Autonomous E-Scooter

We are part of the MobiLab initiative on the Campus Vaihingen and develop a research prototype for an autonomous vehicle for individual mobility.

Project eStarling.io

Development of a research prototype of a self-stabilizing and autonomously driving e-scooter, including navigation, environment recognition, and distribution on campus.

Developed at the Institute for Systems Theory and Automatic Control

The autonomous e-scooter is being developed at the Institute for Systems Theory and Automatic Control under the name eStarling.io. The project is part of the Mobility Living Lab at the University of Stuttgart.

Self-balancing with reaction wheel

The e-scooter is modified with a reaction wheel so that it balances itself and drives autonomously to the next location. State-of-the-art control technology is used to stabilize the e-scooters despite potential disturbances.

Sensors for environment detection

The e-scooters are equipped with sensors that can detect their surroundings, avoid obstacles and navigate autonomously. 

Intelligent distribution and efficient route planning

Machine learning is used to optimize distribution on campus based on user requests. A special distribution algorithm ensures efficient route planning for the e-scooters. One autonomous e-scooter can replace up to ten conventional e-scooters in a rental system.

Reduction of CO2 emissions

Compared to a conventional rental e-scooter, the CO2 emissions of an autonomous rental e-scooter are significantly reduced. Instead of the 6 000 standard e-scooters that would be needed to supply the Vaihingen campus, a fleet would only have to comprise around 600 autonomous e-scooters. By autonomously searching for the inductive charging station, the CO2-intensive, manual collection of the vehicles by so-called “juicers” and their vehicles is no longer necessary.

We work together in a great team of student assistants and research assistants.

We are constantly looking for motivated student assistants who like to help us in this interesting project. If you are interested, feel free to approach us.

Group photo
Current team consisting of student assistants and research assistants.
Photo: Universität Stuttgart/ IST

Publications

  1. Strässer, R., Brändle, F., Meister, D., Seidel, M., & Allgöwer, F. (2025). Autonomous E-Scooters for Sustainable Urban Mobility: Achievements and Insights from an Experimental Prototype. European Robotics Forum 2025, 3–9. https://doi.org/10.1007/978-3-031-89471-8_1
  2. Meister, D., Strässer, R., Brändle, F., Seidel, M., Bassler, B., Gerber, N., Kautz, J., Rommel, E., & Allgöwer, F. (2025). Path-following model predictive control for autonomous e-scooters. Proc. IEEE Intelligent Transportation Systems Conference (ITSC). https://arxiv.org/abs/2505.05314
  3. Brändle, F., Meister, D., Seidel, M., Strässer, R., & Allgöwer, F. (2025). On the effects of angular acceleration in orientation estimation using inertial measurement units. Submitted, Preprint: Arxiv: 2502.03681. https://arxiv.org/abs/2502.03681
  4. Strässer, R., Seidel, M., Brändle, F., Meister, D., Soloperto, R., Hambach Ferrer, D., & Allgöwer, F. (2024). Collision Avoidance Safety Filter for an Autonomous E-Scooter using Ultrasonic Sensors. Proc. 17th IFAC Symposium on Control in Transportation Systems (CTS 2024), 58, Article 10. https://doi.org/10.1016/j.ifacol.2024.07.313
  5. Soloperto, R., Wenzelburger, P., Meister, D., Scheuble, D., Breidohr, V. S. M., & Allgöwer, F. (2021). A control framework for autonomous e-scooters. Proc. 16th IFAC Symposium on Control in Transportation Systems (CTS), 252–258. https://doi.org/10.1016/j.ifacol.2021.06.030
  6. Wenzelburger, P., & Allgöwer, F. (2020). A first step towards an autonomously driving E-Scooter. Demonstrator Session 21st IFAC World Congress. https://www.ist.uni-stuttgart.de/institute/team/pdf/PW/IFAC20_E-Scooter.pdf

News on the autonomous e-scooter

[Photos: Rundfunk Berlin-Brandenburg, ARD, Tagesschau, Lichtgut/ Max Kovalenko, SWR3, SWR / Katja Trautwein, SWR Aktuell, SWR / Katja Trautwein, euRobotics / Visual Outcasts]

Autonomous E-Scooter in 2024

[Photos: Universität Stuttgart/ IST, World of Bike, Eine Produktion des ÖAMTC © 2024, Universität Stuttgart/ IST, Universität Stuttgart/ IST, Universität Stuttgart/ IST, Universität Stuttgart/ IST, Universität Stuttgart/ IST, Stegmann and Company, Universität Stuttgart/ IST, Universität Stuttgart/ IST, Universität Stuttgart/ SimTech, Universität Stuttgart/ SimTech, Universität Stuttgart/ IST, Universität Stuttgart/ SimTech, Scooterhelden, Universität Stuttgart/ IST]

Autonomous E-Scooter in 2023

[Photos: Universität Stuttgart/ IST, Universität Stuttgart, Universität Stuttgart/ IST, Universität Stuttgart/ IST, Universität Stuttgart/ School For Talents, Universität Stuttgart/ IST, Universität Stuttgart, Universität Stuttgart/ IST]

Autonomous E-Scooter in 2022

[Photos: Universität Stuttgart/ Uli Regenscheit, Universität Stuttgart/ Uli Regenscheit, KIT/AServ, Universität Stuttgart/ IST, Lichtgut/Max Kovalenko, Universität Stuttgart/ IST]

Early days of the autonomous e-scooter

Team

Contact

 

E-Scooter Team

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