Kristin Bussmann — accepted AI-conference papers

2020

The ARCHES Space-Analogue Demonstration Mission: Towards Heterogeneous Teams of Autonomous Robots for Collaborative Scientific Sampling in Planetary Exploration

Martin J. Schuster, Marcus Gerhard Müller, Sebastian G. Brunner, Hannah Lehner, Peter Lehner, Ryo Sakagami +32

RA-L 2020

Teams of mobile robots will play a crucial role in future missions to explore the surfaces of extraterrestrial bodies. Setting up infrastructure and taking scientific samples are expensive tasks when operating in distant, challenging, and unknown environments. In contrast to current single-robot spa

Cited by 92 Source ↗Scholar ↗

2018

Slip Modeling and Estimation for a Planetary Exploration Rover: Experimental Results from Mt. Etna

Kristin Bussmann, Lukas Meyer, Florian Steidle, Armin Wedler

IROS 2018poster

For wheeled mobile systems, the wheel odometry is an important source of information about the current motion of the vehicle. It is used e.g. in the context of pose estimation and self-localization of planetary rovers, which is a crucial part of the success of planetary exploration missions. Dependi…

Cited by 25 Source ↗Scholar ↗

2018

Whole-Body Impedance Control for a Planetary Rover with Robotic Arm: Theory, Control Design, and Experimental Validation

Kristin Bussmann, Alexander Dietrich, Christian Ott

ICRA 2018poster

Future planetary rovers will gain the ability to manipulate their environment in addition to the maneuverability of current systems. For dedicated contact interaction, Cartesian impedance control is a well-established approach from numerous terrestrial applications. In this paper we will present a w…

Cited by 22 Source ↗Scholar ↗

2017

Passive Hierarchical Impedance Control Via Energy Tanks

Alexander Dietrich, Xuwei Wu, Kristin Bussmann, Christian Ott, Alin Albu-Schäffer, Stefano Stramigioli

RA-L 2017

Modern robotic systems with a large number of actuated degrees of freedom can be utilized to perform several tasks at the same time while following a given order of priority. The most frequently used method is to apply null space projections to realize such a strict hierarchy, where lower priority t

Cited by 60 Source ↗Scholar ↗