Martin Fees

Georg Simon Ohm University of Applied Sciences Nuremberg

Papers

Total Citations

H-Index

About

Martin Fees is a leading researcher in multi-robot systems and autonomous navigation, with a primary focus on Simultaneous Localization and Mapping (SLAM). His most influential work centers on developing robust, scalable SLAM frameworks for teams of mobile robots operating in dynamic, unstructured environments. Fees’s key contribution is the pioneering use of Signed Distance Functions (SDFs) to create a continuous, probabilistic representation of the environment, enabling multiple robots to collaboratively build and maintain a shared map using 2D LIDAR data. This approach, detailed in his highly cited 2016 paper (26 citations) and its 2015 precursor (11 citations), overcomes traditional occupancy grid limitations by allowing for sub-grid accuracy and efficient data fusion across robot platforms. His multi-threaded software architecture ensures real-time performance, making his methods practical for field deployment. By solving the critical challenge of multi-robot map registration without prior pose knowledge, Fees has laid essential groundwork for coordinated exploration, search-and-rescue, and industrial automation. His work continues to influence the next generation of collaborative autonomous systems.