45 citations · 59 across the 9 of their papers we have counts for
9 papers
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…
SafeFlowMPC: Predictive and Safe Trajectory Planning for Robot Manipulators with Learning-based Policies
Thies Oelerich, Gerald Ebmer, Christian Hartl-Nesic +1
The emerging integration of robots into everyday life brings several major challenges. Compared to classical industrial applications, more flexibility is needed in combination with…
Systematic Evaluation of Trade-Offs in Motion Planning Algorithms for Optimal Industrial Robotic Work Cell Design
G. de Mathelin, C. Hartl-Nesic, A. Kugi
The performance of industrial robotic work cells depends on optimizing various hyperparameters referring to the cell layout, such as robot base placement, tool placement, and kinem…
Incremental Language Understanding for Online Motion Planning of Robot Manipulators
Mitchell Abrams, Thies Oelerich, Christian Hartl-Nesic +2
Human-robot interaction requires robots to process language incrementally, adapting their actions in real-time based on evolving speech input. Existing approaches to language-guide…
Model Predictive Trajectory Planning for Human-Robot Handovers
Thies Oelerich, Christian Hartl-Nesic, Andreas Kugi
This work develops a novel trajectory planner for human-robot handovers. The handover requirements can naturally be handled by a path-following-based model predictive controller, w…
Real-time 6-DoF Pose Estimation by an Event-based Camera using Active LED Markers
Gerald Ebmer, Adam Loch, Minh Nhat Vu +5
Real-time applications for autonomous operations depend largely on fast and robust vision-based localization systems. Since image processing tasks require processing large amounts…
Machine Learning-based Framework for Optimally Solving the Analytical Inverse Kinematics for Redundant Manipulators
Minh Nhat Vu, Florian Beck, Michael Schwegel +3
Solving the analytical inverse kinematics (IK) of redundant manipulators in real time is a difficult problem in robotics since its solution for a given target pose is not unique. M…
Singularity Avoidance with Application to Online Trajectory Optimization for Serial Manipulators
Florian Beck, Minh Nhat Vu, Christian Hartl-Nesic +1
This work proposes a novel singularity avoidance approach for real-time trajectory optimization based on known singular configurations. The focus of this work lies on analyzing kin…
Sampling-Based Trajectory (re)planning for Differentially Flat Systems: Application to a 3D Gantry Crane
Minh Nhat Vu, Michael Schwegel, Christian Hartl-Nesic +1
In this paper, a sampling-based trajectory planning algorithm for a laboratory-scale 3D gantry crane in an environment with static obstacles and subject to bounds on the velocity a…