Completed Student Theses

  • Untersuchung von Methoden zur Schätzung des Innenwiderstandes von Li-Ionen-Batterien im Kontext von Batteriemanagementsystemen

    MELEK CAVLAK

    2024

    Master Thesis

  • Adaptive resolution path planning for mobile ground robots in unstructured environments

    PHILIPP SCHOENFELD

    2024

    Bachelor Thesis

  • Robust Global Localization in Construction Sites for Mobile Ground Robots

    MAJA NOELL

    2024

    Master Thesis

  • Cooperative Navigation of a UGV-partnered UAV with a Ground Robot as Reference Position Provider

    YUCHEN XIA

    2024

    Master Thesis

  • Development of a Software Architecture for a small cooperative UAV with an autonomous UGV partner

    KONSTANTIN STUTE

    2024

    Bachelor Thesis

  • Development of an Satellite Design Generator Evaluation Benchmark

    CHRISTOPH DICKMANNS

    2024

    Bachelor Thesis

  • Adaption and comparison of methods for search and localization of radioactive source with mobile ground robots in unkown indoor environments

    MARTIN VOLZ

    2024

    Bachelor Thesis

  • Whole-Body Contact and Motion Planning for Mobile Manipulation on Unstructured Ground with Autonomous Tracked RobotsAljo

    ALJOSCHA SCHMIDT

    2023

    Master Thesis

  • Entwurf und Implementierung einer modellprädiktiven Regelkreis-Architektur zur zuverlässigen Regelung unbemannter Luftfahrzeuge

    FREDERIK SCHMITTEL

    2023

    Master Thesis

  • Analyse der Energieverluste eines Roboters und Entwurf von Gegenmaßnahmen

    NICO BLANSCHE

    2023

    Bachelor Thesis

  • Autonomous navigation of a UAS in enclosed buildings utilizing cooperation with a ground robot

    MALTE GOHR

    2023

    Master Thesis

  • Improving Trajectory Control By Using Parameter Identification with Different Mobile Robots

    PEDRO BUENO CARVALHAES

    2023

    Master Thesis

  • Development of a model for estimating the position uncertainties of satellites in Earth orbit

    HANS RÜBBERDT

    2023

    Bachelor Thesis

  • Ganzheitliche Routen- und Ladestrategieplanung für eine Elektrobusflotte

    I KADEK JIMMY SARDANA

    2023

    Bachelor Thesis

  • Dynamic SLAM for Mobile Robots in Urban Search and Rescue Environments

    JONATHAN LICHTENFELD

    2023

    Master Thesis

  • Development and Evaluation of a Transparency Model for the Design of Anthropomorphic Service Robots

    LEJLA NUKOVIC

    2023

    Master Thesis

  • Procedural environment generation for urban search and rescue robotics

    AHMED FOURATI

    2023

    Bachelor Thesis

  • Combining On-Robot Sensor Modalities to Generate High Fidelity Digital Models for Industrial Inspection

    YANNIK CHÂTELAIS

    2023

    Master Thesis

  • Robust Force Control for a Load Carrying Robot Considering Uncertainties in Force Mearsurement and Environment Perception

    PHILIPP GRAF

    2022

    Master Thesis

  • Simulation of a Through Wall Radar System for Vital Sign Detection

    PHILIPP JAHR

    2022

    Bachelor Thesis

  • Dynamic Task Allocation for Heterogeneous Multi-Robot Teams in Search and Rescue Scenarios

    ALEXANDER RUFFINI

    2022

    Master Thesis

  • Design and implementation of a 3D visualisation framework for a simulation of the near earth space environment

    CHRISTIAN GUBA

    2022

    Master Thesis

  • Online 3D path planning for autonomous ground vehicles under consideration of dynamic stability criteria

    LEONARD HAMPEL

    2022

    Master Thesis

  • Rotation-aware Path Planning for Autonomous Quadrupedal Robots on Construction Sites

    SIMON GIEGERICH

    2022

    Bachelor Thesis

  • Automated Creation of Panorama Models for Mobile Rescue Robots

    JONAS SUESS

    2022

    Bachelor Thesis

  • Online Stair Recognition and Reconstruction from RGBD Data

    JOHANNES BECK

    2022

    Bachelor Thesis

  • Design and Implementation of a Model Predictive Controller for Load Carrying Walking Robots

    CHRISTIAN EILERS

    2022

    Master Thesis

  • 3D Coverage Path Planning for Efficient Construction Progress Monitoring

    KATRIN BECKER

    2022

    Master Thesis

  • Robust Multi-modal State Estimation Using Truncated Signed Distance Functions for Mobile Rescue Robots

