Marcus Hoerger

Research Fellow
Research Area:
Dr. Marcus Hoerger is currently a Postdoctoral Research Fellow in the Research School of Computer Science at the Australian National University (ANU). Marcus earned his PhD in Computer Science (2020) from the University of Queensland (UQ) and the Commonwealth Scientific and Industrial Research Organisation (CSIRO) under the supervision of Dr. Hanna Kurniawati and Prof. Dr. Alberto Elfes. In his thesis, Marcus developed new methods for tractable planning under partial observability for autonomous robots with complex non-linear dynamics.
 
Before joining UQ, Marcus received his Diplom Informatiker (M.Sc. equivalent) in Computer Science from the University of Stuttgart under the supervision of Prof. Dr. Marc Toussaint and Prof. Dr. Alberto Elfes. In his Diploma Thesis, Marcus developed a real-time stabilisation system for legged robots using methods from deterministic motion planning. During his studies, Marcus was a research intern at CSIRO's Autonomous Systems lab under the supervision of Dr. Navinda Kottege and Prof. Dr. Alberto Elfes.
Marcus' research focuses on developing tracktable methods -- from algorithms to software -- that enable autonomous robots to make robust decisions under partial observability. In particular Marcus' research interest lies in developing efficient methods for on-line POMDP planning to make them tractable for various real-world problems such as motion planning under uncertainty or robust manipulation.

Book Chapters

  • Marcus Hoerger, Hanna Kurniawati, Tirthankar Bandyopadhyay and Alberto Elfes. Linearization in Motion Planning under Uncertainty. To appear in Goldberg, et.al. Algorithmic Foundations of Robotics XII. Springer. Published in Proc. Workshop on the Algorithmic Foundations of Robotics (WAFR). 2016.
  • Marcus Hoerger, Navinda Kottege, Tirthankar Bandyopadhyay, Peyman Moghadam and Alberto Elfes. Real-Time Stabilisation For Hexapod Robots. Experimental Robotics, Vol. 109, Series: Springer Tracts in Advanced Robotics (STAR), Berlin; Heidelberg, Springer. 2015.

Refereed Conference Papers

  • Marcus Hoerger, Hanna Kurniawati, Alberto Elfes. Mutilevel Monte-Carlo for Solving POMDPs Online. Proc. Int. Symposium on Robotics Research (ISRR). 2019.
  • Marcus Hoerger, Joshua Song, Hanna Kurniawati and Alberto Elfes. POMDP-based Candy Server: Lessons Learned from a Seven Day Demo. Proc. Int. Conference on Autonomous Planning and Scheduling (ICAPS). 2019.
  • Marcus Hoerger, Hanna Kurniawati and Alberto Elfes. A Software Framework for Planning under Partial Observability. Proc. IEEE/RSJ Int. Conference on Intelligent Robots (IROS). 2018.
  • Aaron J. Snoswell, Vektor Dewanto, Marcus Hoerger, Joshua Song, Hanna Kurniawati and Sury P.N. Singh. A Distributed, Any-Time Robot Architecture for Robust Manipulation. Proc. Australasian Conference on Robotics and Automation (ACRA). 2018.
  • Alberto Elfes, Ryan James Steindl, Fletcher Talbot, Farid Kendoul, Pavan Sikka, Tom Lowe, Navinda Kottege, Marko Bjelonic, Ross Dungavell, Tirthankar Bandyopadhyay, Marcus Hoerger, Benjamin Tam and David Rytz. The Multilegged Autonomous eXplorer (MAX). Proc. IEEE Int. Conference on Robots and Automation (ICRA). 2017.
  • Marcus Hoerger, Hanna Kurniawati, Tirthankar Bandyopadhyay and Alberto Elfes. Effects of Obstacle Avoidance to LQG-based Motion Planners. Proc. Australasian Conference on Robotics and Automation (ACRA), 2016.

Workshops

  • Marcus Hoerger. Conscious Abstractions for Solving Decision Making Problems under Partial Observability. Robotics: Science and Systems Pioneers Workshop. 2020.

 

Updated:  1 June 2019/Responsible Officer:  Dean, CECS/Page Contact:  CECS Marketing