# Publications

### 2019

• E. J. Romero Kramer, A. Ortega Sáinz, A. Mitrevski, and P. G. Plöger, “Tell Your Robot What To Do: Evaluation of Natural Language Models for Robot Command Processing,” in Proceedings of the 23rd RoboCup International Symposium, Sydney, Australia, 2019.
[BibTeX] [Abstract]

The use of natural language to indicate robot tasks is a convenient way to command robots. As a result, several models and approaches capable of understanding robot commands have been developed, which however complicates the choice of a suitable model for a given scenario. In this work, we present a comparative analysis and benchmarking of four natural language understanding models – Mbot, Rasa, LU4R, and ECG. We particularly evaluate the performance of the models to understand domestic service robot commands by recognizing the actions and any complementary information in them in three use cases: the RoboCup@Home General Purpose Service Robot (GPSR) category 1 contest, GPSR category 2, and hospital logistics in the context of the ROPOD project.

@inproceedings{kramer2019_robocup,
Abstract = {The use of natural language to indicate robot tasks is a convenient way to command robots. As a result, several models and approaches capable of understanding robot commands have been developed, which however complicates the choice of a suitable model for a given scenario. In this work, we present a comparative analysis and benchmarking of four natural language understanding models - Mbot, Rasa, LU4R, and ECG. We particularly evaluate the performance of the models to understand domestic service robot commands by recognizing the actions and any complementary information in them in three use cases: the RoboCup@Home General Purpose Service Robot (GPSR) category 1 contest, GPSR category 2, and hospital logistics in the context of the ROPOD project.},
Author = {Romero Kramer, Erick Jesus and Ortega S{\'a}inz, Argentina and Mitrevski, Alex and Pl{\"o}ger, Paul G.},
Booktitle = {Proceedings of the 23rd RoboCup International Symposium},
Keywords = {natural language understanding, robot commands, comparative analysis, benchmarking},
Title = {{Tell Your Robot What To Do: Evaluation of Natural Language Models for Robot Command Processing}},
Year = {2019}}

• A. Padalkar, M. Wasil, S. Mahajan, R. Kumar, D. Bakaraniya, R. Shirodkar, H. Andradi, D. Padmanabhan, C. Wiesse, A. Abdelrahman, S. Chavan, N. Gurulingan, D. Nair, S. Thoduka, I. Awaad, S. Schneider, P. G. Plöger, and G. K. Kraetzschmar, “b-it-bots: Our Approach for Autonomous Robotics in Industrial Environments,” in Proceedings of the 23rd RoboCup International Symposium, Sydney, Australia, 2019.
[BibTeX] [Abstract]

This paper presents the approach of our team, b-it-bots, in the RoboCup@Work competition which resulted in us winning the World Championship in Sydney in 2019. We describe our current hardware, including modifications made to the KUKA youBot, the underlying software framework and components developed for navigation, manipulation, perception and task planning for scenarios in industrial environments. Our combined 2D and 3D approach for object recognition has improved robustness and performance compared to previous years, and our task planning framework has moved us away from large state machines for high-level control. Future work includes closing the perception-manipulation loop for more robust grasping. Our open-source repository is available at https://github.com/b-it-bots/mas_industrial_robotics.

@inproceedings{padalkar2019_robocup,
Abstract = {This paper presents the approach of our team, b-it-bots, in the RoboCup@Work competition which resulted in us winning the World Championship in Sydney in 2019. We describe our current hardware, including modifications made to the KUKA youBot, the underlying software framework and components developed for navigation, manipulation, perception and task planning for scenarios in industrial environments. Our combined 2D and 3D approach for object recognition has improved robustness and performance compared to previous years, and our task planning framework has moved us away from large state machines for high-level control. Future work includes closing the perception-manipulation loop for more robust grasping. Our open-source repository is available at https://github.com/b-it-bots/mas_industrial_robotics.},
Author = {Padalkar, Abhishek and Wasil, Mohammad and Mahajan, Shweta and Kumar, Ramesh and Bakaraniya, Dharmin and Shirodkar, Raghuvir and Andradi, Heruka and Padmanabhan, Deepan and Wiesse, Carlo and Abdelrahman, Ahmed and Chavan, Sushant and Gurulingan, Naresh and Nair, Deebul and Thoduka, Santosh and Awaad, Iman and Schneider, Sven and Pl{\"o}ger, Paul G. and Kraetzschmar, Gerhard K.},
Booktitle = {Proceedings of the 23rd RoboCup International Symposium},
Title = {{b-it-bots: Our Approach for Autonomous Robotics in Industrial Environments}},
Year = {2019}}

• A. Mitrevski and P. G. Plöger, “Reusable Specification of State Machines for Rapid Robot Functionality Prototyping,” in Proceedings of the 23rd RoboCup International Symposium, Sydney, Australia, 2019.
[BibTeX] [Abstract]

When developing robot functionalities, finite state machines are commonly used due to their straightforward semantics and simple implementation. State machines are also a natural implementation choice when designing robot experiments, as they generally lead to reproducible program execution. In practice, the implementation of state machines can lead to significant code repetition and may necessitate unnecessary code interaction when reparameterisation is required. In this paper, we present a small Python library that allows state machines to be specified, configured, and dynamically created using a minimal domain-specific language. We illustrate the use of the library in three different use cases – scenario definition in the context of the RoboCup@Home competition, experiment design in the context of the ROPOD project, as well as specification transfer between robots.

@inproceedings{mitrevski2019_robocup_2,
Abstract = {When developing robot functionalities, finite state machines are commonly used due to their straightforward semantics and simple implementation. State machines are also a natural implementation choice when designing robot experiments, as they generally lead to reproducible program execution. In practice, the implementation of state machines can lead to significant code repetition and may necessitate unnecessary code interaction when reparameterisation is required. In this paper, we present a small Python library that allows state machines to be specified, configured, and dynamically created using a minimal domain-specific language. We illustrate the use of the library in three different use cases - scenario definition in the context of the RoboCup@Home competition, experiment design in the context of the ROPOD project, as well as specification transfer between robots.},
Author = {Mitrevski, Alex and Pl{\"o}ger, Paul G.},
Booktitle = {Proceedings of the 23rd RoboCup International Symposium},
Keywords = {state machines, rapid prototyping, experiment design},
Title = {{Reusable Specification of State Machines for Rapid Robot Functionality Prototyping}},
Year = {2019}}

• A. Mitrevski, A. Padalkar, M. Nguyen, and P. G. Plöger, “”Lucy, Take the Noodle Box!”: Domestic Object Manipulation Using Movement Primitives and Whole Body Motion,” in Proceedings of the 23rd RoboCup International Symposium, Sydney, Australia, 2019.
[BibTeX] [Abstract]

For robots acting – and failing – in everyday environments, a predictable behaviour representation is important so that it can be utilised for failure analysis, recovery, and subsequent improvement. Learning from demonstration combined with dynamic motion primitives is one commonly used technique for creating models that are easy to analyse and interpret; however, mobile manipulators complicate such models since they need the ability to synchronise arm and base motions for performing purposeful tasks. In this paper, we analyse dynamic motion primitives in the context of a mobile manipulator – a Toyota Human Support Robot (HSR)- and introduce a small extension of dynamic motion primitives that makes it possible to perform whole body motion with a mobile manipulator. We then present an extensive set of experiments in which our robot was grasping various everyday objects in a domestic environment, where a sequence of object detection, pose estimation, and manipulation was required for successfully completing the task. Our experiments demonstrate the feasibility of the proposed whole body motion framework for everyday object manipulation, but also illustrate the necessity for highly adaptive manipulation strategies that make better use of a robot’s perceptual capabilities.

@inproceedings{mitrevski2019_robocup_1,
Abstract = {For robots acting - and failing - in everyday environments, a predictable behaviour representation is important so that it can be utilised for failure analysis, recovery, and subsequent improvement. Learning from demonstration combined with dynamic motion primitives is one commonly used technique for creating models that are easy to analyse and interpret; however, mobile manipulators complicate such models since they need the ability to synchronise arm and base motions for performing purposeful tasks. In this paper, we analyse dynamic motion primitives in the context of a mobile manipulator - a Toyota Human Support Robot (HSR)- and introduce a small extension of dynamic motion primitives that makes it possible to perform whole body motion with a mobile manipulator. We then present an extensive set of experiments in which our robot was grasping various everyday objects in a domestic environment, where a sequence of object detection, pose estimation, and manipulation was required for successfully completing the task. Our experiments demonstrate the feasibility of the proposed whole body motion framework for everyday object manipulation, but also illustrate the necessity for highly adaptive manipulation strategies that make better use of a robot's perceptual capabilities.},
Author = {Mitrevski, Alex and Padalkar, Abhishek and Nguyen, Minh and Pl{\"o}ger, Paul G.},
Booktitle = {Proceedings of the 23rd RoboCup International Symposium},
Keywords = {everyday object manipulation, learning from demonstration, dynamic motion primitives, whole body motion, toyota HSR},
Title = {{"Lucy, Take the Noodle Box!": Domestic Object Manipulation Using Movement Primitives and Whole Body Motion}},
Year = {2019}}

• P. Kulkarni, S. Schneider, and P. G. Ploeger, “Low-Cost Sensor Integration for Robust Grasping with Flexible Robotic Fingers,” in Proceedings of the 32nd International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems (IEA/AIE), 2019.
[BibTeX]
@InProceedings{Kulkarni2019,
author = {Kulkarni, Padmaja and Schneider, Sven and Ploeger, Paul G.},
title = {{Low-Cost Sensor Integration for Robust Grasping with Flexible Robotic Fingers}},
booktitle = {Proceedings of the 32nd International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems (IEA/AIE)},
year = {2019},
}

• L. Naik, S. Blumenthal, N. Huebel, H. Bruyninckx, and E. Prassler, “Semantic mapping extension for OpenStreetMap applied to indoor robot navigation,” in IEEE International Conference on Robotics and Automation (ICRA), 2019.
[BibTeX] [Abstract]

In this work a graph-based, semantic mapping approach for indoor robotics applications is presented, which is extending OpenStreetMap (OSM) with robotic-specific, semantic, topological, and geometrical information. Models for common indoor structures (such as walls, doors, corridors, elevators, etc.) are introduced. The architectural principles support composition with additional domain and application specific knowledge. As an example, a model for an area is introduced and it is explained how this can be used in navigation. A key advantages of the proposed graph-based map representation is that it allows seamless transitions between maps, e.g., indoor and outdoor maps by exploiting the hierarchical structure of the graphs. Finally, the compatibility of the approach with existing, grid-based motion planning algorithms is shown.

@inproceedings{Naik2019,
Abstract = {In this work a graph-based, semantic mapping approach for indoor robotics applications is presented, which is extending OpenStreetMap (OSM) with robotic-specific, semantic, topological, and geometrical information. Models for common indoor structures (such as walls, doors, corridors, elevators, etc.) are introduced. The architectural principles support composition with additional domain and application specific knowledge. As an example, a model for an area is introduced and it is explained how this can be used in navigation. A key advantages of the proposed graph-based map representation is that it allows seamless transitions between maps, e.g., indoor and outdoor maps by exploiting the hierarchical structure of the graphs. Finally, the compatibility of the approach with existing, grid-based motion planning algorithms is shown.},
Author = {Naik, Lakshadeep and Blumenthal, Sebastian and Huebel, Nico and Bruyninckx, Herman and Prassler, Erwin},
Booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
Month = {May},
Title = {Semantic mapping extension for OpenStreetMap applied to indoor robot navigation},
Year = {2019}}

• A. Mitrevski and P. G. Plöger, “Data-Driven Robot Fault Detection and Diagnosis Using Generative Models: A Modified SFDD Algorithm,” in 30th International Workshop on Principles of Diagnosis (DX), Klagenfurt, Austria: , 2019.
[BibTeX] [Abstract]

This paper presents a modification of the data-driven sensor-based fault detection and diagnosis (SFDD) algorithm for online robot monitoring. Our version of the algorithm uses a collection of generative models, in particular restricted Boltzmann machines, each of which represents the distribution of sliding window correlations between a pair of correlated measurements. We use such models in a residual generation scheme, where high residuals generate conflict sets that are then used in a subsequent diagnosis step. As a proof of concept, the framework is evaluated on a mobile logistics robot for the problem of recognising disconnected wheels, such that the evaluation demonstrates the feasibility of the framework (on the faulty data set, the models obtained $88.6\%$ precision and $75.6\%$ recall rates), but also shows that the monitoring results are influenced by the choice of distribution model and the model parameters as a whole.

