René van de MolengraftM. J. G. van de MolengraftMarinus Jacobus Gerardus van de MolengraftEindhoven University of Technology, Netherlandshttp://yp.wtb.tue.nl/se/showemp_t3.php/956https://orcid.org/0000-0002-5095-4297R. J. van der KrukB. H. T. BindelsH. P. J. BruyninckxM. J. G. van de MolengraftAutomatic control for swing-free control of suctioned products in robotic pick-and-place operations.1048632025184Robotics Auton. Syst.https://doi.org/10.1016/j.robot.2024.104863db/journals/ras/ras184.html#KrukBBM25streams/journals/rasAlessandra Rossi 0001Maike Paetzel-PrüsmannMerel KeijsersMichael Anderson 0001Susan Leigh AndersonDaniel BarryJan GutscheJustin W. HartLuca IocchiAinse KokkelmansWouter KuijpersYun LiuDaniel PolaniCaleb RascónMarcus ScheunemannPeter Stone 0001Florian VahlRené van de MolengraftOskar von StrykThe human in the loop Perspectives and challenges for RoboCup 2050.82024April48Auton. Robots2-3https://doi.org/10.1007/s10514-024-10159-3db/journals/arobots/arobots48.html#RossiPKAABGHIKKLPRSSVMS24Koen de VosElena TortaHerman BruyninckxCésar A. López MartínezM. J. G. van de MolengraftAutomatic Configuration of Multi-Agent Model Predictive Controllers based on Semantic Graph World Models.7194-72002024ICRAhttps://doi.org/10.1109/ICRA57147.2024.10610708conf/icra/2024db/conf/icra/icra2024.html#VosTBMM24Manuel Muñoz SánchezChris van der PloegRobin SmitJos ElfringEmilia SilvasRené van de MolengraftPrediction Horizon Requirements for Automated Driving: Optimizing Safety, Comfort, and Efficiency.2575-25822024IVhttps://doi.org/10.1109/IV55156.2024.10588728conf/ivs/2024db/conf/ivs/ivs2024.html#SanchezPSESM24Manuel Muñoz SánchezChris van der PloegRobin SmitJos ElfringEmilia SilvasRené van de MolengraftPrediction Horizon Requirements for Automated Driving: Optimizing Safety, Comfort, and Efficiency.2024abs/2402.03893CoRRhttps://doi.org/10.48550/arXiv.2402.03893db/journals/corr/corr2402.html#abs-2402-03893Koen de VosGijs van den BrandtJordy SendenPieter PauwelsRené van de MolengraftElena TortaGeneration of skill-specific maps from graph world models for robotic systems.2024abs/2402.18174CoRRhttps://doi.org/10.48550/arXiv.2402.18174db/journals/corr/corr2402.html#abs-2402-18174Manuel Muñoz SánchezGijs TrotsRobin SmitPedro Vieira OliveiraEmilia SilvasJos ElfringRené van de MolengraftSDS++: Online Situation-Aware Drivable Space Estimation for Automated Driving.2024abs/2406.01941CoRRhttps://doi.org/10.48550/arXiv.2406.01941db/journals/corr/corr2406.html#abs-2406-01941Koen de VosElena TortaHerman BruyninckxCésar A. López MartínezRené van de MolengraftHybrid Decision Making for Scalable Multi-Agent Navigation: Integrating Semantic Maps, Discrete Coordination, and Model Predictive Control.2024abs/2410.12651CoRRhttps://doi.org/10.48550/arXiv.2410.12651db/journals/corr/corr2410.html#abs-2410-12651streams/journals/corrHao Liang ChenBob HendrikxElena TortaHerman BruyninckxRené van de MolengraftBehavior adaptation for mobile robots via semantic map compositions of constraint-based controllers.2023October10Frontiers Robotics AIhttps://doi.org/10.3389/frobt.2023.917637db/journals/firai/firai10.html#ChenHTBM23Jordy SendenKevin HollandsDavid Rapado RinconAkshay K. BurusaBas HerremansHerman BruyninckxRené van de MolengraftMulti-Hypothesis Tracking in a Graph-Based World Model for Knowledge-Driven Active Perception.5934-59412023September8IEEE Robotics Autom. Lett.9https://doi.org/10.1109/LRA.2023.3300282https://www.wikidata.org/entity/Q121812067db/journals/ral/ral8.html#SendenHRBHBM23R. M. BeumerM. J. G. van de MolengraftDuarte J. AntunesComplexity-Bounded Relaxed Dynamic Programming.4279-42842023CDChttps://doi.org/10.1109/CDC49753.2023.10383392conf/cdc/2023db/conf/cdc/cdc2023.html#BeumerMA23Xingyu LiuMark van den BrandHossain Muhammad MuctadirRené van de MolengraftML-based Digital Twin for anomaly detection: a case-study on Turtle soccer robots.179-1822023SEAAhttps://doi.org/10.1109/SEAA60479.2023.00035conf/euromicro/2023db/conf/euromicro/euromicro2023.html#LiuBMM23René van de MolengraftWill robots beat the human world champion football in 2050?12023ICARSChttps://doi.org/10.1109/ICARSC58346.2023.10129632conf/icarsc/2023db/conf/icarsc/icarsc2023.html#Molengraft23Robbert van der KrukArend Jan van NoordenTom OomenRené van de MolengraftHerman BruyninckxRobotic Control for Vibration Reduction of Swinging Products.1-82023ICMhttps://doi.org/10.1109/ICM54990.2023.10101973conf/icmech/2023db/conf/icmech/icm2023.html#KrukNOMB23Ruben M. BeumerStefan KempersJorrit OlthuisAneesh DeoganSander DoodemanWouter H. T. M. AangenentRuud van den BogaertPatrick van BrakelMatthias BriegelDennis BruijnenHao Liang ChenYanick DouvenDanny HameetemanGerard van HattumKayden KnapikJohan KonHarrie van de LooFerry SchoenmakersJaap van der StoelPeter TeurlingsRené van de MolengraftTech United Eindhoven Middle Size League Winner 2023.428-4392023RoboCuphttps://doi.org/10.1007/978-3-031-55015-7_36conf/robocup/2023db/conf/robocup/robocup2023.html#BeumerKODDABBBB23Manuel Muñoz