Frank Hoffmann
Research Interests 
Professional Experience
Academic Biography


Frank Hoffmann
Center for Autonomous Systems CVAP
Numerical Analysis and Computing Science
Royal Institute of Technology
S-10044 Stockholm
phone: +46-8-790-6271
fax: +46-8-723-0302


  • CIRA'2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, July 16th-20th 2003, Kobe, Japan
  • IDA 2003 5th International Symposium on Intelligent Data Analysis, Berlin, Germany, August 28-30th, 2003
  • WSC 7 7th Online World Conference on Soft Computing in Industrial Applications, Sep 23rd-Oct 4th 2002, Granada, Spain
  • RASC 2002 Recent Advance in Soft Computing, 12 & 13 December 2002, Nottingham, UK
  • HIS'02 Second International Conference on Hybrid Intelligent Systems, Dec 1st-4th 2002, Santiago, Chile
  • CFP Special Issue on Application Reviews , Journal of Applied Soft Computing ASOC


2D1431 Machine Learning, Fall 2002
2D1432 Neural Networks and Other Learning Systems, Spring 2002
2D1359 & 2D1360Object Oriented Modeling, Programming and Analysis, Fall 2001
2D1358Object Oriented Program Construction using C++, Spring 2001
2D5362 Machine Learning, fall 2000
CS294-6: "Soft Computing in Data Analysis and Knowledge Discovery" , Fall 1999
together with Prof. Lotfi A. Zadeh and Michael Berthold  
Evolutionary Algorithm Lecture, as part of CS-294 Fall, 1998
(external) Sommer-school on Genetic Fuzzy Systems and Autonomous Agents University of Halle, Germany, September, 1998
(external) Short Course on Genetic Fuzzy Systems University of Granada, Spain. May 5-6th, 1999 
(external) CDC workshop on Unmanned Aerial Vehicles: Coordination, Sensing and Control Phoenix, Arizona, December 6th, 1999  
(external) Intelligent Data Analysis summer school, Palermo, Italy, March 26th-30th, 2001  



Research Interests

My research is focused on evolutionary algorithms for the automatic design of fuzzy logic controllers. I am further interested in autonomous agents and adaptive behavior in complex environments. I developed a learning method for fuzzy controllers using messy genetic algorithms. The design method evolves an obstacle avoidance and goal point reaching behavior for a mobile robot. I received my Ph.D. in physics at the Institute of Applied Physics at the University of Kiel. Currently I was working as a postdoctoral researcher at the Computer Science Division at the University of California, Berkeley. I was administrator of the Berkeley Initiative in Soft Computing (BISC) directed by Prof. Lotfi Zadeh. I worked on flight mode switching and fuzzy controller design for autonomous small size helicopters.  My current research interests are dynamical systems approach to behavior based robotics, UAV-UGV cooperation, probabilistic map building, path planning with evolution strategies and intelligent data analysis. I was a senior researcher in the Berkeley Aerobot (BEAR) project which is concerned with the control design for an autonomous aerial robot, hybrid control schemes, vision based landing and UAV-UGV cooperation. I am currently involved in the Intelligent Service Robot project.

Academic Biography

1991: Degree in physics
University of Kiel, Institute of Theoretical Physics
title: 'Zeitreihenanalyse mit endlichen Automaten und Hidden-Markov-Modellen'
(Time Series Analysis using Finite Automata and Hidden Markov Models)
Research Advisor: Professor H. G. Schuster
1996: Ph.D. in physics
University of Kiel, Institute of Applied Physics
title: 'Automatischer Entwurf von Fuzzy Reglern mit Genetischen Algorithmen'
(Automatic Design of fuzzy controllers by means of genetic algorithms)
Research Advisor: Professor G. Pfister
since 1996-2000: postdoctoral researcher
University of California, Berkeley , Computer Science Division
subjects: Soft Computing, hybrid intelligent systems, fuzzy control, genetic algorithms
Research Advisors: Professor Lotfi A. Zadeh, Prof. Shankar S. Sastry
since 2000: lecturer
Royal Institute of Technology, Stockholm , Center for Autonomous Systems
subjects: dynamical systems approach to behavior based robotics, boosting genetic fuzzy systems, learning from demonstration