@incollection{mitrevski2019_dx,
Author = {Mitrevski, Alex and Pl{\"o}ger, Paul G.},
Booktitle = {30th International Workshop on Principles of Diagnosis (DX)},
Title = {{Data-Driven Robot Fault Detection and Diagnosis Using Generative Models: A Modified SFDD Algorithm}},
Year = {2019},
Abstract = "This paper presents a modification of the data-driven sensor-based fault detection and diagnosis (SFDD) algorithm for online robot monitoring. Our version of the algorithm uses a collection of generative models, in particular restricted Boltzmann machines, each of which represents the distribution of sliding window correlations between a pair of correlated measurements. We use such models in a residual generation scheme, where high residuals generate conflict sets that are then used in a subsequent diagnosis step. As a proof of concept, the framework is evaluated on a mobile logistics robot for the problem of recognising disconnected wheels, such that the evaluation demonstrates the feasibility of the framework (on the faulty data set, the models obtained $88.6\%$ precision and $75.6\%$ recall rates), but also shows that the monitoring results are influenced by the choice of distribution model and the model parameters as a whole."}

• P. Bhat, S. Thoduka, and P. G. Plöger, “A Dependency Detection Method for Sensor-based Fault Detection,” in 30th International Workshop on Principles of Diagnosis (DX), Klagenfurt, Austria: , 2019.
[BibTeX]
@incollection{bhat2019_dx,
Author = {Bhat, Pooja and Thoduka, Santosh and Pl{\"o}ger, Paul G.},
Booktitle = {30th International Workshop on Principles of Diagnosis (DX)},
Title = {{A Dependency Detection Method for Sensor-based Fault Detection}},
Year = {2019}}

• I. Vishniakou, “Virtual reality for animal navigation with camera-based optical flow tracking,” Journal of Neuroscience Methods, vol. 327, p. 108403, 2019.
[BibTeX]
@article{Vishniakou2019Virtual-reality,
Author = {Ivan Vishniakou},
Date-Modified = {2019-09-11 11:12:53 +0200},
Journal = {Journal of Neuroscience Methods},
Keywords = {Virtual reality, Navigation, Optical flow, Spherical treadmill, Ball tracking, Drosophila, Real-time image processing},
Pages = {108403},
Title = {Virtual reality for animal navigation with camera-based optical flow tracking},
Volume = {327},
Year = {2019},
Bdsk-Url-1 = {http://www.sciencedirect.com/science/article/pii/S0165027019302602},
Bdsk-Url-2 = {https://doi.org/10.1016/j.jneumeth.2019.108403}}

• B. Mahesh, E. Prassler, T. Hassan, and J. Garbas, “Requirements for a Reference Dataset for Multimodal Human Stress Detection,” in 2019 IEEE International Conference on Pervasive Computing and Communications Workshops (PerCom Workshops), 2019, pp. 492-498. doi:10.1109/PERCOMW.2019.8730884
[BibTeX]
@inproceedings{Mahesh2019Requirements-fo,
Author = {B. {Mahesh} and E. {Prassler} and T. {Hassan} and J. {Garbas}},
Booktitle = {2019 IEEE International Conference on Pervasive Computing and Communications Workshops (PerCom Workshops)},
Date-Modified = {2019-09-11 11:15:13 +0200},
Doi = {10.1109/PERCOMW.2019.8730884},
Keywords = {data acquisition;data analysis;human factors;medical diagnostic computing;patient monitoring;physiology;psychology;multimodal human stress detection;person-specific coping levels;productivity;automatic stress monitoring system;stress levels;physical parameters;physiological parameters;health disparities;data acquisition;data collection;Stress;Biomedical monitoring;Electrocardiography;Psychology;Heart rate;Reliability;Chemicals;stress detection;reference dataset;requirements analysis},
Month = {March},
Pages = {492-498},
Title = {Requirements for a Reference Dataset for Multimodal Human Stress Detection},
Year = {2019},
Bdsk-Url-1 = {https://doi.org/10.1109/PERCOMW.2019.8730884}}

• A. Gaier and D. Ha, “Weight Agnostic Neural Networks,” in Advances in Neural Information Processing Systems, 2019.
[BibTeX]
@inproceedings{gaier2019weight,
Author = {Gaier, Adam and Ha, David},
Booktitle = {Advances in Neural Information Processing Systems},
Date-Modified = {2019-09-11 10:59:02 +0200},
Title = {Weight Agnostic Neural Networks},
Year = {2019}}

• A. Gaier, A. Asteroth, and J. Mouret, “Are quality diversity algorithms better at generating stepping stones than objective-based search?,” in Proceedings of the Genetic and Evolutionary Computation Conference Companion, 2019, p. 115–116.
[BibTeX]
@inproceedings{gaier2019quality,
Author = {Gaier, Adam and Asteroth, Alexander and Mouret, Jean-Baptiste},
Booktitle = {Proceedings of the Genetic and Evolutionary Computation Conference Companion},
Date-Modified = {2019-09-11 10:58:38 +0200},
Organization = {ACM},
Pages = {115--116},
Title = {Are quality diversity algorithms better at generating stepping stones than objective-based search?},
Year = {2019}}

• A. Hagg, M. Zaefferer, J. Stork, and A. Gaier, “Prediction of neural network performance by phenotypic modeling,” in Proceedings of the Genetic and Evolutionary Computation Conference Companion, 2019, p. 1576–1582.
[BibTeX]
@inproceedings{hagg2019prediction,
Author = {Hagg, Alexander and Zaefferer, Martin and Stork, J{\"o}rg and Gaier, Adam},
Booktitle = {Proceedings of the Genetic and Evolutionary Computation Conference Companion},
Date-Modified = {2019-09-11 10:58:22 +0200},
Organization = {ACM},
Pages = {1576--1582},
Title = {Prediction of neural network performance by phenotypic modeling},
Year = {2019}}

• A. Küstenmacher and P. G. Plöger, “Symbolic Representation of Execution Specific Knowledge,” in 30th International Workshop on Principles of Diagnosis (DX), Klagenfurt, Austria: , 2019.
[BibTeX]
@incollection{akuestenmacher2019_dx,
Author = {K\"ustenmacher, Anastassia and Pl{\"o}ger, Paul G.},
Booktitle = {30th International Workshop on Principles of Diagnosis (DX)},
Date-Modified = {2019-10-18 11:36:55 +0200},
Title = {{Symbolic Representation of Execution Specific Knowledge}},
Year = {2019}
}

### 2018

• Y. Youssef and P. G. Plöger, “A Non-intrusive Fault Diagnosis System For Robotic Platforms,” in 29th International Workshop on Principles of Diagnosis (DX), Warsaw, Poland: , 2018.
[BibTeX]
@incollection{youssef2018,
Author = {Youssef, Y. and Pl{\"o}ger, P. G.},
Booktitle = {29th International Workshop on Principles of Diagnosis (DX)},
Title = {{A Non-intrusive Fault Diagnosis System For Robotic Platforms}},
Year = {2018}}

• A. Mitrevski, S. Thoduka, A. Ortega Sáinz, M. Schöbel, P. Nagel, P. G. Plöger, and E. Prassler, “Deploying Robots in Everyday Environments: Towards Dependable and Practical Robotic Systems,” in 29th International Workshop on Principles of Diagnosis (DX), Warsaw, Poland: , 2018.
[BibTeX]
@incollection{mitrevski2018_ropod2,
Author = {Mitrevski, Alex and Thoduka, Santosh and Ortega S{\'a}inz, Argentina and Sch{\"o}bel, Maximilian and Nagel, Patrick and Pl{\"o}ger, Paul G. and Prassler, Erwin},
Booktitle = {29th International Workshop on Principles of Diagnosis (DX)},
Title = {{Deploying Robots in Everyday Environments: Towards Dependable and Practical Robotic Systems}},
Year = {2018}}

• A. Mitrevski, S. Thoduka, A. Ortega Sáinz, M. Schöbel, P. Nagel, P. G. Plöger, and E. Prassler, “Practical Robot Deployment: Towards an Increased Dependability of Robotic Systems,” in Extreme Robotics, 29th International Scientific and Technological Conference, June 7-8, RTC, Saint Petersburg, 2018.
[BibTeX] [Abstract]

Robot deployment in realistic environments is challenging despite the fact that robots can be quite skilled at a large number of isolated tasks. One reason for this is that robots are rarely equipped with powerful introspection capabilities, which means that they cannot always deal with failures in an acceptable manner; in addition, manual diagnosis is often a tedious task that requires technicians to have a considerable set of robotics skills. In this paper, we discuss our ongoing efforts to address some of these problems. In particular, we (i) present our early efforts at developing a robotic black box and consider some factors that complicate its design, (ii) explain our component and system monitoring concept, and (iii) describe the necessity for remote monitoring and experimentation as well as our initial attempts at performing those. Our preliminary work opens a range of promising directions for making robots more usable and reliable in practice.

@inproceedings{mitrevski2018_ropod1,
Abstract = {Robot deployment in realistic environments is challenging despite the fact that robots can be quite skilled at a large number of isolated tasks. One reason for this is that robots are rarely equipped with powerful introspection capabilities, which means that they cannot always deal with failures in an acceptable manner; in addition, manual diagnosis is often a tedious task that requires technicians to have a considerable set of robotics skills. In this paper, we discuss our ongoing efforts to address some of these problems. In particular, we (i) present our early efforts at developing a robotic black box and consider some factors that complicate its design, (ii) explain our component and system monitoring concept, and (iii) describe the necessity for remote monitoring and experimentation as well as our initial attempts at performing those. Our preliminary work opens a range of promising directions for making robots more usable and reliable in practice.},
Author = {Mitrevski, Alex and Thoduka, Santosh and Ortega S{\'a}inz, Argentina and Sch{\"o}bel, Maximilian and Nagel, Patrick and Pl{\"o}ger, Paul G. and Prassler, Erwin},
Booktitle = {Extreme Robotics, 29th International Scientific and Technological Conference, June 7-8, RTC, Saint Petersburg},
Note = {Invited paper},
Title = {{Practical Robot Deployment: Towards an Increased Dependability of Robotic Systems}},
Year = {2018}}

• A. Gaier, A. Asteroth, and J. Mouret, “Data-Efficient Design Exploration through Surrogate-Assisted Illumination,” Evolutionary Computation, 2018.
[BibTeX]
@article{Gaier2018Data-Efficient-,
Author = {Gaier, Adam and Asteroth, Alexander and Mouret, Jean-Baptiste},
Date-Modified = {2018-06-18 07:48:15 +0000},
Journal = {Evolutionary Computation},
Publisher = {MIT Press},
Title = {Data-Efficient Design Exploration through Surrogate-Assisted Illumination},
Year = {2018}}

• A. Gaier, A. Asteroth, and J. Mouret, “Data-efficient Neuroevolution with Kernel-Based Surrogate Models,” in Proceedings of the Genetic and Evolutionary Computation Conference, 2018.
[BibTeX]
@inproceedings{Gaier2018Data-efficient-1,
Author = {Gaier, Adam and Asteroth, Alexander and Mouret, Jean-Baptiste},
Booktitle = {Proceedings of the Genetic and Evolutionary Computation Conference},
Date-Modified = {2018-06-18 07:51:15 +0000},
Organization = {ACM},
Title = {Data-efficient Neuroevolution with Kernel-Based Surrogate Models},
Year = {2018}}

• O. Lima, R. Ventura, and I. Awaad, “Integrating Classical Planning and Real Robots in Industrial and Service Robotics Domains,” in Planning and Robotics (PlanRob) Workshop at the 28th International Conference on Automated Planning and Scheduling (ICAPS), 2018.
[BibTeX]
@inproceedings{lima2018_icaps,
Author = {Lima, Oscar and Ventura, Rodrigo and Awaad, Iman},
Booktitle = {Planning and Robotics (PlanRob) Workshop at the 28th International Conference on Automated Planning and Scheduling (ICAPS)},
Date-Modified = {2018-09-05 10:59:17 +0200},
Title = {Integrating Classical Planning and Real Robots in Industrial and Service Robotics Domains},
Year = {2018}}

• N. Huebel, S. Blumenthal, L. Naik, and H. Bruyninckx, Challenges in Using OSM for Robotic Applications, 2018.
@misc{HuebelNicoTobias2018CiUO,
Author = {Huebel, Nico and Blumenthal, Sebastian and Naik, Lakshadeep and Bruyninckx, Herman},
Title = {Challenges in Using OSM for Robotic Applications},
Url = {$$Uhttps://lirias.kuleuven.be/retrieve/513841$$Du009784701.pdf [freely available]},
Year = {2018},
Bdsk-Url-1 = {$$Uhttps://lirias.kuleuven.be/retrieve/513841$$Du009784701.pdf%20%5Bfreely%20available%5D}}

• J. Diaz Posada, P. Mukherjee, and A. Verl, “Automatic Close-optimal Workpiece Positioning for Robotic Manufacturing.,” in Proceedings of the 1st CIRP Conference on Manufacturing Systems (CIRP CMS 2018), 2018.
[BibTeX]
@inproceedings{Diaz-Posada2018Automatic-Close,
Author = {Diaz Posada, Julian and Mukherjee, Poulastya and Verl, Alexander},
Booktitle = {Proceedings of the 1st CIRP Conference on Manufacturing Systems (CIRP CMS 2018)},
Date-Modified = {2018-06-18 08:13:32 +0000},
Month = {May},
Title = {Automatic Close-optimal Workpiece Positioning for Robotic Manufacturing.},
Year = {2018}}

• R. Ravichandran, N. Huebel, S. Blumenthal, and E. Prassler, “A Workbench for Quantitative Comparison of Databases in Multi-Robot Applications,” in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), 2018.
[BibTeX]
@inproceedings{ravichandran2018_iros,
Author = {Ravichandran, R. and Huebel, N. and Blumenthal, S. and Prassler, E.},
Booktitle = {Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)},
Title = {{A Workbench for Quantitative Comparison of Databases in Multi-Robot Applications}},
Year = {2018}}

### 2017

• S. Thoduka, F. Hegger, G. K. Kraetzschmar, and P. G. Plöger, “Motion Detection in the Presence of Egomotion Using the Fourier-Mellin Transform,” in Proceedings of the 21st RoboCup International Symposium, Nagoya, Japan, 2017.
[BibTeX] [Abstract]

Vision-based motion detection, an important skill for an autonomous mobile robot operating in dynamic environments, is particularly challenging when the robot’s camera is in motion. In this paper, we use a Fourier-Mellin transform-based image registration method to compensate for camera motion before applying temporal differencing for motion detection. The approach is evaluated online as well as offline on a set of sequences recorded with a Care-O-bot 3, and compared with a feature-based method for image registration. In comparison to the feature-based method, our method performs better both in terms of robustness of the registration and the false discovery rate.

