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Marcus Gerhard Müller

4 accepted papers

2026

Markerless Robot Detection and 6D Pose Estimation for Multi-Agent SLAM

Markus Rueggeberg, Maximilian Ulmer, Maximilian Durner, Wout Boerdijk, Marcus Gerhard Müller, Rudolph Triebel +1
ICRA 2026poster

The capability of multi-robot SLAM approaches to merge localization history and maps from different observers is often challenged by the difficulty in establishing data association. Loop closure detection between perceptual inputs of different robotic agents is easily compromised in the context of p…

Cited by 0Source ↗PDF ↗Scholar ↗
2025

Traversing Mars: Cooperative Informative Path Planning to Efficiently Navigate Unknown Scenes

Friedrich M. Rockenbauer, Jaeyoung Lim, Marcus Gerhard Müller, Roland Siegwart, Lukas Schmid
RA-L 2025

The ability to traverse an unknown environment is crucial for autonomous robot operations. However, due to the limited sensing capabilities and system constraints, approaching this problem with a single robot agent can be slow, costly, and unsafe. For example, in planetary exploration missions, the

Cited by 7Source ↗code ↗Scholar ↗
2021

Trust Your Robots! Predictive Uncertainty Estimation of Neural Networks with Sparse Gaussian Processes

Jongseok Lee, Jianxiang Feng, Matthias Humt, Marcus Gerhard Müller, Rudolph Triebel
CoRL 2021poster

This paper presents a probabilistic framework to obtain both reliable and fast uncertainty estimates for predictions with Deep Neural Networks (DNNs). Our main contribution is a practical and principled combination of DNNs with sparse Gaussian Processes (GPs). We prove theoretically that DNNs can be…

Cited by 31Source ↗Scholar ↗
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 92Source ↗Scholar ↗