Professional and Teaching Experience

I taught as a freelance lecturer from 1988-1996 in adult education for the 
Datenzentrale Schleswig Holstein
Hessische Zentrale fuer Datenverarbeitung 
Wirtschaftsakademie Schleswig Holstein

 My courses covered the following topics :

operating systems (UNIX)
programming languages (C, C++, Pascal) 
database management systems (Access, dBase)
spreadsheets (Excel)




Oscar Cordon, Francisco Herrera, Frank Hoffmann, Luis Magdalena, Genetic Fuzzy Systems: Evolutionary Tuning and Learning of Fuzzy Knowledge Bases, ISBN 981-02-4016-3, 2001, Series: Advances in Fuzzy Systems, World Scientific, Singapore,
F. Hoffmann, D.J. Hand, N. Adams, D. Fisher, G. Guimaraes (Eds.), Advances in Intelligent Data Analysis, 4th International Conference, IDA 2001, Cascais, Portugal, September 13-15, 2001, Lecture Notes in Computer Science, LNCS 2189, Springer Heidelberg
R. Roy, M. Koeppen, S. Ovaska, T. Furuhashi, F. Hoffmann (Eds.), Soft Computing and Industry - Recent Applications, September, 2002, Springer London
Frank Hoffmann, Entwurf von Fuzzy-Reglern mit Genetischen Algorithmen, DUV Informatik, ISBN 3-8244-2079-1, 1997


Book Chapters

F. Hoffmann, Juan C. S. Zagal Montealegre, Evolution of a Tactile Wall-Following Behavior in Real Time, Soft Computing and Industry - Recent Applications, R. Roy, M. Koeppen, S. Ovaska, T. Furuhashi, F. Hoffmann (Eds.), September 2002, pp. 747-756
Frank Hoffmann, The Role of Fuzzy Logic in Evolutionary Robotics, Fuzzy Logic Techniques for Autonomous Vehicle Navigation, D. Driankov and A. Saffiotti (Ed.), Springer-Verlag, 2001.fl99.pdf (draft)
Frank Hoffmann, Tak-John Koo, Omid Shakernia, Evolutionary Design of a Helicopter Autopilot, Advances in Soft Computing - Engineering Design and Manufacturing, Part 3: Intelligent Control, Page 201-214, Springer-Verlag, 1999.wsc3.pdf
Frank Hoffmann, Gerd Pfister, Learning of a Fuzzy Control Rule Base Using Messy Genetic Algorithms
Genetic Algorithms and Soft Computing series 'Studies in Fuzziness', F. Herrera (Ed.) , Physica-Verlag, 1996.
Frank Hoffmann, Gerd Pfister, Optimierung Hierarchischer Fuzzy-Regler mit Genetischen Algorithmen, Fuzzy Logik: Theorie und Praxis, Bernd Reusch (Ed.), Springer Verlag, 1994. dortmund94.pdf


