RESEARCH GROUP
CONTROL OF NETWORKED SYSTEMS

Publications

Current publications

Thomas Jantos, Stephan Weiss and Jan Steinbrener: “Aleatoric Uncertainty from AI-based 6D Object Pose Predictors for Object-relative State Estimation.” IEEE Robotics and Automation Letters (RA-L), 2025.

Christian Brommer, Alessandro Fornasier, Jan Steinbrener, Stephan Weiss: Sensor Model Identification via Simultaneous Model Selection and State Variable Determination. IEEE Transactions on Robotics (T-RO), 2025.

Jan Michalczyk, Stephan Weiss and Jan Steinbrener, “Learning Point Correspondences In Radar 3D Point Clouds For Radar-Inertial Odometry”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025, Hangzhou.

Giulio Delama,Igor Borowski,Roland Jung and Stephan Weiss, “Real-Time Initialization of Unknown Anchors for UWB-aided Navigation”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025

Giulio Delama, Alessandro Fornasier, Robert Mahony and Stephan Weiss,“Equivariant IMU Preintegration with Biases: a Galilean Group Approach”, IEEE Robotics and Automation Letters (RA-L) 2024

Jan Michalczyk, Julius Quell, Florian Steidle, Marcus G. Müller and Stephan Weiss,” Tightly-Coupled Factor Graph Formulation For Radar-Inertial Odometry”, 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi.

Roland Jung, Luca Santoro, Davide Brunelli, Daniele Fontanelli, Stephan Weiss, “Modular Meshed Ultra-Wideband Aided Inertial Navigation with Robust Anchor Calibration”,
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

Thomas Jantos, Martin Scheiber, Christian Brommer, Eren Allak, Stephan Weiss and Jan Steinbrener: AIVIO: Closed-loop, Object-relative Navigation of UAVs with AI-aided Visual Inertial Odometry. IEEE Robotics and Automation Letters (RA-L), 2024.

Alessandro Fornasier, Yixiao Ge, Pieter van Goor, Martin Scheiber, Andrew Tridgell, Robert Mahony and Stephan Weiss: An Equivariant Approach to Robust State Estimation for the ArduPilot Autopilot System. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE, Yokohama, 2024.

Alessandro Fornasier, Pieter van Goor, Eren Allak, Robert Mahony, Stephan Weiss: MSCEqF: A Multi State Constraint Equivariant Filter for Vision-aided Inertial Navigation. IEEE Robotics and Automation Letters (RA-L), 2023.

Jan Michalczyk, Martin Scheiber, Roland Jung, and Stephan Weiss: “Radar-Inertial Odometry for Closed-Loop Control of Resource-Constrained Aerial Platforms”. 2023 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), IEEE, Fukushima, Japan, 2023.

Roland Jung, “Recursive distributed collaborative aided inertial navigation”, Ph.D. dissertation, Faculty of Technical Sciences with the
Control of Networked Systems group, University of Klagenfurt, Aug. 2023.

Martin Scheiber, Alessandro Fornasier, Christian Brommer, and Stephan Weiss: Revisiting multi-GNSS Navigation for UAVs – An Equivariant Filtering Approach. 2023 21st International Conference on Advanced Robotics (ICAR), IEEE, Abu Dhabi, 2023.

Giulio Delama, Farhad Shamsfakhr, Stephan Weiss, Daniele Fontanelli and Alessandro Fornasier: UVIO: An UWB-Aided Visual-Inertial Odometry Framework with Bias-Compensated Anchors Initialization. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Detroit, 2023

Christoph Böhm and Stephan Weiss: FUSE-D: Framework for UAV System-Parameter Estimation with Disturbance Detection. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Detroit (MI), 2023

Martin Scheiber, Jeff Delaune, Roland Brockers, Stephan Michael Weiss: Visual-Inertial On-Board Throw-and-Go Initialization for Micro Air Vehicles. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Piscataway (NJ), 2019.

