Philipp Vorst

Dr. Philipp Vorst

Background

  • 11/2006 - 04/2011: Research assistant at the Department of Cognitive Systems (former Dept. of Computer Architecture), University of Tübingen
  • 10/2005 - 06/2006: Diploma thesis on "ReadyLog Agents for the RoboCup 3D Soccer Simulation League" (Knowledge-based Systems Group, RWTH Aachen University)
  • 10/2000 - 06/2006: Study of computer science at RWTH Aachen University (Aachen, Germany)

Research Interests

  • Self-localization, mapping, object localization, simultaneous localization and mapping (SLAM)
  • RFID (radio-frequency identification) technology, positioning - especially with mobile robots
  • Sensor fusion techniques

Project

  • AmbiSense - Kooperation autonomer mobiler Systeme unter Berücksichtigung ambienter Sensoren

PhD Thesis

[1] Philipp Vorst. Mapping, Localization, and Trajectory Estimation with Mobile Robots Using Long-Range Passive RFID. PhD thesis, University of Tuebingen, Tübingen, Germany, August 2011. [ details | link | pdf ]

Publications

[1] Philipp Vorst, Artur Koch, and Andreas Zell. Efficient self-adjusting, similarity-based location fingerprinting with passive UHF RFID. In IEEE International Conference on RFID-Technology and Applications (RFID-TA2011), pages 160-167, Sitges, Barcelona, Spain, September 15-16 2011. IEEE. [ DOI | details | pdf ]
[2] Ran Liu, Philipp Vorst, Artur Koch, and Andreas Zell. Path following for indoor robots with RFID received signal strength. In The 19th International Conference on Software, Telecommunications and Computer Networks (SoftCOM 2011), Split, Hvar, and Dubrovnik, Croatia, September 2011. (Best paper award at the Symposium on RFID Technologies and Internet of Things). [ details | pdf ]
[3] Timo Schairer, Benjamin Huhle, Philipp Vorst, Andreas Schilling, and Wolfgang Strasser. Visual mapping with uncertainty for correspondence-free localization using Gaussian process regression. In Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, California, USA, September 2011. Accepted for publication.
[4] Philipp Vorst. Mapping, Localization, and Trajectory Estimation with Mobile Robots Using Long-Range Passive RFID. PhD thesis, University of Tuebingen, Tübingen, Germany, August 2011. [ details | link | pdf ]
[5] Marius Hofmeister, Philipp Vorst, and Andreas Zell. A comparison of efficient global image features for localizing small mobile robots. In ISR/ROBOTIK 2010 (Proceedings of the joint conference of ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)), pages 143-150. VDE Verlag, June 2010. [ details | pdf ]
[6] Philipp Vorst and Andreas Zell. A comparison of similarity measures for localization with passive RFID fingerprints. In ISR/ROBOTIK 2010 (Proceedings of the joint conference of ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)), pages 354-361. VDE Verlag, June 2010. [ details | pdf ]
[7] Philipp Vorst and Andreas Zell. Fully autonomous trajectory estimation with long-range passive RFID. In 2010 IEEE International Conference on Robotics and Automation (ICRA), pages 1867-1872, Anchorage, Alaska, USA, May 2010. IEEE. [ DOI | details | pdf ]
[8] Philipp Vorst and Andreas Zell. Particle filter-based trajectory estimation with passive UHF RFID fingerprints in unknown environments. In Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), pages 395-401, St. Louis, Missouri, USA, October 2009. [ DOI | details | pdf ]
[9] Karsten Rohweder, Philipp Vorst, and Andreas Zell. Improved mapping of RFID tags by fusion with spatial structure. In Ivan Petrović and Achim J. Lilienthal, editors, Proceedings of the 4th European Conference on Mobile Robots (ECMR 2009), pages 247-252, Mlini/Dubrovnik, Croatia, September 2009. KoREMA, Zagreb, Croatia. [ details | pdf ]
[10] Philipp Vorst, Bin Yang, and Andreas Zell. Loop closure and trajectory estimation with long-range passive RFID in densely tagged environments. In 14th International Conference on Advanced Robotics (ICAR 2009), pages 1-6, Munich, Germany, June 22-26 2009. [ details | pdf ]
[11] Philipp Vorst, Sebastian Schneegans, Bin Yang, and Andreas Zell. Self-localization with RFID snapshots in densely tagged environments. In Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), pages 1353-1358, Nice, France, September 22-26 2008. [ DOI | details | pdf ]
[12] Timo Schairer, Christian Weiss, Philipp Vorst, Jürgen Sommer, Christian Hoene, Wolfgang Rosenstiel, Wolfgang Straßer, Andreas Zell, Georg Carle, Patrick Schneider, and Anette Weisbecker. Integrated scenario for machine-aided inventory using ambient sensors. In 4th European Workshop on RFID Systems and Technologies (RFID SysTech 2008), number 209 in ITG-Fachbericht, Freiburg, Germany, June 10-11 2008. VDE Verlag. [ details | pdf ]
[13] Philipp Vorst, Jürgen Sommer, Christian Hoene, Patrick Schneider, Christian Weiss, Timo Schairer, Wolfgang Rosenstiel, Andreas Zell, and Georg Carle. Indoor positioning via three different RF technologies. In 4th European Workshop on RFID Systems and Technologies (RFID SysTech 2008), number 209 in ITG-Fachbericht, Freiburg, Germany, June 10-11 2008. VDE Verlag. [ details | pdf ]
[14] Philipp Vorst and Andreas Zell. Semi-autonomous learning of an RFID sensor model for mobile robot self-localization. In Bruno Siciliano, Oussama Khatib, and Frans Groen, editors, European Robotics Symposium 2008, volume 44/2008 of Springer Tracts in Advanced Robotics, pages 273-282. Springer Berlin/Heidelberg, February 2008. [ DOI | details | pdf ]
[15] Sebastian Schneegans, Philipp Vorst, and Andreas Zell. Using RFID snapshots for mobile robot self-localization. In Proceedings of the 3rd European Conference on Mobile Robots (ECMR 2007), pages 241-246, Freiburg, Germany, September 19-21 2007. [ details | pdf ]

Diploma Thesis

ReadyLog Agents for the RoboCup 3D Soccer Simulation League
Philipp Vorst
Knowledge-based Systems Group, Computer Science Department, RWTH Aachen University, Aachen, June 2006
[pdf] (external link, 3.8 MB) [bib]

Selective Illustrations from Past Research Activities

Passive UHF RFID sensor model  
SCITOS G5 robot with RFID antennas RFID sensor model (detection rates)  

 Address, Phone, Fax

Eberhard-Karls-Universität Tübingen
Wilhelm-Schickard-Institut für Informatik
Lehrstuhl Kognitive Systeme
Sand 1
D - 72076 Tübingen
Germany

Tel: (+49/0) 7071 / 29 70441
Fax: (+49/0) 7071 / 29 5091
Email: philipp.vorst at uni-tuebingen.de