Fabrice Zeug — accepted AI-conference papers

2025

Reactive 3D Motion Planning in Dynamic Environments Using Efficient Model Predictive Control via Circular Fields *

Fabrice Zeug, Sarah Kleinjohann, Torsten Lilge, Marvin Becker, Matthias Albrecht Müller

IROS 2025

In this paper, we present a novel online global reactive motion planner that synergizes the benefits of reactive control and model predictive control (MPC). By applying circular fields, the planner significantly simplifies the problem of determining control inputs for mobile robots and manipulators,

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2024

Circular Field Motion Planning for Highly-Dynamic Multi-Robot Systems with Application to Robot Soccer

Fabrice Zeug, Marvin Becker, Matthias A. Müller

ICRA 2024poster

The rise of autonomous driving in everyday life makes efficient and collision-free motion planning more important than ever. However, multi robot applications in highly dynamic environments still pose hard challenges for state-of-the-art motion planners. In this paper, we present a new iteration of…

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