Jan Michalczyk, Roland Jung, Christian Brommer and Stephan Weiss: Multi-State Tightly-Coupled EKF-Based Radar-Inertial Odometry With Persistent Landmarks Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE, London, 2023

Thomas Jantos, Christian Brommer, Eren Allak, Stephan Weiss and Jan Steinbrener: AI-Based Multi-Object Relative State Estimation with Self-Calibration Capabilities. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE, London, 2023

Brommer, Christian and Fornasier, Alessandro and Scheiber, Martin and Delaune, Jeff and Brockers, Roland and Steinbrener, Jan and Weiss, Stephan, “INSANE: Cross-Domain UAV Data Sets with Increased Number of Sensors for developing Advanced and Novel Estimators.” arXiv, Oct. 17, 2022. doi: 10.48550/arXiv.2210.09114.

Alessandro Fornasier, Yonhon Ng, Christian Brommer, Christoph Böhm, Robert Mahony and Stephan Weiss
Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation with Online Calibration
Accepted for Publication at Robotics and Automation Letters, 2022

Thomas Jantos, Mohamed Amin Hamdad, Wolfgang Granig, Stephan Weiss and Jan Steinbrener: PoET: Pose Estimation Transformer for Single-View, Multi-Object 6D Pose Estimation. 6th Annual Conference on Robot Learning (CoRL 2022), Auckland, 2022, Supplementary Material Included

Eren Allak, Axel Barrau, Roland Jung, Jan Steinbrener and Stephan Weiss: Centralized-Equivalent Pairwise Estimation with Asynchronous Communication Constraints for two Robots. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Kyoto, 2022

Eren Allak, Rooholla Khorrambakht, Christian Brommer and Stephan Weiss: Kinematics-Inertial Fusion for Localization of a 4-Cable Underactuated Suspended Robot Considering Cable Sag. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Kyoto, 2022

Martin Scheiber, Alexandre Cardaillac, Christian Brommer, Stephan Weiss, and Martin Ludvigsen: Modular Multi-Sensor Fusion for Underwater Localization for Autonomous ROV Operations. OCEANS22, Hampton Roads, 2022.

Jan Michalczyk, Christian Schoffmann, Alessandro Fornasier, Jan Steinbrener, Stephan Weiss: Radar-Interial State-Estimation for UAV Motion in Highly Agile Manoeuvres. ICUAS (International Conference on Unmanned Aircraft Systems), (IEEE), Dubrovnik, 2022

Jan Michalczyk, Roland Jung, Stephan Weiss: Tightly-Coupled EKF-Based Radar-Inertial Odometry. IROS (International Conference on Robots and Systems), (IEEE), Kyoto, 2022

Rohit Dhakate, Christian Brommer, Christoph Böhm, Harald Gietler, Stephan Weiss and Jan Steinbrener:
Title: Autonomous Control of Redundant Hydraulic Manipulator Using Reinforcement Learning with Action Feedback. International Conference on Intelligent Robots and Systems (IROS), IEEE, Kyoto, 2022

Roland Jung und Stephan Weiss: Scalable and Modular Ultra-Wideband Aided Inertial Navigation, International Conference on Intelligent Robots and Systems (IROS), IEEE, Kyoto, 2022.

Martin Scheiber, Alessandro Fornasier , Roland Jung, Christoph Böhm, Rohit Dhakate, Christian Stewart, Jan Steinbrener, Stephan Weiss, and Christian Brommer: CNS Flight Stack for Reproducible, Customizable, and Fully Autonomous Applications. IEEE Robotics and Automation Letters (RA-L), 2022.

Jan Steinbrener, Christian Brommer, Thomas Jantos, Alessandro Fornasier and Stephan Weiss: Improved State Propagation through AI-based Pre-processing and Down-sampling of High-Speed Inertial Data. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE, Philadelphia, 2022.

Christoph Böhm, Pascal Brault, Quentin Delamare, Paolo Robuffo Giordano and Stephan Weiss: COP: Control & Observability-aware Planning. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE, Philadelphia, 2022.

Alessandro Fornasier , Yonhon Ng , Robert Mahony and Stephan Weiss: Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE, Philadelphia, 2022.

Javier Gibran Apud Baca, Thomas Jantos, Mario Theuermann, Mohamed Amin Hamdad, Jan Steinbrener, Stephan Weiss, Alexander Almer and Roland Perko: Automated Data Annotation for 6-DoF AI-Based Navigation Algorithm Development. Journal of Imaging 7, no. 11: 236, November 2021

Roland Jung and Stephan Weiss: Modular Multi-Sensor Fusion: A Collaborative State Estimation Perspective.
In IEEE Robotics and Automation Letters (RA-L), July 2021. https://ieeexplore.ieee.org/document/9479759

Christoph Böhm, Martin Scheiber and Stephan Weiss: Filter-Based Online System-Parameter Estimation for Multicopter UAVs. Robotics: Science and Systems (RSS), Robotics: Science and Systems Foundation, 2021.