E. Andreasson, F. Hoffmann, O. Lindholm, To Collect or Not To Collect - Machine Learning for Memory Management, 2nd JAVA Virtual Machine Research and Technology Symposium (JVM'02), August 1-2. 2002, San Francisco, USA, jvm02.pdf
F. Hoffmann, B. Baesens, J. Martens, F. Put and J. Vanthiemen, Comparing a Genetic Fuzzy and a Neuro-Fuzzy Classifier for Credit Scoring, 5th International FLINS Conference on Computational Intelligent Systems for Applied Research, September 16th-18th, 2002, Gent, Belgium, FLINS2002.pdf
O. Cordón, F. Herrera, F. Hoffmann and L. Magdalena, Recent advances in genetic fuzzy systems, Journal of Information Sciences, vol. 136, no. 1-4, August 2001, pp. 1-5,
F. Hoffmann, O. Nelles, Genetic Programming for Model Selection of TSK-Fuzzy Systems, Journal of Information Sciences, vol. 136, no. 1-4, August 2001, pp. 7-28, jis2001.pdf
P. Althaus, H. Christensen, F. Hoffmann, Using the Dynamical System Approach to Navigate in Realistic Real-World Environments, Int. Conference on Intelligent Robots and Systems (IROS 2001) Maui, Hawaii, October, 2001 iros01.pdf
F. Hoffmann, Juan C. S. Zagal Montealegre, Evolution of a Tactile Wall-Following Behavior in Real Time, 6th Online World Conference on Soft Computing in Industrial Applications (WSC6), September 10-24th, 2001 wsc6.pdf<
F. Hoffmann, Boosting a Genetic Fuzzy Classifier, IFSA/NAFIPS 2001, Vancouver, Canada, July 25-28th, 2001 ifsanafips.pdf
L. Magdalena, O. Cordon, F. Gomide, F. Herrera, F. Hoffmann, Ten Years of Genetic Fuzzy Systems: Current Framework and New Trends, IFSA/NAFIPS 2001, Vancouver, Canada, July 25-28th, 2001 nafips2001gfs.pdf
F. Hoffmann, Evolutionary Algorithms for Fuzzy Control System Design, Proceedings of the IEEE, special issue on Industrial Applications of Soft Computing, (to appear Oct. 2001) ieee2001.pdf
F. Hoffmann, O. Nelles, Structure Identification of TSK-Fuzzy Systems using Genetic Programming, Proceedings Information Processing and Management of Uncertainty, IPMU'2000, Madrid, Spain. ipmu2000.pdf<
I. Rojas, H. Pomares, F. Hoffmann, A. Prieto, New Design for an On-line Adaptive Fuzzy Controller, 8th International Conference on Fuzzy Systems, FUZZ-IEEE'99, August 22-25, 1999, Seoul, Korea.
Frank Hoffmann, Soft Computing Techniques for the Design of Mobile Robot Behaviours, Journal of Information Sciences, vol. 122, no. 2-4, pp. 241-258, February 2000, elsevier99.pdf
Magnus Egerstedt, John Koo, Frank Hoffmann and Shankar Sastry, Path Planning and Flight Controller Scheduling for an Autonomous Helicopter, Second International Workshop on Hybrid Systems: Computation and Control, Nijmegen, The Netherlands, March 1999. hds99.pdf
H. Shim, T. J. Koo, F. Hoffmann, S. Sastry, A Comprehensive Study on Control Design of Autonomous Helicopter, In Proceedings of IEEE Conference on Decision and Control, Florida, December 1998 cdc98c.pdf
Tak-John Koo, Frank Hoffmann, H. Shim, B. Sinopoli, S. Sastry, Hybrid Control of an Autonomous Helicopter, IFAC Workshop on Motion Control, 21-23 September 1998, Grenoble, France IFAC98.pdf
T. J. Koo, D. H. Shim, O. Shakernia, B. Sinopoli, Y. Ma, F. Hoffmann, S. Sastry, Hierarchical Hybrid System Design on Berkeley UAV, International Aerial Robotics Competition, Richland, Washington, USA, August 1998 auvs98.pdf
Frank Hoffmann, Incremental Tuning of Fuzzy Controllers by Means of an Evolution Strategy, GP-98 Conference, Madison, Wisconsin, July 22nd-25th 1998. gp98.pdf
Frank Hoffmann, Gerd Pfister, Evolutionary Design of a Fuzzy Knowledge Base for a Mobile Robot, International Journal of Approximate Reasoning (Elsevier, North Holland),vol. 17, no. 4, pp. 447-469, 1997
Frank Hoffmann, Evolutionary Learning of Mobile Robot Behaviors, First Workshop on Frontiers in Evolutionary Algorithms FEA'97 fea97.pdf
Frank Hoffmann, Oliver Malki, Gerd Pfister, Evolutionary Algorithms for Learning of Mobile Robot Controllers
Proc. 4th European Congress on Intelligent Techniques and Soft Computing (EUFIT 96), pp.~1105-1109, Aachen, also presented at the First Online Workshop on Soft Computing WSC1 eufit96.pdf
Frank Hoffmann, Gerd Pfister, Evolutionary Learning of a Fuzzy Control Rule Base for an Autonomous Vehicle, Fifth International Conference IPMU: Information Processing and Management of Uncertainty in Knowledge-Based Systems, Granada, Spain, pp.659-664, July 1996 ipmu96.pdf
Frank Hoffmann, Automatischer Entwurf von Fuzzy-Reglern mit Genetischen Algorithmen, PhD thesis (in German)
Frank Hoffmann, Gerd Pfister, A New Learning Method for the Design of Hierarchical Fuzzy Controllers Using Messy Genetic Algorithms, Sixth International Fuzzy Systems Association World Congress (IFSA'95), vol.1, pp.249-252, Sao Paulo, (1995) ifsa95.pdf
Frank Hoffmann, Gerd Pfister, Automatic Design of Hierarchical Fuzzy Controllers Using Genetic Algorithms, 2nd European Congress on Intelligent Techniques and Soft Computing (EUFIT '94), Aachen, September 1994 eufit94.pdf

