Dr.-Ing. Dennis Mronga

2026

• Konferenz
  Lasse Hohmeyer, Mihaela Popescu, Ivan Bergonzani, Dennis Mronga, Frank Kirchner

  InEKFormer: A Hybrid State Estimator for Humanoid Robots

  In: Proceedings of IEEE International Conference on Advanced Robotics (ICAR), San Juan, AR, 833-840 · Jan 2026

  DOI: 10.1109/ICAR65334.2025.11338635
• Journal
  Dimitrios Rakovitis, Vamsi Krishna Origanti, Vinzenz Bargsten, Adrian Danzglock, Dennis Mronga, Frank Kirchner

  Fast reprogramming and adaptive reproduction of contact-rich assembly

  Frontiers in Robotics and AI, Volume 13 - 2026, --- · 2026

  DOI: 10.3389/frobt.2026.1746577
• Konferenz
  Franek Stark, Felix Wiebe, Shubham Vyas, Dennis Mronga, Frank Kirchner

  Right Model, Right Time: Real-Time Cascaded-Fidelity MPC for Bipedal Walking

  In: ICRA Workshop on Frontiers of Optimization for Robotics, 2nd Edition, Vienna, AT · 2026

2025

• Konferenz
  Rohit Kumar, Melya Boukheddimi, Dennis Mronga, Shivesh Kumar, Frank Kirchner

  Parallel Transmission Aware Co-Design: Enhancing Manipulator Performance Through Actuation-Space Optimization

  In: 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems, Hangzhou, CN · Okt 2025
• Konferenz
  Shubham Vyas, Franek Stark, Rohit Kumar, Hannah Isermann, Jonas Haack, Mihaela Popescu, Jakob Middelberg, Dennis Mronga, Frank Kirchner

  Quadrupeds for Planetary Exploration: Field Testing Control Algorithms on an Active Volcano

  In: 18th Symposium on Advanced Space Technologies in Robotics and Automation, Leiden, NL · Okt 2025
• Konferenz
  Franek Stark, Jakob Middelberg, Dennis Mronga, Shubham Vyas, Frank Kirchner

  Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking

  In: 2025 IEEE International Conference on Robotics and Automation (ICRA) · 2025

  DOI: 10.1109/ICRA55743.2025.11128397
• Journal
  Francisco José Martínez-Peral, Jorge Borrell Mendez, Dennis Mronga, José Vicente Segura-Heras, Carlos Perez-Vidal

  Trajectory planning system for bimanual robots: Achieving efficient collision-free manipulation

  Robotics and Autonomous Systems, -, --- · 2025

  DOI: 10.1016/j.robot.2025.105118
• Journal
  Francisco José Martínez-Peral, Jose Antonio Ferez-Rubio, Dennis Mronga, José de Gea Fernández, José Vicente Segura-Heras, Carlos Perez Vidal

  Collision-Free Robotic Manipulation: A Review and Bibliometric Analysis

  International Journal of Systems Science, -, 1-24 · 2025

  DOI: 10.1080/00207721.2025.2547392
• Konferenz
  Franek Stark, Rohit Kumar, Shubham Vyas, Hannah Isermann, Jonas Haack, Mihaela Popescu, Jakob Middelberg, Dennis Mronga, Frank Kirchner

  An adaptive hierarchical control framework for quadrupedal robots in planetary exploration

  In: Proceedings of 18th Symposium on Advanced Space Technologies in Robotics and Automation, Leiden, NL · 2025
• Journal
  Felix Wiebe, Niccolò Turcato, Alberto Dalla Libera, Jean Seong Bjorn Choe, BumKyu Choi, Tim Lukas Faust, Habib Maraqten, Erfan Aghadavoodi, Marco Calì, Alberto Sinigaglia, Giulio Giacomuzzo, Diego Romeres, Jong-Kook Kim, Gian Antonio Susto, Shubham Vyas, Dennis Mronga, Boris Belousov, Jan Peters, Frank Kirchner, Shivesh Kumar

  Reinforcement Learning for Robust Athletic Intelligence: Lessons from the 2nd 'AI Olympics with RealAIGym' Competition

