Universität Bonn: Autonomous Intelligent Systems Group   Computer Science Institute VI: Autonomous Intelligent Systems

Marius Beul

Marius Beul

Master of Science (Electrical Engineering)
Member of research staff in the Autonomous Intelligent Systems Group


   Marius Beul
   Rheinische Friedrich-Wilhelms-Universität Bonn
   Institut für Informatik VI
   Endenicher Allee 19a
   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:

opt_control - Time-optimal Trajectory Generation and Control

opt_control generates time-optimal second- and third order trajectories from arbitrary start- to arbitrary target states. The trajectories respect per-axis constraints on minimum and maximum velocity, acceleration and jerk. Individual axes can be coupled by synchronizing the total time of each trajectory. Since the method is very fast (<<1ms per axis per trajectory), it can be used in closed loop even for fast systems. With the ability to predict the target state, trajectories end in an optimal interception point when the waypoint is non-stationary. The method has been successfully used as model predictive controller on different micro aerial vehicles, in different research projects and robotic competitions.








Universität Bonn, Institute for Computer Science, Departments: I, II, III, IV, V, VI