Senior Researcher
Robotics & Autonomous Systems,
Royal Military Academy
Address
Avenue De La Renaissance 30, 1000 Brussels, Belgium
Contact Information
Email: maxim.vochten@mil.be
Maxim Vochten is a Senior Researcher in the Robotics & Autonomous Systems unit at the Royal Military Academy (RMA) in Brussels, Belgium. He leads the team of RMA within the European Defence Funds project GENIUS (2024-2027) on robotic demining.
He earned his MSc degree in Mechanical Engineering from KU Leuven in 2013 and his PhD in Mechanical Engineering from KU Leuven in 2018. After his PhD, he continued working in the Robotics Research Group at KU Leuven as a Postdoctoral Researcher within the ERC Advanced Grant project ROBOTGENSKILL (2018-2024) as part of a team of 8 researchers, supervised by Prof. Joris De Schutter. The project focused on improving the generalization of human-demonstrated robot skills using invariance and was proposed based on the results of his PhD work. Within the project, he contributed to paper publications, assisted with the project management, acted as co-promotor of two PhD researchers, and supervised over 10 master’s thesis students.
Outside of the ROBOTGENSKILL project, he led the team of KU Leuven (4 researchers) in the Flanders Make ICON project PROROB (2021-2022) on VR-based robot programming. Furthermore, he was responsible for the allocation of didactical tasks in the Automation division of the Mechanical Engineering department at KU Leuven.
Starting in 2025, he joined the Royal Military Academy in Brussels. His activities include the research and development of robotic technologies to improve the detection and dismantling of mines. He is interested in sensor perception, robot manipulation, motion planning, machine learning and learning from demonstration. His main expertise lies in 3D kinematics, state estimation, sensor-based robot control, numerical optimization, and optimal control.
Publications
2024
- A. Verduyn, M. Vochten, and J. De Schutter, “Enhancing motion trajectory segmentation of rigid bodies using a novel screw-based trajectory-shape representation," in 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, p. 7179–7185.
[BibTeX] [DOI]@inproceedings{verduyn2024enhancing, title={Enhancing motion trajectory segmentation of rigid bodies using a novel screw-based trajectory-shape representation}, author={Verduyn, Arno and Vochten, Maxim and De Schutter, Joris}, booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)}, pages={7179--7185}, year={2024}, organization={IEEE}, doi={10.1109/ICRA57147.2024.10610030}, bibtex_show={true}, abbr={ICRA}, pdf={https://arxiv.org/pdf/2309.11413}, }
2023
- A. Verduyn, J. De Schutter, W. Decré, and M. Vochten, “Shape-Based Path Adaptation and Simulation-Based Velocity Optimization of Initial Tool Trajectories for Robotic Spray Painting," in 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), 2023, pp. 1-8.
[BibTeX] [DOI]@INPROCEEDINGS{verduyn2023case, author={Verduyn, Arno and De Schutter, Joris and Decré, Wilm and Vochten, Maxim}, booktitle={2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)}, title={Shape-Based Path Adaptation and Simulation-Based Velocity Optimization of Initial Tool Trajectories for Robotic Spray Painting}, year={2023}, volume={}, number={}, pages={1-8}, doi={10.1109/CASE56687.2023.10260519}, bibtex_show={true}, abbr={CASE}, pdf={https://lirias.kuleuven.be/retrieve/714848}, } - M. Vochten, A. M. Mohammadi, A. Verduyn, T. De Laet, E. Aertbeliën, and J. De Schutter, “Invariant Descriptors of Motion and Force Trajectories for Interpreting Object Manipulation Tasks in Contact," IEEE Transactions on Robotics, vol. 39, iss. 6, pp. 1-21, 2023.
[BibTeX] [Download PDF] [DOI]@ARTICLE{vochten2023invariant, author={Vochten, Maxim and Mohammadi, Ali Mousavi and Verduyn, Arno and De Laet, Tinne and Aertbeliën, Erwin and De Schutter, Joris}, journal={IEEE Transactions on Robotics}, title={Invariant Descriptors of Motion and Force Trajectories for Interpreting Object Manipulation Tasks in Contact}, year={2023}, volume={39}, number={6}, pages={1-21}, ISSN={1941-0468}, publisher={Institute of Electrical and Electronics Engineers (IEEE)}, url={http://dx.doi.org/10.1109/TRO.2023.3309230}, doi={10.1109/TRO.2023.3309230}, html={https://ieeexplore.ieee.org/document/10269543}, selected={true}, bibtex_show={true}, abbr={TRO}, pdf={https://lirias.kuleuven.be/retrieve/730657} }
2022
- M. Vochten, L. Vanroye, J. Lambeau, K. Meylemans, W. Decré, and J. De Schutter, “Specification and control of human-robot handovers using constraint-based programming," in Human-Friendly Robotics 2021, 2022, p. 107–122.
