Mitarbeiter

Deutsches Zentrum für Luft- und Raumfahrt (DLR)
Institut für Robotik und Mechatronik

Short Biography:

Marcus G. Müller is a researcher in the department of Preception and Cognition (PEK) at the German Aerospace Center as well as Ph.D. student in the Autonomous Systems Lab (ASL) at the Swiss Federal Institute of Technology Zürich (ETH Zürich). At DLR, he is the leader of the MAV Exploration Team at the Institue of Robotics and Mechatronics (RM), which conducts research on autonomous navigation and exploration for Micro Aerial Vehicles (MAV) in unkown challenging environments. The team is also responsible for the development of the ARDEA system (https://www.dlr.de/rm/en/desktopdefault.aspx/tabid-11715/#gallery/29283). Marcus is working on autonomous navigation algorithms for MAVs, like state estimation and terrain classification and segmentation. Before joining DLR he conducted research at the Jet Propulsion Laboratory (JPL) of NASA in Pasadena, USA, where he worked on visual inertial navigation for MAVs and on radar signal processing. Marcus received his Master's and Bchelor's degree in Electircal Engineering from the University of Siegen, Germany.

Education:

• Master of Sciecne: University of Siegen, Siegen, Nordrhein-Westfalen, Germany
• Visiting Student: University of Tulsa, Tulsa, Oklahoma, USA
• Bachelor of Science: University of Siegen, Siegen, Nordrhein-Westfalen, Germany
• High-School: Werner-von-Siemens Schule Wetzlar, Hessen, Germany

Research Interests:

• Autonomous Exploration for mobile robots
• Terrain Classification and Segmentation
• Semantic Segmentation
• Visual Inertial Odometries

Projects involved in:

Current Projects:

• ARCHES https://www.arches-projekt.de/en/project-arches/
• AHEAD https://www.dlr.de/rm/en/desktopdefault.aspx/tabid-17176/#gallery/35957
• MMX https://www.mmx.jaxa.jp/en/
• CARNIVAL

Past Projects:

• AUTOPILOT https://autopilot-project.eu/
• ROBEX https://www.robex-allianz.de/en/

Seleted Publications:

A. Wedler, M. Schuster, M. G. Müller, B. Vodermayer, L. Meyer, R. Giubilato, M. Vayugundla, M. Smisek, A. Dömel, F. Steidle, P. Lehner, S. Schröder, E. Staudinger, B. Foing, J. Reill, "German Aerospace Center's advanced robotic technology for future lunar scientific missions", Philosophical Transactions of the Royal Society, 2021

L. Meyer, M.Smíšek, A. Villacampa, L. Maza, D.Medina, M. Schuster, F. Steidle, M. Vayugundla, M. G. Müller, B. Rebele, A. Wedler, R. Triebel, "The MADMAX data set for visual‐inertial rover navigation on mars", Journal of Field Robotics, 2021

M. G. Müller, S. Stoneman, I. Von Bargen, F. Steidle, W. Stürzl, “Efficient terrain following for a Micro Aerial Vehicle with ultra-wide stereo cameras,” IEEE Aerospace Conference, 2020

Martin J. Schuster, M. G. Müller et al. “The ARCHES Space-Analogue Demonstration Mission: Towards Heterogeneous Teams of Autonomous Robots for Collaborative Scientific Sampling in Planetary Exploration, in IEEE Robotics and Automation Letters, 2020

P. Lutz*, M. G. Müller*, M. Maier, S. Stoneman, T. Tomić, I. von Bargen, M. J. Schuster, F. Steidle, A. Wedler, W. Stürzl, and R. Triebel, “ARDEA - An MAV with skills for future planetary missions,” Journal of Field Robotics, 2020, (*the first two authors assert equal contribution)

A. Wedler, J. Reill, M. J. Schuster, M. Vayugundla, S. G. Brunner, K. Bussmann, A. Dömel, H. Gmeiner, H. Lehner, P. Lehner, M. G. Müller, B. Vodermayer, A. Börner, R. Krenn, N. Lii, G. Grunwald, A.  Albu-Schäffer, “Insides of the robotic exploration activities in the research section of the German aerospace agency,” Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 2019

L. Touko Tcheumadjeu, E. Mathews, A. Teerhuis, Q. Tang, J. Garcia Castano, M. G. Müller, T. Lobig, P. Lutz, J. Lee, R. Kaul, “Automated Valet Parking enabled by Internet of Things: A pilot site realization and validation at Brainport, the Netherlands,” ITS European Congress, 2019

M. G. Müller, F. Steidle, M. Schuster, P. Lutz, M. Maier, S. Stoneman, T. Tomic, and W. Stürzl, “Robust visual-inertial state estimation with multiple odometries and efficient mapping on an MAV with ultra wide FOV stereo vision,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018 (IROS Best Paper Award)

A. Wedler, M. Wilde, J. Reill, M. J. Schuster, M. Vayugundla, S. G. Brunner, K. Bussmann, A. Dömel, M. Drauschke, H. Gmeiner, H. Lehner, P. Lehner, M. G. Müller, W. Stürzl, R. Triebel, B. Vodermayer, A. Börner, R. Krenn, A. Dammann, U.-C. Fiebig, E. Staudinger, F. Wenzköfer, S. Flögel, S. Sommer, T. Asfour, M. Flad, S. Hohmann, M. Brandauer and A. O. Albu-Schäffer, “From single autonomous robots toward cooperative robotic interactions for future planetary exploration missions,” International Astronautical Congress (IAC), 2018

L. Touko Tcheumadjeu, F. Andert, Q. Tang, A. Sohr, R. Kaul, J. Belz, P. Lutz, M. Maier, M. G. Müller, W. Stürzl, “Integration of an Automated Valet Parking Service into an Internet of Things Platform,” IEEE International Conference on Intelligent Transportation Systems (ITSC), 2018

M. J. Schuster, M. G. Müller, S. G. Brunner, H. Lehner, P. Lehner,A. Dömel, M. Vayugundla, F. Steidle, P. Lutz, R. Sakagami, L. Meyer, R. Belder, M. Smisek, W. Stürzl, R. Triebel, A. Wedler, “Towards Heterogeneous Robotic Teams for Collaborative Scientific Sampling in Lunar and Planetary Environments,” Workshop on IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019

M. G. Müller, M. J. Schuster, I. von Bargen, W. Stürzl, P. Lutz, M. Maier, S. Stoneman, T. Tomic, F. Steidle, A. Wedler, R. Triebel, “Challenges of Vision-Based Navigation for Flying Robots on Extraterrestrial Bodies,” Workshopon IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019

M. G. Müller, P. Lutz, W. Stuerzl, R. Triebel, “Ultra-Wide FoV for flying inspection and maintenance platforms,” Workshop on IEEE International Conference on Intelligent Robotics and Automation (ICRA), 2018