Dennis Benders — accepted AI-conference papers

2026

Embedded Hierarchical MPC for Autonomous Navigation

Dennis Benders, Johannes Köhler, Thijs Niesten, Robert Babuška, Javier Alonso-Mora, Laura Ferranti

ICRA 2026poster

To efficiently deploy robotic systems in society, mobile robots need to autonomously and safely move through complex environments. Nonlinear model predictive control (MPC) methods provide a natural way to find a dynamically feasible trajectory through the environment without colliding with nearby ob…

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2022

Free Energy Principle for State and Input Estimation of a Quadcopter Flying in Wind

Fred Bos, Ajith Anil Meera, Dennis Benders, Martijn Wisse

ICRA 2022poster

The free energy principle from neuroscience provides a brain-inspired perception scheme through a data-driven model learning algorithm called Dynamic Expectation Maximization (DEM). This paper aims at introducing an exper-imental design to provide the first experimental confirmation of the usefulnes…

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