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Author

  • Nicolas Limpert (9)
  • Alexander Ferrein (8)
  • Gerhard Lakemeyer (4)
  • Till Hofmann (4)
  • Stefan Schiffer (3)
  • Patrick Wiesen (2)
  • Sebastian Schönitz (2)
  • Stephan Kallweit (2)
  • Tim Niemueller (2)
  • Victor Mataré (2)
  • Christoph Henke (1)
  • Gjorgji Nikolovski (1)
  • Heiko Engemann (1)
  • Hendrik Nessau (1)
  • Marcus Meeßen (1)
  • Michael Reke (1)
  • Mike Henning (1)
  • Sabina Jeschke (1)
  • Tarik Viehmann (1)
  • Tobias Neumann (1)
+ more

Year of publication

  • 2023 (2)
  • 2021 (1)
  • 2019 (2)
  • 2018 (3)
  • 2015 (1)

Document Type

  • Conference Proceeding (7)
  • Article (2)

Keywords

  • Automation (1)
  • Control (1)
  • Mpc (1)
  • Navigation (1)
  • Path-following (1)

Institute

  • Fachbereich Elektrotechnik und Informationstechnik (8)
  • MASKOR Institut für Mobile Autonome Systeme und Kognitive Robotik (6)
  • Fachbereich Maschinenbau und Mechatronik (1)

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A Local Planner for Ackermann-Driven Vehicles in ROS SBPL (2015)
Nicolas Limpert ; Stefan Schiffer ; Alexander Ferrein
Enhancing Software and Hardware Reliability for a Successful Participation in the RoboCup Logistics League 2017 (2018)
Till Hofmann ; Victor Mataré ; Tobias Neumann ; Sebastian Schönitz ; Christoph Henke ; Nicolas Limpert ; Tim Niemueller ; Alexander Ferrein ; Sabina Jeschke ; Gerhard Lakemeyer
Learning by Doing - Mobile Robotics in the FH Aachen ROS Summer School (2018)
Patrick Wiesen ; Heiko Engemann ; Nicolas Limpert ; Stephan Kallweit
Compiling ROS Schooling Curricula via Contentual Taxonomies (2021)
Alexander Ferrein ; Marcus Meeßen ; Nicolas Limpert ; Stefan Schiffer
The Carologistics RoboCup Logistics Team 2018 (2018)
Till Hofmann ; Nicolas Limpert ; Victor Mataré ; Sebastian Schönitz ; Tim Niemueller ; Alexander Ferrein ; Gerhard Lakemeyer
The Carologistics team participates in the RoboCup Logistics League for the seventh year. The RCLL requires precise vision, manipulation and path planning, as well as complex high-level decision making and multi-robot coordination. We outline our approach with an emphasis on recent modifications to those components. The team members in 2018 are David Bosen, Christoph Gollok, Mostafa Gomaa, Daniel Habering, Till Hofmann, Nicolas Limpert, Sebastian Schönitz, Morian Sonnet, Carsten Stoffels, and Tarik Viehmann. This paper is based on the last year’s team description.
Model-predictive control with parallelised optimisation for the navigation of autonomous mining vehicles (2023)
Gjorgji Nikolovski ; Nicolas Limpert ; Hendrik Nessau ; Michael Reke ; Alexander Ferrein
The work in modern open-pit and underground mines requires the transportation of large amounts of resources between fixed points. The navigation to these fixed points is a repetitive task that can be automated. The challenge in automating the navigation of vehicles commonly used in mines is the systemic properties of such vehicles. Many mining vehicles, such as the one we have used in the research for this paper, use steering systems with an articulated joint bending the vehicle’s drive axis to change its course and a hydraulic drive system to actuate axial drive components or the movements of tippers if available. To address the difficulties of controlling such a vehicle, we present a model-predictive approach for controlling the vehicle. While the control optimisation based on a parallel error minimisation of the predicted state has already been established in the past, we provide insight into the design and implementation of an MPC for an articulated mining vehicle and show the results of real-world experiments in an open-pit mine environment.
Winning the RoboCup logistics league with visual servoing and centralized goal reasoning (2023)
Tarik Viehmann ; Nicolas Limpert ; Till Hofmann ; Mike Henning ; Alexander Ferrein ; Gerhard Lakemeyer
The RoboCup Logistics League (RCLL) is a robotics competition in a production logistics scenario in the context of a Smart Factory. In the competition, a team of three robots needs to assemble products to fulfill various orders that are requested online during the game. This year, the Carologistics team was able to win the competition with a new approach to multi-agent coordination as well as significant changes to the robot’s perception unit and a pragmatic network setup using the cellular network instead of WiFi. In this paper, we describe the major components of our approach with a focus on the changes compared to the last physical competition in 2019.
Winning the RoboCup Logistics League with Fast Navigation, Precise Manipulation, and Robust Goal Reasoning (2019)
Till Hofmann ; Nicolas Limpert ; Viktor Mataré ; Alexander Ferrein ; Gerhard Lakemeyer
The ROSIN Project and its Outreach to South Africa (2019)
Nicolas Limpert ; Patrick Wiesen ; Alexander Ferrein ; Stephan Kallweit ; Stefan Schiffer
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