Jörg Müller

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—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 18 mm x 16 mm x 4 mm, this IMU provides full control over the data of a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer. It meets the design prerequisites of a(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)
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)
—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)
The ability to accurately localize themselves is a fundamental pre-condition for service robots designed to carry out navigation and transportation tasks. Because of the high degree of dynamics in populated and real-world environments, often artificial landmarks are used to achieve the desired accuracy in localization. In this paper we consider the problem(More)
In recent years, there has been an increasing interest in autonomous navigation for lightweight flying robots. With regard to self-localization flying robots have several limitations compared to ground vehicles. Due to their limited payload flying vehicles possess only limited computational resources and are restricted to a few and lightweight sensors.(More)
In recent years, there has been an increasing interest in autonomous navigation for lightweight flying robots in indoor environments. Miniature airships, which are an instance of such robots, are especially challenging since they behave nonlinearly, typically are under-actuated, and also are subject to drift. These aspects, paired with their(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)
Recently, autonomous miniature airships have become a growing research field. Whereas airships are attractive as they can move freely in the three-dimensional space, their high-dimensional state space and the restriction to small and lightweight sensors are demanding constraints with respect to self-localization. Furthermore, their complex second-order(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)