SánchezEmilia SilvasJos ElfringRené van de MolengraftRobustness Benchmark of Road User Trajectory Prediction Models for Automated Driving.2023abs/2304.01895CoRRhttps://doi.org/10.48550/arXiv.2304.01895db/journals/corr/corr2304.html#abs-2304-01895Koen de VosElena TortaHerman BruyninckxCésar A. López MartínezM. J. G. van de MolengraftAutomatic Configuration of Multi-Agent Model Predictive Controllers based on Semantic Graph World Models.2023abs/2311.01180CoRRhttps://doi.org/10.48550/arXiv.2311.01180db/journals/corr/corr2311.html#abs-2311-01180Jordy SendenLars JanssenRobbert van der KrukHerman BruyninckxRené van de MolengraftExploiting plant dynamics in robotic fruit localization.1068602022196Comput. Electron. Agric.https://doi.org/10.1016/j.compag.2022.106860db/journals/cea/cea196.html#SendenJKBM22R. W. M. HendrikxHerman BruyninckxJos ElfringM. J. G. van de MolengraftLocal-To-Global Hypotheses for Robust Robot Localization.20229Frontiers Robotics AIhttps://doi.org/10.3389/frobt.2022.887261https://www.wikidata.org/entity/Q114582853db/journals/firai/firai9.html#HendrikxBEM22Jordy SendenKevin JebbinkHerman BruyninckxRené van de MolengraftInvariant-Based World Models for Robust Robotic Systems Demonstrated on an Autonomous Football Table.8542-854920227IEEE Robotics Autom. Lett.3https://doi.org/10.1109/LRA.2022.3185767db/journals/ral/ral7.html#SendenJBM22A. T. J. R. CobbenhagenLuc P. A. SchoonenM. J. G. van de MolengraftW. P. M. H. HeemelsOptimal Irrigation Allocation for Large-Scale Arable Farming.1484-1493202230IEEE Trans. Control. Syst. Technol.4https://doi.org/10.1109/TCST.2021.3118296db/journals/tcst/tcst30.html#CobbenhagenSMH22Manuel Muñoz SánchezDenis PogosovEmilia SilvasDecebal Constantin MocanuJos ElfringRené van de MolengraftSituation-Aware Drivable Space Estimation for Automated Driving.9615-9629202223IEEE Trans. Intell. Transp. Syst.7https://doi.org/10.1109/TITS.2022.3160829db/journals/tits/tits23.html#SanchezPSMEM22Duarte J. AntunesR. M. BeumerM. J. G. van de MolengraftW. P. M. H. HeemelsAdaptive Sampling and Actuation for POMDPs: Application to Precision Agriculture.2399-24042022CDChttps://doi.org/10.1109/CDC51059.2022.9992329conf/cdc/2022db/conf/cdc/cdc2022.html#AntunesBMH22Manuel Muñoz SánchezJos ElfringEmilia SilvasRené van de MolengraftScenario-based Evaluation of Prediction Models for Automated Vehicles.2227-22332022ITSChttps://doi.org/10.1109/ITSC55140.2022.9922603conf/itsc/2022db/conf/itsc/itsc2022.html#SanchezESM22Arpit AggarwalMathijs F. B. van der BurghJanno LunenburgRein P. W. AppeldoornLoy L. A. M. van BeekJosja GeijsbertsLars G. L. JanssenPeter van DoorenLotte MessingRodrigo Martin NúñezM. J. G. van de MolengraftTech United Eindhoven @Home 2022 Champions Paper.264-2752022RoboCuphttps://doi.org/10.1007/978-3-031-28469-4_22conf/robocup/2022db/conf/robocup/robocup2022.html#AggarwalBLABGJD22S. T. KempersD. M. J. HameetemanR. M. BeumerJ. P. van der StoelJ. J. OlthuisWouter H. T. M. AangenentPatrick van BrakelMatthias BriegelDennis BruijnenRuud van den BogaertE. DenizA. S. DeoganYanick DouvenT. J. van GerwenA. A. KokkelmansJ. J. KonW. J. P. KuijpersPeter van LithHarrie van de LooKoen MeessenY. M. A. NounouE. J. Olucha DelgadoF. B. F. SchoenmakersJ. SeltenPeter TeurlingsE. D. T. VerheesM. J. G. van de MolengraftTech United Eindhoven Middle Size League Winner 2022.337-3482022RoboCuphttps://doi.org/10.1007/978-3-031-28469-4_28conf/robocup/2022db/conf/robocup/robocup2022.html#KempersHBSOABBB22Manuel Muñoz SánchezJos ElfringEmilia SilvasRené van de MolengraftScenario-based Evaluation of Prediction Models for Automated Vehicles.2022abs/2210.06553CoRRhttps://doi.org/10.48550/arXiv.2210.06553db/journals/corr/corr2210.html#abs-2210-06553A. T. J. R. CobbenhagenDuarte J. AntunesM. J. G. van de MolengraftW. P. M. H. HeemelsOpportunities for control engineering in arable precision agriculture.47-55202151Annu. Rev. Control.https://doi.org/10.1016/j.arcontrol.2021.01.001db/journals/arc/arc51.html#CobbenhagenAMH21Wouter HoutmanAlexis Siagkris-LekkosD. J. M. BosB. J. P. van den HeuvelM. den BoerJos ElfringM. J. G. van de MolengraftAutomated flower counting from partial detections: Multiple hypothesis tracking with a connected-flower plant model.1063462021188Comput. Electron. Agric.https://doi.org/10.1016/j.compag.2021.106346db/journals/cea/cea188.html#HoutmanSBHBEM21Jos ElfringElena TortaRené van de MolengraftParticle Filters: A Hands-On Tutorial.438202121Sensors2https://doi.org/10.3390/s21020438db/journals/sensors/sensors21.html#ElfringTM21Marzieh Dolatabadi FarahaniJos ElfringRené van de MolengraftImproved Data Association of Hypothesis-Based Trackers Using Fast and Robust Object Initialization.3146202121Sensors9https://doi.org/10.3390/s21093146db/journals/sensors/sensors21.html#FarahaniEM21Wouter HoutmanGosse BijlengaElena TortaRené van de MolengraftA Probabilistic Model for Real-Time Semantic Prediction of Human Motion Intentions from RGBD-Data.4141202121Sensors12https://doi.org/10.3390/s21124141db/journals/sensors/sensors21.html#HoutmanBTM21R. W. M. HendrikxPieter