7 papers
Task-Space Constrained Stochastic Trajectory Optimization for Time-Optimal Forestry Crane Motion Planning
Marc-Philip Ecker, Christoph Fröhlich, Bernhard Bischof +2
Efficient, collision-free, and time-optimal motion planning is a fundamental requirement for autonomous forestry cranes operating under hydraulic pump-flow constraints. The Via-Poi…
Spatially-Aware Adaptive Trajectory Optimization with Controller-Guided Feedback for Autonomous Racing
Alexander Wachter, Alexander Willert, Marc-Philip Ecker +1
We present a closed-loop framework for autonomous raceline optimization that combines NURBS-based trajectory representation, CMA-ES global trajectory optimization, and controller-g…
A Collision-Free Sway Damping Model Predictive Controller for Safe and Reactive Forestry Crane Navigation
Marc-Philip Ecker, Christoph Fröhlich, Johannes Huemer +4
Forestry cranes operate in dynamic, unstructured outdoor environments where simultaneous collision avoidance and payload sway control are critical for safe navigation. Existing app…
Efficient Collision Detection for Long and Slender Robotic Links in Euclidean Distance Fields: Application to a Forestry Crane
Marc-Philip Ecker, Bernhard Bischof, Minh Nhat Vu +3
Collision-free motion planning in complex outdoor environments relies heavily on perceiving the surroundings through exteroceptive sensors. A widely used approach represents the en…
Near Time-Optimal Hybrid Motion Planning for Timber Cranes
Marc-Philip Ecker, Bernhard Bischof, Minh Nhat Vu +3
Efficient, collision-free motion planning is essential for automating large-scale manipulators like timber cranes. They come with unique challenges such as hydraulic actuation cons…
GPU-Accelerated Motion Planning of an Underactuated Forestry Crane in Cluttered Environments
Minh Nhat Vu, Gerald Ebmer, Alexander Watcher +3
Autonomous large-scale machine operations require fast, efficient, and collision-free motion planning while addressing unique challenges such as hydraulic actuation limits and unde…