5 accepted papers
Publicly available map services are widely used by humans for navigation and nowadays provide almost complete road network data. When utilizing such maps for autonomous navigation with mobile robots one is faced with the problem of inaccuracies of the map and the uncertainty about the position of th…
Occupancy grid maps are a popular method for representing the environment in the context of robot navigation tasks. However, occupancy grid maps can have a high memory demand that grows quadratically with the range of the sensor. In this paper, we introduce a memory-efficient map representation that…
Reliable detection and avoidance of obstacles is a crucial prerequisite for autonomously navigating robots as both guarantee safety and mobility. To ensure safe mobility, the obstacle detection needs to run online, thereby taking limited resources of autonomous systems into account. At the same time…
Many mobile manipulation tasks require the robot to be accurately localized with respect to the object where the manipulation has to be executed. These tasks include autonomous docking and positioning as well as pick and place or logistics tasks. State-of-the-art approaches to the problem commonly a…
The ability to safely navigate is a crucial prerequisite for truly autonomous systems. A robot has to distinguish obstacles from traversable ground. Failing on this task can cause great damage or restrict the robots movement unnecessarily. Due to the security relevance of this problem, great effort…