Staff
Dipl.-Ing. Daniel Althoff
Contact Information
E-mail: 
Phone: +49-89-289-23441
Room: N3507
Office hours: On appointment

 

Research Interests

Robot navigation in crowded environments:

  • Low-level obstacle avoidance
  • High-level trajectory planner

Human Motion Prediction:

  • Model-based trajectory prediction
  • Long-term goal prediction

Guaranteeing safety in robot navigation:

  • Inevitable Collision States (ICS)
  • Probabilistic Collision States (PCS)
  • Partial Motion Planning (PMP)
Working Fields

CoTeSys

Multi-Robot Laboratory (MuRoLa)

 

Open Bachelor- or Master-Thesis:

Interactive Motion Prediction using Stochastic Games

(Required: Self Motivation)

Integrating Human Motion Flow in Robot Navigation

(Required: Experience in Matlab and C++)

Passage Detection in Outdoor/Indoor Environments for Robot Navigation

(Required: Experience in Matlab and C++)

Human Motion Prediction for Navigation of a Mobile Robot

(Required: Experience in Matlab and C++)

 

Publications
Journal Articles
1. D. Althoff, J. J. Kuffner, D. Wollherr, M. Buss , Safety Assessment of Robot Trajectories for Navigation in Uncertain and Dynamic Environments (accepted) , Autonomous Robots (Special Issue on Motion Safety for Robots) , (2011) .
Contributions to Collections
2. D. Althoff, O. Kourakos, M. Lawitzky, A. Mörtl, M. Rambow, F. Rohrmüller, D. Brščić, D. Wollherr, S. Hirche, M. Buss , An Architecture for Real-time Control in Multi-robot Systems , Human Centered Robot Systems, (H. Ritter, G. Sagerer, R. Dillmann, M. Buss, ed.) , Cognitive Systems Monographs , Springer , 2009 , p. 43-52 .
Peer Reviewed Conference Papers
3. D. Althoff, M. Werling, N. Kaempchen, D. Wollherr and M. Buss , Lane-based Safety Assessment of Road Scenes using Inevitable Collision States , Proc. of the IEEE Intelligent Vehicles Symposium , 2012 , submitted .
4. D. Althoff, C. N. Brand, D. Wollherr, M. Buss , Computing Unions of Inevitable Collision States and Increasing Safety to Unexpected Obstacles , IEEE/RSJ International Conference on Intelligent Robots and Systems , 2011 .
5. D. Althoff, D. Wollherr, M. Buss , Safety Assessment of Trajectories for Navigation in Uncertain and Dynamic Environments , IEEE International Conference on Robotics and Automation , 2011 .
6. A. Lawitzky, D. Althoff, D. Wollherr, M. Buss , Dynamic Window Approach for Omnidirectional Robots with Polygonal Shape , IEEE International Conference on Robotics and Automation , 2011 , (video submission) .
7. D. Althoff, M. Althoff, D. Wollherr, M. Buss , Probabilistic Collision State Checker for Crowded Environments , IEEE International Conference on Robotics and Automation , 2010 .
8. M. Althoff, D. Althoff, D. Wollherr, M. Buss , Safety Verification of Autonomous Vehicles for Coordinated Evasive Maneuvers , Proc. of the IEEE Intelligent Vehicles Symposium , 2010 .
9. K. Klasing, D. Althoff, D. Wollherr, M. Buss , Comparison of Surface Normal Estimation Methods for Range Sensing Applications , Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA) , Kobe, Japan , 2009 .
Technical Reports
10. D. Brščić, M. Eggers, F. Rohrmüller, O. Kourakos, S. Sosnowski, D. Althoff, M. Lawitzky, A. Mörtl, M. Rambow, V. Koropouli, J.R. Medina Hernández, X. Zang, W. Wang, D. Wollherr, K. Kühnlenz, C. Mayer, T. Kruse, A. Kirsch, J. Blume, A. Bannat, T. Rehrl, F. Wallhoff, T. Lorenz, P. Basili, C. Lenz, T. Röder, G. Panin, W. Maier, S. Hirche, M. Buss, M. Beetz, B. Radig, A. Schubö, S. Glasauer, A. Knoll, E. Steinbach , Multi Joint Action in CoTeSys - setup and challenges , Technische Universität München & Ludwig-Maximilians-Universität München , Munich, Germany , 2010 .

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