Marius Beul
Master of Science (Electrical Engineering)
Member of research staff in the Autonomous
Intelligent Systems Group
Email:
mbeul_at_ais.uni-bonn.de
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:
2022
- Marius Beul, Max Schwarz, Jan Quenzel, Malte Splietker, Simon Bultmann, Daniel Schleich, Andre Rochow, Dmytro Pavlichenko, Radu Alexandru Rosu, Patrick Lowin, Bruno Scheider, Michael Schreiber, Finn Süberkrüb, and Sven Behnke:
Target Chase, Wall Building, and Fire Fighting: Autonomous UAVs of Team NimbRo at MBZIRC 2020
Accepted for Field Robotics, to appear 2022.
2021
- Ivana Kruijff-Korbayova, Robert Grafe, Nils Heidemann, Alexander Berrang, Cai Hussung, Christian Willms, Peter Fettke, Marius Beul, Jan Quenzel, Daniel Schleich, Sven Behnke, Janis Tiemann, Johannes
Güldenring, Manuel Patchou, Christian Arendt, Christian Wietfeld, Kevin Daun, Marius Schnaubelt, Oskar von Stryk, Alexander Lel, Alexander Miller, Christof Roehrig, Thomas Straßmann, Thomas Barz, Stefan Soltau, Felix Kremer, Stefan Rilling, Rohan Haseloff, Stefan Grobelny, Artur Leinweber, Gerhard Senkowski, Marc Thurow, Dominik Slomma, and Hartmut Surmann:
German Rescue Robotics Center (DRZ): A Holistic Approach for Robotic Systems Assisting in Emergency Response
In Proceedings of IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), New York, USA, October 2021.
- Daniel Schleich, Marius Beul, Jan Quenzel, and Sven Behnke:
Autonomous Flight in Unknown GNSS-denied Environments for Disaster Examination
In Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS), Athens, Greece, June 2021.
[Video]
- Jan Quenzel, Malte Splietker, Dmytro Pavlichenko, Daniel Schleich, Christian Lenz, Max Schwarz, Michael Schreiber, Marius Beul, and Sven Behnke:
Autonomous Fire Fighting with a UAV-UGV team at MBZIRC 2020
In Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS), Athens, Greece, June 2021.
[Video]
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.
Universität Bonn,
Institute for Computer
Science, Departments:
I,
II,
III,
IV,
V,
VI