@inproceedings{Thoduka2017,
Abstract = {Vision-based motion detection, an important skill for an autonomous mobile robot operating in dynamic environments, is particularly challenging when the robot's camera is in motion. In this paper, we use a Fourier-Mellin transform-based image registration method to compensate for camera motion before applying temporal differencing for motion detection. The approach is evaluated online as well as offline on a set of sequences recorded with a Care-O-bot 3, and compared with a feature-based method for image registration. In comparison to the feature-based method, our method performs better both in terms of robustness of the registration and the false discovery rate.},
Author = {Thoduka, Santosh and Hegger, Frederik and Kraetzschmar, Gerhard K. and Pl{\"o}ger, Paul G.},
Booktitle = {Proceedings of the 21st RoboCup International Symposium},
Keywords = {motion detection, mobile robots, egomotion compensation, fourier-mellin transform},
Timestamp = {2017.07.31},
Title = {{Motion Detection in the Presence of Egomotion Using the Fourier-Mellin Transform}},
Year = {2017}}

• G. Cornelius, P. Caire, N. Hochgeschwender, M. A. Olivares-Mendez, P. Esteves-Verissimo, M. Völp, and H. Voos, “A Perspective of Security for Mobile Service Robots,” in Third Iberian Robotics Conference (ROBOT), 2017.
[BibTeX]
@inproceedings{Cornelius2017,
Author = {Cornelius, Gary and Caire, Patrice and Hochgeschwender, Nico and Olivares-Mendez, Miguel A. and Esteves-Verissimo, Paulo and V{\"o}lp, Marcus and Voos, Holger},
Booktitle = {Third Iberian Robotics Conference (ROBOT)},
Title = {{A Perspective of Security for Mobile Service Robots}},
Year = {2017}}

• H. M. Bleses, S. Ziegler, M. Füller, and T. Beer, “Personen mit Demenz und Telepräsenzroboter: Virtuelle Begegnungen in Alltagssituationen,” in Digitale Transformation von Dienstleistungen im Gesundheitswesen III, M. A. Pfannstiel, S. Krammer, and W. Swoboda, Eds., Springer Gabler, 2017, p. 221–231.
[BibTeX]
@incollection{Bleses2017,
Author = {Bleses, Helma M. and Ziegler, Sven and F{\"u}ller, Matthias and Beer, Thomas},
Booktitle = {Digitale Transformation von Dienstleistungen im Gesundheitswesen III},
Editor = {Mario A. Pfannstiel and Sandra Krammer and Walter Swoboda},
Pages = {221--231},
Publisher = {Springer Gabler},
Title = {{Personen mit Demenz und Telepr{\"a}senzroboter: Virtuelle Begegnungen in Alltagssituationen}},
Year = {2017}}

• A. Vanzo, L. Iocchi, D. Nardi, R. Memmesheimer, D. Paulus, I. Ivanovska, and G. Kraetzschmar, “Benchmarking Speech Understanding in Service Robotics,” in Proceedings of the 4th Italian Workshop on Artificial Intelligence and Robotics (AIRO), 2017.
[BibTeX]
@inproceedings{Vanzo2017,
Author = {Vanzo, Andrea and Iocchi, Luca and Nardi, Daniele and Memmesheimer, Raphael and Paulus, Dietrich and Ivanovska, Iryna and Kraetzschmar, Gerhard},
Booktitle = {Proceedings of the 4th Italian Workshop on Artificial Intelligence and Robotics (AIRO)},
Title = {{Benchmarking Speech Understanding in Service Robotics}},
Year = {2017}}

• U. P. Schultz, M. Bordignon, K. Stoy, A. Nordmann, N. Hochgeschwender, and S. Wrede, “DSLs in Robotics: A Case Study in Programming Self-reconfigurable Robots,” in Grand Timely Topics in Software Engineering (GTTSE), 2017.
[BibTeX]
@inproceedings{Schultz2017,
Author = {Schultz, Ulrik Pagh and Bordignon, Mirko and Stoy, Kasper and Nordmann, Arne and Hochgeschwender, Nico and Wrede, Sebastian},
Booktitle = {Grand Timely Topics in Software Engineering (GTTSE)},
Title = {{DSLs in Robotics: A Case Study in Programming Self-reconfigurable Robots}},
Year = {2017}}

• M. Riestock, F. Engelhardt, S. Zug, and N. Hochgeschwender, “Exploring Gridmap-based Interfaces for the Remote Control of UAVs under Bandwidth Limitations,” in Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2017.
[BibTeX]
@inproceedings{Riestock2017a,
Author = {Riestock, Maik and Engelhardt, Frank and Zug, Sebastian and Hochgeschwender, Nico},
Booktitle = {Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
Title = {{Exploring Gridmap-based Interfaces for the Remote Control of UAVs under Bandwidth Limitations}},
Year = {2017}}

• D. Brugali and N. Hochgeschwender, “Managing the Functional Variability of Robotic Perception Systems,” in IEEE International Conference on Robotic Computing (IRC), 2017.
[BibTeX]
@inproceedings{Brugali2017,
Author = {Brugali, Davide and Hochgeschwender, Nico},
Booktitle = {IEEE International Conference on Robotic Computing (IRC)},
Title = {{Managing the Functional Variability of Robotic Perception Systems}},
Year = {2017}}

• M. Riestock, F. Engelhardt, S. Zug, and N. Hochgeschwender, “User study on remotely controlled UAVs with focus on interfaces and data link quality,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.
[BibTeX]
@inproceedings{Riestock2017,
Author = {Riestock, Maik and Engelhardt, Frank and Zug, Sebastian and Hochgeschwender, Nico},
Booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
Title = {{User study on remotely controlled UAVs with focus on interfaces and data link quality}},
Year = {2017}}

• L. Iocchi, G. K. Kraetzschmar, D. Nardi, P. U. Lima, P. Miraldo, E. Bastianelli, and R. Capobianco, “RoCKIn@Home: Domestic Robots Challenge,” in RoCKIn – Benchmarking Through Robot Competitions, InTech, 2017.
[BibTeX]
@incollection{Iocchi2017,
Author = {Iocchi, Luca and Kraetzschmar, Gerhard K. and Nardi, Daniele and Lima, Pedro U. and Miraldo, Pedro and Bastianelli, Emanuele and Capobianco, Roberto},
Booktitle = {RoCKIn - Benchmarking Through Robot Competitions},
Publisher = {InTech},
Title = {RoCKIn@Home: Domestic Robots Challenge},
Year = {2017}}

• A. Gaier, A. Asteroth, and J. Mouret, “Aerodynamic Design Exploration through Surrogate-Assisted Illumination,” in 18th AIAA/ISSMO Multidisciplinary Analysis and Optimization Conference, AIAA AVIATION Forum. 5-9 June 2017, Denver, CO, USA, 2017. doi:10.2514/6.2017-3330
@inproceedings{GaierAsterothMouret2017_1,
Author = {Gaier, A. and Asteroth, A. and Mouret, J.},
Booktitle = {18th AIAA/ISSMO Multidisciplinary Analysis and Optimization Conference, AIAA AVIATION Forum. 5-9 June 2017, Denver, CO, USA},
Doi = {10.2514/6.2017-3330},
Title = {Aerodynamic Design Exploration through Surrogate-Assisted Illumination},
Url = {https://hal.inria.fr/hal-01518786},
Year = {2017},
Bdsk-Url-1 = {https://hal.inria.fr/hal-01518786},
Bdsk-Url-2 = {https://doi.org/10.2514/6.2017-3330}}

• A. Gaier, A. Asteroth, and J. Mouret, “Data-Efficient Exploration, Optimization, and Modeling of Diverse Designs through Surrogate-Assisted Illumination,” in GECCO ’17: Proceedings of the Genetic and Evolutionary Computation Conference. Berlin, Germany, July 15-19, 2017, 2017, p. 99 – 106. doi:10.1145/3071178.3071282
[BibTeX]
@inproceedings{GaierAsterothMouret2017_2,
Author = {Gaier, A. and Asteroth, A. and Mouret, J.},
Booktitle = {GECCO '17: Proceedings of the Genetic and Evolutionary Computation Conference. Berlin, Germany, July 15-19, 2017},
Doi = {10.1145/3071178.3071282},
Isbn = {978-1-4503-4920-8},
Pages = {99 -- 106},
Title = {Data-Efficient Exploration, Optimization, and Modeling of Diverse Designs through Surrogate-Assisted Illumination},
Year = {2017},
Bdsk-Url-1 = {https://doi.org/10.1145/3071178.3071282}}

• Y. Youssef, C. Hebbal, A. Drak, P. G. Plöger, and A. Kuestenmacher, “Model-Based Remote Diagnosis of Motion Faults on an Omnidirectional Robot via Structural Analysis,” in 28th International Workshop on Principles of Diagnosis (DX), Brescia, Italy: , 2017.
[BibTeX]
@incollection{Youssef2017,
Author = {Youssef, Y. and Hebbal, C. and Drak, A. and Pl{\"o}ger, P. G. and Kuestenmacher, A.},
Booktitle = {28th International Workshop on Principles of Diagnosis (DX)},
Title = {Model-Based Remote Diagnosis of Motion Faults on an Omnidirectional Robot via Structural Analysis},
Year = {2017}}

• M. Ghallab, N. Hawes, D. Magazzeni, B. C. Williams, and A. Orlandini, “Planning and Robotics (Dagstuhl Seminar 17031),” Dagstuhl Reports, vol. 7, iss. 1, p. 32–73, 2017. doi:10.4230/DagRep.7.1.32
@article{Ghallab2017Planning-and-Ro,
Annote = {Keywords: adjustable autonomy, artificial intelligence, automated planning and scheduling, goal reasoning, human-robot interaction, plan execution, robotics},
Author = {Malik Ghallab and Nick Hawes and Daniele Magazzeni and Brian C. Williams and Andrea Orlandini},
Date-Modified = {2017-06-19 07:58:06 +0000},
Doi = {10.4230/DagRep.7.1.32},
Editor = {Malik Ghallab and Nick Hawes and Daniele Magazzeni and Brian C. Williams and Andrea Orlandini},
Issn = {2192-5283},
Journal = {Dagstuhl Reports},
Number = {1},
Pages = {32--73},
Publisher = {Schloss Dagstuhl--Leibniz-Zentrum fuer Informatik},
Title = {{Planning and Robotics (Dagstuhl Seminar 17031)}},
Url = {http://drops.dagstuhl.de/opus/volltexte/2017/7245},
Urn = {urn:nbn:de:0030-drops-72451},
Volume = {7},
Year = {2017},
Bdsk-Url-1 = {http://drops.dagstuhl.de/opus/volltexte/2017/7245},
Bdsk-Url-2 = {http://dx.doi.org/10.4230/DagRep.7.1.32}}

• G. Cornelius, N. Hochgeschwender, and H. Voos, “Model-Driven Interaction Design for Social Robots,” in Proceedings of the 4th International Workshop on Model-driven Robot Software Engineering, 2017.
[BibTeX]
@inproceedings{Hochgeschwender2017a,
Author = {Gary Cornelius and Nico Hochgeschwender and Holger Voos},
Booktitle = {Proceedings of the 4th International Workshop on Model-driven Robot Software Engineering},
Date-Modified = {2018-09-05 10:50:15 +0200},
Location = {Marburg, Germany},
Note = {To Appear},
Publisher = {ACM},
Title = {Model-Driven Interaction Design for Social Robots},
Year = {2017}}

• A. Mitrevski, A. Kuestenmacher, S. Thoduka, and P. G. Plöger, “Improving the Reliability of Service Robots in the Presence of External Faults by Learning Action Execution Models,” in Proceedings of the 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, p. 4256–4263.
[BibTeX] [Abstract]

While executing actions, service robots may experience external faults because of insufficient knowledge about the actions’ preconditions. The possibility of encountering such faults can be minimised if symbolic and geometric precondition models are combined into a representation that specifies how and where actions should be executed. This work investigates the problem of learning such action execution models and the manner in which those models can be generalised. In particular, we develop a template-based representation of execution models, which we call $\delta$ models, and describe how symbolic template representations and geometric success probability distributions can be combined for generalising the templates beyond the problem instances on which they are created. Our experimental analysis, which is performed with two physical robot platforms, shows that $\delta$ models can describe execution-specific knowledge reliably, thus serving as a viable model for avoiding the occurrence of external faults.

@inproceedings{Mitrevski2017,
Abstract = {While executing actions, service robots may experience external faults because of insufficient knowledge about the actions' preconditions. The possibility of encountering such faults can be minimised if symbolic and geometric precondition models are combined into a representation that specifies how and where actions should be executed. This work investigates the problem of learning such action execution models and the manner in which those models can be generalised. In particular, we develop a template-based representation of execution models, which we call $\delta$ models, and describe how symbolic template representations and geometric success probability distributions can be combined for generalising the templates beyond the problem instances on which they are created. Our experimental analysis, which is performed with two physical robot platforms, shows that $\delta$ models can describe execution-specific knowledge reliably, thus serving as a viable model for avoiding the occurrence of external faults.},
Author = {Mitrevski, Alex and Kuestenmacher, Anastassia and Thoduka, Santosh and Pl{\"o}ger, Paul G.},
Booktitle = {Proceedings of the 2017 {IEEE} International Conference on Robotics and Automation (ICRA)},
Pages = {4256--4263},
Title = {Improving the Reliability of Service Robots in the Presence of External Faults by Learning Action Execution Models},
Year = {2017}}

• R. Bischoff, T. Friedrich, G. K. Kraetzschmar, S. Schneider, and N. Hochgeschwender, “RoCKIn@Work: Industrial Robot Challenge,” in RoCKIn – Benchmarking Through Robot Competitions, InTech, 2017.
[BibTeX]
@incollection{Bischoff2017,
Author = {Bischoff, Rainer and Friedrich, Tim and Kraetzschmar, Gerhard K. and Schneider, Sven and Hochgeschwender, Nico},
Booktitle = {RoCKIn - Benchmarking Through Robot Competitions},
Publisher = {InTech},
Title = {RoCKIn@Work: Industrial Robot Challenge},
Year = {2017}}

### 2016

• C. K. Tan, P. G. Ploeger, and T. P. Trappenberg, “A Neural Field approach to Obstacle Avoidance,” in KI 2016 – German Conference on Artificial Intelligence, Klagenfurt, Austria, 2016.
[BibTeX] [Abstract]

Cognitive robotics aims at understanding biological processes, though it has also the potential to improve future robotics systems. Here we show how a biologically inspired model of motor control with neural fields can be augmented with additional components such that it is able to solve a basic robotics task, that of obstacle avoidance. While obstacle avoidance is a well researched area, the focus here is on the extensibility of a biologically inspired framework. This work demonstrates how easily the biological inspired system can be used to adapt to new tasks. This flexibility is thought to be a major hallmark of biological agents.

