Martin Friedl

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Path planning for robots typically consists of finding a path from a given start state to one or multiple given goal states. However, there are situations in which the pose of the goal state is not explicitly known, e.g. in sensor-based autonomous driving in unknown environments. This paper presents a path planner that is capable of planning feasible paths(More)
Analysis of fractal systems (i.e. systems described by fractional differential equations) necessitates to create an electrical analog model of a crucial subsystem called Constant Phase Element (CPE). The paper describes a possible realization of such a model that is quite simple and in spite of its simplicity makes it possible to simulate the properties of(More)
The road course is an essential feature for many driver assistance systems and for autonomously-maneuvering vehicles. It is commonly stored in a map and hence assumed to be known a-priori. There are however situations in which the map data can become invalid, such as in road construction sites. In other situations, localization in the map might not be(More)
Collision checking is the major computational bottleneck for many robot path and motion planning applications, such as for autonomous vehicles, particularly with grid-based environment representations. Apart from collisions, many applications benefit from incorporating costs into planning; cost functions or cost maps are a common tool. Similar to checking a(More)
Indoor parking localization systems face two major challenges: the absence of GPS coverage and the dynamic character of the parking environment. The absence of GPS coverage can be compensated by data fusion of several sensors in order to localize an object in a map of the environment. However, this map may constantly change due to the dynamic nature of a(More)
III-V nanowires are candidate building blocks for next generation electronic and optoelectronic platforms. Low bandgap semiconductors such as InAs and InSb are interesting because of their high electron mobility. Fine control of the structure, morphology, and composition are key to the control of their physical properties. In this work, we present how to(More)
Reproducible integration of III-V semiconductors on silicon can open new path toward CMOS compatible optoelectronics and novel design schemes in next generation solar cells. Ordered arrays of nanowires could accomplish this task, provided they are obtained in high yield and uniformity. In this work, we provide understanding on the physical factors affecting(More)
The need for indium droplets to initiate self-catalyzed growth of InAs nanowires has been highly debated in the last few years. Here, we report on the use of indium droplets to tune the growth direction of self-catalyzed InAs nanowires. The indium droplets are formed in situ on InAs(Sb) stems. Their position is modified to promote growth in the 〈11-2〉 or(More)
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