PauwelsElena TortaHerman P. J. BruyninckxM. J. G. van de MolengraftConnecting Semantic Building Information Models and Robotics: An application to 2D LiDAR-based localization.11654-116602021ICRAhttps://doi.org/10.1109/ICRA48506.2021.9561129conf/icra/2021db/conf/icra/icra2021.html#HendrikxPTBM21Rens de KoningElena TortaPieter PauwelsBob HendrikxMarinus Jacobus Gerardus van de MolengraftQueries on semantic building digital twins for robot navigation.32-422021LDAChttps://ceur-ws.org/Vol-3081/03paper.pdfconf/ldac/2021db/conf/ldac/ldac2021.html#KoningTPHM21J. J. OlthuisN. B. van der MeerS. T. KempersC. A. van HoofR. M. BeumerW. J. P. KuijpersA. A. KokkelmansWouter HoutmanJ. J. F. J. van EijckJ. J. KonA. T. A. PeijnenburgM. J. G. van de MolengraftVision-Based Machine Learning in Robot Soccer.327-3392021RoboCuphttps://doi.org/10.1007/978-3-030-98682-7_27conf/robocup/2021db/conf/robocup/robocup2021.html#OlthuisMKHBKKHE21Marzieh Dolatabadi FarahaniJos ElfringRené van de MolengraftMultiple-Joint Pedestrian Tracking Using Periodic Models.6917202020Sensors23https://doi.org/10.3390/s20236917https://www.wikidata.org/entity/Q104109223db/journals/sensors/sensors20.html#FarahaniEM20Javier J. Salmerón-GarcíaSjoerd van den DriesFernando Díaz-del-RíoArturo Morgado EstévezJosé Luis Sevillano-RamosM. J. G. van de MolengraftTowards a cloud-based automated surveillance system using wireless technologies.535-549201925Multim. Syst.5https://doi.org/10.1007/s00530-017-0558-5db/journals/mms/mms25.html#Salmeron-Garcia19Chenyang Lu 0002Marinus Jacobus Gerardus van de MolengraftGijs DubbelmanMonocular Semantic Occupancy Grid Mapping With Convolutional Variational Encoder-Decoder Networks.445-45220194IEEE Robotics Autom. Lett.2https://doi.org/10.1109/LRA.2019.2891028db/journals/ral/ral4.html#LuMD19Wouter HoutmanC. M. KengenPeter van LithR. H. J. ten BergeJ. J. KonKoen MeessenM. A. HaverlagYanick DouvenF. B. F. SchoenmakersDennis BruijnenWouter H. T. M. AangenentJorrit OlthuisMarzieh Dolatabadi FarahaniS. T. KempersM. C. W. SchoutenR. M. BeumerWouter KuijpersA. A. KokkelmansHarrie van de LooM. J. G. van de MolengraftTech United Eindhoven Middle-Size League Winner 2019.517-5282019RoboCuphttps://doi.org/10.1007/978-3-030-35699-6_42conf/robocup/2019db/conf/robocup/robocup2019.html#HoutmanKLBKMHDS19Mathijs F. B. van der BurghJ. J. M. LunenburgRein P. W. AppeldoornLoy L. A. M. van BeekJosja GeijsbertsLars G. L. JanssenPeter van DoorenH. W. A. M. van RooyArpit AggarwalS. AleksandrovK. DangAlbert T. HofkampD. van DintherM. J. G. van de MolengraftTech United Eindhoven @Home 2019 Champions Paper.529-5392019RoboCuphttps://doi.org/10.1007/978-3-030-35699-6_43conf/robocup/2019db/conf/robocup/robocup2019.html#BurghLABGJDRAAD19Janno LunenburgRené van de MolengraftMaarten SteinbuchA representation method based on the probability of collision for safe robot navigation in domestic environments.601-614201842Auton. Robots3https://doi.org/10.1007/s10514-017-9653-xhttps://www.wikidata.org/entity/Q59514651db/journals/arobots/arobots42.html#LunenburgMS18Alex R. P. AndriënDuarte AntunesM. J. G. van de MolengraftW. P. M. H. HeemelsSimilarity-Based Adaptive Complementary Filter for IMU Fusion.3044-30492018ECChttps://doi.org/10.23919/ECC.2018.8550358conf/eucc/2018db/conf/eucc/eucc2018.html#AndrienAMH18Yanick DouvenWouter HoutmanFerry SchoenmakersKoen MeessenHarrie van de LooDennis BruijnenWouter H. T. M. AangenentJorrit OlthuisCas de GrootMarzieh Dolatabadi FarahaniPeter van LithPim ScheersRuben SommerBob van NinhuijsPatrick van BrakelJordy SendenMarjon van't KloosterWouter KuijpersRené van de MolengraftTech United Eindhoven Middle Size League Winner 2018.413-4242018RoboCuphttps://doi.org/10.1007/978-3-030-27544-0_34conf/robocup/2018db/conf/robocup/robocup2018.html#DouvenHSMLBAOGF18Chenyang Lu 0002Gijs DubbelmanMarinus Jacobus Gerardus van de MolengraftMonocular Semantic Occupancy Grid Mapping with Convolutional Variational Auto-Encoders.2018abs/1804.02176CoRRhttp://arxiv.org/abs/1804.02176db/journals/corr/corr1804.html#abs-1804-02176A. T. J. R. CobbenhagenDuarte J. AntunesM. J. G. van de MolengraftW. P. M. H. HeemelsCoverage control for outbreak dynamics.984-9892017CDChttps://doi.org/10.1109/CDC.2017.8263786conf/cdc/2017db/conf/cdc/cdc2017.html#CobbenhagenAMH17Lotte de KoningJuan Pablo MendozaManuela M. VelosoRené van de MolengraftSkills, Tactics and Plays for Distributed Multi-robot Control in Adversarial Environments.277-2892017RoboCuphttps://doi.org/10.1007/978-3-030-00308-1_23conf/robocup/2017db/conf/robocup/robocup2017.html#KoningMVM17Rob JanssenRené van de MolengraftHerman BruyninckxMaarten SteinbuchCloud based centralized task control for human domain multi-robot operations.63-7720169Intell. Serv. Robotics1https://doi.org/10.1007/s11370-015-0185-yhttps://www.wikidata.org/entity/Q59480771db/journals/isrob/isrob9.html#JanssenMBS16J. J. M. LunenburgS. A. M. CoenenGerrit J. L. NausM. J. G. van de MolengraftMaarten