Franek Stark, M.Sc.

2026

• Konferenz
  Franek Stark, Jakob Middelberg, Shubham Vyas

  Mixed-Integer vs. Continuous Model Predictive Control for Binary Thrusters: A Comparative Study

  In: Proceedings of the CEAS EuroGNC 2026 conference · 2026
• Konferenz
  Franek Stark, Felix Wiebe, Shubham Vyas, Dennis Mronga, Frank Kirchner

  Right Model, Right Time: Real-Time Cascaded-Fidelity MPC for Bipedal Walking

  In: ICRA Workshop on Frontiers of Optimization for Robotics, 2nd Edition, Vienna, AT · 2026

2025

• Konferenz
  Shubham Vyas, Franek Stark, Rohit Kumar, Hannah Isermann, Jonas Haack, Mihaela Popescu, Jakob Middelberg, Dennis Mronga, Frank Kirchner

  Quadrupeds for Planetary Exploration: Field Testing Control Algorithms on an Active Volcano

  In: 18th Symposium on Advanced Space Technologies in Robotics and Automation, Leiden, NL · Okt 2025
• Konferenz
  Franek Stark, Jakob Middelberg, Dennis Mronga, Shubham Vyas, Frank Kirchner

  Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking

  In: 2025 IEEE International Conference on Robotics and Automation (ICRA) · 2025

  DOI: 10.1109/ICRA55743.2025.11128397
• Konferenz
  Franek Stark, Rohit Kumar, Shubham Vyas, Hannah Isermann, Jonas Haack, Mihaela Popescu, Jakob Middelberg, Dennis Mronga, Frank Kirchner

  An adaptive hierarchical control framework for quadrupedal robots in planetary exploration

  In: Proceedings of 18th Symposium on Advanced Space Technologies in Robotics and Automation, Leiden, NL · 2025
• Konferenz
  Jonas Haack, Franek Stark, Shubham Vyas, Frank Kirchner, Shivesh Kumar

  Adaptive Model-Based Control of Quadrupeds via Online System Identification using Kalman Filter

  In: 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hangzhou, CN, 5039-5044 · 2025

  DOI: 10.1109/IROS60139.2025.11246753

2024

• Konferenz
  Franek Stark, Shubham Vyas, Georg Schildbach, Frank Kirchner

  Mixed Integer Model Predictive Control for a free-floating platform with binary and continuous actuation

  In: Proceedings of the 2024 CEAS EuroGNC conference, Bristol, GB · 2024

  DOI: 10.82124/CEAS-GNC-2024-013

2023

• Konferenz
  Franek Stark, Shubham Vyas, Georg Schildbach, Frank Kirchner

  Linear Model Predictive Control for a planar free-floating platform: A comparison of binary input constraint formulations

  In: 17th Symposium on Advanced Space Technologies in Robotics and Automation, Leiden, NL · 2023