  IEEE Robotics & Automation Magazine, XX, 2-12 · 2025

  DOI: 10.1109/MRA.2025.3631571

2024

• Konferenz
  Siddhant Shete, Dennis Mronga, Ankita Jadhav, Frank Kirchner

  Online-Adaptive Anomaly Detection for Defect Identification in Aircraft Assembly

  In: 20th International Conference, Bari, IT · Nov 2024

  DOI: 10.1109/CASE59546.2024.10711376
• Journal
  Dennis Mronga, Andreas Bresser, Fabian Maas genannt Bermpohl, Adrian Danzglock, Simon Stelter, Alina Hawkin, Hoang Giang Nguyen, Michael Beetz, Frank Kirchner

  MARLIN: A cloud integrated robotic solution to support intralogistics in retail

  Robotics and Autonomous Systems, o.A., o.A. · Feb 2024

  DOI: 10.1016/j.robot.2024.104654
• Konferenz
  Dimitrios Rakovitis, Dennis Mronga

  Gaussian Mixture Likelihood-based Adaptive MPC for Interactive Mobile Manipulators

  In: 2024 IEEE International Conference on Robotics and Automation (accepted for publication), Yokohama, JP · 2024

  DOI: 10.1109/ICRA57147.2024.10610115.
• Buch
  Dennis Mronga, Shivesh Kumar, Frank Kirchner

  Whole-body control

  In: Biologically Inspired Series-Parallel Hybrid Robots · 2024
• Journal
  Dennis Mronga, Frank Kirchner

  The ARC-OPT Library for Whole-Body Control of Robotic Systems

  Journal of Open Source Software, 9(104), *-* · 2024

  DOI: 10.21105/joss.06696

2022

• Journal
  Mihaela Popescu, Dennis Mronga, Ivan Bergonzani, Shivesh Kumar, Frank Kirchner

  Experimental Investigations into Using Motion Capture State Feedback for Real-Time Control of a Humanoid Robot

  Sensors - Open Access Journal, 22(24), 1-12 · Dez 2022

  DOI: 10.3390/s22249853
• Dissertation
  Dennis Mronga

  Learning Task Constraints for Whole-Body Control of Robotic Systems

  Universität Bremen · Mai 2022

  DOI: 10.26092/elib/1547
• Konferenz
  Dennis Mronga, Shivesh Kumar, Frank Kirchner

  Whole-Body Control of Series-Parallel Hybrid Robots

  In: IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, US, 228-234 · 2022

  DOI: 10.1109/ICRA46639.2022.9811616.
• Konferenz
  Melya Boukheddimi, Shivesh Kumar, Heiner Peters, Dennis Mronga, Rohan Budhiraja, Frank Kirchner

  Introducing RH5 Manus: A Powerful Humanoid Upper Body Design for Dynamic Movements

  In: IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, US, 01-07 · 2022

  DOI: 10.1109/ICRA46639.2022.9811843

2021

• Journal
  Dennis Mronga, Frank Kirchner

  Learning context-adaptive task constraints for robotic manipulation

  Robotics and Autonomous Systems, 141, 103779-103779 · Jul 2021

  DOI: 10.1016/j.robot.2021.103779

2020

• Journal
  Dennis Mronga, Tobias Knobloch, José de Gea Fernández, Frank Kirchner

  A Constraint-Based Approach for Human-Robot Collision Avoidance

  Advanced Robotics, 1-17 · 2020

  DOI: 10.1080/01691864.2020.1721322

2018

• Konferenz
  Jose de Gea Fernandez, Dennis Mronga, Martin Günther, Sebastian Stock, Nils Niemann, Hendrik Wiese, Rohit Menon, Elsa Andrea Kirchner, Stefan Stiene

  Towards Contextual Robots for Collaborative Manufacturing

  In: Poster at the Workshop "Human-Robot Cooperation and Collaboration in Manipulation: Advancements and Challenges" at 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)., Madrid, ES · 2018
• Beitrag
  José de Gea Fernández, Nils Niemann, Sebastian Stock, Martin Günther, Dennis Mronga, Hendrik Wiese, Rohit Menon, Elsa Andrea Kirchner, Stefan Stiene

  Hybr-iT Project: Initial Steps Towards Contextual Robotic Manipulation for Human-Robot Teams in Industrial Environments

  Poster at the 21st International Conference of the Catalan Association for Artificial Intelligence (CCIA 2018) · 2018