[BibTeX] [DOI]@inproceedings{vochten2022specification, title={Specification and control of human-robot handovers using constraint-based programming}, author={Vochten, Maxim and Vanroye, Lander and Lambeau, Jeroen and Meylemans, Ken and Decr{\'e}, Wilm and De Schutter, Joris}, booktitle={Human-Friendly Robotics 2021}, pages={107--122}, year={2022}, organization={Springer International Publishing Cham}, doi={10.1007/978-3-030-96359-0_8}, bibtex_show={true}, abbr={HFR}, pdf={https://lirias.kuleuven.be/retrieve/664681}, } - R. Burlizzi, M. Vochten, J. De Schutter, and E. Aertbeliën, “Extending extrapolation capabilities of probabilistic motion models learned from human demonstrations using shape-preserving virtual demonstrations," in 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, p. 10772–10779.
[BibTeX] [DOI]@inproceedings{burlizzi2022extending, title={Extending extrapolation capabilities of probabilistic motion models learned from human demonstrations using shape-preserving virtual demonstrations}, author={Burlizzi, Riccardo and Vochten, Maxim and De Schutter, Joris and Aertbeli{\"e}n, Erwin}, booktitle={2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, pages={10772--10779}, year={2022}, organization={IEEE}, doi={10.1109/IROS47612.2022.9982222}, bibtex_show={true}, abbr={IROS}, pdf={https://lirias.kuleuven.be/retrieve/673728}, } - A. Ancillao, M. Vochten, A. Verduyn, J. De Schutter, and E. Aertbeliën, “An optimal method for calculating an average screw axis for a joint, with improved sensitivity to noise and providing an analysis of the dispersion of the instantaneous axes," Plos one, vol. 17, iss. 10, p. e0275218, 2022.
[BibTeX] [DOI]@article{ancillao2022optimal, title={An optimal method for calculating an average screw axis for a joint, with improved sensitivity to noise and providing an analysis of the dispersion of the instantaneous axes}, author={Ancillao, Andrea and Vochten, Maxim and Verduyn, Arno and De Schutter, Joris and Aertbeli{\"e}n, Erwin}, journal={Plos one}, volume={17}, number={10}, pages={e0275218}, year={2022}, publisher={Public Library of Science San Francisco, CA USA}, doi={10.1371/journal.pone.0275218}, bibtex_show={true}, abbr={PLOS}, pdf={https://lirias.kuleuven.be/retrieve/681013}, }
2021
- M. Vochten, W. Decré, E. Aertbeliën, and J. De Schutter, “Shape-preserving and reactive adaptation of robot end-effector trajectories," IEEE Robotics and Automation Letters, vol. 6, iss. 2, p. 667–674, 2021.
[BibTeX] [DOI]@article{vochten2021shape, title={Shape-preserving and reactive adaptation of robot end-effector trajectories}, author={Vochten, Maxim and Decr{\'e}, Wilm and Aertbeli{\"e}n, Erwin and De Schutter, Joris}, journal={IEEE Robotics and Automation Letters}, volume={6}, number={2}, pages={667--674}, year={2021}, publisher={IEEE}, doi={10.1109/LRA.2020.3048674}, bibtex_show={true}, abbr={RAL}, pdf={https://lirias.kuleuven.be/retrieve/616793}, }
2019
- M. Vochten, T. De Laet, and J. De Schutter, “Generalizing demonstrated motion trajectories using coordinate-free shape descriptors," Robotics and Autonomous Systems, vol. 122, p. 103291, 2019.
[BibTeX] [DOI]@article{vochten2019generalizing, title={Generalizing demonstrated motion trajectories using coordinate-free shape descriptors}, author={Vochten, Maxim and De Laet, Tinne and De Schutter, Joris}, journal={Robotics and Autonomous Systems}, volume={122}, pages={103291}, year={2019}, publisher={North-Holland}, doi={10.1016/j.robot.2019.103291}, bibtex_show={true}, abbr={RAS}, pdf={https://lirias.kuleuven.be/retrieve/622501}, } - A. Ancillao, M. Vochten, E. Aertbeliën, W. Decré, and J. De Schutter, “Estimating the instantaneous screw axis and the screw axis invariant descriptor of motion by means of inertial sensors: An experimental study with a mechanical hinge joint and comparison to the optoelectronic system," Sensors, vol. 20, iss. 1, p. 49, 2019.
