Dr.-Ing. Joachim Clemens
Wissenschaftlicher Mitarbeiter
Leitung des Bereichs Autonome Systeme
Raum: 4.047 | Telefon: +49 (0)421 218 - 64218
E-Mail: This email address is being protected from spambots. You need JavaScript enabled to view it.
Interessen und Inhalte:
In seiner Forschung befasst er sich mit Multi-Sensor-Fusion und der erweiterte Repräsentation von Unsicherheit, insbesondere zur autonomen Navigation und Exploration sowie Lokalisierung, Kartierung und SLAM. Dabei verwendet er sowohl probabilistische Methoden als auch alternative Frameworks wie Belief-Funktionen. Die entwickelten Verfahren werden in terrestrischen und extraterrestrischen Anwendungen sowie auf unterschiedlichen Plattformen eingesetzt, wie fahrende Roboter, einer navigierbaren Eis-Schmelzsonde sowie Raumsonden zur Exploration des Asteroiden-Hauptgürtels.
Beteiligt an folgenden Projekten:
Software:
Publikationen:
Filter publications: | |
|---|---|
| 2024 | |
| [38] | Multi-Robot Graph SLAM Using LIDAR (), In 10th International Conference on Automation, Robotics and Applications (ICARA), 2024. |
| [37] | The Square-Root Unscented and the Square-Root Cubature Kalman Filters on Manifolds (), In Sensors, volume 24, 2024. |
| [36] | PRORETA 5 – building blocks for automated urban driving enhancing city road safety (), In at - Automatisierungstechnik, volume 72, 2024. |
| 2023 | |
| [35] | Field-Based Planetary Protection Operations for Melt Probes: Validation of Clean Access into the Blood Falls, Antarctica, Englacial Ecosystem (), In Astrobiology, volume 23, 2023. |
| [34] | VaMEx3: Autonomously Exploring Mars with a Heterogeneous Robot Swarm (), In 17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), European Space Agency (ESA), 2023. |
| 2022 | |
| [33] | Visual-Inertial Odometry aided by Speed and Steering Angle Measurements (), In 25th International Conference on Information Fusion (FUSION), IEEE, 2022. |
| [32] | Coverage Path Planning and Precise Localization for Autonomous Lawn Mowers (), In 6th IEEE International Conference on Robotic Computing (IRC), 2022. |
| [31] | The OPA3L System and Testconcept for Urban Autonomous Driving (), In 25th IEEE International Conference on Intelligent Transportation Systems (ITSC), IEEE, 2022. |
| 2021 | |
| [30] | State Estimation of Articulated Vehicles Using Deformed Superellipses (), In 24th International Conference on Information Fusion (FUSION), IEEE, 2021. |
| [29] | Efficient Grid Map Data Structures for Autonomous Driving in Large-Scale Environments (), In 24th IEEE International Conference on Intelligent Transportation (ITSC), IEEE, 2021. |
| [28] | TRIPLE-nanoAUV: A Guidance, Navigation and Control System for an Autonomous Underwater Vehicle to Explore the Oceans of Icy Moons (), In 18th International Planetary Probe Workshop (IPPW), 2021. (extended abstract) |
| [27] | Visual-Multi-Sensor Odometry with Application in Autonomous Driving (), In 93rd IEEE Vehicular Technology Conference (VTC2021-Spring), IEEE, 2021. |
| [26] | On the Probabilistic Coupling Between Rotation and Translation in State Estimation (), In 2021 Fifth IEEE International Conference on Robotic Computing (IRC), 2021. |
| 2020 | |
| [25] | Kalman Filter with Moving Reference for Jump-Free, Multi-Sensor Odometry with Application in Autonomous Driving (), In 23rd International Conference on Information Fusion (FUSION), IEEE, 2020. |
| [24] | Extended Object Tracking on the Affine Group Aff(2) (), In 23rd International Conference on Information Fusion (FUSION), IEEE, 2020. |
| [23] | Realizing a Demonstrator for the Autonomous Exploration of a Parking Lot (), In 1st Virtual IFAC World Congress 2020 (IFAC-V), 2020. (extended abstract) |
