112 citations · 552 across the 38 of their papers we have counts for
14 papers · 1 filter
Spatiotemporal motion planning with combinatorial reasoning for autonomous driving
Klemens Esterle, Patrick Hart, Julian Bernhard +1
Motion planning for urban environments with numerous moving agents can be viewed as a combinatorial problem. With passing an obstacle before, after, right or left, there are multip…
Linear Differential Games for Cooperative Behavior Planning of Autonomous Vehicles Using Mixed-Integer Programming
Tobias Kessler, Klemens Esterle, Alois Knoll
Cooperatively planning for multiple agents has been proposed as a promising method for strategic and motion planning for automated vehicles. By taking into account the intent of ev…
A Biologically Inspired Global Localization System for Mobile Robots Using LiDAR Sensor
Genghang Zhuang, Carlo Cagnetta, Zhenshan Bing +2
Localization in the environment is an essential navigational capability for animals and mobile robots. In the indoor environment, the global localization problem remains challengin…
Experience-Based Heuristic Search: Robust Motion Planning with Deep Q-Learning
Julian Bernhard, Robert Gieselmann, Klemens Esterle +1
Interaction-aware planning for autonomous driving requires an exploration of a combinatorial solution space when using conventional search- or optimization-based motion planners. W…
Modeling and Testing Multi-Agent Traffic Rules within Interactive Behavior Planning
Klemens Esterle, Luis Gressenbuch, Alois Knoll
Autonomous vehicles need to abide by the same rules that humans follow. Some of these traffic rules may depend on multiple agents or time. Especially in situations with traffic par…
Formalizing Traffic Rules for Machine Interpretability
Klemens Esterle, Luis Gressenbuch, Alois Knoll
Autonomous vehicles need to be designed to abide by the same rules that humans follow. This is challenging, because traffic rules are fuzzy and not well defined, making them incomp…
Center-of-Mass-based Robust Grasp Planning for Unknown Objects Using Tactile-Visual Sensors
Qian Feng, Zhaopeng Chen, Jun Deng +3
An unstable grasp pose can lead to slip, thus an unstable grasp pose can be predicted by slip detection. A regrasp is required afterwards to correct the grasp pose in order to fini…
Accurate position tracking with a single UWB anchor
Yanjun Cao, Chenhao Yang, Rui Li +2
Accurate localization and tracking are a fundamental requirement for robotic applications. Localization systems like GPS, optical tracking, simultaneous localization and mapping (S…
Optimal Behavior Planning for Autonomous Driving: A Generic Mixed-Integer Formulation
Klemens Esterle, Tobias Kessler, Alois Knoll
Mixed-Integer Quadratic Programming (MIQP) has been identified as a suitable approach for finding an optimal solution to the behavior planning problem with low runtimes. Logical co…
Bridging the Gap between Open Source Software and Vehicle Hardware for Autonomous Driving
Tobias Kessler, Julian Bernhard, Martin Buechel +7
Although many research vehicle platforms for autonomous driving have been built in the past, hardware design, source code and lessons learned have not been made available for the n…
From Specifications to Behavior: Maneuver Verification in a Semantic State Space
Klemens Esterle, Vincent Aravantinos, Alois Knoll
To realize a market entry of autonomous vehicles in the foreseeable future, the behavior planning system will need to abide by the same rules that humans follow. Product liability…
Energy-Efficient Slithering Gait Exploration for a Snake-like Robot based on Reinforcement Learning
Zhenshan Bing, Christian Lemke, Zhuangyi Jiang +2
Similar to their counterparts in nature, the flexible bodies of snake-like robots enhance their movement capability and adaptability in diverse environments. However, this flexibil…
Towards Robotic Eye Surgery: Marker-free, Online Hand-eye Calibration using Optical Coherence Tomography Images
Mingchuan Zhou, Mahdi Hamad, Jakob Weiss +7
Ophthalmic microsurgery is known to be a challenging operation, which requires very precise and dexterous manipulation. Image guided robot-assisted surgery (RAS) is a promising sol…
Scalability in Neural Control of Musculoskeletal Robots
Christoph Richter, Sören Jentzsch, Rafael Hostettler +6
Anthropomimetic robots are robots that sense, behave, interact and feel like humans. By this definition, anthropomimetic robots require human-like physical hardware and actuation,…