@inproceedings{Tan2016,
Abstract = {Cognitive robotics aims at understanding biological processes, though it has also the potential to improve future robotics systems. Here we show how a biologically inspired model of motor control with neural fields can be augmented with additional components such that it is able to solve a basic robotics task, that of obstacle avoidance. While obstacle avoidance is a well researched area, the focus here is on the extensibility of a biologically inspired framework. This work demonstrates how easily the biological inspired system can be used to adapt to new tasks. This flexibility is thought to be a major hallmark of biological agents.},
Author = {Tan, Chun Kwang and Ploeger, Paul G. and Trappenberg, Thomas P.},
Booktitle = {KI 2016 - German Conference on Artificial Intelligence},
Number = {39},
Timestamp = {2016.09.26},
Title = {A Neural Field approach to Obstacle Avoidance},
Year = {2016}}

• T. Niemueller, S. Zug, S. Schneider, and U. Karras, “Knowledge-Based Instrumentation and Control for Competitive Industry-Inspired Robotic Domains,” KI – Zeitschrift Kuenstliche Intelligenz, p. 1–11, 2016. doi:10.1007/s13218-016-0438-8
[BibTeX]
@article{Niemueller2016,
Author = {Niemueller, Tim and Zug, Sebastian and Schneider, Sven and Karras, Ulrich},
Doi = {10.1007/s13218-016-0438-8},
Journal = {KI -- Zeitschrift Kuenstliche Intelligenz},
Pages = {1--11},
Timestamp = {2016.08.10},
Title = {Knowledge-Based Instrumentation and Control for Competitive Industry-Inspired Robotic Domains},
Year = {2016},
Bdsk-Url-1 = {http://dx.doi.org/10.1007/s13218-016-0438-8}}

• A. Hagg, F. Hegger, and P. G. Ploeger, “On Recognizing Transparent Objects in Domestic Environments Using Fusion of Multiple Sensor Modalities,” in Proceedings of the 20th RoboCup International Symposium, Leipzig, Germany, 2016.
[BibTeX]
@inproceedings{Hagg2016,
Author = {Hagg, Alexander and Hegger, Frederik and Ploeger, Paul G.},
Booktitle = {Proceedings of the 20th RoboCup International Symposium},
Timestamp = {2016.06.03},
Title = {{On Recognizing Transparent Objects in Domestic Environments Using Fusion of Multiple Sensor Modalities}},
Year = {2016}}

• S. Thoduka, S. Pazekha, A. Moriarty, and G. K. Kraetzschmar, “RGB-D-Based Features for Recognition of Textureless Objects,” in Proceedings of the 20th RoboCup International Symposium, Leipzig, Germany, 2016.
[BibTeX] [Abstract]

Autonomous industrial robots need to recognize objects robustly in cluttered environments. The use of RGB-D cameras has progressed research in 3D object recognition, but it is still a challenge for textureless objects. We propose a set of features, including the bounding box, mean circle fit and radial density distribution, that describe the size, shape and colour of objects. The features are extracted from point clouds of a set of objects and used to train an SVM classifier. Various combinations of the proposed features are tested to determine their influence on the recognition rate. Medium-sized objects are recognized with high accuracy whereas small objects have a lower recognition rate. The minimum range and resolution of the cameras are still an issue but are expected to improve as the technology improves.

@inproceedings{Thoduka2016,
Abstract = {Autonomous industrial robots need to recognize objects robustly in cluttered environments. The use of RGB-D cameras has progressed research in 3D object recognition, but it is still a challenge for textureless objects. We propose a set of features, including the bounding box, mean circle fit and radial density distribution, that describe the size, shape and colour of objects. The features are extracted from point clouds of a set of objects and used to train an SVM classifier. Various combinations of the proposed features are tested to determine their influence on the recognition rate. Medium-sized objects are recognized with high accuracy whereas small objects have a lower recognition rate. The minimum range and resolution of the cameras are still an issue but are expected to improve as the technology improves.},
Author = {Thoduka, Santosh and Pazekha, Stepan and Moriarty, Alexander and Kraetzschmar, Gerhard K.},
Booktitle = {Proceedings of the 20th RoboCup International Symposium},
Keywords = {object recognition, machine learning, textureless objects, RGB-D data, coloured pointclouds},
Timestamp = {2016.06.03},
Title = {{RGB-D-Based Features for Recognition of Textureless Objects}},
Year = {2016}}

• J. Sanchez, S. Schneider, N. Hochgeschwender, G. K. Kraetzschmar, and P. G. Plöger, “Context-Based Adaptation of In-Hand Slip Detection for Service Robots,” in Proceedings of the IFAC Symposium on Intelligent Autonomous Vehicles (IAV), 2016.
[BibTeX]
@inproceedings{Sanchez2016,
Author = {Sanchez, Jose and Schneider, Sven and Hochgeschwender, Nico and Kraetzschmar, Gerhard K. and Pl\"{o}ger, Paul G.},
Booktitle = {Proceedings of the IFAC Symposium on Intelligent Autonomous Vehicles (IAV)},
Title = {Context-Based Adaptation of In-Hand Slip Detection for Service Robots},
Year = {2016}}

• L. Gammaitoni and N. Hochgeschwender, “RPSL meets lightning: A model-based approach to design space exploration of robot perception systems,” in IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2016.
[BibTeX]
@inproceedings{Gammaitoni2016,
Author = {Gammaitoni, Loic and Hochgeschwender, Nico},
Booktitle = {IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)},
Title = {{RPSL meets lightning: A model-based approach to design space exploration of robot perception systems}},
Year = {2016}}

• A. M. Sundaram, O. Porges, and M. A. Roa, “Planning Realistic Interactions for Bimanual Grasping and Manipulation,” in Proceedings of the 2016 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2016.
[BibTeX]
@InProceedings{Sundaram2016,
author = {Sundaram, Ashok M. and Porges, Oliver and Roa, M{\'a}ximo A.},
title = {Planning Realistic Interactions for Bimanual Grasping and Manipulation},
booktitle = {Proceedings of the 2016 {IEEE-RAS} International Conference on Humanoid Robots (HUMANOIDS)},
year = {2016},
}

• N. Hochgeschwender, S. Schneider, H. Voos, H. Bruyninckx, and G. K. Kraetzschmar, “Graph-based software knowledge: Storage and semantic querying of domain models for run-time adaptation,” in IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2016.
[BibTeX]
@inproceedings{Hochgeschwender2016,
Author = {Hochgeschwender, Nico and Schneider, Sven and Voos, Holger and Bruyninckx, Herman and Kraetzschmar, Gerhard K.},
Booktitle = {IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)},
Title = {{Graph-based software knowledge: Storage and semantic querying of domain models for run-time adaptation}},
Year = {2016}}

• A. Drak, Y. Youssef, P. G. Plöger, and A. Kuestenmacher, “Remote Fault Diagnosis of Robots Using a Robotic Black Box,” in 27th International Workshop on Principles of Diagnosis (DX), , 2016.
[BibTeX]
@incollection{drak2016,
Author = {Drak, A. and Youssef, Y. and Pl{\"o}ger, P. G. and Kuestenmacher, A.},
Booktitle = {27th International Workshop on Principles of Diagnosis (DX)},
Title = {{Remote Fault Diagnosis of Robots Using a Robotic Black Box}},
Year = {2016}}

• A. Nordmann, N. Hochgeschwender, D. Wiegand, and S. Wrede, “A Survey on Domain-specific Modeling and Languages in Robotics,” Journal for Software Engineering Robotics (JOSER), vol. 7, iss. 1, 2016.
[BibTeX]
@article{Nordmann2016,
Author = {Nordmann, Arne and Hochgeschwender, Nico and Wiegand, Dennis and Wrede, Sebastian},
Journal = {Journal for Software Engineering Robotics (JOSER)},
Number = {1},
Title = {A Survey on Domain-specific Modeling and Languages in Robotics},
Volume = {7},
Year = {2016}}

• M. Pozzi, A. M. Sundaram, M. Malvezzi, D. Pratichizzo, and M. A. Roa, “Grasp Quality Evaluation in Underactuated Robotic Hands,” in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), 2016.
[BibTeX]
@inproceedings{Pozzi2016Grasp-Quality-E,
Author = {Pozzi, M. and Sundaram, A. M. and Malvezzi, M. and Pratichizzo, D. and Roa, M. A.},
Booktitle = {Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)},
Date-Modified = {2016-08-30 10:13:46 +0000},
Title = {Grasp Quality Evaluation in Underactuated Robotic Hands},
Year = {2016}}

• A. Kuestenmacher and P. G. Plöger, “Model-Based Fault Diagnosis Techniques for Mobile Robots,” in 9th IFAC Symposium on Intelligent Autonomous Vehicles – IAV 2016, 2016.
[BibTeX]
@inproceedings{Kuestenmacher2016,
Author = {Kuestenmacher, Anastassia and Pl{\"o}ger, Paul G.},
Booktitle = {9th IFAC Symposium on Intelligent Autonomous Vehicles - IAV 2016},
Date-Modified = {2016-08-29 19:03:42 +0000},
Title = {Model-Based Fault Diagnosis Techniques for Mobile Robots},
Year = {2016}}

• S. Eickeler, M. Valdenegro, T. Werner, and M. Kieninger, “Future Computer Vision Algorithms for Traffic Sign Recognition Systems,” in Advanced Microsystems for Automotive Applications 2015, 2016, p. 69–77.
[BibTeX]
@inproceedings{eickeler2016future,
Author = {Eickeler, Stefan and Valdenegro, Matias and Werner, Thomas and Kieninger, Michael},
Booktitle = {Advanced Microsystems for Automotive Applications 2015},
Date-Modified = {2015-08-26 07:29:34 +0000},
Pages = {69--77},
Publisher = {Springer},
Title = {Future Computer Vision Algorithms for Traffic Sign Recognition Systems},
Year = {2016}}

• M. Herman, T. Gindele, J. Wagner, F. Schmitt, C. Quignon, and W. Burgard, “Learning High-Level Navigation Strategies via Inverse Reinforcement Learning: A Comparative Analysis,” in AI 2016: Advances in Artificial Intelligence: 29th Australasian Joint Conference, Hobart, TAS, Australia, December 5-8, 2016, Proceedings, B. H. Kang and Q. Bai, Eds., Cham: Springer International Publishing, 2016, p. 525–534. doi:10.1007/978-3-319-50127-7_45
@inbook{Herman2016Learning-High-L,
Author = {Herman, Michael and Gindele, Tobias and Wagner, Joerg and Schmitt, Felix and Quignon, Christophe and Burgard, Wolfram},
Booktitle = {AI 2016: Advances in Artificial Intelligence: 29th Australasian Joint Conference, Hobart, TAS, Australia, December 5-8, 2016, Proceedings},
Date-Modified = {2017-06-19 10:18:29 +0000},
Doi = {10.1007/978-3-319-50127-7_45},
Editor = {Kang, Byeong Ho and Bai, Quan},
Isbn = {978-3-319-50127-7},
Pages = {525--534},
Publisher = {Springer International Publishing},
Title = {Learning High-Level Navigation Strategies via Inverse Reinforcement Learning: A Comparative Analysis},
Url = {http://dx.doi.org/10.1007/978-3-319-50127-7_45},
Year = {2016},
Bdsk-Url-1 = {http://dx.doi.org/10.1007/978-3-319-50127-7_45}}

• M. Valdenegro-Toro, P. Plöger, S. Eickeler, and I. Konya, “Histograms of Stroke Widths for Multi-script Text Detection and Verification in Road Scenes,” IFAC-PapersOnLine, vol. 49, iss. 15, p. 100–107, 2016.
[BibTeX]
@article{Valdenegro-Toro2016Histograms-of-S,
Author = {Valdenegro-Toro, Matias and Pl{\"o}ger, Paul and Eickeler, Stefan and Konya, Iuliu},
Date-Modified = {2016-08-30 10:19:39 +0000},
Journal = {IFAC-PapersOnLine},
Number = {15},
Pages = {100--107},
Publisher = {Elsevier},
Title = {Histograms of Stroke Widths for Multi-script Text Detection and Verification in Road Scenes},
Volume = {49},
Year = {2016}}

### 2015

• S. Schneider, F. Hegger, N. Hochgeschwender, R. Dwiputra, A. Moriarty, J. Berghofer, and G. Kraetzschmar, “Design and Development of a Benchmarking Testbed for the Factory of the Future,” in Proceedings of the 20th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA): Special Session on Mobile Robotics in the Factory of the Future, Luxembourg, 2015.
[BibTeX]
@inproceedings{Schneider2015,
Author = {Schneider, Sven and Hegger, Frederik and Hochgeschwender, Nico and Dwiputra, Rhama and Moriarty, Alexander and Berghofer, Jakob and Kraetzschmar, Gerhard},
Booktitle = {Proceedings of the 20th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA): Special Session on Mobile Robotics in the Factory of the Future},
Timestamp = {2015.09.08},
Title = {Design and Development of a Benchmarking Testbed for the Factory of the Future},
Year = {2015}}

• M. Ludwig, A. Meenakshi Sundaram, M. Fueller, A. Asteroth, and E. Prassler, “On Modeling the Cardiovascular System and Predicting the Human Heart Rate under Strain,” in Proceedings of the International Conference on Information and Communication Technologies for Ageing Well and e-Health, Lisbon, Portugal, 2015.
[BibTeX]
@inproceedings{Ludwig2015,
Author = {Ludwig, Melanie and Meenakshi Sundaram, Ashok and Fueller, Matthias and Asteroth, Alexander and Prassler, Erwin},
Booktitle = {Proceedings of the International Conference on Information and Communication Technologies for Ageing Well and e-Health},
Timestamp = {2015.05.20},
Title = {On Modeling the Cardiovascular System and Predicting the Human Heart Rate under Strain},
Year = {2015}}

• L. Gherardi and N. Hochgeschwender, “Poster: Model-based Run-time Variability Resolution for Robotic Applications,” in Proceedings of the 37th International Conference on Software Engineering, Florence, Italy, 2015.
[BibTeX]
@inproceedings{Gherardi2015a,
Author = {Gherardi, Luca and Hochgeschwender, Nico},
Booktitle = {Proceedings of the 37th International Conference on Software Engineering},
Month = {May},
Note = {Poster and Extended Abstract},
Timestamp = {2015.05.16},
Title = {Poster: Model-based Run-time Variability Resolution for Robotic Applications},
Year = {2015}}

• E. Shpieva and I. Awaad, “Integrating Task Planning, Execution and Monitoring for a Domestic Service Robot,” Information Technology, vol. 57, iss. 2, p. 112–121, 2015. doi:10.1515/itit-2014-1064
[BibTeX]
@article{Shpieva2015Integrating-Tas,
Author = {Shpieva, Elizaveta and Awaad, Iman},
Date-Modified = {2015-03-31 07:50:11 +0000},
Doi = {10.1515/itit-2014-1064},
Journal = {Information Technology},
Keywords = {planning, execution, monitoring, control architectures},
Month = {March},
Number = {2},
Pages = {112--121},
Rating = {4},
Timestamp = {2015.03.27},
Title = {Integrating Task Planning, Execution and Monitoring for a Domestic Service Robot},
Volume = {57},
Year = {2015},
Bdsk-Url-1 = {http://dx.doi.org/10.1515/itit-2014-1064}}

• I. Awaad, G. K. Kraetzschmar, and J. Hertzberg, “The role of functional affordances in socializing robots,” International Journal of Social Robotics, vol. 7, iss. 4, p. 421–438, 2015. doi:10.1007/s12369-015-0281-3
[BibTeX]
@article{Awaad2015The-role-of-fun,
Author = {Awaad, Iman and Kraetzschmar, Gerhard K. and Hertzberg, Joachim},
Date-Modified = {2015-10-02 09:16:37 +0000},
Doi = {10.1007/s12369-015-0281-3},
Journal = {International Journal of Social Robotics},
Month = {March},
Number = {4},
Pages = {421--438},
Timestamp = {2015.03.27},
Title = {The role of functional affordances in socializing robots},
Volume = {7},
Year = {2015},
Bdsk-Url-1 = {http://dx.doi.org/10.1007/s12369-015-0281-3}}

