = { 2020 },
	address = { Frankfurt },
	issn = { 2405-8963 },
	organization = { 21. IFAC World Congress, online, 2020-07-11 - 2020-07-17 },
	doi = { 10.1016/j.ifacol.2020.12.1821 },
	typ = { PUB:(DE-HGF)16 },
	reportid = { RWTH-2021-03987 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/817552/files/817552.pdf },
}

[KSB+19] PDF BIB

Kloock, M. M., Scheffe, P., Botz, L., Maczijewski, J., Alrifaee, B., and Kowalewski, S., "Networked Model Predictive Vehicle Race Control", in Proc. The 2019 IEEE Intelligent Transportation Systems Conference - ITSC : Auckland, New Zealand, 27-30 October 2019 / IEEE, IEEE-ITSC 2019, ITSS - IEEE Intelligent Transportation Systems Society, Piscataway, NJ, 2019, IEEE, pp. 1552-1557.

Networked Model Predictive Vehicle Race Control

Bibtex entry :

@inproceedings {  KSB+19,
	author = { Kloock, Maximilian Martin and Scheffe, Patrick and Botz,
		Lukas and Maczijewski, Janis and Alrifaee, Bassam and
		Kowalewski, Stefan },
	title = { Networked Model Predictive Vehicle Race Control },
	booktitle = { The 2019 IEEE Intelligent Transportation Systems Conference
		- ITSC : Auckland, New Zealand, 27-30 October 2019 / IEEE,
		IEEE-ITSC 2019, ITSS - IEEE Intelligent Transportation
		Systems Society },
	publisher = { IEEE },
	pages = { 1552-1557 },
	year = { 2019 },
	address = { Piscataway, NJ },
	organization = { 22. IEEE Intelligent Transportation Systems Conference,
		Auckland (New Zealand), 2019-10-27 - 2019-10-30 },
	doi = { 10.1109/ITSC.2019.8917222 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2019-11241 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/773727 },
}

[KSM+19] PDF BIB

Kloock, M. M., Scheffe, P., Marquardt, S., Maczijewski, J., Alrifaee, B., and Kowalewski, S., "Distributed Model Predictive Intersection Control of Multiple Vehicles", in Proc. The 2019 IEEE Intelligent Transportation Systems Conference - ITSC : Auckland, New Zealand, 27-30 October 2019 / IEEE, IEEE-ITSC 2019, ITSS - IEEE Intelligent Transportation Systems Society, Piscataway, NJ, 2019, IEEE, p. 8917117, 1735-1740.

Distributed Model Predictive Intersection Control of Multiple Vehicles

Bibtex entry :

@inproceedings {  KSM+19,
	author = { Kloock, Maximilian Martin and Scheffe, Patrick and
		Marquardt, Sascha and Maczijewski, Janis and Alrifaee,
		Bassam and Kowalewski, Stefan },
	title = { Distributed Model Predictive Intersection Control of
		Multiple Vehicles },
	booktitle = { The 2019 IEEE Intelligent Transportation Systems Conference
		- ITSC : Auckland, New Zealand, 27-30 October 2019 / IEEE,
		IEEE-ITSC 2019, ITSS - IEEE Intelligent Transportation
		Systems Society },
	publisher = { IEEE },
	pages = { 8917117, 1735-1740 },
	year = { 2019 },
	address = { Piscataway, NJ },
	organization = { 22. IEEE Intelligent Transportation Systems Conference,
		Auckland (New Zealand), 2019-10-27 - 2019-10-30 },
	doi = { 10.1109/ITSC.2019.8917117 },
	typ = { PUB:(DE-HGF)7 },
	reportid = { RWTH-2019-11242 },
	cin = { 122810 / 120000 },
	url = { http://publications.rwth-aachen.de/record/773728 },
}

Chair of CS 11

Research

Tools

Teaching

Patrick Scheffe, M.Sc. RWTH

Contact

Research

Theses

Teaching

Publications

Testing distributed trajectory planning in the cyber-physical mobility lab

Bibtex entry :

An Architecture for Experiments in Connected and Automated Vehicles

Bibtex entry :

Optimization-based motion primitive automata for autonomous driving

Bibtex entry :

A Scaled Experiment Platform to Study Interactions Between Humans and CAVs

Bibtex entry :

Sequential Convex Programming Methods for Real-time Optimal Trajectory Planning in Autonomous Vehicle Racing

Bibtex entry :

Remote Teaching with the Cyber-Physical Mobility Lab

Bibtex entry :

Increasing Feasibility with Dynamic Priority Assignment in Distributed Trajectory Planning for Road Vehicles

Bibtex entry :

Receding Horizon Control Using Graph Search for Multi-Agent Trajectory Planning

Bibtex entry :

Cyber-Physical Mobility Lab : An Open-Source Platform for Networked and Autonomous Vehicles

Bibtex entry :

Vision-Based Real-Time Indoor Positioning System for Multiple Vehicles

Bibtex entry :

Networked and Autonomous Model-scale Vehicles for Experiments in Research and Education

Bibtex entry :

Networked Model Predictive Vehicle Race Control

Bibtex entry :

Distributed Model Predictive Intersection Control of Multiple Vehicles

Bibtex entry :