SteinbuchMotion Planning for Mobile Robots: A Method for the Selection of a Combination of Motion-Planning Algorithms.107-117201623IEEE Robotics Autom. Mag.4https://doi.org/10.1109/MRA.2015.2510798db/journals/ram/ram23.html#LunenburgCNMS16Cesar A. Lopez MartinezRené van de MolengraftSiep WeilandMaarten SteinbuchSwitching Robust Control for Bilateral Teleoperation.172-188201624IEEE Trans. Control. Syst. Technol.1https://doi.org/10.1109/TCST.2015.2422795db/journals/tcst/tcst24.html#MartinezMWS16Wouter KuijpersAntónio J. R. NevesRené van de MolengraftCooperative Sensing for 3D Ball Positioning in the RoboCup Middle Size League.268-2782016RoboCuphttps://doi.org/10.1007/978-3-319-68792-6_22conf/robocup/2016db/conf/robocup/robocup2016.html#KuijpersNM16Ferry SchoenmakersKoen MeessenYanick DouvenHarrie van de LooDennis BruijnenWouter H. T. M. AangenentBob van NinhuijsMatthias BriegelPatrick van BrakelJordy SendenRobin SoetensWouter KuijpersJoris ReijrinkCamiel BeerenMarjon van't KloosterLotte de KoningRené van de MolengraftTech United Eindhoven Middle Size League Winner 2016.542-5532016RoboCuphttps://doi.org/10.1007/978-3-319-68792-6_45conf/robocup/2016db/conf/robocup/robocup2016.html#SchoenmakersMDL16Jos ElfringRené van de MolengraftMaarten SteinbuchSemi-task-dependent and uncertainty-driven world model maintenance.1-15201538Auton. Robots1https://doi.org/10.1007/s10514-014-9393-0db/journals/arobots/arobots38.html#ElfringMS15Vittorio PereraRobin SoetensThomas KollarMehdi SamadiYichao SunDaniele NardiRené van de MolengraftManuela M. VelosoLearning Task Knowledge from Dialog and Web Access.223-25220154Robotics2https://doi.org/10.3390/robotics4020223db/journals/robotics/robotics4.html#PereraSKSSNMV15Cesar A. Lopez MartinezIlhan PolatRené van de MolengraftMaarten SteinbuchRobust High Performance Bilateral Teleoperation Under Bounded Time-Varying Dynamics.206-218201523IEEE Trans. Control. Syst. Technol.1https://doi.org/10.1109/TCST.2014.2321522db/journals/tcst/tcst23.html#MartinezPMS15Jeroen de BestLancheng LiuRené van de MolengraftMaarten SteinbuchSecond-Order Iterative Learning Control for Scaled Setpoints.805-812201523IEEE Trans. Control. Syst. Technol.2https://doi.org/10.1109/TCST.2014.2324178db/journals/tcst/tcst23.html#BestLMS15Yanick DouvenGerrit J. L. NausM. J. G. van de MolengraftMaarten SteinbuchObserver-based SLAM in robot-assisted eye surgery.1-82015ETFAhttps://doi.org/10.1109/ETFA.2015.7301651conf/etfa/2015db/conf/etfa/etfa2015.html#DouvenNMS15Jos ElfringRené van de MolengraftMaarten SteinbuchLearning intentions for improved human motion prediction.591-602201462Robotics Auton. Syst.4https://doi.org/10.1016/j.robot.2014.01.003db/journals/ras/ras62.html#ElfringMS14César A. López MartínezRené van de MolengraftMaarten SteinbuchSwitching Robust Control Synthesis for Teleoperation via Dwell Time Conditions.158-1662014EuroHaptics (2)https://doi.org/10.1007/978-3-662-44196-1_20conf/haptics/2014-2db/conf/haptics/eurohaptics2014-2.html#MartinezMS14aCesar A. Lopez MartinezRené van de MolengraftMaarten SteinbuchHigh performance teleoperation by bumpless transfer of robust controllers.209-2142014HAPTICShttps://doi.org/10.1109/HAPTICS.2014.6775456conf/haptics/2014db/conf/haptics/haptics2014.html#MartinezMS14S. A. M. CoenenJ. J. M. LunenburgM. J. G. van de MolengraftMaarten SteinbuchA representation method based on the probability of collision for safe robot navigation in domestic environments.4177-41832014IROShttps://doi.org/10.1109/IROS.2014.6943151conf/iros/2014db/conf/iros/iros2014.html#CoenenLMS14César A. López MartínezFerry SchoenmakersGerrit J. L. NausKoen MeessenYanick DouvenHarrie van de LooDennis BruijnenWouter H. T. M. AangenentJoost GroenenBob van NinhuijsMatthias BriegelRob HoogendijkPatrick van BrakelRob van den BergOkke HendriksRené ArtsFrank BotdenWouter HoutmanMarjon van't KloosterJeroen van der VeldenCamiel BeerenLotte de KoningOlaf KloosterRobin SoetensRené van de MolengraftTech United Eindhoven, Winner RoboCup 2014 MSL - Middle Size League.60-692014RoboCuphttps://doi.org/10.1007/978-3-319-18615-3_5conf/robocup/2014db/conf/robocup/robocup2014.html#MartinezSNMDLBA14Robin SoetensRené van de MolengraftBernardo CunhaRoboCup MSL - History, Accomplishments, Current Status and Challenges Ahead.624-6352014RoboCuphttps://doi.org/10.1007/978-3-319-18615-3_51conf/robocup/2014db/conf/robocup/robocup2014.html#SoetensMC14Jos ElfringSjoerd van den DriesM. J. G. van de MolengraftMaarten SteinbuchSemantic world modeling using probabilistic multiple hypothesis anchoring.95-105201361Robotics Auton. Syst.2https://doi.org/10.1016/j.robot.2012.11.005db/journals/ras/ras61.html#ElfringDMS13Michael J. C. RondeJohn van den BulkRené van de MolengraftMaarten SteinbuchFeedforward for flexible systems with time-varying performance locations.6033-60382013ACChttps://doi.org/10.1109/ACC.2013.6580783conf/amcc/2013db/conf/amcc/acc2013.html#RondeBMS13Ralf HoyerAndre BartetzkiDominik KirchnerAndreas WitschM. J. G. van de MolengraftKurt