Marius Beul
Master of Science (Electrical Engineering)
Member of research staff in the Autonomous Intelligent Systems Group
Address:
Marius Beul
Rheinische Friedrich-Wilhelms-Universität Bonn
Institut für Informatik VI
Friedrich-Hirzebruch-Allee 8
53115 Bonn
Tel:
+49 (0) 228 73-4434
Fax:
+49 (0) 228 73-4425
Email:
mbeul_at_ais.uni-bonn.de
Office:
0.050
Software Releases:
TopiCo efficiently (<<1ms per axis per trajectory) generates smooth, dynamically feasible, time-optimal, third-order trajectories from arbitrary start- to arbitrary target-states. Trajectories comply with asymmetric state- and input constraints and successfully handle initial states that lie outside of the allowed state space. Trajectories for an arbitrary number of axes are generated simultaneously, and three different approaches can temporally synchronize them. TopiCo can also target partially defined target states, exploiting the undefined degrees of freedom to speed up the trajectory. Synchronized trajectories targeting incompletely defined target states either maximize or minimize the free degrees of freedom. TopiCo can estimate and actively compensate global acceleration biases, thus enhancing the disturbance rejection capabilities. Besides third-order trajectories, TopiCo can also generate second- and first-order trajectories. TopiCo also generates interception trajectories targeting dynamic waypoints.
TopiCo has been successfully used as model predictive controller on different micro aerial vehicles, in different research projects and robotic competitions.
Publications:
2020
- Marius Beul and Sven Behnke:
Trajectory Generation with Fast Lidar-based 3D Collision Avoidance for Agile MAVs
In Proceedings of IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Abu Dhabi, UAE, November 2020.
[Video] [Presentation]
- Marius Beul, Simon Bultmann, Andre Rochow, Radu Alexandru Rosu, Daniel Schleich, Malte Splietker, and Sven Behnke:
Visually Guided Balloon Popping with an Autonomous MAV at MBZIRC 2020
In Proceedings of IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Abu Dhabi, UAE, November 2020.
Best Paper Award
[Video] [Presentation]
2019
- Marius Beul and Sven Behnke:
Fast Time-optimal Avoidance of Moving Obstacles for High-Speed MAV Flight
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, November 2019.
[Video]
- Jan Quenzel, Matthias Nieuwenhuisen, David Droeschel, Marius Beul, Sebastian Houben, and Sven Behnke:
Autonomous MAV-based Indoor Chimney Inspection with 3D Laser Localization and Textured Surface Reconstruction
Journal of Intelligent & Robotic Systems (JINT) 93(1): 317-335, Springer, February 2019.
[Video]
- Marius Beul, Matthias Nieuwenhuisen, Jan Quenzel, Radu Alexandru Rosu, Jannis Horn, Dmytro Pavlichenko, Sebastian Houben, and Sven Behnke:
Team NimbRo at MBZIRC 2017: Fast Landing on a Moving Target and Treasure Hunting with a Team of MAVs
Journal of Field Robotics (JFR) 36(1):204-229, Wiley, January 2019.
[Video]
2018
- Marius Beul, David Droeschel, Matthias Nieuwenhuisen, Jan Quenzel, Sebastian Houben, and Sven Behnke:
Fast Autonomous Flight in Warehouses for Inventory Applications
IEEE Robotics and Automation Letters (RA-L) 3(4):3121-3128, 2018.
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 2018.
[Video]
- Max Schwarz, Marius Beul, David Droeschel, Tobias Klamt, Christian Lenz, Dmytro Pavlichenko, Tobias Rodehutskors, Michael Schreiber, Nikita Araslanov, Ivan Ivanov, Jan Razlaw, Sebastian Schüller, David Schwarz, Angeliki Topalidou-Kyniazopoulou, and Sven Behnke:
DRC Team NimbRo Rescue: Perception and Control for Centaur-like Mobile Manipulation Robot Momaro
In: The Darpa Robotics Challenge Finals: Humanoid Robots To The Rescue, Springer Tracts in Advanced Robotics (STAR), vol. 121, pp. 145-190, April 2018.
