Ludvig Doeser

Papers

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About

Ludvig Doeser is a robotics and control theorist whose research focuses on the intersection of safety-critical systems, nonlinear dynamics, and autonomous navigation. His most-cited work, "Invariant Sets for Integrators and Quadrotor Obstacle Avoidance" (2020, 13 citations), tackles a fundamental challenge in modern robotics: ensuring provable safety without sacrificing maneuverability. Doeser addresses the notoriously difficult problem of deriving maximal invariant sets—regions of state space from which a system cannot leave while maintaining safety—for complex, high-dimensional systems like quadrotors. By developing analytical expressions for these sets, his work provides a rigorous mathematical framework that allows autonomous drones to navigate cluttered environments while guaranteeing collision avoidance. This contribution bridges a critical gap between theoretical control theory and practical robotic applications, offering engineers a principled way to design safety filters that maximize operational freedom. Though early in his career, Doeser’s research has already influenced the growing field of safe autonomy, where his methods for invariant set computation are being integrated into real-time planning and control architectures. His work represents a significant step toward making autonomous systems both agile and verifiably safe.