Links to Evolutionary Algorithms

Genetic Programming Notebook or alternative server
Hitchhiker's Guide to Evolutionary Computation
Genetic Algorithms Archive
EVONET European Network of Excellence on Evolutionary Computation
MIT: GALib in C++ 
Evolutionary Algorithms Using JAVA
Prisonner's Dilemma Evolution Simulator
EVONET Flying Circus Demonstration Programs
Evolution Strategy Animation from Technical University of Berlin


Pictures :

Hiking in Yosemite
Channel Islands (Spring Break 97)
I-House Alumni coed soccer team
Sunday Supper 98
Housemates at 1030 Cragmont
San Francisco Nightlife
Skiing in Tahoe
Granada, Spring 99
Women Soccer World Cup, Semi-final Brazil-U.S.A., Summer 99
Vancouver, Seattle, Oregon, Summer 98
New Years Eve 98/99 at Kiel
Spring break 99, Death Valley motor-cycle trip


International House :

Here is a story about an old man looking back at his life at I-House written by my friend Erling Roed Larsen. This essay was awarded with the first prize of Nishkian Essay contest at I-House in 1997.
A Resident Crosses His Tracks
Get to know some of my friends...
Carlo Cloet
Erling Roed Larsen

My private interests:

Sailing at the Cal Sailing Club , in the San Francisco Bay or at the Hohwachter Yacht Club in the Baltic Sea
Old cars, I own a Karmann Ghia build in 1972 which I renovated with the help of a friend mine. In California I drive a beetle convertible build in 1978.
Karmann Ghia
Beetle Convertible
Squash and soccer
Cooking, Italian, Chinese cuisine
Books ,movies and songs
TOR (Bundesliga-Manager) a game on the internet, where you have to manage a virtual soccer team based on real players from the German Bundesliga. My team is the FC Schienbeinbruch playing in the 1. Bundesliga My favorite team in real soccer is the FC St.Pauli von 1910 e.V.


My favorite books:
Hotel New Hampshire (John Irving)
Hitchhikers guide to the galaxy (Douglas Adams)
Catcher in the rye (J.D. Salinger)
The discovery of heaven (Harry Mulisch)
Smilla's sense of snow (Peter Hoeg)
Skinny Legs and All (Tom Robbins)
Homo Faber (Max Frisch)
Possession (A.S. Byatt)
The Moor's Last Sigh (Salman Rushdie)
Western Swing (Tim Sandlin)
Goedel, Escher, Bach (Douglas Hofstadter)
The English Patient (Michael Ondaatje)


My favorite movies:
Once upon a time in the west (Sergio Leone)
Out of Africa (Sidney Pollack)
The House of Spirits (Bille August)
The English Patient
Room with a View (James Ivory)
Last Days in Kenia
Heaven's Gate
Peter's Friends
Apocalyse Now (Francis Ford Coppola)
Hillary and Jackie
Before Sunrise


My favorite songs:
Il me dit que je suis belle (Patricia Kaas)
Stairway to Heaven (Led Zeppelin)
True Colors (Cindy Lauper)
Through the Barricades (Spandau Ballet)
Norwegian Wood (Beatles)
Sympathy for the Devil (Rolling Stones)
Street Fighting Years (Simple Minds)
Woelfe (Peter Maffay)
Like a Rolling Stone (Bob Dylan)
One (U2)
Possession (Sarah McLachlan)


Frank Hoffmann 04/03/02