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Nils Funk

7 accepted papers

2023

Finding Things in the Unknown: Semantic Object-Centric Exploration with an MAV

Sotiris Papatheodorou, Nils Funk, Dimos Tzoumanikas, Christopher Choi, Binbin Xu, Stefan Leutenegger
ICRA 2023poster

Exploration of unknown space with an autonomous mobile robot is a well-studied problem. In this work we broaden the scope of exploration, moving beyond the pure geometric goal of uncovering as much free space as possible. We believe that for many practical applications, exploration should be context…

Cited by 23Source ↗Scholar ↗
2023

Orientation-Aware Hierarchical, Adaptive-Resolution A* Algorithm for UAV Trajectory Planning

Nils Funk, Juan Tarrio, Sotiris Papatheodorou, Pablo F. Alcantarilla, Stefan Leutenegger
RA-L 2023

Successful path planning for Unmanned Aerial Vehicles (UAVs) in challenging environments with narrow openings, such as disaster areas, requires attitude to be considered. State-of-the-art methods incorporate attitude only in the refinement stage. We introduce a first-of-a-kind global minimum cost pa

Cited by 14Source ↗Scholar ↗
2021

Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks

Yiduo Wang, Nils Funk, Milad Ramezani, Sotiris Papatheodorou, Marija Popović, Marco Camurri +2
ICRA 2021poster

We present an efficient, elastic 3D LiDAR reconstruction framework which can reconstruct up to maximum Li-DAR ranges (60 m) at multiple frames per second, thus enabling robot exploration in large-scale environments. Our approach only requires a CPU. We focus on three main challenges of large-scale r…

Cited by 25Source ↗Scholar ↗
2021

Multi-Resolution 3D Mapping With Explicit Free Space Representation for Fast and Accurate Mobile Robot Motion Planning

Nils Funk, Juan Tarrio, Sotiris Papatheodorou, Marija Popovic, Pablo F. Alcantarilla, Stefan Leutenegger
RA-L 2021

With the aim of bridging the gap between high quality reconstruction and robot motion planning, we propose an efficient system that leverages the concept of adaptive-resolution volumetric mapping, which naturally integrates with the hierarchical decomposition of space in an octree data structure. In

Cited by 61Source ↗Scholar ↗
2021

Volumetric Occupancy Mapping With Probabilistic Depth Completion for Robotic Navigation

Marija Popovic, Florian Thomas, Sotiris Papatheodorou, Nils Funk, Teresa A. Vidal-Calleja, Stefan Leutenegger
RA-L 2021

In robotic applications, a key requirement for safe and efficient motion planning is the ability to map obstacle-free space in unknown, cluttered 3D environments. However, commodity-grade RGB-D cameras commonly used for sensing fail to register valid depth values on shiny, glossy, bright, or distant

Cited by 27Source ↗Scholar ↗
2020

Fast Frontier-based Information-driven Autonomous Exploration with an MAV

Anna Dai, Sotiris Papatheodorou, Nils Funk, Dimos Tzoumanikas, Stefan Leutenegger
ICRA 2020poster

Exploration and collision-free navigation through an unknown environment is a fundamental task for autonomous robots. In this paper, a novel exploration strategy for Micro Aerial Vehicles (MAVs) is presented. The goal of the exploration strategy is the reduction of map entropy regarding occupancy pr…

Cited by 143Source ↗Scholar ↗
2017

Comparative Study of Serial-Parallel Delta Robots With Full Orientation Capabilities

Jan Brinker, Nils Funk, Philipp Ingenlath, Yukio Takeda, Burkhard Corves
RA-L 2017

More than thirty years after the initial concepts, commercial Delta and Delta-like robots serve a niche market for high-speed pick-and-place applications. Expired patents and new fields of application have led to increased research and innovative designs. By functionally extending the original trans

Cited by 38Source ↗Scholar ↗