| [22] | Cooperative Autonomous Navigation for Extra-Terrestrial Exploration (), In 17th International Planetary Probe Workshop (IPPW), 2020. (extended ebstract) |
| 2019 | |
| [21] | Active Asteroid-SLAM (), In Journal of Intelligent & Robotic Systems, 2019. |
| [20] | Autonomous Driving Based on Nonlinear Model Predictive Control and Multi-Sensor Fusion (), In 10th IFAC Symposium on Intelligent Autonomous Vehicles (IAV2019), 2019. |
| [19] | β-SLAM: Simultaneous localization and grid mapping with beta distributions (), In Information Fusion, volume 52, 2019. |
| 2018 | |
| [18] | Autonomous In-Ice Exploration of the Saturnian Moon Enceladus (), In 69th International Astronautical Congress (IAC), 2018. |
| [17] | Multi-Sensor Fusion and Active Perception for Autonomous Deep Space Navigation (), In 21st International Conference on Information Fusion (FUSION), IEEE, 2018. |
| [16] | Uncertainty in Localization, Mapping, and Planning: Advanced Methods and Applications (), PhD thesis, Cognitive Neuroinformatics, University of Bremen, 2018. |
| 2017 | |
| [15] | Formal methods for reasoning and uncertainty reduction in evidential grid maps (), In International Journal of Approximate Reasoning, Elsevier, volume 87, 2017. |
| [14] | Multi-robot in-ice localization using graph optimization (), In IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), IEEE, 2017. |
| 2016 | |
| [13] | Extended Kalman filter with manifold state representation for navigating a maneuverable melting probe (), In 19th International Conference on Information Fusion (FUSION), IEEE, 2016. |
| [12] | An evidential approach to SLAM, path planning, and active exploration (), In International Journal of Approximate Reasoning, Elsevier, volume 73, 2016. |
| [11] | Optimal rotation sequences for active perception (), In Proc. SPIE: Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications (Jerome J. Braun, ed.), SPIE Press, volume 9872, 2016. |
| [10] | Towards the exploitation of formal methods for information fusion (), In Proc. SPIE: Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications (Jerome J. Braun, ed.), SPIE Press, volume 9872, 2016. |
| [9] | Navigation technology for exploration of glacier ice with maneuverable melting probes (), In Cold Regions Science and Technology, Elsevier, volume 123, 2016. |
| [8] | Rigid body attitude control based on a manifold representation of direction cosine matrices (), In 13th European Workshop on Advanced Control and Diagnosis (ACD), volume 783, 2016. |
| 2015 | |
| [7] | KaNaRiA: Identifying the Challenges for Cognitive Autonomous Navigation and Guidance for Missions to Small Planetary Bodies (), In 66th International Astronautical Congress (IAC), 2015. |
| [6] | Autonomous Orbit Navigation for a Mission to the Asteroid Main Belt (), In 66th International Astronautical Congress (IAC), 2015. |
| 2014 | |
| [5] | Navigation system for a research ice probe for antarctic glaciers (), In IEEE/ION Position, Location and Navigation Symposium (PLANS), IEEE, 2014. |
| [4] | Dimensions of Uncertainty in Evidential Grid Maps (), In Spatial Cognition IX (Christian Freksa, Bernhard Nebel, Mary Hegarty, Thomas Barkowsky, eds.), Springer Science + Business Media, volume 8684, 2014. |
| [3] | Multi-Sensor Fusion Using Evidential SLAM for Navigating a Probe through Deep Ice (), In Belief Functions: Theory and Applications (Fabio Cuzzolin, ed.), Springer Science + Business Media, volume 8764, 2014. |
| 2013 | |
| [2] | Evidential FastSLAM for Grid Mapping (), In 16th International Conference on Information Fusion (FUSION), 2013. |
| [1] | Ubiquitous Fall Detection and Activity Recognition System for Bathrooms (), In Assistive Technology: From Research to Practice: AAATE 2013, IOS Press, volume 33, 2013. |
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