5 papers
Benchmarking Robots for Everyday Environments: From Lab Experiments to Real-World Operations
Raphael Memmesheimer, Martina Overbeck, Dominik Beyer +20
This study presents an interdisciplinary process for benchmarking service robots in public everyday environments, addressing the gap between laboratory metrics and real-world opera…
Optimized Wrench Polytope Analysis for Real-Time Stability Control of Legged Robots in Complex Multi-Contact Configurations
Friedrich Graaf, Elias Birkefeld, Christian Eichmann +5
Legged robots offer a variety of automation applications in real-world scenarios. But areas that are difficult to traverse, like slopes, caves, or scaffolding, still pose a great c…
From Pixels to Concepts: Growing Rich 3D Semantic Scene Graph Forests utilizing Foundation Models
David Oberacker, Meike Deitersen, Niklas Spielbauer +3
Operating in complex real-world environments requires robots to understand their surroundings on a functional semantic level. This demands a detailed multi-layer world model captur…
MOSAIC: Modular Scalable Autonomy for Intelligent Coordination of Heterogeneous Robotic Teams
David Oberacker, Julia Richter, Philip Arm +10
Mobile robots have become indispensable for exploring hostile environments, such as in space or disaster relief scenarios, but often remain limited to teleoperation by a human oper…
A Practical Framework of Key Performance Indicators for Multi-Robot Lunar and Planetary Field Tests
Julia Richter, David Oberacker, Gabriela Ligeza +10
Robotic prospecting for critical resources on the Moon, such as ilmenite, rare earth elements, and water ice, requires robust exploration methods given the diverse terrain and hars…