20 citations · 25 across the 10 of their papers we have counts for
13 papers
Aerial Assistance System for Automated Firefighting during Turntable Ladder Operations
Jan Quenzel, Valerij Sekin, Daniel Schleich +5
Fires in industrial facilities pose special challenges to firefighters, e.g., due to the sheer size and scale of the buildings. The resulting visual obstructions impair firefightin…
Perception-aware Exploration for Consumer-grade UAVs
Svetlana Seliunina, Daniel Schleich, Sven Behnke
In our work, we extend the current state-of-the-art approach for autonomous multi-UAV exploration to consumer-level UAVs, such as the DJI Mini 3 Pro. We propose a pipeline that sel…
Remote Autonomy for Multiple Small Lowcost UAVs in GNSS-denied Search and Rescue Operations
Daniel Schleich, Jan Quenzel, Sven Behnke
In recent years, consumer-grade UAVs have been widely adopted by first responders. In general, they are operated manually, which requires trained pilots, especially in unknown GNSS…
Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller
Ilyass Taouil, Giulio Turrisi, Daniel Schleich +3
Legged robots are increasingly entering new domains and applications, including search and rescue, inspection, and logistics. However, for such systems to be valuable in real-world…
Lessons from Robot-Assisted Disaster Response Deployments by the German Rescue Robotics Center Task Force
Hartmut Surmann, Ivana Kruijff-Korbayova, Kevin Daun +11
Earthquakes, fire, and floods often cause structural collapses of buildings. The inspection of damaged buildings poses a high risk for emergency forces or is even impossible, thoug…
Predictive Angular Potential Field-based Obstacle Avoidance for Dynamic UAV Flights
Daniel Schleich, Sven Behnke
In recent years, unmanned aerial vehicles (UAVs) are used for numerous inspection and video capture tasks. Manually controlling UAVs in the vicinity of obstacles is challenging, ho…
Two-step Planning of Dynamic UAV Trajectories using Iterative -Spaces
Sebastian Schräder, Daniel Schleich, Sven Behnke
UAV trajectory planning is often done in a two-step approach, where a low-dimensional path is refined to a dynamic trajectory. The resulting trajectories are only locally optimal,…
Target Chase, Wall Building, and Fire Fighting: Autonomous UAVs of Team NimbRo at MBZIRC 2020
Marius Beul, Max Schwarz, Jan Quenzel +11
The Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020 posed diverse challenges for unmanned aerial vehicles (UAVs). We present our four tailored UAVs, specifically d…
Autonomous Fire Fighting with a UAV-UGV Team at MBZIRC 2020
Jan Quenzel, Malte Splietker, Dmytro Pavlichenko +6
Every day, burning buildings threaten the lives of occupants and first responders trying to save them. Quick action is of essence, but some areas might not be accessible or too dan…
Search-based Planning of Dynamic MAV Trajectories Using Local Multiresolution State Lattices
Daniel Schleich, Sven Behnke
Search-based methods that use motion primitives can incorporate the system's dynamics into the planning and thus generate dynamically feasible MAV trajectories that are globally op…
Autonomous Flight in Unknown GNSS-denied Environments for Disaster Examination
Daniel Schleich, Marius Beul, Jan Quenzel +1
Micro aerial vehicles (MAVs) have high potential for information gathering tasks to support situation awareness in search and rescue scenarios. Manually controlling MAVs in such sc…
Visually Guided Balloon Popping with an Autonomous MAV at MBZIRC 2020
Marius Beul, Simon Bultmann, Andre Rochow +4
Visually guided control of micro aerial vehicles (MAV) demands for robust real-time perception, fast trajectory generation, and a capable flight platform. We present a fully autono…
Value Iteration Networks on Multiple Levels of Abstraction
Daniel Schleich, Tobias Klamt, Sven Behnke
Learning-based methods are promising to plan robot motion without performing extensive search, which is needed by many non-learning approaches. Recently, Value Iteration Networks (…