# Christian Brommer Research Profile > Welcome to Christian Brommer´s research website focused on robotics localization and state estimation. Explore my profile, publications, associated videos, project details, and PR events, showcasing my dedicated work in the field. This site is a public research profile. The most useful pages for AI assistants and search agents are the homepage research overview, publication detail pages, patent entries, and the structured metadata embedded in publication pages. Research topics: robotics localization, state estimation, modular multi-sensor fusion, autonomous UAV systems, Mars analog exploration. ## Core Pages - [Homepage and research overview](https://lifeofaphd.com/): Profile, biography, publication cards, and patents. - [Research section](https://lifeofaphd.com/#research): Publication overview grouped by journals, conferences, and workshops. - [Patents section](https://lifeofaphd.com/#patents): Patent overview. - [Sitemap](https://lifeofaphd.com/sitemap.xml): XML index of public canonical pages. - [Robots file](https://lifeofaphd.com/robots.txt): Crawler guidance and sitemap location. ## Journal Publications - [Sensor Model Identification via Simultaneous Model Selection and State Variable Determination](https://lifeofaphd.com/publications/journal/2025_sensor_model_identification_tro/): Journal article on unattended sensor model identification for robotic localization using simultaneous model selection and state variable determination. - [AIVIO: Closed-loop, Object-relative Navigation of UAVs with AI-aided Visual Inertial Odometry](https://lifeofaphd.com/publications/journal/2024_aivio_closed_loop_object_relative_navigation_ral/): Journal article on AIVIO, a closed-loop object-relative UAV navigation approach using AI-aided visual-inertial odometry. - [INSANE: Cross-Domain UAV Data Sets with Increased Number of Sensors for developing Advanced and Novel Estimators](https://lifeofaphd.com/publications/journal/2022_insane_dataset_ijrr/): Journal article describing the INSANE cross-domain UAV datasets for localization research with extensive sensors, ground truth, and post-processing tools. - [Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation with Online Calibration](https://lifeofaphd.com/publications/journal/2022_overcoming_bias_eqf_ral/): Journal article on equivariant filter design for biased attitude estimation with online calibration of direction sensors and gyroscope bias. - [CNS Flight Stack for Reproducible, Customizable, and Fully Autonomous Applications](https://lifeofaphd.com/publications/journal/2022_cns_flight_stack_ral/): Journal article presenting the CNS Flight Stack for reproducible, customizable, and fully autonomous UAV applications. - [MaRS: A Modular and Robust Sensor-Fusion Framework](https://lifeofaphd.com/publications/journal/2020_mars_ral/): Journal article introducing MaRS, a modular and robust sensor-fusion framework for dynamic multi-sensor robotic state estimation. - [AMADEE-18: Vision-based unmanned aerial vehicle navigation for Analog Mars Mission (AVI-NAV)](https://lifeofaphd.com/publications/journal/2020_amadee18_astrobiology/): Journal article on testing visual-inertial UAV navigation for Mars analog mission conditions during AMADEE-18. - [Long‐duration fully autonomous operation of rotorcraft unmanned aerial systems for remote‐sensing data acquisition](https://lifeofaphd.com/publications/journal/2020_long_duration_autonomy_jfr/): Journal article on long-duration fully autonomous rotorcraft UAS operation for remote-sensing data acquisition with precision landing and recharging. ## Conference Publications - [Feature-Based Perception-Aware Multi-UAV Trajectory Planning](https://lifeofaphd.com/publications/conference/2026_perception_aware_trajectory_planning/): Preprint on feature-based perception-aware trajectory planning for multi-UAV navigation in GPS-denied environments. - [Consistent Pose Estimation of Unmanned Ground Vehicles through Terrain-Aided Multi-Sensor Fusion on Geometric Manifolds](https://lifeofaphd.com/publications/conference/2025_pose_estimation_terrain_aided_geometric_manifolds_iros/): Conference paper on terrain-aided multi-sensor fusion for consistent unmanned ground vehicle pose estimation on geometric manifolds. - [Revisiting Multi-GNSS Navigation for UAVs - An Equivariant Filtering Approach](https://lifeofaphd.com/publications/conference/2023_revisiting_multi_gnss_eqf/): Conference paper revisiting multi-GNSS UAV navigation with equivariant filtering for robust GNSS-IMU sensor fusion. - [AI-Based Multi-Object Relative State Estimation with Self-Calibration Capabilities](https://lifeofaphd.com/publications/conference/2023_ai_based_object_relative_state_est/): Conference