11 accepted papers
RadaRays allows for the accurate modeling and simulation of rotating FMCW radar sensors in complex environments, including the simulation of reflection, refraction, and scattering of radar waves. Our software is able to handle large numbers of objects and materials in real-time, making it suitable f
Triangle mesh maps are a versatile 3D environment representation for robots to navigate in challenging indoor and outdoor environments exhibiting tunnels, hills and varying slopes. To make use of these mesh maps, methods are needed to accurately localize robots in such maps to perform essential task…
The increasing usage of modern AI techniques represents a transforming shift in the robotics domain. Training and accessing new models requires substantial amounts of application-specific data, but the limited resources onboard mobile robots (like processing power, network bandwidth, etc.) pose a ch…
Sensor simulation has emerged as a promising and powerful technique to find solutions to many real-world robotic tasks like localization and pose tracking. However, commonly used simulators have high hardware requirements and are therefore used mostly on high-end computers. In this paper, we present…
We present a highly efficient approach to compute continuous shortest path vector fields on arbitrarily shaped 3D triangular meshes for robot navigation in complex real-world outdoor environments. The continuity of the vector field allows to query the shortest distance, direction and geodesic path t…
While a great variety of 3D cameras have been introduced in recent years, most publicly available datasets for object recognition and pose estimation focus on one single camera. In this work, we present a dataset of 32 scenes that have been captured by 7 different 3D cameras, totaling 49,294 frames.…
Online planning under uncertainty on robots and similar agents has very strict performance requirements in order to achieve reasonable behavior in complex domains with limited resources. The underlying process of decision-making and information gathering is correctly modeled by POMDP’s, but their c…
We present Move Base Flex (MBF), a highly flexible, modular, map-independent, open-source navigation framework for use in ROS. MBF provides modular actions for executing plugins for path planning, motion control, and recovery. These actions define interfaces for external executives to allow highly f
We present Move Base Flex (MBF), a highly flexible, modular, map-independent, open-source navigation framework for use in ROS. MBF provides modular actions for executing plugins for path planning, motion control, and recovery. These actions define interfaces for external executives to allow highly f…
Real-world robotic systems have to perform reliably in uncertain and dynamic environments. State-of-the-art cognitive robotic systems use an abstract symbolic representation of the real world for high-level reasoning. Some aspects of the world, such as object dynamics, are inherently difficult to ca…
Plan-based robot control has to consider a multitude of aspects of tasks at once, such as task dependency, time, space, and resource usage. Hybrid planning is a strategy for treating them jointly. However, by incorporating all these aspects into a hybrid planner, its search space is huge by construc…