[BibTeX] [DOI]@article{ancillao2019estimating, title={Estimating the instantaneous screw axis and the screw axis invariant descriptor of motion by means of inertial sensors: An experimental study with a mechanical hinge joint and comparison to the optoelectronic system}, author={Ancillao, Andrea and Vochten, Maxim and Aertbeli{\"e}n, Erwin and Decr{\'e}, Wilm and De Schutter, Joris}, journal={Sensors}, volume={20}, number={1}, pages={49}, year={2019}, publisher={MDPI}, doi={10.3390/s20010049}, bibtex_show={true}, pdf={https://lirias.kuleuven.be/retrieve/560103}, }
2018
- M. Vochten, “Invariant Representations of Rigid-body Motion Trajectories with Application to Motion Recognition and Robot Learning by Demonstration," {P}h{D} thesis PhD Thesis, Department of Mechanical Engineering, Celestijnenlaan 300, 3001 Leuven, Belgium, 2018.
[BibTeX]@phdthesis{vochten2018invariant, title={Invariant Representations of Rigid-body Motion Trajectories with Application to Motion Recognition and Robot Learning by Demonstration}, author={Vochten, Maxim}, school = {Arenberg Doctoral School}, month = {September}, type = {{P}h{D} thesis}, address = {Department of Mechanical Engineering, Celestijnenlaan 300, 3001 Leuven, Belgium}, year={2018}, bibtex_show={true}, abbr={PhD}, pdf={https://lirias.kuleuven.be/retrieve/515891}, } - M. Vochten, T. De Laet, and J. De Schutter, “Robust optimization-based calculation of invariant trajectory representations for point and rigid-body motion," in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, p. 5598–5605.
[BibTeX] [DOI]@inproceedings{vochten2018robust, title={Robust optimization-based calculation of invariant trajectory representations for point and rigid-body motion}, author={Vochten, Maxim and De Laet, Tinne and De Schutter, Joris}, booktitle={2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, pages={5598--5605}, year={2018}, organization={IEEE}, doi={10.1109/IROS.2018.8593540}, bibtex_show={true}, abbr={IROS}, pdf={https://lirias.kuleuven.be/retrieve/528123}, }
2016
- J. Verbeke, J. Vantilt, D. Vanthienen, M. Vochten, S. Debruyne, and J. De Schutter, “A constraint-based flight control system architecture for UAVs using the iTaSC framework," in 2016 International Conference on Unmanned Aircraft Systems (ICUAS), 2016, p. 310–319.
[BibTeX] [DOI]@inproceedings{verbeke2016constraint, title={A constraint-based flight control system architecture for UAVs using the iTaSC framework}, author={Verbeke, Jon and Vantilt, Jonas and Vanthienen, Dominick and Vochten, Maxim and Debruyne, Stijn and De Schutter, Joris}, booktitle={2016 International Conference on Unmanned Aircraft Systems (ICUAS)}, pages={310--319}, year={2016}, organization={IEEE}, doi={10.1109/ICUAS.2016.7502540}, bibtex_show={true}, abbr={ICUAS}, pdf={https://lirias.kuleuven.be/retrieve/392249}, } - M. Vochten, T. De Laet, and J. De Schutter, “Generalizing demonstrated motions and adaptive motion generation using an invariant rigid body trajectory representation," in 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, p. 234–241.
[BibTeX] [DOI]@inproceedings{vochten2016generalizing, title={Generalizing demonstrated motions and adaptive motion generation using an invariant rigid body trajectory representation}, author={Vochten, Maxim and De Laet, Tinne and De Schutter, Joris}, booktitle={2016 IEEE International Conference on Robotics and Automation (ICRA)}, pages={234--241}, year={2016}, organization={IEEE}, doi={10.1109/ICRA.2016.7487139}, bibtex_show={true}, abbr={ICRA}, pdf={https://lirias.kuleuven.be/retrieve/395862}, }
2015
- M. Vochten, T. De Laet, and J. De Schutter, “Comparison of rigid body motion trajectory descriptors for motion representation and recognition," in 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015, p. 3010–3017.
[BibTeX] [DOI]@inproceedings{vochten2015comparison, title={Comparison of rigid body motion trajectory descriptors for motion representation and recognition}, author={Vochten, Maxim and De Laet, Tinne and De Schutter, Joris}, booktitle={2015 IEEE International Conference on Robotics and Automation (ICRA)}, pages={3010--3017}, year={2015}, organization={IEEE}, doi={10.1109/ICRA.2015.7139612}, bibtex_show={true}, abbr={ICRA}, pdf={https://lirias.kuleuven.be/retrieve/320304}, }