aaron.pereira's picture






My Bio: 

Aaron is employed as an Early Stage Researcher in the SMART-e Consortium (ESR9). His research involves formal guarantees and trajectory planning for safe human-robot co-working.

Having received an MEng. in Mechanical Engineering from Imperial College London, completing his masters project abroad at the University of California, Davis, Aaron is now working towards a PhD at the Department of Computer Science, Technische Universität München.

His research interests include dextrous manipulation, applying formal verification techniques to robot control, and how humans and machines collaborate.

What I do in Smart-E: 

ESR9: Safe human-robot co-working through formal methods

Strict international standards govern the interaction between humans and machines in the workplace. For example, robots must often be separated from humans with cages or light curtains, and cannot operate when humans are inside their workspace.

If a control strategy can guarantee that robots and humans can work together safely, this is an important step towards allowing humans and machines to share a collaborative workspace in industrial settings.

Research interests: 

Formal Verification
Trajectory planning
Collision avoidance
Safe Human-Robot Cooperation
Robot Ethics


See: www.i6.in.tum.de/Main/Pereira#Publications

[1] Aaron Pereira and Matthias Althoff. A cartesian-space method for calculating human reachable occupancy. Technical Report TUM-I1759, Technische Universität München, 2017. 

[2] A. Pereira and M. Althoff. Overapproximative human arm occupancy prediction for collision avoidance. IEEE Transactions on Automation Science and Engineering, PP(99):1-14, 2017.

[3] A. Pereira and M. Althoff. Calculating human reachable occupancy for guaranteed collision-free planning. In Proc. IEEE Int. Conf. Intelligent Robots and Systems, to appear, 2017.

[4] J. Reinhardt, A. Pereira, D. Beckert, and K. Bengler. Dominance and movement cues of robot motion: A user study on trust and predictability. In Proc. of IEEE Systems, Man and Cybernetics, page to appear, 2017.

[5] D. Beckert, A. Pereira, and M. Althoff. Online verification of multiple safety criteria for a robot trajectory. In Proc. IEEE Conf. Decision and Control (CDC), page accepted, 2017.

[6] Aaron Pereira and Matthias Althoff. Overapproximative arm occupancy prediction for human-robot co-existence built from archetypal movements. In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pages 1394-1401, 2016. 

[7] Martijn J.A. Zeestraten, Aaron Pereira, Matthias Althoff, and Sylvain Calinon. Online motion synthesis with minimal intervention control and formal safety guarantees. In Proc. of IEEE Systems, Man and Cybernetics, pages 002116-002121, 2016. 

[8] A. Pereira and M. Althoff. Safety control of robots under computed torque control using reachable sets. In Proc. IEEE Int. Conf. Robotics and Automation, pages 331-338, 2015. 


Prof Matthias Althoff
Geoff Pegman

First Name: 


Last Name: 



Member for
6 years 1 month