• S. Blumenthal, N. Hochgeschwender, E. Prassler, H. Voos, and H. Bruyninckx, “An Approach for a Distributed World Model with QoS-based Perception Algorithm Adaptation,” in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), 2015.
[BibTeX]
@inproceedings{Sebastian-Blumenthal2015An-Approach-for,
Author = {Blumenthal, Sebastian and Hochgeschwender, Nico and Prassler, Erwin and Voos, Holger and Bruyninckx, Herman},
Booktitle = {Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)},
Date-Modified = {2015-10-02 08:42:25 +0000},
Title = {An Approach for a Distributed World Model with QoS-based Perception Algorithm Adaptation},
Year = {2015}}

• M. Füller, A. Meenakshi Sundaram, M. Ludwig, A. Asteroth, and E. Prassler, “Modeling and Predicting the Human Heart Rate During Running Exercise,” in Information and Communication Technologies for Ageing Well and e-Health: First International Conference, ICT4AgeingWell 2015, Lisbon, Portugal, May 20-22, 2015. Revised Selected Papers, M. Helfert, A. Holzinger, M. Ziefle, A. Fred, J. O’Donoghue, and C. Röcker, Eds., Cham: Springer International Publishing, 2015, p. 106–125. doi:10.1007/978-3-319-27695-3_7
@inbook{Fueller2015,
Author = {F{\"u}ller, Matthias and Meenakshi Sundaram, Ashok and Ludwig, Melanie and Asteroth, Alexander and Prassler, Erwin},
Booktitle = {Information and Communication Technologies for Ageing Well and e-Health: First International Conference, ICT4AgeingWell 2015, Lisbon, Portugal, May 20-22, 2015. Revised Selected Papers},
Doi = {10.1007/978-3-319-27695-3_7},
Editor = {Helfert, Markus and Holzinger, Andreas and Ziefle, Martina and Fred, Ana and O'Donoghue, John and R{\"o}cker, Carsten},
Isbn = {978-3-319-27695-3},
Pages = {106--125},
Publisher = {Springer International Publishing},
Title = {Modeling and Predicting the Human Heart Rate During Running Exercise},
Url = {http://dx.doi.org/10.1007/978-3-319-27695-3_7},
Year = {2015},
Bdsk-Url-1 = {http://dx.doi.org/10.1007/978-3-319-27695-3_7}}

• N. Hochgeschwender, H. Voos, and G. K. and Kraetzschmar, “Context-based Selection and Execution of Robot Perception Graphs,” in Proceedings of IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 2015.
[BibTeX]
@inproceedings{Nico-HochgeschwenderContext-based-S,
Author = {Hochgeschwender, Nico and Voos, Holger and and Gerhard K. Kraetzschmar},
Booktitle = {Proceedings of IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)},
Date-Modified = {2015-10-02 08:31:34 +0000},
Title = {Context-based Selection and Execution of Robot Perception Graphs},
Year = {2015}}

• L. Gherardi and N. Hochgeschwender, “RRA: Models and Tools for Robotics Run-time Adaptation,” in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), 2015.
[BibTeX]
@inproceedings{Gherardi2015RRA:-Models-and,
Author = {Gherardi, Luca and Hochgeschwender, Nico},
Booktitle = {Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)},
Date-Modified = {2015-10-02 08:29:20 +0000},
Title = {{RRA}: Models and Tools for Robotics Run-time Adaptation},
Year = {2015}}

• A. Gaier, “Evolutionary Design via Indirect Encoding of Non-Uniform Rational Basis Splines,” in Proceedings of the Companion Publication of the 2015 on Genetic and Evolutionary Computation Conference – GECCO Companion ’15, New York, USA, 2015, p. 1197–1200. doi:10.1145/2739482.2768478
@inproceedings{Gaier2015Evolutionary-De,
Booktitle = {Proceedings of the Companion Publication of the 2015 on Genetic and Evolutionary Computation Conference - GECCO Companion '15},
Date-Modified = {2015-08-25 10:04:58 +0000},
Doi = {10.1145/2739482.2768478},
Isbn = {9781450334884},
Keywords = {compositional pattern producing networks,design optimization,hyperneat,indirect encodings,nurbs},
Mendeley-Groups = {Stella,Dove},
Month = jul,
Pages = {1197--1200},
Publisher = {ACM Press},
Title = {{Evolutionary Design via Indirect Encoding of Non-Uniform Rational Basis Splines}},
Url = {http://dl.acm.org/citation.cfm?id=2739482.2768478},
Year = {2015},
Bdsk-Url-1 = {http://dl.acm.org/citation.cfm?id=2739482.2768478},
Bdsk-Url-2 = {http://dx.doi.org/10.1145/2739482.2768478}}

### 2014

• A. Kuestenmacher, P. Plöger, and G. Lakemeyer, “Enhancing Action Execution by Using Spatial Relational Knowledge,” in 25nd International Workshop on Principles of Diagnosis DX’14, 2014.
[BibTeX]
@inproceedings{Kuestenmacher2014DX,
Author = {Kuestenmacher, A. and Pl{\"o}ger, P. and Lakemeyer, G.},
Booktitle = {25nd International Workshop on Principles of Diagnosis DX'14},
Date-Modified = {2015-09-02 10:53:32 +0000},
Title = {Enhancing Action Execution by Using Spatial Relational Knowledge},
Year = {2014}}

• A. Kuestenmacher, N. Akhtar, P. G. Plöger, and G. Lakemeyer, “Towards Robust Task Execution for Domestic Service Robots,” in 24th International Conference on Automated Planning and Scheduling (ICAPS), Journal Presentation Track, 2014.
[BibTeX]
@inproceedings{Kuestenmacher2014ICAPS,
Author = {Kuestenmacher, A. and Akhtar, N. and Pl{\"o}ger, P. G. and Lakemeyer, G.},
Booktitle = {24th International Conference on Automated Planning and Scheduling (ICAPS), Journal Presentation Track},
Date-Modified = {2015-09-16 09:38:27 +0000},
Title = {Towards Robust Task Execution for Domestic Service Robots},
Year = {2014}}

• G. K. Kraetzschmar, N. Hochgeschwender, W. Nowak, F. Hegger, S. Schneider, R. Dwiputra, J. Berghofer, and R. Bischoff, “RoboCup@Work: Competing for the Factory of the Future,” in Proceedings of the 18th RoboCup International Symposium, Joao Pessoa, Brazil, 2014.
[BibTeX] [Abstract]

Mobile manipulators are viewed as an essential component for making the factory of the future become a reality. RoboCup@Work is a competition designed by a group of researchers from the RoboCup community and focuses on the use of mobile manipulators and their integration with automation equipment for performing industrially-relevant tasks. The paper describes the design and implementation of the competition and the experiences made so far.

@inproceedings{Kraetzschmar2014,
Abstract = {Mobile manipulators are viewed as an essential component for making the factory of the future become a reality. RoboCup@Work is a competition designed by a group of researchers from the RoboCup community and focuses on the use of mobile manipulators and their integration with automation equipment for performing industrially-relevant tasks. The paper describes the design and implementation of the competition and the experiences made so far.},
Author = {Kraetzschmar, Gerhard K. and Hochgeschwender, Nico and Nowak, Walter and Hegger, Frederik and Schneider, Sven and Dwiputra, Rhama and Berghofer, Jakob and Bischoff, Rainer},
Booktitle = {Proceedings of the 18th RoboCup International Symposium},
Title = {{RoboCup@Work: Competing for the Factory of the Future}},
Year = {2014}}

• A. Nordmann, N. Hochgeschwender, and S. Wrede, “A Survey on Domain-specific Languages in Robotics,” in Proceedings of the 2014 International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), Bergamo, Italy, 2014.
[BibTeX]
@inproceedings{Nordmann,
Author = {Nordmann, Arne and Hochgeschwender, Nico and Wrede, Sebastian},
Booktitle = {Proceedings of the 2014 International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)},
Title = {A Survey on Domain-specific Languages in Robotics},
Year = {2014}}

• J. Sanchez, S. Schneider, and P. G. Plöger, “Safely Grasping with Complex Dexterous Hands by Tactile Feedback,” in Proceedings of the 18th RoboCup International Symposium, Joao Pessoa, Brazil, 2014.
[BibTeX] [Abstract]

Robots capable of assisting elderly people in their homes will become indispensable, since the world population is aging at an alarming rate. A crucial requirement for these robotic caregivers will be the ability to safely interact with humans, such as firmly grasping a human arm without applying excessive force. Minding this concern, we developed a reactive grasp that, using tactile sensors, monitors the pressure it exerts during manipulation. Our approach, inspired by human manipulation, employs an architecture based on different grasping phases that represent particular stages in a manipulation task. Within these phases, we implemented and composed simple components to interpret and react to the information obtained by the tactile sensors. Empirical results, using a Care-O-bot 3 R with a Schunk Dexterous Hand (SDH-2), show that considering tactile information can reduce the force exerted on the objects significantly.

@inproceedings{Sanchez2014,
Abstract = {Robots capable of assisting elderly people in their homes will become indispensable, since the world population is aging at an alarming rate. A crucial requirement for these robotic caregivers will be the ability to safely interact with humans, such as firmly grasping a human arm without applying excessive force. Minding this concern, we developed a reactive grasp that, using tactile sensors, monitors the pressure it exerts during manipulation. Our approach, inspired by human manipulation, employs an architecture based on different grasping phases that represent particular stages in a manipulation task. Within these phases, we implemented and composed simple components to interpret and react to the information obtained by the tactile sensors. Empirical results, using a Care-O-bot 3 R with a Schunk Dexterous Hand (SDH-2), show that considering tactile information can reduce the force exerted on the objects significantly.},
Author = {Sanchez, Jose and Schneider, Sven and Pl\"{o}ger, Paul G.},
Booktitle = {Proceedings of the 18th RoboCup International Symposium},
Keywords = {Robot grasping, domestic robot, tactile feedback},
Title = {Safely Grasping with Complex Dexterous Hands by Tactile Feedback},
Year = {2014}}

• J. Vandorpe, J. Vliegen, R. Smeets, N. Mentens, M. Drutarovsky, M. Varchola, K. Lemke-Rust, P. Plöger, P. Samarin, D. Koch, Y. Hafting, and J. T{o}rresen, “Remote FPGA Design Through EDIVIDE – European Digital Virtual Design Lab,” in Proceedings of the 24th International Conference on Field Programmable, Logic and Applications (FPL 2014), 2014.
[BibTeX]
@inproceedings{J.-Vandorpe2014REMOTE-FPGA-DES,
Author = {Vandorpe, J. and Vliegen, J. and Smeets, R. and Mentens, N. and Drutarovsky, M. and Varchola, M. and Lemke-Rust, K. and Pl{\"o}ger, P. and Samarin, P. and Koch, D. and Hafting, Y. and T{\o}rresen, J.},
Booktitle = {Proceedings of the 24th International Conference on Field Programmable, Logic and Applications (FPL 2014)},
Date-Modified = {2015-10-02 09:13:17 +0000},
Title = {Remote {FPGA} Design Through {EDIVIDE} -- European Digital Virtual Design Lab},
Year = {2014}}

• S. Schneider, N. Hochgeschwender, and G. K. Kraetzschmar, “Structured Design and Development of Domain-Specific Languages in Robotics,” in Proceedings of the 2014 International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), Bergamo, Italy, 2014.
[BibTeX] [Abstract]

Robot programming is an interdisciplinary and knowledge-intensive task. All too often, knowledge of the different robotics domains remains implicit. Although, this is slowly changing with the rising interest in explicit knowledge representations through domain-specific languages (DSL), very little is known about the DSL design and development processes themselves. To this end, we present and discuss the reverse-engineered process from the development of our Grasp Domain Definition Language (GDDL), a declarative DSL for the explicit specification of grasping problems. An important finding is that the process comprises similar building blocks as existing software development processes, like the Unified Process.

@inproceedings{Schneider2014a,
Abstract = {Robot programming is an interdisciplinary and knowledge-intensive task. All too often, knowledge of the different robotics domains remains implicit. Although, this is slowly changing with the rising interest in explicit knowledge representations through domain-specific languages (DSL), very little is known about the DSL design and development processes themselves. To this end, we present and discuss the reverse-engineered process from the development of our Grasp Domain Definition Language (GDDL), a declarative DSL for the explicit specification of grasping problems. An important finding is that the process comprises similar building blocks as existing software development processes, like the Unified Process.},
Author = {Schneider, Sven and Hochgeschwender, Nico and Kraetzschmar, Gerhard K.},
Booktitle = {Proceedings of the 2014 International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)},
Title = {{Structured Design and Development of Domain-Specific Languages in Robotics}},
Year = {2014}}

• S. Schneider, N. Hochgeschwender, and G. K. Kraetzschmar, “Declarative Specification of Task-based Grasping with Constraint Validation,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, Illinois, USA, 2014.
[BibTeX]
@inproceedings{Schneider2014,
Author = {Schneider, Sven and Hochgeschwender, Nico and Kraetzschmar, Gerhard K.},
Booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
Title = {{Declarative Specification of Task-based Grasping with Constraint Validation}},
Year = {2014}}

• N. Kirchner, A. Alempijevic, A. Virgona, X. Dai, P. G. Plöger, and R. K. Venkat, “A robust people detection, tracking, and counting system,” in Proceedings of Australasian Conference on Robotics and Automation, 2-4 Dec 2014, The University of Melbourne, Melbourne, Australia, 2014.
@inproceedings{Kirchner2014A-robust-people,
Author = {Kirchner, Nathan and Alempijevic, Alen and Virgona, Alexander and Dai, Xiaohe and Pl{\"o}ger, Paul G. and Venkat, Ravi Kumar},
Booktitle = {Proceedings of Australasian Conference on Robotics and Automation, 2-4 Dec 2014, The University of Melbourne, Melbourne, Australia},
Date-Modified = {2015-09-16 09:36:39 +0000},
Title = {A robust people detection, tracking, and counting system},
Url = {http://www.araa.asn.au/conferences/acra-2014/table-of-contents/},
Year = {2014},
Bdsk-Url-1 = {http://www.araa.asn.au/conferences/acra-2014/table-of-contents/}}

