Jörg Müller

Learn More
Nowadays, robots often operate in environments that they share with humans. The ability to act similar to humans is an important prerequisite for the social acceptance of robots. In this paper, we consider the problem of navigation in populated environments. We present a path planning algorithm that enables robots to move efficiently and smoothly with(More)
We report on field trials using CoMP transmission in the downlink of a mobile radio network. Two new features enable over-the-air CoMP transmission from physically separated base stations and terminals. These are distributed synchronization and a fast virtual local area network. Using VLAN tags, terminals feed back the multi-cell channel state information(More)
We consider the cooperative control of a team of robots to estimate the position of a moving target using onboard sensing. In particular, we do not assume that the robot positions are known, but estimate their positions using relative onboard sensing. Our probabilistic localization and control method takes into account the motion and sensing capabilities of(More)
The shrinking nanometer technologies of modern microprocessors and the aggressive supply voltage down-scaling drastically increase the risk of soft errors. In order to tackle this problem, we propose an FPGA-based fault injection framework which is able to identify the most critical parts of a system running in its native environment. Experimental results(More)
For the quantitative analysis of cellular metabolism and its dynamics it is essential to achieve rapid sampling, fast quenching of metabolism and the removal of extracellular metabolites. Common manual sample preparation methods and protocols for cells are time-consuming and often lead to the loss of physiological conditions. In this work, we present a(More)
Methods to accurately capture the motion of humans in motion capture systems from optical markers are important for a large variety of applications including animation, interaction, orthopedics, and rehabilitation. Major challenges in this context are to associate the observed markers with skeleton segments, to track markers between consecutive frames, and(More)
In this paper, we present a wireless micro inertial measurement unit (IMU) with the smallest volume and weight requirements available at the moment. With a size of 18mm x 16mm x 4mm, this IMU provides full control over the data of a three-axis accelerometer, a three-axis gyroscope, and a threeaxis magnetometer. It meets the design prerequisites of a(More)
Localization based on time differences of arrival (TDOA) has turned out to be a promising approach when neither receiver positions nor the positions of signal origins are known a priori. In this paper, we consider calibration-free tracking of a mobile beacon using TDOA, i.e., the positions of the receivers are not given. We propose a probabilistic(More)
In recent years, autonomous miniature airships have gained increased interest in the robotics community. This is due to their ability to move safely and hover for extended periods of time. The major constraints of miniature airships come from their limited payload which introduces substantial constraints on their perceptional capabilities. In this paper, we(More)
Being able to navigate accurately is one of the fundamental capabilities of a mobile robot to effectively execute a variety of tasks including docking, transportation, and manipulation. As real-world environments often contain changing or ambiguous areas, existing features can be insufficient for mobile robots to establish a robust navigation behavior. A(More)