2017

• Journal
  José de Gea Fernández, Dennis Mronga, Martin Günther, Tobias Knobloch, Malte Wirkus, Martin Schröer, Mathias Trampler, Stefan Stiene, Elsa Andrea Kirchner, Vinzenz Bargsten, Timo Bänziger, Johannes Teiwes, Thomas Krüger, Frank Kirchner

  Multimodal Sensor-Based Whole-Body Control for Human-Robot Collaboration in Industrial Settings

  Robotics and Autonomous Systems, 94, 102-119 · Aug 2017
• Journal
  José de Gea Fernández, Dennis Mronga, Martin Günther, Malte Wirkus, Martin Schröer, Stefan Stiene, Elsa Kirchner, Vinzenz Bargsten, Timo Bänziger, Johannes Teiwes, Thomas Krüger, Frank Kirchner

  iMRK: Demonstrator for Intelligent and Intuitive Human--Robot Collaboration in Industrial Manufacturing

  KI - Künstliche Intelligenz, German Journal on Artificial Intelligence - Organ des Fachbereiches "Künstliche Intelligenz" der Gesellschaft für Informatik e.V., 31(2), 203-207 · Mai 2017
• Journal
  Luis Gracia, Carlos Perez Vidal, Dennis Mronga, Jose Manuel de Paco, Jose Maria Azorin, Jose de Gea Fernandez

  Robotic manipulation for the shoe-packaging process

  International Journal of Advanced Manufacturing Technology, 92, 1053-1067 · Mär 2017

2016

• Konferenz
  Tim Schwartz, Michael Feld, Christian Bürckert, Svilen Dimitrov, Joachim Folz, Peter Hevesi, Dieter Hutter, Bernd Kiefer, Hans-Ulrich Krieger, Christoph Lüth, Dennis Mronga, Gerald Pirkl, Torsten Spieldenner, Malte Wirkus, Ingo Zinnikus, Sirko Straube

  Hybrid Teams of Humans, Robots and Virtual Agents in a Production Setting

  In: Proceedings of the 12th International Conference on Intelligent Environments, London, GB · Sep 2016

2015

• Konferenz
  José de Gea Fernández, Dennis Mronga, Malte Wirkus, Vinzenz Bargsten, Behnam Asadi, Frank Kirchner

  Towards Describing and Deploying Whole-Body Generic Manipulation Behaviours

  In: 2015 Space Robotics Symposium, Glasgow, GB · 2015

2014

• Bericht
  Dennis Mronga

  iTaSC: Application and Rock Integration – Specification and Control of Complex Sensor-Based Tasks

  In: Proceedings of the RIC Project Day "Framework & Standardization" and "Manipulation & Control", 126-127 · Jun 2014

2013

• Bericht
  Dennis Mronga, Achint Aggarwal

  Motion Control of the Humanoid Robot AILA

  Robotics Innovation Center Bremen · Mai 2013
• Buch
  Johannes Lemburg, Dennis Mronga, Achint Aggarwal, José de Gea Fernández, Marc Ronthaler, Frank Kirchner

  A Robotic Platform for Building and Exploiting Digital Product Memories

  In: SemProM - Foundations of Semantic Product Memories for the Internet of Things, 91-106 · Mai 2013

2011

• Konferenz
  Johannes Lemburg, José de Gea Fernández, Markus Eich, Dennis Mronga, Peter Kampmann, Andreas Vogt, Achint Aggarwal, Yuping Shi, Frank Kirchner

  AILA - Design of an autonomous mobile dual-arm robot

  In: Proceedings of IEEE International Conference on Robotics and Automation, Shanghai, CN, 5147-5153 · Mai 2011
• Journal
  Marc Ronthaler, Achint Aggarwal, Dennis Mronga, Markus Eich

  AILA - ein Dual-Arm Roboter für die Logistik

  Industrie Management - Zeitschrift für industrielle Geschäftsprozesse, 01/2011, 35-38 · Feb 2011

2010

• Konferenz
  Sorin M. Grigorescu, Saravana K. Natarajan, Dennis Mronga, Axel Gräser

  Robust feature extraction for 3D reconstruction of boundary segmented objects in a robotic Library scenario

  In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 4540-4547 · 2010

  DOI: 10.1109/IROS.2010.5649650