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TU Berlin

Inhalt des Dokuments

Jessica Abele


Room: MAR 5.065
Telephone: +49.30.314-73118
Office hours: upon request

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  • 05.2015 - present
    PhD Student, Robotics and Biology Lab, TU Berlin (Oliver Brock)

  • 09.2012 - 07.2014
    MSc Computer Vision and Robotics (VIBOT), Université de Bourgogne (France), Universitat de Girona (Spain), Heriot-Watt University (Scotland)

    • 02.2014 - 07.2014
      Master Thesis, FADA-CATEC - Center for Advanced Aerospace Technologies, Sevilla (Spain)
      Topic: Augmented Reality in Aircraft Manufacturing Applications

  • 08.2008-09.2012
    BSc Bioinformatics, Eberhard Karls Universität Tübingen

    • 05.2012 - 09.2012
      Bachelor Thesis, IDI - Image Diagnost International (GE Healthcare), Munich
      Topic: Storage of a Hierarchical Structure (DICOM) in Document-Oriented Databases
    • 10.2011 - 04.2012
      Tutor at Eberhard Karls Universität
      Lecture: Design of Digital Media

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First Analysis of Environment Design for Motion Planning with Contact
Citation key Abele-rss17-ws
Author Jessica Abele and Oliver Brock
Title of Book RSS 17 workshop "Revisiting Contact - Turning a Problem into a Solution"
Year 2017
Location Massachusetts, Boston, USA
Month July
Note http://www.robotics.tu-berlin.de/fileadmin/fg170/Publikationen_pdf/Abele-rss17-ws.pdf
Abstract As the structure of the environment plays an important role for a motion planners success we introduce the environment design problem into the motion planning process. This problem requires the environment designer to plan for adding features to the environment to e.g. reduce uncertainty, shorten paths etc. without blocking the path to the goal. A contact based motion planner from our previous work serves as baseline algorithm. We demonstrate the advantages of environmental design in simulation through manual landmark insertion in identified map areas. As result of our proposed strategy to modify the environment, paths are found faster and with higher goal state and overall certainty as well as we achieve a better free-space map exploration rate.
Link to publication Download Bibtex entry

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Elizabeth Ball
Tel. +49 30 314-73 110
Fax +49 30 314-21 116
Room MAR 5.032


TU Berlin
Fakultät IV, MAR 5-1
Marchstraße 23
10587 Berlin

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