Wissenschaftlicher MitarbeiterJoachim Clemens
Leitung des Bereichs Autonome Systeme
Raum: 4.047 | Telefon: +49 (0)421 218 - 64218
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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:
2021
[30] State Estimation of Articulated Vehicles Using Deformed Superellipses (, ), In 24th International Conference on Information Fusion (FUSION), IEEE, . (accepted) [bibtex] [abstract]
[29] Efficient Grid Map Data Structures for Autonomous Driving in Large-Scale Environments (, , ), In 24th IEEE International Conference on Intelligent Transportation (ITSC), IEEE, . [bibtex] [abstract] [pdf] [doi]
[28] TRIPLE-nanoAUV: A Guidance, Navigation and Control System for an Autonomous Underwater Vehicle to Explore the Oceans of Icy Moons (, , , , , , , , , ), In 18th International Planetary Probe Workshop (IPPW), . (extended abstract) [bibtex]
[27] Visual-Multi-Sensor Odometry with Application in Autonomous Driving (, , ), In 93rd IEEE Vehicular Technology Conference (VTC2021-Spring), IEEE, . [bibtex] [abstract] [pdf] [doi]
[26] On the Probabilistic Coupling Between Rotation and Translation in State Estimation (, ), In 2021 Fifth IEEE International Conference on Robotic Computing (IRC), . (accepted) [bibtex] [abstract]
2020
[25] Kalman Filter with Moving Reference for Jump-Free, Multi-Sensor Odometry with Application in Autonomous Driving (, , , , ), In 23rd International Conference on Information Fusion (FUSION), IEEE, . [bibtex] [abstract] [pdf] [doi]
[24] Extended Object Tracking on the Affine Group Aff(2) (, , ), In 23rd International Conference on Information Fusion (FUSION), IEEE, . [bibtex] [abstract] [pdf] [doi]
[23] Realizing a Demonstrator for the Autonomous Exploration of a Parking Lot (, , , , , , , , , , , ), In 1st Virtual IFAC World Congress 2020 (IFAC-V), . (extended abstract) [bibtex] [abstract]
[22] Cooperative Autonomous Navigation for Extra-Terrestrial Exploration (, , , , , , , , , , , , , , , ), In 17th International Interplanetary Probe Workshop (IPPW), . (extended abstract) [bibtex]
2019
[21] Active Asteroid-SLAM (, , ), In Journal of Intelligent & Robotic Systems, . [bibtex] [abstract] [pdf] [doi]
[20] Autonomous Driving Based on Nonlinear Model Predictive Control and Multi-Sensor Fusion (, , , , ), In 10th IFAC Symposium on Intelligent Autonomous Vehicles (IAV2019), . [bibtex] [abstract]
[19] β-SLAM: Simultaneous localization and grid mapping with beta distributions (, , ), In Information Fusion, volume 52, . [bibtex] [abstract] [pdf] [doi]
2018
[18] Autonomous In-Ice Exploration of the Saturnian Moon Enceladus (, , , , , ), In 69th International Astronautical Congress (IAC), . [bibtex] [abstract]
[17] Multi-Sensor Fusion and Active Perception for Autonomous Deep Space Navigation (, , ), In 21st International Conference on Information Fusion (FUSION), IEEE, . [bibtex] [abstract] [pdf] [doi]
[16] Uncertainty in Localization, Mapping, and Planning: Advanced Methods and Applications (), PhD thesis, Cognitive Neuroinformatics, University of Bremen, . [bibtex] [abstract]
2017
[15] Formal methods for reasoning and uncertainty reduction in evidential grid maps (, , ), In International Journal of Approximate Reasoning, Elsevier, 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, 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, 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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