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Publications (13)
This paper presents a novel motion and trajectory planning algorithm for nonholonomic mobile robots that uses recent advances in deep reinforcement learning. Starting from a random initial state, i.e., position, velocity and orientation, the robot reaches an arbitrary target state while taking both kinematic and dynamic constraints into account. Ou...
Radio-based locating systems allow for a robust and continuous tracking in industrial environments and are a key enabler for the digitalization of processes in many areas such as production, manufacturing, and warehouse management. Time difference of arrival (TDoA) systems estimate the time-of-flight (ToF) of radio burst signals with a set of synch...
Object localization and tracking is essential for many applications including logistics and industry. Many local Time-of-Flight (ToF)-based locating systems use synchronized antennas to receive radio signals emitted by mobile tags. They detect the Time-of-Arrival (TOA) of the signal at each antenna and trilaterate the position from the Time Differe...
Apparatus for determining an estimated value for a location of a receiving element within a reference system which may receive signals of a signal source movable to different measuring positions, it being possible to measure—on the basis of the signals received—localization data which indicate a relative location of the receiving element with respe...
The DEBS 2014 Grand Challenge targets the monitoring and prediction of energy loads of smart plugs installed in private households. This paper presents details of our middleware solution and efficient median calculation, shows how we address data quality issues, and provides insights into our enhanced prediction based on hidden Markov models.
The e...
We present a novel approach for selecting measurement points online to determine the pose (position and orientation) of an Real-Time Location System's (RTLS) receiving element. In combination with the RANdom Sample And Consensus (RANSAC) algorithm, we generate a selection of measurement points excluding bad measurements to get the right estimation...
We introduce a new method to estimate the position and direction of receiving elements of a real time locating system (RTLS). In an angle of arrival (AoA) system, we are able to reconstruct the antenna configuration using measurements at only three reference points. No further prior knowledge is required, and the computations are very lightweight....
We introduce a new method for estimating the position and direction of receiving elements of a Real-Time Location System (RTLS). We deployed an autonomous robot and an Evolutionary Algorithm (EA) for this problem. The adopted operations and fitness calculation of the EA are presented for an Angle of Arrival (AoA) system and the results of simulatio...
In sports, especially soccer and other ball-sports, the interaction between trajectories of players take a major role in purposes of game analysis. Existing approaches follow the way of mining spatio-temporal, sequential patterns or spatial patterns, but do not incorporate interactions between multiple, interactive trajectories. This paper proposes...
The traditional representation of object trajectories as spatio-temporal data is not suitable for all applications. We present a trajectory representation called Trajectory Behavior Language (TBL) for three dimensional data that better fits tra-jectory comparison or analyzing the behavior of moving objects. Our representation is based on a Chomsky-...