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Interessen und Inhalte:

In seiner Forschung befasst er sich mit Multi-Sensor-Fusion und der erweiterte Repräsentation von Unsicherheit, insbesondere zur autonomen Navigation und Exploration sowie Lokalisierung, Kartierung und SLAM. Dabei verwendet er sowohl probabilistische Methoden als auch alternative Frameworks wie Belief-Funktionen. Die entwickelten Verfahren werden in terrestrischen und extraterrestrischen Anwendungen sowie auf unterschiedlichen Plattformen eingesetzt, wie fahrende Roboter, einer navigierbaren Eis-Schmelzsonde sowie Raumsonden zur Exploration des Asteroiden-Hauptgürtels.

 

Beteiligt an folgenden Projekten:

Software:

Publikationen:

Filter publications:
2019
[18] β-SLAM: Simultaneous localization and grid mapping with beta distributios (, , ), In Information Fusion, volume 52, . [bibtex] [abstract] [pdf] [doi]
2018
[17] Autonomous In-Ice Exploration of the Saturnian Moon Enceladus (, , , , , ), In 69th International Astronautical Congress (IAC), . [bibtex] [abstract]
[16] Multi-Sensor Fusion and Active Perception for Autonomous Deep Space Navigation (, , ), In 21th International Conference on Information Fusion (FUSION), IEEE, . [bibtex] [abstract] [pdf] [doi]
2017
[15] Formal methods for reasoning and uncertainty reduction in evidential grid maps (, , ), In International Journal of Approximate Reasoning, Elsevier BV, volume 87, . [bibtex] [abstract] [pdf] [doi]
[14] Multi-robot in-ice localization using graph optimization (), In IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), IEEE, . [bibtex] [abstract] [pdf] [doi]
2016
[13] Extended Kalman filter with manifold state representation for navigating a maneuverable melting probe (, ), In 19th International Conference on Information Fusion (FUSION), IEEE, . [bibtex] [abstract] [pdf]
[12] An evidential approach to SLAM, path planning, and active exploration (, , ), In International Journal of Approximate Reasoning, Elsevier BV, volume 73, . [bibtex] [abstract] [pdf] [doi]
[11] Optimal rotation sequences for active perception (, , , ), In Proc. SPIE: Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications (Jerome J. Braun, ed.), SPIE Press, volume 9872, . [bibtex] [abstract] [pdf] [doi]
[10] Towards the exploitation of formal methods for information fusion (, , ), In Proc. SPIE: Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications (Jerome J. Braun, ed.), SPIE Press, volume 9872, . [bibtex] [abstract] [pdf] [doi]
[9] Navigation technology for exploration of glacier ice with maneuverable melting probes (, , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , ), In Cold Regions Science and Technology, Elsevier BV, volume 123, . [bibtex] [abstract] [pdf] [doi]
[8] Rigid body attitude control based on a manifold representation of direction cosine matrices (, , ), In 13th European Workshop on Advanced Control and Diagnosis (ACD), volume 783, . [bibtex] [abstract] [pdf] [doi]
2015
[7] KaNaRiA: Identifying the Challenges for Cognitive Autonomous Navigation and Guidance for Missions to Small Planetary Bodies (, , , , , , , , , , , , , , , ), In 66th International Astronautical Congress (IAC), . [bibtex]
[6] Autonomous Orbit Navigation for a Mission to the Asteroid Main Belt (, , , , , , ), In 66th International Astronautical Congress (IAC), . [bibtex]
2014
[5] Navigation system for a research ice probe for antarctic glaciers (, , , , , , ), In IEEE/ION Position, Location and Navigation Symposium (PLANS), IEEE, . [bibtex] [abstract] [pdf] [doi]
[4] Dimensions of Uncertainty in Evidential Grid Maps (, ), In Spatial Cognition IX (Christian Freksa, Bernhard Nebel, Mary Hegarty, Thomas Barkowsky, eds.), Springer Science + Business Media, volume 8684, . [bibtex] [abstract] [pdf] [doi]
[3] Multi-Sensor Fusion Using Evidential SLAM for Navigating a Probe through Deep Ice (, ), In Belief Functions: Theory and Applications (Fabio Cuzzolin, ed.), Springer Science + Business Media, volume 8764, . [bibtex] [abstract] [pdf] [doi]
2013
[2] Evidential FastSLAM for Grid Mapping (, ), In 16th International Conference on Information Fusion (FUSION), . [bibtex] [abstract] [pdf]
[1] Ubiquitous Fall Detection and Activity Recognition System for Bathrooms (, , ), In Assistive Technology: From Research to Practice: AAATE 2013, IOS Press, volume 33, . [bibtex] [abstract] [pdf] [doi]

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