GeihsGiving Robots a "Voice": A Kineto-Acoustic Project.41-482013ArtsIThttps://doi.org/10.1007/978-3-642-37982-6_6conf/artsit/2013db/conf/artsit/artsit2013.html#HoyerBKWMG13Cesar A. Lopez MartinezRené van de MolengraftMaarten SteinbuchHigh performance teleoperation using switching robust control.383-3882013World Hapticshttps://doi.org/10.1109/WHC.2013.6548439conf/haptics/2013db/conf/haptics/whc2013.html#MartinezMS13G. EversGerrit J. L. NausM. J. G. van de MolengraftMaarten SteinbuchFrequency-domain mapping approach of stability bounds for loop shaping of bilateral controllers.719-7242013World Hapticshttps://doi.org/10.1109/WHC.2013.6548497conf/haptics/2013db/conf/haptics/whc2013.html#EversNMS13Jos ElfringRené van de MolengraftMaarten SteinbuchLearning intentions for improved human motion prediction.1-72013ICARhttps://doi.org/10.1109/ICAR.2013.6766565conf/icar/2013db/conf/icar/icar2013.html#ElfringMS13Rob JanssenErik van MeijlDaniel Di MarcoRené van de MolengraftMaarten SteinbuchIntegrating planning and execution for ROS enabled service robots using hierarchical action representations.1-72013ICARhttps://doi.org/10.1109/ICAR.2013.6766556conf/icar/2013db/conf/icar/icar2013.html#JanssenMMMS13Janno LunenburgRené van de MolengraftMaarten SteinbuchMinimizing the number of iterations when computing a base pose for manipulation by mobile base inclusion in the inverse kinematics.1-72013ICARhttps://doi.org/10.1109/ICAR.2013.6766569conf/icar/2013db/conf/icar/icar2013.html#LunenburgMS13Jos ElfringSimon JansenRené van de MolengraftMaarten SteinbuchActive Object Search Exploiting Probabilistic Object-Object Relations.13-242013RoboCuphttps://doi.org/10.1007/978-3-662-44468-9_2conf/robocup/2013db/conf/robocup/robocup2013.html#ElfringJMS13Janno LunenburgRobin SoetensFerry SchoenmakersPaul MetsemakersRené van de MolengraftMaarten SteinbuchSharing Open Hardware through ROP, the Robotic Open Platform.584-5912013RoboCuphttps://doi.org/10.1007/978-3-662-44468-9_53conf/robocup/2013db/conf/robocup/robocup2013.html#LunenburgSSMMS13Wouter H. T. M. AangenentW. P. M. H. HeemelsM. J. G. van de MolengraftDidier HenrionMaarten SteinbuchLinear control of time-domain constrained systems.736-746201248Autom.5https://doi.org/10.1016/j.automatica.2012.02.017db/journals/automatica/automatica48.html#AangenentHMHS12Jeroen de BestRené van de MolengraftMaarten SteinbuchHigh Speed Visual Motion Control Applied to Products With Repetitive Structures.1450-1460201220IEEE Trans. Control. Syst. Technol.6https://doi.org/10.1109/TCST.2011.2165956db/journals/tcst/tcst20.html#BestMS12Cesar A. Lopez MartinezRené van de MolengraftMaarten SteinbuchRobust performance control design for bilateral teleoperation under time-varying bounded operator and environment dynamics.3465-34702012ACChttps://doi.org/10.1109/ACC.2012.6315374conf/amcc/2012db/conf/amcc/acc2012.html#MartinezMS12Michael J. C. RondeRené van de MolengraftMaarten SteinbuchModel-based feedforward for inferential motion systems, with application to a prototype lightweight motion system.5324-53292012ACChttps://doi.org/10.1109/ACC.2012.6315083conf/amcc/2012db/conf/amcc/acc2012.html#RondeMS12Daniel Di MarcoAndreas Koch 0003Oliver ZweigleKai HäussermannBjörn SchiesslePaul LeviDorian Gálvez-LópezLuis RiazueloJavier Civera 0001J. M. M. MontielMoritz TenorthAlexander Clifford PerzyloMarkus WaibelRené van de MolengraftCreating and using RoboEarth object models.3549-35502012ICRAhttps://doi.org/10.1109/ICRA.2012.6224858conf/icra/2012db/conf/icra/icra2012.html#MarcoKZHSLGRCMTPWM12César A. López MartínezRené van de MolengraftMaarten SteinbuchHigh Performance and Stable Teleoperation under Bounded Operator and Environment Dynamics.373-3792012SyRoCohttps://doi.org/10.3182/20120905-3-HR-2030.00067conf/syroco/2012db/conf/syroco/syroco2012.html#MartinezMS12Roel J. E. MerryD. J. KesselsW. P. M. H. HeemelsM. J. G. van de MolengraftMaarten SteinbuchDelay-varying repetitive control with application to a walking piezo actuator.1737-1743201147Autom.8https://doi.org/10.1016/j.automatica.2011.02.044db/journals/automatica/automatica47.html#MerryKHMS11René van de MolengraftMichael BeetzToshio FukudaA Special Issue Toward a WWW for Robots [From the Guest Editors].20201118IEEE Robotics Autom. Mag.2https://doi.org/10.1109/MRA.2011.941631db/journals/ram/ram18.html#MolengraftBF11Markus WaibelMichael BeetzJavier Civera 0001Raffaello D'AndreaJos ElfringDorian Gálvez-LópezKai HäussermannRob JanssenJ. M. M. MontielAlexander PerzyloBjörn SchießleMoritz TenorthOliver ZweigleRené van de MolengraftRoboEarth.69-82201118IEEE Robotics Autom. Mag.2https://doi.org/10.1109/MRA.2011.941632https://www.wikidata.org/entity/Q60362879db/journals/ram/ram18.html#WaibelBCDEGHJMP11Roel J. E. MerryMichael J. C. RondeRené van de MolengraftRichard K. KoopsMaarten SteinbuchDirectional Repetitive Control of a Metrological AFM.1622-1629201119IEEE Trans. Control. Syst. Technol.6https://doi.org/10.1109/TCST.2010.2091642db/journals/tcst/tcst19.html#MerryRMKS11Jos ElfringM. J. G. van