    JASPER SUESS

    2022

    Master Thesis

  • Affordance-based semantic mapping and planning for urban search and rescue

    FREDERIK BARK

    2021

    Master Thesis

  • Robust Online Multi-View and Model-Based Scan Matching

    LINGWEI LIU

    2021

    Master Thesis

  • Continuous Locomotion Planning for an Eight-Legged Robot Using Joystick Control

    PAUL HALLMANN

    2021

    Bachelor Thesis

  • Development of a Generic Orbit Determination Toolbox

    HANJO SCHNELLBAECHER

    2021

    Bachelor Thesis

  • Simultaneous Floating Base and Footstep Planning in Challenging Terrain

    FELIX STERNKOPF

    2021

    Master Thesis

  • Fusing multiple autonomous robot inspection data with a real world industrial digital twin

    LEONARDO ZANINELLI

    2021

    Master Thesis

  • Robust Efficient Mapping Applicable for a Multi RGBD-Camera Setup

    LARS PÜHLER

    2021

    Bachelor Thesis

  • Entwicklung und Implementierung einer propriozeptiven Zustandsschätzung für lasttragende Laufroboter

    SEBASTIAN OTZEN

    2021

    Bachelor Thesis

  • Dynamic Semantic Mapping for Urban Search and Rescue

    JEREMY TSCHIRNER

    2021

    Master Thesis

  • Optimierung der Fußtrajektorien für Laufroboter mit passiven Fußgelenken

    JULIAN RAU

    2021

    Bachelor Thesis

    BibTeX

    @BACHELORTHESIS{rau:21,
    author = {Julian Rau},
    title = {Optimierung der Fußtrajektorien für Laufroboter mit passiven Fußgelenken},
    year = {2021}0,
    school = {TU Darmstadt},
    }

  • Online reactive obstacle avoidance for mobile robots in challenging environments

    NILS BERGMANN

    2021

    Bachelor Thesis

  • Multimodal Person Detection and Tracking using Mobile Robots

    JONAS GUENTHER

    2021

    Master Thesis

  • Entwicklung eines Messkonzeptes inkl. Sensordatenfusion mit Ziel

    JAN DREISKEMPER

    2021

    Master Thesis

  • Modelling and Simulation of Temporomandibular Joints with Temporomandibular Dysfunctions for Orthosis Development

    LAURA JEHN

    2021

    Bachelor Thesis

    BibTeX

    @BACHELORTHESIS{2021:BA_Jehn,
    author = {Laura Jehn},
    title = {Modelling and Simulation of Temporomandibular Joints with Temporomandibular Dysfunctions for Orthosis Development},
    year = {2021},
    school = {Technische Universitaet Darmstadt, Department of Computer Science (SIM)},
    pdf = {2021_Jehn_BA.pdf},
    }

    2021_Jehn_BA.pdf (opens in new tab)

  • Formale Falsifikationskriterien als Grundlage für die Verhaltensplanung basierend auf Reinforcement Learning Algorithmen

    ROBERT HÜLSMANN

    2021

    Master Thesis

  • Environment-aware Online Inspection Pose Generation for Mobile Robots

    ALJOSCHA SCHMIDT

    2021

    Bachelor Thesis

  • Strategies for a Compliant Ground Contact Control for Load-Bearing Walking Robots

    JUAN CAMILO CRUZ BAYONA

    2021

    Master Thesis

  • Robust Multisensor Fusion for Reliable Mapping and Navigation in Degraded Visual Conditions

    MORITZ TORCHALLA

    2021

    Master Thesis

  • Operator assistive online stability estimation and guidance functions for rescue robots in challenging environments

    JULIA BLOME

    2021

    Bachelor Thesis

  • Gekapselte Ausführung von Externen Webassembly Binärdateien auf Embedded-Geräten und deren Performance Analyse

    COSTA WEILAND

    2021

    Bachelor Thesis

    BibTeX

    @BACHELORTHESIS{2021:BA_Weiland,
    author = {Costa Weiland},
    title = {Gekapselte Ausführung von Externen Webassembly Binärdateien auf Embedded-Geräten und deren Performance Analyse},
    year = {2021},
    school = {Technische Universitaet Darmstadt, Department of Computer Science (SIM)},
    }

  • Cloud-based Visual Navigation for Sensor-Constrained Mobile Inspection Robots

    KARIM BARTH

    2021

    Master Thesis

  • A Deep Learning Based Approach to Line Recognition Under Harsh Environmental Conditions for Industrial Inspection

    CHRISTIAN GROSS

    2021

    Bachelor Thesis

  • Entwicklung eines passiven, kostenoptimierten, sensorischen Fußes für lasttragende Laufroboter