Roland Jung and Stephan Weiss: Distributed Collaborative State Estimation: Joint Observations for Reliable Autonomous Navigation in Swarms. Proceedings of the Austrian Robotics Workshop (ARW), Vienna, 2021

Samira Hayat, Roland Jung, Hermann Hellwagner, Christian Bettstetter, Driton Emini, and Dominik Schnieders: Edge computing in 5G for drone navigation: What to Offload? IEEE Robotics and Automation Letters (RA-L), 2021. Also accepted for presentation at the IEEE International Conference on Robotics and Automation (ICRA), IEEE, Xi’an, 2021.

Christian Schöffmann, Barnaba Ubezio, Christoph Böhm, Stephan Mühlbacher-Karrer and Hubert Zangl: Virtual Radar: Real-Time Millimeter-Wave Radar Sensor Simulation for Perception-driven Robotics. IEEE Robotics and Automation Letters, doi: 10.1109/LRA.2021.3068916.

Paul Ladinig, Bernhard Rinner, Stephan Weiss: Time and Energy Optimized Trajectory Generation for Multi-Agent Constellation Changes. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE, Xi’an, 2021.

Roland Jung and Stephan Weiss: Scalable Recursive Distributed Collaborative State Estimation for Aided Inertial Navigation. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE, Xi’an, 2021

Julian Blueml, Alessandro Fornasier, Stephan Weiss: Bias Compensated UWB Anchor Initialization using Information-Theoretic Supported Triangulation Points. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE, Xi’an, 2021.

Bryan Starbuck, Alessandro Fornasier, Stephan Weiss and Cédric Pradalier: Consistent State Estimation on Manifolds for Autonomous Metal Structure Inspection. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE, Xi’an, 2021

Martin Scheiber, Jeff Delaune, Stephan Weiss, and Roland Brockers: Mid-Air Range-Visual-Inertial Estimator Initialization for Micro Air Vehicles. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE, Xi’an, 2021.

Alessandro Fornasier, Martin Scheiber, Alexander Hardt-Stremayr, Roland Jung and Stephan Weiss: VINSEval: Evaluation Framework for Unified Testing of Consistency and Robustness of Visual-Inertial Navigation System Algorithms. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE, Xi’an, 2021

Christoph Böhm, Christian Brommer, Alexander Hardt-Stremayr and Stephan Weiss: Combined System Identification and State Estimation for a Quadrotor UAV. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE, Xi’an, 2021

Christian Brommer, Roland Jung, Jan Steinbrener, and Stephan Weiss: MaRS: A Modular and Robust Sensor-Fusion Framework. In IEEE Robotics and Automation Letters (RA-L), November 2020.

Eren Allak, Christian Brommer, Diego Dallenbach, Stephan Weiss. AMADEE-18 : Vision-Based Unmanned Aerial Vehicle Navigation for Analog Mars Mission ( AVI-NAV ). Astrobiology Nov 2020, 1321-1337

Christian Brommer, Alessandro Fornasier, et al.: AMADEE-20 Exploration Cascade using Robotic Vehicles. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop, Las Vegas, 2020

Christoph Böhm, Guanrui Li, Giuseppe Loianno, Stephan Weiss: Observability-Aware Trajectories for Geometric and Inertial Self-Calibration. Power On and Go Robots 2020, RSS’20, (Virtual) Workshop, 2020.

Eren Allak, Alessandro Fornasier, Stephan Weiss: Consistent Covariance Pre-Integration for Invariant Filters with Delayed Measurements. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Las Vegas, 2020

Alexander Hardt-Stremayr and Stephan Weiss: Monocular Visual-Inertial Odometry in Low-Textured Environments with Smooth Gradients: A Fully Dense Direct Filtering Approach. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE, Paris, 2020

A list of all publications of the Institute of Smart System Technology can be found in the Forschungsdokumentation (FoDok).