Lars Schilling — accepted AI-conference papers

2022

ROS2SWARM - A ROS 2 Package for Swarm Robot Behaviors

Tanja Katharina Kaiser, Marian Johannes Begemann, Tavia Plattenteich, Lars Schilling, Georg Schildbach, Heiko Hamann

ICRA 2022poster

Developing reusable software for mobile robots is still challenging. Even more so for swarm robots, despite the desired simplicity of the robot controllers. Prototyping and experimenting are difficult due to the multi-robot setting and often require robot-robot communication. Also, the diversity of…

Cited by 16 Source ↗Scholar ↗

2021

B-spline path planner for safe navigation of mobile robots

Ngoc Thinh Nguyen, Lars Schilling, Michael Sebastian Angern, Heiko Hamann, Floris Ernst, Georg Schildbach

IROS 2021poster

We propose a 2D path planning algorithm in a non-convex workspace defined as a sequence of connected convex polytopes. The reference path is parameterized as a B-spline curve, which is guaranteed to entirely remain within the workspace by exploiting the local convexity property and by formulating li…

Cited by 24 Source ↗Scholar ↗