paper on AI-based multi-object relative state estimation that fuses image-based object poses with IMU data and self-calibration. - [Multi-State Tightly-Coupled EKF-Based Radar-Inertial Odometry With Persistent Landmarks](https://lifeofaphd.com/publications/conference/2023_radar_inertial_odometry/): Conference paper on tightly coupled radar-inertial odometry with persistent landmarks for UAV state estimation in GNSS-denied environments. - [Modular Multi-Sensor Fusion for Underwater Localization for Autonomous ROV Operations](https://lifeofaphd.com/publications/conference/2022_sensor_fusion_for_underwater_oceans/): Conference paper extending the MaRS modular sensor-fusion framework for underwater localization with asynchronous sensors, outlier handling, and online calibration. - [Autonomous Control Of Redundant Hydraulic Manipulator using Reinforcement Learning with Action Feedback](https://lifeofaphd.com/publications/conference/2022_autonomous_hydraulic_manipulator_iros/): Conference paper on reinforcement-learning control for a redundant hydraulic manipulator using action feedback and learned actuator dynamics. - [Kinematics-Inertial Fusion for Localization of a 4-Cable Underactuated Suspended Robot Considering Cable Sag](https://lifeofaphd.com/publications/conference/2022_kinematics_inertia_fusion_iros/): Conference paper on cable-sag-aware kinematics-inertial fusion for real-time localization of a suspended cable-driven parallel robot. - [Combined System Identification and State Estimation for a Quadrotor UAV](https://lifeofaphd.com/publications/conference/2021_combined_system_identification_icra/): Conference paper on probabilistic online system identification and state estimation for self-calibration of small rotorcraft UAVs. - [Improved State Propagation through AI-based Pre-processing and Down-sampling of High-Speed Inertial Data](https://lifeofaphd.com/publications/conference/2022_improved_state_propagation_trough_ai_icra/): Conference paper on AI-based preprocessing and down-sampling of high-speed inertial data for improved UAV state propagation. - [Improved state estimation in distorted magnetic fields](https://lifeofaphd.com/publications/conference/2020_improved_state_estimation_in_destorted_icuas/): Conference paper on improving state estimation in locally distorted magnetic fields by representing magnetic variation in spherical coordinates. - [Decentralized Collaborative State Estimation for Aided Inertial Navigation](https://lifeofaphd.com/publications/conference/2020_decentralized_collaborative_icra/): Conference paper on decentralized collaborative state estimation for aided inertial navigation using a quaternion-based error-state extended Kalman filter. - [Long-Duration Autonomy for Small Rotorcraft UAS including Recharging](https://lifeofaphd.com/publications/conference/2018_long_duration_autonomy_iros/): Conference paper on a fully autonomous small rotorcraft UAS for long-term observation missions with vision-based precision landing and automated recharging. ## Workshop Publications - [Towards Multi-Sensor Equivariant Filter Design](https://lifeofaphd.com/publications/workshops/20214_equirob/): Workshop paper outlining foundational building blocks for multi-sensor equivariant filter design in robotic localization. - [AMADEE-20 Exploration Cascade using Robotic Vehicles](https://lifeofaphd.com/publications/workshops/2021_amadee20/): Workshop abstract presenting the AMADEE-20 robotic exploration cascade and AMAZE helicopter for Mars analog surface exploration. ## Patents - [Long-Duration, Fully Autonomous Operation of Rotorcraft Unmanned Aerial Systems Including Energy Replenishment](https://lifeofaphd.com/patents/long_duration_autonomy/): Patent for long-duration autonomous rotorcraft UAS operation using automated mission execution, precision landing, charging, and mission data transfer. - [Method and system for estimating state variables of a moving object with modular sensor fusion](https://lifeofaphd.com/patents/mars/): Patent for estimating moving-object state variables with a modular recursive Bayesian sensor-fusion framework that supports additional sensors after start-up. ## Structured Data - Publication detail pages include `ScholarlyArticle` JSON-LD. - Shared pages include `Person` JSON-LD for Christian Brommer. - Canonical URLs, Open Graph metadata, Twitter card metadata, sitemap, robots guidance, and this file are generated at build time. ## Optional - [GitHub profile](https://github.com/Chris-Bee): Code and public repositories. - [Google Scholar profile](https://scholar.google.com/citations?hl=en&user=Vxdg150AAAAJ): Scholarly publication index. - [LinkedIn profile](https://www.linkedin.com/in/christianbrommer/): Professional profile.