• B. Kahl, M. Füller, T. Beer, and S. Ziegler, “Acceptance and communicative effectiveness of different HRI modalities for mental stimulation in dementia care,” in Proceedings of New Frontiers of Service Robotics for the Elderly, IEEE RoMan, 2014.
[BibTeX]
@inproceedings{B.-Kahl2014Acceptance-and-,
Author = {Kahl, B. and F{\"u}ller, M. and Beer, T. and Ziegler, S.},
Booktitle = {Proceedings of New Frontiers of Service Robotics for the Elderly, IEEE RoMan},
Date-Modified = {2015-10-02 08:11:42 +0000},
Title = {Acceptance and communicative effectiveness of different HRI modalities for mental stimulation in dementia care},
Year = {2014}}

• I. Awaad, G. K. Kraetzschmar, and J. Hertzberg, “Finding Ways to Get the Job Done: An Affordance-based Approach,” in Proceedings of the 24th International Conference on Planning and Scheduling (ICAPS), Robotics Track, 2014.
[BibTeX]
@inproceedings{Awaad2014Finding-Ways-to,
Annote = {(To Be Published)},
Author = {Awaad, Iman and Kraetzschmar, Gerhard K. and Hertzberg, Joachim},
Booktitle = {Proceedings of the 24th International Conference on Planning and Scheduling (ICAPS), Robotics Track},
Date-Modified = {2015-09-16 09:38:09 +0000},
Keywords = {me},
Title = {Finding Ways to Get the Job Done: An Affordance-based Approach},
Year = {2014}}

• I. Awaad, G. K. Kraetzschmar, and J. Hertzberg, “Challenges in finding ways to get the job done,” in Planning and Robotics (PlanRob) Workshop at the 24th International Conference on Automated Planning and Scheduling (ICAPS), 2014.
[BibTeX]
@conference{Awaad2014Challenges-in-f,
Annote = {(Submitted)},
Author = {Awaad, Iman and Kraetzschmar, Gerhard K. and Hertzberg, Joachim},
Booktitle = {Planning and Robotics (PlanRob) Workshop at the 24th International Conference on Automated Planning and Scheduling (ICAPS)},
Date-Modified = {2015-03-31 07:50:11 +0000},
Keywords = {Affordance-based planning, robotics, me},
Title = {Challenges in finding ways to get the job done},
Year = {2014}}

• S. Alexandrov and R. Herpers, “Evaluation of Recent Approaches to Visual Odometry from RGB-D Images,” in RoboCup 2013: Robot World Cup XVII, S. Behnke, M. Veloso, A. Visser, and R. Xiong, Eds., Springer Berlin Heidelberg, 2014, vol. 8371, pp. 444-455. doi:10.1007/978-3-662-44468-9_39
@incollection{raey,
Author = {Alexandrov, Sergey and Herpers, Rainer},
Booktitle = {RoboCup 2013: Robot World Cup XVII},
Doi = {10.1007/978-3-662-44468-9_39},
Editor = {Behnke, Sven and Veloso, Manuela and Visser, Arnoud and Xiong, Rong},
Isbn = {978-3-662-44467-2},
Language = {English},
Pages = {444-455},
Publisher = {Springer Berlin Heidelberg},
Series = {Lecture Notes in Computer Science},
Title = {Evaluation of Recent Approaches to Visual Odometry from RGB-D Images},
Url = {http://dx.doi.org/10.1007/978-3-662-44468-9_39},
Volume = {8371},
Year = {2014},
Bdsk-Url-1 = {http://dx.doi.org/10.1007/978-3-662-44468-9_39}}

• A. Gaier and A. Asteroth, “Evolution of optimal control for energy-efficient transport,” in IEEE Intelligent Vehicles Symposium, Dearborn, Michigan, USA, 2014, p. 1121–1126.
[BibTeX]
@inproceedings{gaier2014evolution,
Author = {Gaier, Adam and Asteroth, Alexander},
Booktitle = {IEEE Intelligent Vehicles Symposium},
Date-Modified = {2014-09-15 10:39:16 +0000},
Organization = {IEEE},
Pages = {1121--1126},
Title = {Evolution of optimal control for energy-efficient transport},
Year = {2014}}

• A. Gaier and A. Asteroth, “Evolving look ahead controllers for energy optimal driving and path planning,” in IEEE International Symposium on Innovations in Intelligent Systems and Applications (INISTA), Madrid, Spain, 2014, p. 138–145.
[BibTeX]
@inproceedings{gaier2014evolving,
Author = {Gaier, Adam and Asteroth, Alexander},
Booktitle = {IEEE International Symposium on Innovations in Intelligent Systems and Applications (INISTA)},
Date-Modified = {2014-09-15 10:37:38 +0000},
Organization = {IEEE},
Pages = {138--145},
Title = {Evolving look ahead controllers for energy optimal driving and path planning},
Year = {2014}}

• N. Hochgeschwender, S. Schneider, H. Voos, and G. K. Kraetzschmar, “Declarative Specification of Robot Perception Architectures,” in Proceedings of the 2014 International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), Bergamo, Italy, 2014.
[BibTeX]
@inproceedings{Hochgeschwender2014a,
Author = {Hochgeschwender, Nico and Schneider, Sven and Voos, Holger and Kraetzschmar, Gerhard K.},
Booktitle = {Proceedings of the 2014 International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)},
Title = {Declarative Specification of Robot Perception Architectures},
Year = {2014}}

• G. Heisenberg, Y. A. Rezaei, T. Rothdeutsch, and W. Heiden, “Arm prosthesis simulation on a virtual reality L-shaped workbench display system using a brain computer interface,” in Proccedings of the 10th International Conference on Disability, Virtual Reality and Associated Technologies, Gothenburg, Sweden, 2014.
[BibTeX]
@inproceedings{Gernot-Heisenberg2014Arm-prosthesis-,
Author = {Heisenberg, Gernot and Rezaei, Yashar Abbasalizadeh and Rothdeutsch, Timo and Heiden, Wolfgang},
Booktitle = {Proccedings of the 10th International Conference on Disability, Virtual Reality and Associated Technologies},
Date-Modified = {2014-09-15 10:42:40 +0000},
Title = {Arm prosthesis simulation on a virtual reality L-shaped workbench display system using a brain computer interface},
Year = {2014}}

• J. C. Aguilar, P. Ploeger, A. Hinkenjann, J. Maiero, M. Flores, and A. Ramos, “Pedestrian Indoor Positioning Using Smartphone Multi-sensing, Radio Beacons, User Positions Probability Map and IndoorOSM Floor Plan Representation,” in Proceedings of the International Conference on Indoor Positioning and Indoor Navigation (IPIN), Busan, South Korea, 2014.
[BibTeX] [Abstract]

Position awareness in unknown and large indoor spaces represents a great advantage for people, everyday pedes- trians have to search for specific places, products and services. Therefore a localization system can greatly improve location aware applications for users and venue managers, which can obtain statistical information from users behavior by tracking their location over time for marketing or organizational purposes. In this work a positioning solution able to localize the user based on data measured with a mobile device is described and evaluated. The position estimate uses data from smartphone built-in sensors, WiFi (Wireless Fidelity), BLE (Bluetooth Low Energy) adapters and map information of the indoor environment (e.g. walls and obstacles). A probability map derived from statistical information of the users tracked location over a period of time in the test scenario is generated and embedded in a map graph, in order to correct and combine the position estimates under a Bayesian representation. PDR (Pedestrian Dead Reckoning), beacon-based Weighted Centroid position estimates, map infor- mation obtained from building OpenStreetMap XML representa- tion and probability map users path density are combined using a Particle Filter and implemented in a smartphone application. Based on evaluations, this work verifies that the use of smartphone hardware components, map data and its semantic in- formation represented in the form of a OpenStreetMap structure provide room accuracy and a scalable indoor positioning solution. The proposed and evaluated deployed beacons distribution (1 beacon per each 100 squared meters area), the Particle Filter algorithm used to combine various sources of information, its radio beacon-based observation, probability particle weighting process and the mapping approach allowing the inclusion of new indoor environments knowledge show a promising approach for an extensible indoor navigation system.

@inproceedings{AguilarIPIN2014,
Abstract = {Position awareness in unknown and large indoor spaces represents a great advantage for people, everyday pedes- trians have to search for specific places, products and services. Therefore a localization system can greatly improve location aware applications for users and venue managers, which can obtain statistical information from users behavior by tracking their location over time for marketing or organizational purposes. In this work a positioning solution able to localize the user based on data measured with a mobile device is described and evaluated. The position estimate uses data from smartphone built-in sensors, WiFi (Wireless Fidelity), BLE (Bluetooth Low Energy) adapters and map information of the indoor environment (e.g. walls and obstacles). A probability map derived from statistical information of the users tracked location over a period of time in the test scenario is generated and embedded in a map graph, in order to correct and combine the position estimates under a Bayesian representation. PDR (Pedestrian Dead Reckoning), beacon-based Weighted Centroid position estimates, map infor- mation obtained from building OpenStreetMap XML representa- tion and probability map users path density are combined using a Particle Filter and implemented in a smartphone application. Based on evaluations, this work verifies that the use of smartphone hardware components, map data and its semantic in- formation represented in the form of a OpenStreetMap structure provide room accuracy and a scalable indoor positioning solution. The proposed and evaluated deployed beacons distribution (1 beacon per each 100 squared meters area), the Particle Filter algorithm used to combine various sources of information, its radio beacon-based observation, probability particle weighting process and the mapping approach allowing the inclusion of new indoor environments knowledge show a promising approach for an extensible indoor navigation system.},
Author = {Aguilar, J.C. and Ploeger, P. and Hinkenjann, A. and Maiero, J. and Flores, M. and Ramos, A.},
Booktitle = {Proceedings of the International Conference on Indoor Positioning and Indoor Navigation (IPIN)},
Date-Modified = {2014-09-15 10:34:20 +0000},
Journal = {International Conference on Indoor Positioning and Indoor Navigation (IPIN)},
Keywords = {Indoor positioning, indoor navigation, WiFi localization, Bluetooth localization, beacons distribution, dead reckoning, map-matching, sensor fusion.},
Month = {October},
Title = {Pedestrian Indoor Positioning Using Smartphone Multi-sensing, Radio Beacons, User Positions Probability Map and IndoorOSM Floor Plan Representation},
Year = {2014}}

### 2013

• A. Kuestenmacher, N. Akhtar, P. G. Ploeger, and G. Lakemeyer, “Unexpected Situations in Service Robot Environment: Classification and Reasoning Using Naive Physics,” in Proceedings of the 17th RoboCup International Symposium, Eindhoven, Netherlands, 2013.
@inproceedings{Kuestenmacher2013,
Author = {Kuestenmacher, Anastassia and Akhtar, Naveed and Ploeger, Paul G. and Lakemeyer, Gerhard},
Booktitle = {Proceedings of the 17th RoboCup International Symposium},
Title = {{Unexpected Situations in Service Robot Environment: Classification and Reasoning Using Naive Physics}},
Url = {http://www.researchgate.net/publication/253644542\_Unexpected\_Situations\_in\_Service\_Robot\_Environment\_Classification\_and\_Reasoning\_Using\_Naive\_Physics/file/e0b4951f969f79db1c.pdf},
Year = {2013},
Bdsk-Url-1 = {http://www.researchgate.net/publication/253644542%5C_Unexpected%5C_Situations%5C_in%5C_Service%5C_Robot%5C_Environment%5C_Classification%5C_and%5C_Reasoning%5C_Using%5C_Naive%5C_Physics/file/e0b4951f969f79db1c.pdf}}

• M. Klotzbücher, N. Hochgeschwender, L. Gherardi, H. Bruyninckx, G. K. Kraetzschmar, D. Brugali, A. Shakhimardanov, J. Paulus, M. Reckhaus, H. Garcia, D. Faconti, and P. Soetens, “The BRICS component model: a model-based development paradigm for complex robotics software systems,” in Proceedings of the 28th Annual ACM Symposium on Applied Computing (SAC) – Track on Software Architecture: Theory, Technology, and Applications (SA-TTA), Coimbra, Portugal, 2013. doi:10.1145/2480362.2480693
@inproceedings{Bruyninckx:2013:BCM:2480362.2480693,
Author = {Klotzb\"{u}cher, Markus and Hochgeschwender, Nico and Gherardi, Luca and Bruyninckx, Herman and Kraetzschmar, Gerhard K. and Brugali, Davide and Shakhimardanov, Azamat and Paulus, Jan and Reckhaus, Michael and Garcia, H. and Faconti, D. and Soetens, P.},
Booktitle = {Proceedings of the 28th Annual ACM Symposium on Applied Computing (SAC) - Track on Software Architecture: Theory, Technology, and Applications (SA-TTA)},
Doi = {10.1145/2480362.2480693},
Isbn = {978-1-4503-1656-9},
Keywords = {component models,reusable software,robotics,software architectures},
Publisher = {ACM},
Series = {SAC '13},
Title = {{The BRICS component model: a model-based development paradigm for complex robotics software systems}},
Url = {http://doi.acm.org/10.1145/2480362.2480693},
Year = {2013},
Bdsk-Url-1 = {http://doi.acm.org/10.1145/2480362.2480693},
Bdsk-Url-2 = {http://dx.doi.org/10.1145/2480362.2480693}}

• A. Kuestenmacher, P. G. Ploeger, and G. Lakemeyer, “Improving Robustness of Task Execution Against External Faults Using Simulation Based Approach,” in Proceedings of the 24th International Workshop on Principles of Diagnosis DX’13, Jerusalem, Israel, 2013.
[BibTeX]
@inproceedings{Kuestenmacher2013a,
Author = {Kuestenmacher, Anastassia and Ploeger, Paul G. and Lakemeyer, Gerhard},
Booktitle = {Proceedings of the 24th International Workshop on Principles of Diagnosis DX'13},
Title = {{Improving Robustness of Task Execution Against External Faults Using Simulation Based Approach}},
Year = {2013}}

• A. Naveed, A. Kuestenmacher, P. G. Ploeger, and G. Lakemeyer, “Simulation-based approach for avoiding external faults,” in Proceedings of the International Conference on Advanced Robotics (ICAR), Jerusalem, Israel, 2013.
[BibTeX]
@inproceedings{Naveed2013,
Author = {Naveed, Akhtar and Kuestenmacher, Anastassia and Ploeger, Paul G. and Lakemeyer, Gerhard},
Booktitle = {Proceedings of the International Conference on Advanced Robotics (ICAR)},
Title = {{Simulation-based approach for avoiding external faults}},
Year = {2013}}