de MolengraftR. J. M. JanssenMaarten SteinbuchTwo level world modeling for cooperating robots using a multiple hypotheses filter.815-8202011ICRAhttps://doi.org/10.1109/ICRA.2011.5980219conf/icra/2011db/conf/icra/icra2011.html#ElfringMJS11Gerrit J. L. NausRené P. A. VugtsJeroen PloegRené van de MolengraftMaarten SteinbuchString-Stable CACC Design and Experimental Validation: A Frequency-Domain Approach.4268-4279201059IEEE Trans. Veh. Technol.9https://doi.org/10.1109/TVT.2010.2076320https://www.wikidata.org/entity/Q61783217db/journals/tvt/tvt59.html#NausVPMS10Rob JanssenJeroen de BestRené van de MolengraftMaarten SteinbuchThe Design of a Semi-automated Football Table.89-942010CCAhttps://doi.org/10.1109/CCA.2010.5611314conf/IEEEcca/2010db/conf/IEEEcca/IEEEcca2010.html#JanssenBMS10Rob HoogendijkArjen den HamerGeorgo Z. AngelisRené van de MolengraftMaarten SteinbuchFrequency Response Data based Optimal Control using the Data based Symmetric Root Locus.257-2622010CCAhttps://doi.org/10.1109/CCA.2010.5611199conf/IEEEcca/2010db/conf/IEEEcca/IEEEcca2010.html#HoogendijkHAMS10Gerrit J. L. NausRené P. A. VugtsJeroen PloegRené van de MolengraftMaarten SteinbuchCooperative adaptive cruise control, design and experiments.6145-61502010ACChttps://doi.org/10.1109/ACC.2010.5531596conf/amcc/2010db/conf/amcc/acc2010.html#NausVPMS10Wouter H. T. M. AangenentRolf de JongRené van de MolengraftMaarten SteinbuchTime-domain performance based non-linear state feedback control of constrained linear systems.352-364200982Int. J. Control2https://doi.org/10.1080/00207170802105330db/journals/ijcon/ijcon82.html#AangenentJMS09Roel J. E. MerryMustafa UyanikRené van de MolengraftMaarten SteinbuchRichard K. KoopsMarijn van VeghelModeling and compensation of asymmetric hysteresis in a piezo actuated metrological AFM.967-9722009ACChttps://doi.org/10.1109/ACC.2009.5160007conf/amcc/2009db/conf/amcc/acc2009.html#MerryUMSKV09Wouter H. T. M. AangenentChris H. A. CriensM. J. G. van de MolengraftMarcel François HeertjesMaarten SteinbuchLPV control of an active vibration isolation system.3730-37352009ACChttps://doi.org/10.1109/ACC.2009.5160395conf/amcc/2009db/conf/amcc/acc2009.html#AangenentCMHS09Wouter H. T. M. AangenentW. P. M. H. HeemelsM. J. G. van de MolengraftMaarten SteinbuchLinear control of time-domain constrained systems.5339-53442009CDChttps://doi.org/10.1109/CDC.2009.5400574conf/cdc/2009db/conf/cdc/cdc2009.html#AangenentHMS09Michael J. C. RondeRoel J. E. MerryMarinus Jacobus Gerardus van de MolengraftRichard K. KoopsMaarten SteinbuchMultivariable control of a metrological Atomic Force Microscope.2265-22702009ECChttps://doi.org/10.23919/ECC.2009.7074742conf/eucc/2009db/conf/eucc/eucc2009.html#RondeMMKS09Oliver ZweigleRené van de MolengraftRaffaello D'AndreaKai HäussermannRoboEarth: connecting robots worldwide.184-1912009ICIShttps://doi.org/10.1145/1655925.1655958conf/interaction/2009db/conf/interaction/interaction2009.html#ZweigleMdH09Rob JanssenJeroen de BestRené van de MolengraftReal-Time Ball Tracking in a Semi-automated Foosball Table.128-1392009RoboCuphttps://doi.org/10.1007/978-3-642-11876-0_12conf/robocup/2009db/conf/robocup/robocup2009.html#JanssenBM09Gerrit J. L. NausRoel van den BleekJeroen PloegBart ScheepersRené van de MolengraftMaarten SteinbuchExplicit MPC design and performance evaluation of an ACC Stop-&-Go.224-2292008ACChttps://doi.org/10.1109/ACC.2008.4586495conf/amcc/2008db/conf/amcc/acc2008.html#NausBPSMS08Wouter H. T. M. AangenentGert WitvoetW. P. M. H. HeemelsM. J. G. van de MolengraftMaarten SteinbuchAn LMI-based L2 gain performance analysis for reset control systems.2248-22532008ACChttps://doi.org/10.1109/ACC.2008.4586826conf/amcc/2008db/conf/amcc/acc2008.html#AangenentWHMS08Roel J. E. MerryMustafa UyanikRichard K. KoopsRené van de MolengraftMarijn van VeghelMaarten SteinbuchModeling, identification and control of a metrological Atomic Force Microscope with a 3DOF stage.2716-27212008ACChttps://doi.org/10.1109/ACC.2008.4586903conf/amcc/2008db/conf/amcc/acc2008.html#MerryUKMVS08B. H. M. BukkemsW. P. M. H. HeemelsM. J. G. van de MolengraftMaarten SteinbuchTracking control for piecewise linear systems using an error space approach: A case-study in sheet control.3343-33492008ACChttps://doi.org/10.1109/ACC.2008.4587008conf/amcc/2008db/conf/amcc/acc2008.html#BukkemsHMS08Jeroen de BestRené van de MolengraftAn active ball handling mechanism for RoboCup.2060-20652008ICARCVhttps://doi.org/10.1109/ICARCV.2008.4795848conf/icarcv/2008db/conf/icarcv/icarcv2008.html#BestM08Dennis BruijnenJeroen van HelvoortRené van de MolengraftRealtime motion path generation using subtargets in a rapidly changing environment.470-479200755Robotics Auton. Syst.6https://doi.org/10.1016/j.robot.2007.01.003db/journals/ras/ras55.html#BruijnenHM07Jeroen de BestBjörn BukkemsRené van de MolengraftMaarten SteinbuchPiecewise linear sheet control in an H∞ framework.361-3662007CCAhttps://doi.org/10.1109/CCA.2007.4389257conf/IEEEcca/2007db/conf/IEEEcca/IEEEcca2007.html#BestBMS07Dennis