Bernhard Bischof — accepted AI-conference papers

2026

A Collision-Free Sway Damping Model Predictive Controller for Safe and Reactive Forestry Crane Navigation

Marc-Philip Ecker, Christoph Froehlich, Johannes Huemer, David Gruber, Bernhard Bischof, Tobias Glück +1

ICRA 2026poster

Forestry cranes operate in dynamic, unstructured outdoor environments where simultaneous collision avoidance and payload sway control are critical for safe navigation. Existing approaches address these challenges separately, either focusing on sway damping with predefined collision-free paths or per…

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2025

Efficient Collision Detection for Long and Slender Robotic Links in Euclidean Distance Fields: Application to a Forestry Crane

Marc-Philip Ecker, Bernhard Bischof, Minh Nhat Vu, Christoph Fröhlich, Tobias Glück, Wolfgang Kemmetmüller

IROS 2025

Collision-free motion planning in complex outdoor environments relies heavily on perceiving the surroundings through exteroceptive sensors. A widely used approach represents the environment as a voxelized Euclidean distance field, where robots are typically approximated by spheres. However, for larg

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2025

Near Time-Optimal Hybrid Motion Planning for Timber Cranes

Marc-Philip Ecker, Bernhard Bischof, Minh Nhat Vu, Christoph Fröhlich, Tobias Glück, Wolfgang Kemmetmüller

ICRA 2025

Efficient, collision-free motion planning is essential for automating large-scale manipulators like timber cranes. They come with unique challenges such as hydraulic actuation constraints and passive joints-factors that are seldom addressed by current motion planning methods. This paper introduces a

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