Completed Student Theses

  • 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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