BruijnenWouter H. T. M. AangenentJeroen van HelvoortRené van de MolengraftFrom Vision to Realtime Motion Control for the RoboCup Domain.545-5502007CCAhttps://doi.org/10.1109/CCA.2007.4389288conf/IEEEcca/2007db/conf/IEEEcca/IEEEcca2007.html#BruijnenAHM07Roel J. E. MerryNiels de KleijnRené van de MolengraftMaarten SteinbuchControl of a high precision stage using a walking piezo actuator.1285-12902007CCAhttps://doi.org/10.1109/CCA.2007.4389412conf/IEEEcca/2007db/conf/IEEEcca/IEEEcca2007.html#MerryKMS07Wouter H. T. M. AangenentRolf de JongRené van de MolengraftMaarten SteinbuchTime domain performance based nonlinear state feedback control of constrained linear systems.1297-13022007CCAhttps://doi.org/10.1109/CCA.2007.4389414conf/IEEEcca/2007db/conf/IEEEcca/IEEEcca2007.html#AangenentJMS07Dennis BruijnenArnoud NotenboomRené van de MolengraftTheo HeerenAswin DraadMaarten SteinbuchActive printhead alignment for Wide Format Printing Systems.1520-15252007ACChttps://doi.org/10.1109/ACC.2007.4282241conf/amcc/2007db/conf/amcc/acc2007.html#BruijnenNMHDS07Roel J. E. MerryRené van de MolengraftMaarten SteinbuchError modeling and improved position estimation for optical incremental encoders by means of time stamping.3570-35752007ACChttps://doi.org/10.1109/ACC.2007.4282443conf/amcc/2007db/conf/amcc/acc2007.html#MerryMS07Wojciech PaszkeRoel J. E. MerryRené van de MolengraftIterative Learning Control by Two-Dimensional System Theory applied to a Motion System.5484-54892007ACChttps://doi.org/10.1109/ACC.2007.4282441conf/amcc/2007db/conf/amcc/acc2007.html#PaszkeMM07Gerrit J. L. NausRudolf MeulenbergRené van de MolengraftModeling and Control of a DC Upset Resistance Butt Welding Process.5571-55762007ACChttps://doi.org/10.1109/ACC.2007.4282531conf/amcc/2007db/conf/amcc/acc2007.html#NausMM07Gert WitvoetWouter H. T. M. AangenentW. P. M. H. HeemelsM. J. G. van de MolengraftMaarten SteinbuchH2 performance analysis of reset control systems.3278-32842007CDChttps://doi.org/10.1109/CDC.2007.4434754conf/cdc/2007db/conf/cdc/cdc2007.html#WitvoetAHMS07Björn BukkemsJeroen de BestRené van de MolengraftMaarten SteinbuchRobust piecewise linear sheet control in a Printer Paper Path.142-1472006ADHShttps://doi.org/10.3182/20060607-3-IT-3902.00028conf/adhs/2006db/conf/adhs/adhs2006.html#BukkemsBMS06Dennis BruijnenJeroen van HelvoortRené van de MolengraftRealtime motion path generation using subtargets in a changing environment.1-62006ACChttps://doi.org/10.1109/ACC.2006.1657385conf/amcc/2006db/conf/amcc/acc2006.html#BruijnenHM06Dennis BruijnenRené van de MolengraftTheo HeerenAswin DraadMaarten SteinbuchDesign of a printhead alignment sensor for a temperature varying environment.2006ACChttps://doi.org/10.1109/ACC.2006.1655387conf/amcc/2006db/conf/amcc/acc2006.html#BruijnenMHDS06Björn BukkemsRené van de MolengraftMaurice HeemelsNathan van de WouwMaarten SteinbuchA piecewise linear approach towards sheet control in a printer paper path.2006ACChttps://doi.org/10.1109/ACC.2006.1656399conf/amcc/2006db/conf/amcc/acc2006.html#BukkemsMHWS06Roel J. E. MerryRené van de MolengraftMaarten SteinbuchRemoving non-repetitive disturbances in iterative learning control by wavelet filtering.2006ACChttps://doi.org/10.1109/ACC.2006.1655359conf/amcc/2006db/conf/amcc/acc2006.html#MerryMS06Wouter H. T. M. AangenentDragan KosticBram de JagerRené van de MolengraftMaarten SteinbuchData-based optimal control.1460-14652005ACChttps://doi.org/10.1109/ACC.2005.1470171conf/amcc/2005db/conf/amcc/acc2005.html#AangenentKJMS05Maurice G. E. SchneidersM. J. G. van de MolengraftMaarten SteinbuchBenefits of over-actuation in motion systems.505-5102004ACChttps://doi.org/10.23919/ACC.2004.1383653conf/amcc/2004db/conf/amcc/acc2004.html#SchneidersMS04René van de MolengraftMaarten SteinbuchBram de KrakerIntegrating experiments in control education.3209-32142004ACChttps://doi.org/10.23919/ACC.2004.1384404conf/amcc/2004db/conf/amcc/acc2004.html#MolengraftSK04Ron H. A. HensenM. J. G. van de MolengraftMaarten SteinbuchFriction induced hunting limit cycles: A comparison between the LuGre and switch friction model.2131-2137200339Autom.12https://doi.org/10.1016/S0005-1098(03)00234-6db/journals/automatica/automatica39.html#HensenMS03Maarten SteinbuchRené van de MolengraftAart-jan van der VoortExperimental modelling and LPV control of a motion system.1374-13792003ACChttps://doi.org/10.1109/ACC.2003.1239782conf/amcc/2003db/conf/amcc/acc2003.html#SteinbuchMV03Maurice G. E. SchneidersM. J. G. van de MolengraftMaarten SteinbuchIntroduction to an integrated design for motion systems using over-actuation.3249-32542003ECChttps://doi.org/10.23919/ECC.2003.7086540conf/eucc/2003db/conf/eucc/eucc2003.html#SchneidersMS03Ron H. A. HensenM. J. G. van de MolengraftMaarten SteinbuchFrequency domain identification of dynamic friction model parameters.191-196200210IEEE Trans. Control. Syst. Technol.2https://doi.org/10.1109/87.987064db/journals/tcst/tcst10.html#HensenMS02Ron H. A. HensenMarinus Jacobus Gerardus