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Marc-Philip Ecker

5 accepted 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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2026

Spatially-Aware Adaptive Trajectory Optimization with Controller-Guided Feedback for Autonomous Racing

Alexander Wachter, Alexander Willert, Marc-Philip Ecker, Christian Hartl-Nesic
ICRA 2026poster

We present a closed-loop framework for autonomous raceline optimization that combines NURBS-based trajectory representation, CMA-ES global trajectory optimization, and controller-guided spatial feedback. Instead of treating tracking errors as transient disturbances, our method exploits them as infor…

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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

Cited by 1Source ↗Scholar ↗
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

Cited by 4Source ↗Scholar ↗
2025

Towards Autonomous Wood-Log Grasping with a Forestry Crane: Simulator and Benchmarking

Minh Nhat Vu, Alexander Wachter, Gerald Ebmer, Marc-Philip Ecker, Tobias Glück, Anh Nguyen +2
ICRA 2025

Forestry machines operated in forest production environments face challenges when performing manipulation tasks, especially regarding the complicated dynamics of underactuated crane systems and the heavy weight of logs to be grasped. This study investigates the feasibility of using reinforcement lea

Cited by 4Source ↗Scholar ↗