• E. Shpieva and I. Awaad, “Integrating the Planning, Execution and Monitoring Systems for a Domestic Service Robot,” in Workshop on Roboterkontrollarchitekturen at Informatik, 2013.
[BibTeX]
@conference{Shpieva2013Integrating-the,
Author = {Shpieva, Elizaveta and Awaad, Iman},
Booktitle = {Workshop on Roboterkontrollarchitekturen at Informatik},
Date-Modified = {2015-03-31 07:50:11 +0000},
Keywords = {planning, execution, monitoring, control architectures, me},
Rating = {4},
Title = {Integrating the Planning, Execution and Monitoring Systems for a Domestic Service Robot},
Year = {2013}}

• S. Schneider and N. Hochgeschwender, “Towards a Declarative Grasp Specification Language,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) – Workshop on Combining Task and Motion Planning, Karlsruhe, Germany, 2013.
[BibTeX]
@inproceedings{Schneider2013,
Author = {Schneider, Sven and Hochgeschwender, Nico},
Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) - Workshop on Combining Task and Motion Planning},
Title = {{Towards a Declarative Grasp Specification Language}},
Year = {2013}}

• N. Hochgeschwender, S. Schneider, H. Voos, and G. K. Kraetzschmar, “Towards a Robot Perception Specification Language,” in International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob), Tokyo, Japan, 2013.
[BibTeX]
@inproceedings{Hochgeschwender2013,
Author = {Hochgeschwender, Nico and Schneider, Sven and Voos, Holger and Kraetzschmar, Gerhard K.},
Booktitle = {International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob)},
Title = {{Towards a Robot Perception Specification Language}},
Year = {2013}}

• N. Hochgeschwender, F. Hegger, and G. K. Kraetzschmar, “Analysis and Benchmarking Infrastructure Requirements for Robot Competitions,” in European Robotics Forum 2013 – Working Session on Infrastructure for Robot Analysis and Benchmarking, Lyon, France, 2013.
[BibTeX]
@inproceedings{Hochgeschwender2013a,
Author = {Hochgeschwender, Nico and Hegger, Frederik and Kraetzschmar, Gerhard K.},
Booktitle = {European Robotics Forum 2013 - Working Session on Infrastructure for Robot Analysis and Benchmarking},
Title = {{Analysis and Benchmarking Infrastructure Requirements for Robot Competitions}},
Year = {2013}}

• I. Awaad, G. K. Kraetzschmar, and J. Hertzberg, “Socializing Robots: The Role of Functional Affordances,” in International Workshop on Developmental Social Robotics (DevSoR): Reasoning about Human, Perspective, Affordances and Effort for Socially Situated Robots at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.
[BibTeX]
@conference{Awaad2013Socializing-Rob,
Author = {Awaad, Iman and Kraetzschmar, Gerhard K. and Hertzberg, Joachim},
Booktitle = {International Workshop on Developmental Social Robotics (DevSoR): Reasoning about Human, Perspective, Affordances and Effort for Socially Situated Robots at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
Date-Modified = {2015-03-31 07:54:06 +0000},
Keywords = {affordances, me,},
Title = {Socializing Robots: The Role of Functional Affordances},
Year = {2013}}

• I. Awaad, G. K. Kraetzschmar, and J. Hertzberg, “Affordance-Based Reasoning in Robot Task Planning,” in Planning and Robotics (PlanRob) Workshop at the 23rd International Conference on Automated Planning and Scheduling (ICAPS), 2013.
[BibTeX]
@conference{Awaad2013Affordance-Base,
Author = {Awaad, Iman and Kraetzschmar, Gerhard K. and Hertzberg, Joachim},
Booktitle = {Planning and Robotics (PlanRob) Workshop at the 23rd International Conference on Automated Planning and Scheduling (ICAPS)},
Date-Modified = {2015-03-31 07:50:11 +0000},
Keywords = {Affordance-based planning, robotics, me},
Title = {Affordance-Based Reasoning in Robot Task Planning},
Year = {2013}}

• R. Dwiputra and G. K. Kraetzschmar, “Haptic Interface for Domestic Service Robot,” in 2nd International Conference on Control, Robotics and Informatics (ICCRI), Kuala Lumpur, Malaysia, 2013.
[BibTeX] [Abstract]

Domestic service robots are designed for human environment. Therefore, the robot should be controlled by means of natural interactions rather than the common controllers used in laboratory setting (e.g. keyboard or joypad). In this paper, a feature for controlling a domestic service robot through physical interaction is presented. The feature showcases the utilization of the robot’s manipulator as its haptic interface. The feature uses low pass filter and proportional-integral- derivative (PID) controller which remove the rapid fluctuation in the force input and stabilize the velocity output. The robot’s omnidirectional capability is accommodated through different interaction modes which can be selected based on the user preference. Through the proposed approach, the physical interaction will be translated into base motion commands which adjust itself autonomously. The result is a more natural way of controlling the robot. The feature has been proven to be intuitive and safe through the user trial which was performed in a domestic environment.

@inproceedings{Dwiputra2013,
Abstract = {Domestic service robots are designed for human environment. Therefore, the robot should be controlled by means of natural interactions rather than the common controllers used in laboratory setting (e.g. keyboard or joypad). In this paper, a feature for controlling a domestic service robot through physical interaction is presented. The feature showcases the utilization of the robot's manipulator as its haptic interface. The feature uses low pass filter and proportional-integral- derivative (PID) controller which remove the rapid fluctuation in the force input and stabilize the velocity output. The robot's omnidirectional capability is accommodated through different interaction modes which can be selected based on the user preference. Through the proposed approach, the physical interaction will be translated into base motion commands which adjust itself autonomously. The result is a more natural way of controlling the robot. The feature has been proven to be intuitive and safe through the user trial which was performed in a domestic environment.},
Author = {Dwiputra, Rhama and Kraetzschmar, Gerhard K.},
Booktitle = {2nd International Conference on Control, Robotics and Informatics (ICCRI)},
Title = {Haptic Interface for Domestic Service Robot},
Year = {2013}}

• M. Fueller, E. Prassler, and P. Forsmann, “Multi-Step Motion Planning for Climbing Robots with Kinodynamic Constraints,” in Proceedings of the International Conference on Advanced Robotics (ICAR), Montevideo, Uruguay, 2013.
[BibTeX]
@inproceedings{Fueller2013,
Author = {Fueller, Matthias and Prassler, Erwin and Forsmann, Pekka},
Booktitle = {Proceedings of the International Conference on Advanced Robotics (ICAR)},
Title = {{Multi-Step Motion Planning for Climbing Robots with Kinodynamic Constraints}},
Year = {2013}}

• N. Hochgeschwender, L. Gherardi, A. Shakhirmardanov, G. K. Kraetzschmar, D. Brugali, and H. Bruyninckx, “A model-based approach to software deployment in robotics,” in Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, 2013, pp. 3907-3914. doi:10.1109/IROS.2013.6696915
[BibTeX]
@inproceedings{6696915,
Author = {Hochgeschwender, N. and Gherardi, L. and Shakhirmardanov, A and Kraetzschmar, G.K. and Brugali, D. and Bruyninckx, H.},
Booktitle = {Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on},
Doi = {10.1109/IROS.2013.6696915},
Issn = {2153-0858},
Keywords = {control engineering computing;robots;software architecture;DSL;KUKA youBot platform;complex robot software architecture;domain-specific language;model-driven engineering-based development;robotics;software deployment;Computational modeling;Computer architecture;Data models;Navigation;Service robots;Software},
Month = {Nov},
Pages = {3907-3914},
Title = {A model-based approach to software deployment in robotics},
Year = {2013},
Bdsk-Url-1 = {http://dx.doi.org/10.1109/IROS.2013.6696915}}

• J. C. Aguilar, A. Hinkenjann, P. Ploeger, and J. Maiero, “Robust indoor localization using optimal fusion filter for sensors and map layout information,” in Proceedings of the International Conference on Indoor Positioning and Indoor Navigation (IPIN), Montbeliard – Belfort, France, 2013.
[BibTeX] [Abstract]

A person has to deal with large and unknown scenarios, for example a client searching for a expositor in a trade fair or a passenger looking for a gate in an airport. Due to the fact that position awareness represents a great advantage for people, a navigation system implemented for a commercial smartphone can help the user to save time and money. In this work a navigation example application able to localize and provide directions to a desired destination in an indoor environment is presented and evaluated. The position of the user is calculated with information from the smartphone builtin sensors, WiFi adapter and floor-plan layout of the indoor environment. A commercial smartphone is used as the platform to implement the example application, due to it’s hardware features, computational power and the graphic user interface available for the users. Evaluations verified that room accuracy is achieved for robust localization by using the proposed technologies and algorithms. The used optimal sensor fusion filter for different sources of information and the easy to deploy infrastructure in a new environment show promise for mobile indoor navigation systems.

@inproceedings{AguilarIPIN2013,
Abstract = {A person has to deal with large and unknown scenarios, for example a client searching for a expositor in a trade fair or a passenger looking for a gate in an airport. Due to the fact that position awareness represents a great advantage for people, a navigation system implemented for a commercial smartphone can help the user to save time and money. In this work a navigation example application able to localize and provide directions to a desired destination in an indoor environment is presented and evaluated. The position of the user is calculated with information from the smartphone builtin sensors, WiFi adapter and floor-plan layout of the indoor environment. A commercial smartphone is used as the platform to implement the example application, due to it's hardware features, computational power and the graphic user interface available for the users. Evaluations verified that room accuracy is achieved for robust localization by using the proposed technologies and algorithms. The used optimal sensor fusion filter for different sources of information and the easy to deploy infrastructure in a new environment show promise for mobile indoor navigation systems.},
Address = {Montbeliard - Belfort, France},
Author = {Aguilar, J.C. and Hinkenjann, A. and Ploeger, P. and Maiero, J.},
Booktitle = {Proceedings of the International Conference on Indoor Positioning and Indoor Navigation (IPIN)},
Date-Modified = {2014-09-15 10:32:19 +0000},
Keywords = {Indoor localization, indoor navigation, WiFi localization, dead reckoning, map-matching, sensor fusion, bayes filters},
Month = {October},
Title = {Robust indoor localization using optimal fusion filter for sensors and map layout information},
Year = {2013}}

### 2012

• C. A. Mueller, P. G. Ploeger, and M. S. Roscoe, “Towards Scalable 3D Object Shape Categorization,” in International Conference on Intelligent Robots and Systems (IROS): Active Semantic Perception Workshop, Vilamoura, Portugal, 2012.
[BibTeX]
@inproceedings{Mueller2012a,
Author = {Mueller, Christian A. and Ploeger, Paul G. and Roscoe, Matthew S.},
Booktitle = {International Conference on Intelligent Robots and Systems (IROS): Active Semantic Perception Workshop},
Month = {October},
Title = {Towards Scalable 3D Object Shape Categorization},
Year = {2012}}

• C. A. Mueller, “3D Objekt Kategorisierung in haeuslichen Umgebungen,” in Informatik Tage 2012, Bonn, Germany, 2012.
[BibTeX]
@inproceedings{Mueller2012,
Author = {Mueller, Christian Atanas},
Booktitle = {Informatik Tage 2012},
Publisher = {Gesellschaft fuer Informatik e.V. (GI)},
Title = {{3D Objekt Kategorisierung in haeuslichen Umgebungen}},
Year = {2012}}

• F. Hegger, N. Hochgeschwender, G. K. Kraetzschmar, and P. G. Ploeger, “People Detection in 3d Point Clouds using Local Surface Normals,” in Proceedings of the 16th RoboCup International Symposium 2012, Mexico City, Mexico, 2012.
[BibTeX]
@inproceedings{Hegger2012a,
Author = {Hegger, Frederik and Hochgeschwender, Nico and Kraetzschmar, Gerhard K. and Ploeger, Paul G.},
Booktitle = {Proceedings of the 16th RoboCup International Symposium 2012},
Keywords = {human-robot interaction,people detection,rgb-d},
Title = {{People Detection in 3d Point Clouds using Local Surface Normals}},
Year = {2012}}

• J. A. Alvarez Ruiz, P. G. Ploeger, and G. K. Kraetzschmar, “Active Scene Text Recognition for a Domestic Service Robot,” in Proceedings of the 16th RoboCup International Symposium, Mexico City, Mexico, 2012.
@inproceedings{AlvarezRuiz2013,
Author = {Alvarez Ruiz, Jos\'{e} Antonio and Ploeger, Paul G. and Kraetzschmar, Gerhard K.},
Booktitle = {Proceedings of the 16th RoboCup International Symposium},
Keywords = {active vision,adaptive aperture control,auto-,auto-focus,domestic robot,pan-tilt,scene text recognition,zoom},
Title = {{Active Scene Text Recognition for a Domestic Service Robot}},
Year = {2012},
Bdsk-Url-1 = {http://link.springer.com/chapter/10.1007/978-3-642-39250-4%5C_23}}

### 2011

• C. A. Mueller, N. Hochgeschwender, P. G. Ploeger, and P. G. Plöger, “Towards Robust Object Categorization for Mobile Robots with Combination of Classifiers,” in Proceedings of the 15th RoboCup International Symposium, Istanbul, Turkey, 2011.
@inproceedings{Mueller2011,
Author = {Mueller, Christian Atanas and Hochgeschwender, Nico and Ploeger, Paul G. and Pl\"{o}ger, Paul G.},
Booktitle = {Proceedings of the 15th RoboCup International Symposium},
Keywords = {bag of features,classifier combination,clustering,feature extraction,machine learning,object categorization},
Title = {{Towards Robust Object Categorization for Mobile Robots with Combination of Classifiers}},
Url = {http://robolab.cse.unsw.edu.au/conferences/RoboCup-2011/Talks/Mueller\_etal.pdf},
Year = {2011},
Bdsk-Url-1 = {http://robolab.cse.unsw.edu.au/conferences/RoboCup-2011/Talks/Mueller%5C_etal.pdf}}

• A. Shakhimardanov, N. Hochgeschwender, M. Reckhaus, and G. K. Kraetzschmar, “Analysis of Software Connectors in Robotics,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, USA, 2011.
[BibTeX]
@inproceedings{Shakhimardanov2011,
Author = {Shakhimardanov, Azamat and Hochgeschwender, Nico and Reckhaus, Michael and Kraetzschmar, Gerhard K.},
Booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
Title = {{Analysis of Software Connectors in Robotics}},
Year = {2011}}

• C. A. Mueller, N. Hochgeschwender, and P. G. Ploeger, “Surface Reconstruction with Growing Neural Gas,” in Proceedings of the Workshop on Active Semantic Perception and Object Search in the Real World held at the Conference on Intelligent Robots and Systems (IROS), San Francisco, USA, 2011.
[BibTeX]
@inproceedings{Mueller2011a,
Author = {Mueller, Christian Atanas and Hochgeschwender, Nico and Ploeger, Paul G.},
Booktitle = {Proceedings of the Workshop on Active Semantic Perception and Object Search in the Real World held at the Conference on Intelligent Robots and Systems (IROS)},
Title = {{Surface Reconstruction with Growing Neural Gas}},
Year = {2011}}

• T. Breuer, G. R. Giorgana Macedo, R. Hartanto, N. Hochgeschwender, D. Holz, F. Hegger, Z. Jin, C. A. Mueller, J. Paulus, M. Reckhaus, P. G. Ploeger, G. K. Kraetzschmar, and J. A. Alvarez Ruiz, “Johnny: An Autonomous Service Robot for Domestic Environments,” Springer Journal of Intelligent and Robotic Systems, iss. Special Issue on Domestic Service Robots in the Real World, p. 1–28, 2011. doi:10.1007/s10846-011-9608-y

In this article we describe the architecture, algorithms and real-world benchmarks performed by Johnny Jackanapes, an autonomous service robot for domestic environments. Johnny serves as a research and development platform to explore, develop and integrate capabilities required for real-world domestic service applications. We present a control architecture which allows to cope with various and changing domestic service robot tasks. A software architecture supporting the rapid integration of functionality into a complete system is as well presented. Further, we describe novel and robust algorithms centered around multi-modal human robot interaction, semantic scene understanding and SLAM. Evaluation of the complete system has been performed during the last years in the RoboCup@Home competition where Johnnys outstanding performance led to successful participation. The results and lessons learned of these benchmarks are explained in more detail.