van de MolengraftFriction induced hunting limit cycles: an event mapping approach.2267-22722002ACChttps://doi.org/10.1109/ACC.2002.1023978conf/amcc/2002db/conf/amcc/acc2002.html#HensenM02Marcel HeertjesFrank SperlingRené van de MolengraftComputing periodic solutions for a CD-player with impact using piecewise linear shooting.2195-22002001CDChttps://doi.org/10.1109/.2001.980582conf/cdc/2001db/conf/cdc/cdc2001.html#HeertjesSM01R. H. A. HellsenGeorgo Z. AngelisM. J. G. van de MolengraftA. G. de JagerJ. J. KokGrey-box Modeling of Friction: An Experimental Case-study.258-26720006Eur. J. Control3https://doi.org/10.1016/S0947-3580(00)71134-4db/journals/ejcon/ejcon6.html#HellsenAMJK00Georgo Z. AngelisM. J. G. van de MolengraftR. J. P. van de LindenJ. J. KokRobust controller design and performance for polytopic models.1854-18591999ECChttps://doi.org/10.23919/ECC.1999.7099586conf/eucc/1999db/conf/eucc/eucc1999.html#AngelisMLK99Ron H. A. HensenGeorgo Z. AngelisM. J. G. van de MolengraftA. G. de JagerJ. J. KokGrey-box modeling of friction: An experimental case-study.3148-31531999ECChttps://doi.org/10.23919/ECC.1999.7099811conf/eucc/1999db/conf/eucc/eucc1999.html#HensenAMJK99Wouter H. T. M. AangenentArpit AggarwalS. AleksandrovMichael Anderson 0001Susan Leigh AndersonA. R. P. AndriënAlex R. P. AndriënGeorgo Z. AngelisDuarte AntunesDuarte J. AntunesRein P. W. AppeldoornRené ArtsDaniel BarryAndre BartetzkiLoy L. A. M. van BeekCamiel BeerenMichael BeetzRob van den BergR. H. J. ten BergeJeroen de BestRuben M. BeumerR. M. BeumerGosse BijlengaB. H. T. BindelsRoel van den BleekM. den BoerRuud van den BogaertD. J. M. BosFrank BotdenPatrick van BrakelMark van den BrandGijs van den BrandtMatthias BriegelDennis BruijnenH. P. J. BruyninckxHerman BruyninckxHerman P. J. BruyninckxBjörn BukkemsB. H. M. BukkemsJohn van den BulkMathijs F. B. van der BurghAkshay K. BurusaHao Liang ChenJavier Civera 0001Roy CobbenhagenA. T. J. R. CobbenhagenS. A. M. CoenenChris H. A. CriensBernardo CunhaRaffaello D'AndreaK. DangE. J. Olucha DelgadoE. DenizAneesh DeoganA. S. DeoganFernando Díaz-del-RíoD. van DintherSander DoodemanPeter van DoorenYanick DouvenAswin DraadSjoerd van den DriesGijs DubbelmanJ. J. F. J. van EijckJos ElfringArturo Morgado EstevezArturo Morgado EstévezG. EversMarzieh Dolatabadi FarahaniToshio FukudaDorian Gálvez-LópezKurt GeihsJosja GeijsbertsT. J. van GerwenJoost GroenenCas de GrootJan GutscheDanny HameetemanD. M. J. HameetemanArjen den HamerJustin W. HartGerard van HattumKai HäussermannM. A. HaverlagW. P. M. H. HeemelsMaurice HeemelsTheo HeerenMarcel François HeertjesMarcel HeertjesR. H. A. HellsenJeroen van HelvoortOkke HendriksR. W. M. HendrikxBob HendrikxDidier HenrionRon H. A. HensenBas HerremansB. J. P. van den HeuvelAlbert T. HofkampKevin HollandsC. A. van HoofRob HoogendijkWouter HoutmanRalf HoyerLuca IocchiA. G. de JagerBram de JagerSimon JansenLars JanssenLars G. L. JanssenRob JanssenR. J. M. JanssenKevin JebbinkRolf de JongMerel KeijsersStefan KempersS. T. KempersC. M. KengenD. J. KesselsDominik KirchnerNiels de KleijnMarjon van't KloosterOlaf KloosterKayden KnapikAndreas Koch 0003J. J. KokA. A. KokkelmansAinse KokkelmansThomas KollarJohan KonJ. J. KonLotte de KoningRens de KoningRichard K. KoopsDragan KosticBram de KrakerRobbert van der KrukR. J. van der KrukWouter KuijpersW. J. P. KuijpersPaul LeviR. J. P. van de LindenPeter van LithLancheng LiuXingyu LiuYun LiuHarrie van de LooChenyang Lu 0002Janno LunenburgJ. J. M. LunenburgDaniel Di MarcoCésar A. López MartínezCesar A. Lopez MartinezNoah van der MeerN. B. van der MeerKoen MeessenErik van MeijlJuan Pablo MendozaRoel J. E. MerryLotte MessingPaul MetsemakersRudolf MeulenbergDecebal Constantin MocanuJ. M. M. MontielHossain Muhammad MuctadirDaniele NardiGerrit J. L. NausAntónio J. R. NevesBob van NinhuijsArend Jan van NoordenArnoud NotenboomY. M. A. NounouRodrigo Martin NúñezPedro Vieira OliveiraJorrit OlthuisJ. J. OlthuisTom OomenMaike Paetzel-PrüsmannWojciech PaszkePieter PauwelsA. T. A. PeijnenburgVittorio PereraAlexander Clifford PerzyloAlexander PerzyloChris van der PloegJeroen PloegDenis PogosovDaniel PolaniIlhan PolatCaleb RascónJoris ReijrinkLuis RiazueloDavid Rapado RinconMichael J. C. RondeH. W. A. M. van RooyAlessandra Rossi 0001Javier J. Salmerón-GarcíaMehdi SamadiManuel Muñoz SánchezBart ScheepersPim ScheersMarcus ScheunemannBjörn SchießleBjörn SchiessleMaurice G. E. SchneidersFerry SchoenmakersF. B. F. SchoenmakersLuc P. A. SchoonenM. C. W. SchoutenJ. SeltenJordy SendenJosé Luis SevillanoJosé Luis Sevillano-RamosAlexis Siagkris-LekkosEmilia SilvasRobin SmitRobin SoetensRuben SommerFrank SperlingMaarten SteinbuchJaap van der StoelJ. P. van der StoelPeter Stone 0001Oskar von StrykYichao SunMoritz TenorthPeter TeurlingsElena TortaGijs TrotsMustafa UyanikFlorian VahlMarijn van VeghelJeroen van der VeldenManuela M. VelosoE. D. T. VerheesAart-jan van der VoortKoen de VosRené P. A. VugtsMarkus WaibelSiep WeilandAndreas WitschGert WitvoetNathan van de WouwOliver Zweigle