8 accepted papers
Autonomously driving vehicles must be able to navigate in dynamic and unpredictable environments in a collision-free manner. So far, this has only been partially achieved in driverless cars and warehouse installations where marked structures such as roads, lanes, and traffic signs simplify the motio…
Footstep planning is the dominating approach when it comes to controlling the walk of a humanoid robot, even though a footstep plan is expensive to compute. The most prominent proposals typically spend up to a few seconds of computation time and output a sequence of up to 30 steps all the way to the…
The segmentation of a point cloud into planar primitives is a popular approach to first-line scene interpretation and is particularly useful in mobile robotics for the extraction of drivable or walkable surfaces and for tabletop segmentation for manipulation purposes. Unfortunately, the planar segme…
Geometric primitives are a compact and versatile representation of the environment and the objects within. From a motion planning perspective, the geometric structure can be leveraged in order to implement potentially faster and smoother motion control algorithms than it has been possible with grid-…
Foresighted navigation is an essential skill for robots to rise from rigid factory floor installations to much more versatile mobile robots that partake in our everyday environment. The current state of the art that provides this mobility to some extent is the Dynamic Window Approach combined with a…
With the advent of polygonal maps finding their way into the navigational software of mobile robots, the Visibility Graph can be used to search for the shortest collision-free path. The nature of the Visibility Graph-based shortest path algorithms is such that first the entire graph is computed in a…
We present a simple and efficient mathematical framework suitable for generating motion in the context of a variety of robotic motion tasks ranging from low-level motor control up to high-level locomotion planning. Our concept is based on a one-dimensional second-order model that allows analytic com…
Bipedal walking is a complex and dynamic whole-body motion with balance constraints. Due to the inherently unstable inverted pendulum-like dynamics of walking, the design of robust walking controllers proved to be particularly challenging. While a controller could potentially be learned with a robot…