34 citations · 54 across the 5 of their papers we have counts for
5 papers
AS2FM: Enabling Statistical Model Checking of ROS 2 Systems for Robust Autonomy
Christian Henkel, Marco Lampacrescia, Michaela Klauck +1
Designing robotic systems to act autonomously in unforeseen environments is a challenging task. This work presents a novel approach to use formal verification, specifically Statist…
GSRM: Building Roadmaps for Query-Efficient and Near-Optimal Path Planning Using a Reaction Diffusion System
Christian Henkel, Marc Toussaint, Wolfgang Hönig
Mobile robots frequently navigate on roadmaps, i.e., graphs where edges represent safe motions, in applications such as healthcare, hospitality, and warehouse automation. Often the…
Execution Semantics of Behavior Trees in Robotic Applications
Enrico Ghiorzi, Christian Henkel, Matteo Palmas +2
Behavior Trees (BTs) have found a widespread adoption in robotics due to appealing features, their ease of use as a conceptual model of control policies and the availability of sof…
Optimized Directed Roadmap Graph for Multi-Agent Path Finding Using Stochastic Gradient Descent
Christian Henkel, Marc Toussaint
We present a novel approach called Optimized Directed Roadmap Graph (ODRM). It is a method to build a directed roadmap graph that allows for collision avoidance in multi-robot navi…
An Optimal Algorithm to Solve the Combined Task Allocation and Path Finding Problem
Christian Henkel, Jannik Abbenseth, Marc Toussaint
We consider multi-agent transport task problems where, e.g. in a factory setting, items have to be delivered from a given start to a goal pose while the delivering robots need to a…