Christoph Böhm

• Master of Science
• Ph.D. Student at Alpen-Adria-Universität Klagenfurt

This paper describes a novel semi-autonomous mobile robot system designed to assist search and rescue (SAR) first responders in disaster scenarios. While robots offer significant potential in SAR missions, current solutions are limited in their ability to handle a diverse range of tasks. This gap is addressed by presenting a system capable of (1) a...

(IROS2023) Poster of our latest work on "FUSE-D: Framework for UAV System-Parameter Estimation with Disturbance Detection," by Christoph Böhm and Stephan Weiss. The poster was presented at the International Conference on Intelligent Robots and Systems 2023 in person.

(IROS2023) Presentation of our latest work on "FUSE-D: Framework for UAV System-Parameter Estimation with Disturbance Detection," by Christoph Böhm and Stephan Weiss. The presentation was held at the International Conference on Intelligent Robots and Systems 2023 in person.

Modern unmanned aerial vehicles (UAVs) with sophisticated mechanics ask for extended online system identification to aid model-based controls in task execution. In addition, UAVs in adverse environmental conditions require a more detailed environmental disturbance understanding. The necessary combination of online system identification, sensor suit...

Modern unmanned aerial vehicles (UAVs) with sophisticated mechanics ask for extended online system identification to aid model-based controls in task execution. In addition, UAVs in adverse environmental conditions require a more detailed environmental disturbance understanding. The necessary combination of online system identification, sensor suit...

This article presents an entirely data-driven approach for autonomous control of redundant manipulators with hydraulic actuation. The approach only requires minimal system information, which is inherited from a simulation model. The non-linear hydraulic actuation dynamics are modeled using actuator networks from the data gathered during the manual...

While low-level auto pilot stacks for aerial vehicles focus on robust control, sensing, and estimation, the continuous advancement of higher-level autonomy for aerial vehicles requires much more complex higher-level flight stacks in order to enable safe, fully autonomous long-duration missions. Rather than focusing on the low-level control, high-le...

Stochastic filters for on-line state estimation are a core technology for autonomous systems. The performance of such filters is one of the key limiting factors to a system's capability. Both asymptotic behavior (e.g., for regular operation) and transient response (e.g., for fast initialization and reset) of such filters are of crucial importance i...

A technical report including supplementary material for the RA-L publication "Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation With Online Calibration"

Stochastic filters for on-line state estimation are a core technology for autonomous systems. The performance of such filters is one of the key limiting factors to a system's capability. Both asymptotic behavior (e.g.,~for regular operation) and transient response (e.g.,~for fast initialization and reset) of such filters are of crucial importance i...

(ICRA2022) Presentation of our latest work on "Control & Observability-aware Planning," by Christoph Böhm, Pascal Brault, Quentin Delamare, Paolo Robuffo Giordano, and Stephan Weiss. The presentation was held at the International Conference on Robotics and Automation 2022 virtually.

(ICRA2022) Poster of our latest work on "Control & Observability-aware Planning," by Christoph Böhm, Pascal Brault, Quentin Delamare, Paolo Robuffo Giordano, and Stephan Weiss. The poster was presented at the International Conference on Robotics and Automation 2022 virtually.

In this research, we aim to answer the question: How to combine Closed-Loop State and Input Sensitivity-based with Observability-aware trajectory planning? These possibly opposite optimization objectives can be used to improve trajectory control tracking and, at the same time, estimation performance. Our proposed novel Control & Observability-aware...

In this research, we aim to answer the question: How to combine Closed-Loop State and Input Sensitivity-based with Observability-aware trajectory planning? These possibly opposite optimization objectives can be used to improve trajectory control tracking and, at the same time, estimation performance. Our proposed novel Control & Observability-aware...

In this paper, we present a novel deep neural network architecture for joint class-agnostic object segmentation and grasp detection for robotic picking tasks using a parallel-plate gripper. We introduce depth-aware Coordinate Convolution (CoordConv), a method to increase accuracy for point proposal based object instance segmentation in complex scen...

(RSS2021) Poster of our latest work on "Filter-Based Online System-Parameter Estimation for Multicopter UAVs," by Christoph Böhm, Martin Scheiber, and Stephan Weiss. The poster was presented at the Robotics: Science and Systems 2021 virtually.

