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
SIEMON GIEGERICH
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},
}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.},
}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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