2017
- Marius Beul, Sebastian Houben, Matthias Nieuwenhuisen, and Sven Behnke:
Fast Autonomous Landing on a Moving Target at MBZIRC
In Proceedings of European Conference on Mobile Robotics (ECMR), Paris, France, September 2017.
[Video]
- Matthias Nieuwenhuisen, Marius Beul, Radu Alexandru Rosu, Jan Quenzel, Dmytro Pavlichenko, Sebastian Houben, and Sven Behnke:
Collaborative Object Picking and Delivery with a Team of Micro Aerial Vehicles at MBZIRC
In Proceedings of European Conference on Mobile Robotics (ECMR), Paris, France, September 2017.
[Video]
- Marius Beul and Sven Behnke:
Fast Full State Trajectory Generation for Multirotors
In Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS), Miami, FL, USA, June 2017.
[Video]
- Matthias Nieuwenhuisen, Jan Quenzel, Marius Beul, David Droeschel, Sebastian Houben, and Sven Behnke:
ChimneySpector—Autonomous MAV-based Indoor Chimney Inspection Employing 3D Laser Localization and Textured Surface Reconstruction
In Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS), Miami, FL, USA, June 2017.
[Video]
- Marius Beul, Nicola Krombach, Matthias Nieuwenhuisen, David Droeschel, and Sven Behnke:
Autonomous Navigation in a Warehouse with a Cognitive Micro Aerial Vehicle
In Robot Operating System (ROS), The Complete Reference (Volume 2), pp. 487-524, Springer 2017.
[Resources]
2016
- Max Schwarz, Tobias Rodehutskors, David Droeschel, Marius Beul, Michael Schreiber, Nikita Araslanov, Ivan Ivanov, Christian Lenz, Jan Razlaw, Sebastian Schüller, David Schwarz, Angeliki Topalidou-Kyniazopoulou, and Sven Behnke:
NimbRo Rescue: Solving Disaster-Response Tasks through Mobile Manipulation Robot Momaro
Journal of Field Robotics (JFR) 34(2):400-425, Wiley, 2017.
- Max Schwarz, Marius Beul, David Droeschel, Sebastian Schüller, Arul Selvam Periyasamy, Christian Lenz, Michael Schreiber, and Sven Behnke:
Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain with a Centaur-like Robot
Frontiers in Robotics and AI, section Humanoid Robotics, vol. 3, article 57, October 2016.
- Marius Beul and Sven Behnke:
Analytical Time-optimal Trajectory Generation and Control for Multirotors
In Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS), Arlington, VA, USA, June 2016.
[Video]
- David Droeschel, Matthias Nieuwenhuisen, Marius Beul, Dirk Holz, Jörg Stückler, and Sven Behnke:
Multi-Layered Mapping and Navigation for Autonomous Micro Aerial Vehicles
Journal of Field Robotics (JFR), 33(4):451-475, Wiley, 2016.
2015
- Matthias Nieuwenhuisen, David Droeschel, Marius Beul, and Sven Behnke:
Autonomous Navigation for Micro Aerial Vehicles in Complex GNSS-denied Environments
Journal of Intelligent and Robotic Systems, 84(1-4):199-216, Springer, 2016.
- Matthias Nieuwenhuisen, David Droeschel, Marius Beul, and Sven Behnke:
Autonomous MAV Navigation in Complex GNSS-denied 3D Environments
In Proceedings of IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Purdue University, West Lafayette, USA, October 2015.
- Marius Beul, Nicola Krombach, Yongfeng Zhong, David Droeschel, Matthias Nieuwenhuisen, and Sven Behnke:
A High-performance MAV for Autonomous Navigation in Complex 3D Environments
In Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS), Denver, USA, June 2015.
2014
- Marius Beul, Rainer Worst, and Sven Behnke:
Nonlinear Model-based Position Control for Quadrotor UAVs
In Proceedings of Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK), Munich, June 2014.
- Matthias Nieuwenhuisen, Marius Beul, David Droeschel, and Sven Behnke:
Obstacle Detection and Navigation Planning for Autonomous Micro Aerial Vehicles
In Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS), Orlando, USA, May 2014.