(RSS2021) Presentation of our latest work on "Filter-Based Online System-Parameter Estimation for Multicopter UAVs," by Christoph Böhm, Martin Scheiber, and Stephan Weiss. The presentation was held at the Robotics: Science and Systems 2021 virtually.

Accurate system modeling and identification gain importance as tasks executed by autonomously acting unmanned aerial vehicles (UAVs) get more complex and demanding. This paper presents a Bayesian filter approach to online and continuously identify the system parameters, sensor suite calibration states, and vehicle navigation states in a holistic fr...

Accurate system modeling and identification gain importance as tasks executed by autonomously acting unmanned aerial vehicles (UAVs) get more complex and demanding. This paper presents a Bayesian filter approach to online and continuously identify the system parameters, sensor suite calibration states, and vehicle navigation states in a holistic fr...

Precise system identification is an important aspect of adequate control design and parameter definition to allow for accurate and reliable navigation. While this is well known in robotics, the community working with small rotorcraft Unmanned Aerial Vehicles (UAVs) has yet to discover the benefits. In contrast to existing work, which often performs...

(ICRA2021) Presentation of our latest work on "Combined System Identification and State Estimation for a Quadrotor UAV," by Christoph Böhm, Christian Brommer, Alexander Hardt-Stremayr, and Stephan Weiss. The presentation was held at the International Conference on Robotics and Automation 2021 virtually.

This article presents ViRa ¹ ¹ Available online: https://vira.aau.at/ . , a real-time open-source millimeter-wave radar simulation framework for perception-driven robotic applications. ViRa provides $(i)$ raw data of radar sensors in real-time, simulation of $(ii)$ multi-antenna configurations for spatial estimation of...

Precise system identification is an important aspect of adequate control design and parameter definition to allow for accurate and reliable navigation. While this is well known in robotics, the community working with small rotorcraft Unmanned Aerial Vehicles (UAVs) has yet to discover the benefits. In contrast to existing work, which often performs...

In this paper, we present a novel deep neural network architecture for joint classagnostic object segmentation and grasp detection for robotic picking tasks using a parallelplate gripper. We introduce depth-aware Coordinate Convolution (CoordConv), a method to increase accuracy for point proposal based object instance segmentation in complex scenes...

The magnetic field of the Earth – besides varying naturally – may be disturbed locally by the (man-made) environment. State estimation and corresponding navigation frameworks that use magnetometers on-board of mobile platforms suffer from severe performance loss or failure upon local magnetic distortions if these are not detected and mitigated adeq...

(ICUAS2020) Presentation of our latest work on "Improved State Estimation in Distorted Magnetic Fields," by Christian Brommer, Christoph Böhm, Jan Steinbrener, Roland Brockers and Stephan Weiss. The presentation was held at the International Conference on Unmanned Aircraft Systems in Athens, Greece.

In this paper, we apply an observability-aware trajectory generation method to the estimation of geometric and inertial parameters of an Unmanned Aerial System (UAS). These parameters are critical for reliable control and agile maneuvers, especially in the context of reconfiguration of the aerial vehicles during manipulation or transportation tasks...

(POGO RSS2020) Poster of our latest work on "Observability-Aware Trajectories for Geometric and Inertial Self-Calibration," by Christoph Böhm, Guanrui Li, Giuseppe Loianno, and Stephan Weiss. The poster was presented at the Power On and Go Robots Workshop 2020 virtually.

(POGO RSS2020) Presentation of our latest work on "Observability-Aware Trajectories for Geometric and Inertial Self-Calibration," by Christoph Böhm, Guanrui Li, Giuseppe Loianno, and Stephan Weiss. The presentation was held at the Power On and Go Robots Workshop 2020 virtually.

This paper presents a magnetic field based 4-degrees of freedom (DOF) localization approach for unmanned aerial vehicles (UAVs). The sensor system is comprised of two elements, a 3-axis magnetic field source attached to the mobile object, i.e. on the UAV, and a 3-axis magnetic field sensor being on a fixed position, e.g. ground. The transmitters ar...