Marcus Augustine

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—Metric maps provide a reliable basis for mobile robot navigation. However, such maps are in general quite resource expensive and do not scale very well. Aiming for a highly scalable map, we adopt theories of insect navigation to develop an algorithm which builds a topological map for global navigation. Similar to insect conduct, positions in space are(More)
Map-based navigation is a crucial task for any mobile robot. Usually, in an unknown environment this problem is addressed by applying Simultaneous Localization and Mapping (SLAM) based on metric grid-maps. However, such maps are in general rather computational expensive and do not scale well. Insects are able to cover large distances and reliably find back(More)
— Production speed and energy efficiency are crucial factors for any application scenario in industrial robotics. The most important factor for this is planning of an optimized sequence of atomic subtasks. In a welding scenario, an atomic subtask could be understood as a single welding seam/spot while the sequence could be the ordering of these atomic(More)
Sequence optimization is an important problem in many production automation scenarios involving industrial robots. Mostly, this is done by reducing it to Traveling Salesman Problem (TSP). However, in many industrial scenarios optimization potential is not only hidden in optimizing a sequence of operations but also in optimizing the individual operations(More)
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