    JULIANE WEITZ

    2020

    Master Thesis

  • Sensor-based Velocity Control for Unmanned Ground Vehicles in Rough Terrain

    TOBIAS ULLRICH

    2020

    Master Thesis

    BibTeX

    @MASTERSTHESIS{2020:MA_Ullrich,
    author = {Tobias Ullrich},
    title = {Sensor-based Velocity Control for Unmanned Ground Vehicles in Rough Terrain },
    year = {2020},
    school = {Technische Universitaet Darmstadt, Department of Computer Science (SIM)},
    }

  • TSDF-based Semantic Mapping

    FREDERIK BARK

    2019

    Bachelor Thesis

    BibTeX

    @BACHELORTHESIS{bark2019,
    author = {Frederik Bark},
    title = {TSDF-based Semantic Mapping},
    year = {2019},
    school = {Technische Universitaet Darmstadt, Department of Computer Science (SIM)},
    }

  • Online 3D Path Planning and Exploration for Autonomous Mobile Robots in Unstructured Environments

    STEFAN FABIAN

    2019

    Master Thesis

    BibTeX

    @MASTERSTHESIS{2019:FabianMAThesis,
    author = {Stefan Fabian},
    title = {Online 3D Path Planning and Exploration for Autonomous Mobile Robots in Unstructured Environments},
    year = {2019},
    school = {Technical University of Darmstadt, Computer Science Department},
    pdf = {2019_Fabian_MA.pdf},
    owner = {Stefan Fabian},
    abstract = {For the past decades, path planning for robots has been an active field of research. Recent advances in computation have enabled the introduction of additional constraints and incorporating terrain structure. In rescue robotics, in particular, the expected deployment areas are unknown and unstructured environments either in nature or due to structural changes, e.g., a partially collapsed building. To be able to operate in unstructured terrains, autonomous unmanned ground vehicles have to predict their orientation and the contact points with the ground in order to prevent situations in which the robot may tip-over and require human intervention. Current approaches demand significant computation time to estimate the robot“s pose and contact points, rendering them incapable of being used online on a robot without a connection to a remote operator station. This work presents a path planning approach using a pose prediction heuristic to quickly predict the robot”s pose consisting of its location and orientation, including the contact points with the ground. The proposed algorithm can plan stable paths in real-time on limited hardware resources. It is evaluated on a robot and in simulation. On the robot, the real-time planning capability and a parameterized trade-off between stability are demonstrated. In the simulation, the accuracy of the pose prediction is evaluated. Finally, the computation time is evaluated for different graph resolutions, and it is shown that the presented approach is capable of planning stable paths on limited resources in real-time.},
    }

    2019_Fabian_MA.pdf (opens in new tab)

  • Precise End-effector Control using Visual Servoing

    DAVID TOBIAS BOTSCHEK

    2019

    Bachelor Thesis

    BibTeX

    @BACHELORTHESIS{2019:BA_Botschek,
    author = {David Tobias Botschek},
    title = {Precise End-effector Control using Visual Servoing},
    year = {2019},
    school = {Technische Universitaet Darmstadt, Department of Computer Science (SIM)},
    }

  • Evaluation of an Online-Optimization-Based Control Approach for a Hip Assistive Device

    THE VUHUYNH

    2019

    Master Thesis

    BibTeX

    @MASTERSTHESIS{2019:MA_Huynh,
    author = {The Vu Huynh},
    title = {Evaluation of an Online-Optimization-Based Control Approach for a Hip Assistive Device},
    year = {2019},
    ' school = {Technische Universitaet Darmstadt, Department of Computer Science (SIM)},
    }

  • Trajektorienoptimierung für lasttragende Laufroboter

    FELIX BIEMUELLER

    2019

    Master Thesis

    BibTeX

    @MASTERSTHESIS{2019:MA_Biemueller,
    author = {Felix Biemueller},
    title = {Trajektorienoptimierung für lasttragende Laufroboter},
    year = {2019},
    school = {Technische Universitaet Darmstadt, Department of Computer Science (SIM)},
    }

  • Assisted Versatile Autonomous Manipulation

    MARIUS SCHNAUBELT

    2019

    Master Thesis

    BibTeX

    @MASTERSTHESIS{schnaubeltMA2019,
    author = {Marius Schnaubelt},
    title = {Assisted Versatile Autonomous Manipulation},
    year = {2019},
    school = {Technische Universitaet Darmstadt, Department of Computer Science (SIM)},
    }

  • Compliant Balance Control for a Biped Humanoid Robot

    KATRIN BECKER

    2019

    Bachelor Thesis

    BibTeX

    @BACHELORTHESIS{2019:BA_Becker,
    author = {Katrin Becker},
    title = {Compliant Balance Control for a Biped Humanoid Robot},
    year = {2019},
    school = {Technische Universitaet Darmstadt, Department of Computer Science (SIM)},
    }

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