Christopher Doer, M.Sc.
- Research Associate
- Office Hours:
nach Vereinbarung
- Room: 208
CS 30.33 - Phone: +49 721 608-42639
- christopher doer ∂does-not-exist.kit edu
- www.irs.kit.edu/People_2666.php
Fritz-Haber-Weg 1
Geb. 30.33
76131 Karlsruhe
Research topic
Exploration in urban area
Especially near buildings, the navigation solution of a GNSS-based navigation system may be significantly degraded due to satellite shadowing and multipath propagation. Therefore, methods to improve the accuracy of the navigation solution by fusion of different sensors are developed. Furthermore, the increase of the availability and reliability of the navigation solution by means of navigation filters and integrity checks adapted to different situations is in the focus of research interest. This enables the autonomous flight of MAVs in difficult situations without the need for human intervention.
Autonomous exploration of indoor environments
Reconnaissance of buildings by unmanned aerial vehicles can provide rescue workers with important information outside their own field of vision, thus avoiding unnecessary, incalculable risks for first responders. In order to successfully carry out such reconnaissance missions, the MAV must be able to independently explore all accessible interior spaces in unknown environments, react flexibly to obstacles and then return safely to the ground station. This presents the micro-helicopters, which are limited in computational capacity and payload, with a variety of dynamic challenges to which classical systems are often unable to respond in real time. Therefore, a multi-sensorial system for autonomous exploration is being developed, including in particular reactive strategies for safe and efficient indoor operations - i.e. without GPS reception. Onboard processing of heterogeneous sensor data is intended not only to enable comprehensive exploration, but also to enable the aircraft to navigate in a robust and situationally aware manner. Mission-specific acquired data can then be directly transferred into e.g. building plans for rescue forces.
Mapping of interior spaces
With the help of various sensors, in particular the laser range finder, the geometry of the environment can be mapped with simultaneous self-localization. Such metric maps are suitable for navigation of the aircraft, but less so for interpretation of the underlying scene. Therefore, the metric map is augmented with mission-specific qualitative features. The resulting map enables on the one hand the aircraft to recognize the situation and on the other hand the rescue forces to better plan the mission.
Publications
Doer, C.; Atman, J.; Trommer, G. F.
2022. 2022 IEEE Aerospace Conference
Doer, C.; Trommer, G. F.
2021. Gyroscopy and Navigation, 12 (4), 329–339. doi:10.1134/S2075108721040039
Doer, C.; Trommer, G. F.
2021. 2021 IEEE/RSJ International Conference on Intelligent Rotots and Sytems (IROS)
Doer, C.; Trommer, G. F.
2021. 28th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS), 31st May 2021 - 2nd June 2021, Saint Petersburg, Russia, 1–9, Institute of Electrical and Electronics Engineers (IEEE). doi:10.23919/ICINS43216.2021.9470842
Rauch, J.; Doer, C.; Trommer, G. F.
2021. 28th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS), 31st May 2021 - 2nd June 2021, Saint Petersburg, Russia, Art.Nr. 9470842, Institute of Electrical and Electronics Engineers (IEEE). doi:10.23919/ICINS43216.2021.9470420
Belgardt, S.; Doer, C.; Hohmann, S.; Karg, P.; Rothfuß, S.; Siebenrock, F.; Stork, W.; Terzidis, O.; Tittel, A.; Zwick, T.
2021. Handbuch Qualität in Studium, Lehre und Forschung, 76, 67–84
Doer, C.; Trommer, G. F.
2020. Proceedings of the European Navigation Conference (ENC 2020), The 28th edition of the European Navigation Conference (ENC 2020), held Nov. 22-25 at the Maritim Hotel & Internationales Congress Center in Dresden, Germany, Institute of Electrical and Electronics Engineers (IEEE). doi:10.23919/ENC48637.2020.9317343
Doer, C.; Henzler, M.; Messner, H.; Trommer, G. F.
2020. Proceedings of the 31st IEEE Intelligent Vehicles Symposium (IV 2020), October 19 - November 13, 2020, (Virtual) Las Vegas, NV, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IV47402.2020.9304781
Doer, C.; Koenig, R.; Trommer, G. F.; Stumpf, E.
2020. Deutscher Luft- und Raumfahrtkongress (DLRK 2020), Deutsche Gesellschaft für Luft- und Raumfahrt - Lilienthal-Oberth e.V. doi:10.25967/530121
Doer, C.; Trommer, G. F.
2020. Proceedings of the 2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), 152–159, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/MFI49285.2020.9235254
Doer, C.; Koenig, R.; Trommer, G. F.; Stumpf, E.
2020. Proceedings of the 2020 International Conference on Unmanned Aircraft Systems (ICUAS 2020), 922–931, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICUAS48674.2020.9213925
Doer, C.; Scholz, G.; Ruppelt, J.; Trommer, G. F.
2018. 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS), St. Petersburg, Russia, May 28-30, 2018, 1–10, Institute of Electrical and Electronics Engineers (IEEE). doi:10.23919/ICINS.2018.8405839
Doer, C.
2017, November 8
Doer, C.; Scholz, G.; Trommer, G. F.
2017. Gyroscopy and navigation, 8 (3), 181–189. doi:10.1134/S2075108717030038
Doer, C.; Scholz, G.; Trommer, G. F.
2016. Proceedings of the 23rd Saint Petersburg International Conference on Integrated Navigation Systems, ICINS 2016, May 30 – June 01, 2016, Saint Petersburg, Russia. Ed.: V. G. Pesechonov, 463–466, State Research Center of the Russian Federation
Doer, F.
2014. Karlsruher Institut für Technologie (KIT)