@article{Breuer2011,
Abstract = {In this article we describe the architecture, algorithms and real-world benchmarks performed by Johnny Jackanapes, an autonomous service robot for domestic environments. Johnny serves as a research and development platform to explore, develop and integrate capabilities required for real-world domestic service applications. We present a control architecture which allows to cope with various and changing domestic service robot tasks. A software architecture supporting the rapid integration of functionality into a complete system is as well presented. Further, we describe novel and robust algorithms centered around multi-modal human robot interaction, semantic scene understanding and SLAM. Evaluation of the complete system has been performed during the last years in the RoboCup@Home competition where Johnnys outstanding performance led to successful participation. The results and lessons learned of these benchmarks are explained in more detail.},
Author = {Breuer, Thomas and Giorgana Macedo, Geovanny R. and Hartanto, Ronny and Hochgeschwender, Nico and Holz, Dirk and Hegger, Frederik and Jin, Zha and Mueller, Christian Atanas and Paulus, Jan and Reckhaus, Michael and Ploeger, Paul G. and Kraetzschmar, Gerhard K. and Alvarez Ruiz, Jose Antonio},
Doi = {10.1007/s10846-011-9608-y},
Journal = {Springer Journal of Intelligent and Robotic Systems},
Keywords = {Domestic service robots,Human robot interaction,Semantic scene understanding},
Number = {Special Issue on Domestic Service Robots in the Real World},
Pages = {1--28},
Title = {{Johnny: An Autonomous Service Robot for Domestic Environments}},
Url = {http://dx.doi.org/10.1007/s10846-011-9608-y},
Year = {2011},
Bdsk-Url-1 = {http://dx.doi.org/10.1007/s10846-011-9608-y}}

• N. Akhtar and A. Kuestenmacher, “Using Naive Physics for unknown external faults in robotics,” in International Workshop on Principles of Diagnosis DX’11, Murnau, Germany, 2011.
[BibTeX]
@inproceedings{Akhtar2011a,
Author = {Akhtar, Naveed and Kuestenmacher, Anastassia},
Booktitle = {International Workshop on Principles of Diagnosis DX'11},
Keywords = {R\&D2 Publication of Naveed},
Mendeley-Tags = {R\&D2 Publication of Naveed},
Title = {{Using Naive Physics for unknown external faults in robotics}},
Year = {2011}}

• N. Akhtar, M. Fueller, T. Henne, and B. Kahl, “Towards iterative learning of autonomous robots using ILP,” in International Conference on Advanced Robotics, Tallinn, Estonia, 2011.
[BibTeX]
@inproceedings{Akhtar2011,
Author = {Akhtar, Naveed and Fueller, Matthias and Henne, Timo and Kahl, Bjoern},
Booktitle = {International Conference on Advanced Robotics},
Keywords = {R\&D1 Publication of Naveed and Matthias},
Mendeley-Tags = {R\&D1 Publication of Naveed and Matthias},
Title = {{Towards iterative learning of autonomous robots using ILP}},
Year = {2011}}

### 2010

• P. G. Ploeger and C. A. Mueller, “Towards Robust Object Categorization on a Mobile Robot,” in Proceedings of the Workshop on Domestic Service Robots in the Real World held at the 2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), Darmstadt, Germany, 2010.
[BibTeX]
@inproceedings{Ploeger2010,
Author = {Ploeger, Paul G. and Mueller, Christian Atanas},
Booktitle = {Proceedings of the Workshop on Domestic Service Robots in the Real World held at the 2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)},
Title = {{Towards Robust Object Categorization on a Mobile Robot}},
Year = {2010}}

• M. Reckhaus, N. Hochgeschwender, J. Paulus, A. Shakhimardanov, and G. K. Kraetzschmar, “An Overview about Simulation and Emulation in Robotics,” in Proc. of the Workshop on Simulation Technologies in the Robot Development Process held on the 2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010), Darmstadt, Germany, 2010.
[BibTeX]
@inproceedings{Reckhaus2010a,
Author = {Reckhaus, Michael and Hochgeschwender, Nico and Paulus, Jan and Shakhimardanov, Azamat and Kraetzschmar, Gerhard K.},
Booktitle = {Proc. of the Workshop on Simulation Technologies in the Robot Development Process held on the 2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010)},
Title = {{An Overview about Simulation and Emulation in Robotics}},
Year = {2010}}

• M. Reckhaus, N. Hochgeschwender, P. G. Ploeger, and G. K. Kraetzschmar, “A Platform-independent Programming Environment for Robot Control,” in Proceedings of the 1st International Workshop on Domain-Specific Languages and Models for Robotic Systems (DSLRob), IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipeh, Taiwan, 2010.
[BibTeX]
@inproceedings{Reckhaus2010,
Author = {Reckhaus, Michael and Hochgeschwender, Nico and Ploeger, Paul G. and Kraetzschmar, Gerhard K.},
Booktitle = {Proceedings of the 1st International Workshop on Domain-Specific Languages and Models for Robotic Systems (DSLRob), IEEE/RSJ International Conference on Intelligent Robots and Systems},
Title = {{A Platform-independent Programming Environment for Robot Control}},
Year = {2010}}

• A. Shakhimardanov, G. K. Kraetzschmar, and N. Hochgeschwender, “Component Models in Robotics Software,” in Proceedings of the Performance Metrics for Intelligent Systems Workshop (PerMIS 2010), Baltimore, USA, 2010.
[BibTeX]
@inproceedings{Shakhimardanov2010,
Author = {Shakhimardanov, Azamat and Kraetzschmar, Gerhard K. and Hochgeschwender, Nico},
Booktitle = {Proceedings of the Performance Metrics for Intelligent Systems Workshop (PerMIS 2010)},
Title = {{Component Models in Robotics Software}},
Year = {2010}}

• G. K. Kraetzschmar, A. Shakhimardanov, M. Reckhaus, J. Paulus, and N. Hochgeschwender, “On the role of simulation in the robot development process,” in 2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), Darmstadt, Germany, 2010.
[BibTeX]
@inproceedings{Kraetzschmar2010,
Author = {Kraetzschmar, Gerhard K. and Shakhimardanov, Azamat and Reckhaus, Michael and Paulus, Jan and Hochgeschwender, Nico},
Booktitle = {2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)},
Title = {{On the role of simulation in the robot development process}},
Year = {2010}}

• Z. Jin, “An Optimized GBNR Sound Localization Algorithm with 4 elements Microphone Array,” in Proceedings of the Workshop on Domestic Service Robots in the Real World held at the 2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), Darmstadt, Germany, 2010, p. 263–273.
@inproceedings{Jin2010,
Author = {Jin, Zha},
Booktitle = {Proceedings of the Workshop on Domestic Service Robots in the Real World held at the 2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)},
Isbn = {9783000328633},
Keywords = {gbnr,microphone array,sound localize},
Pages = {263--273},
Title = {{An Optimized GBNR Sound Localization Algorithm with 4 elements Microphone Array}},
Url = {http://www.simpar.org/ws/sites/DSR2010/09-DSR.pdf},
Year = {2010},
Bdsk-Url-1 = {http://www.simpar.org/ws/sites/DSR2010/09-DSR.pdf}}

• T. Breuer, P. G. Ploeger, and G. K. Kraetzschmar, “Precise Pointing Target Recognition for Human-Robot Interaction,” in Proceedings of the Workshop on Domestic Service Robots in the Real World held at the 2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), Darmstadt, Germany, 2010.
@inproceedings{Breuer2010a,
Author = {Breuer, Thomas and Ploeger, Paul G. and Kraetzschmar, Gerhard K.},
Booktitle = {Proceedings of the Workshop on Domestic Service Robots in the Real World held at the 2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)},
Keywords = {gesture recognition,gesture-based hri,hri,human-robot interaction,pointing gesture detection,pointing gesture recognition},
Title = {{Precise Pointing Target Recognition for Human-Robot Interaction}},
Year = {2010},
Bdsk-Url-1 = {https://www.sim.informatik.tu-darmstadt.de/simpar/ws/sites/DSR2010/06-DSR.pdf}}

• D. Brugali and A. Shakhimardanov, “Component-based Robotic Engineering. Part II: Models and systems,” in IEEE Robotics and Automation Magazine, 2010.
[BibTeX]
@inproceedings{Brugali2010,
Author = {Brugali, Davide and Shakhimardanov, Azamat},
Booktitle = {IEEE Robotics and Automation Magazine},
Title = {{Component-based Robotic Engineering. Part II: Models and systems}},
Year = {2010}}

• G. R. Giorgana Macedo, “Facial Expression Recognition for Domestic Service Robots,” in Proceedings of the Workshop on Domestic Service Robots in the Real World held at the 2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), Darmstadt, Germany, 2010.
[BibTeX]
@inproceedings{GiorganaMacedo2010,
Author = {Giorgana Macedo, Geovanny R.},
Booktitle = {Proceedings of the Workshop on Domestic Service Robots in the Real World held at the 2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)},
Title = {{Facial Expression Recognition for Domestic Service Robots}},
Year = {2010}}

• N. Hochgeschwender and A. Shakhimardanov, “Component-Based Robotics Middleware,” in SDIR Tutorial on Component-Based Robotics Engineering, IEEE/RAS International Conference on Robotics and Automation (ICRA), Anchorage, USA, 2010.
[BibTeX]
@inproceedings{Hochgeschwender2010,
Author = {Hochgeschwender, Nico and Shakhimardanov, Azamat},
Booktitle = {SDIR Tutorial on Component-Based Robotics Engineering, IEEE/RAS International Conference on Robotics and Automation (ICRA)},
Title = {{Component-Based Robotics Middleware}},
Year = {2010}}

• R. Bischoff, T. Guhl, E. Prassler, W. Nowak, G. K. Kraetzschmar, H. Bruyninckx, P. Soetens, M. Haegele, A. Pott, P. Breedveld, J. Broenink, D. Brugali, and N. Tomatis, “BRICS â Best practice in robotics,” in Proc. of the IFR International Symposium on Robotics (ISR 2010), Munich, Germany, 2010.
[BibTeX]
@inproceedings{Bischoff2010,
Author = {Bischoff, Rainer and Guhl, Tim and Prassler, Erwin and Nowak, Walter and Kraetzschmar, Gerhard K. and Bruyninckx, Herman and Soetens, P. and Haegele, Martin and Pott, A. and Breedveld, P. and Broenink, J. and Brugali, Davide and Tomatis, N.},
Booktitle = {Proc. of the IFR International Symposium on Robotics (ISR 2010)},
Title = {{BRICS {\^a} Best practice in robotics}},
Year = {2010}}

### 2009

• D. Holz, G. K. Kraetzschmar, and E. Rome, “Robust and Computationally Efficient Navigation in Domestic Environments,” in Proceedings of the 13th RoboCup International Symposium, Graz, Austria, 2009.
[BibTeX]
@inproceedings{Holz2009a,
Author = {Holz, Dirk and Kraetzschmar, Gerhard K. and Rome, E.},
Booktitle = {Proceedings of the 13th RoboCup International Symposium},
Title = {{Robust and Computationally Efficient Navigation in Domestic Environments}},
Year = {2009}}

### 2008

• P. G. Ploeger, K. Pervoelz, C. Mies, P. Eyerich, M. Brenner, and B. Nebel, “The DESIRE Service Robotics Initiative,” KI – Zeitschrift Kuenstliche Intelligenz, iss. 4, p. 29–30, 2008.
[BibTeX]
@article{Ploeger2008,
Author = {Ploeger, Paul G. and Pervoelz, K. and Mies, C. and Eyerich, P. and Brenner, M. and Nebel, B.},
Journal = {KI -- Zeitschrift Kuenstliche Intelligenz},
Number = {4},
Pages = {29--30},
Title = {{The DESIRE Service Robotics Initiative}},
Year = {2008}}

• D. Holz, C. Loerken, and H. Surmann, “Continuous 3D Sensing for Navigation and SLAM in Cluttered and Dynamic Environments,” in Proceedings of the International Conference on Information Fusion (FUSION), Cologne, Germany, 2008.
[BibTeX]
@inproceedings{Holz2008,
Author = {Holz, Dirk and Loerken, C. and Surmann, H.},
Booktitle = {Proceedings of the International Conference on Information Fusion (FUSION)},
Title = {{Continuous 3D Sensing for Navigation and SLAM in Cluttered and Dynamic Environments}},
Year = {2008}}

• I. Awaad and B. León, “XPERSim: A Simulator for Robot Learning by Experimentation,” in Simulation, Modeling, and Programming for Autonomous Robots, First International Conference, SIMPAR 2008, Venice, Italy, November 3-6, 2008. Proceedings, 2008, p. 5–16. doi:10.1007/978-3-540-89076-8_5
[BibTeX]
@inproceedings{Awaad2008XPERSim:-A-Simu,
Author = {Awaad, Iman and Le{\'{o}}n, Beatriz},
Booktitle = {Simulation, Modeling, and Programming for Autonomous Robots, First International Conference, {SIMPAR} 2008, Venice, Italy, November 3-6, 2008. Proceedings},
Date-Modified = {2015-03-31 07:59:00 +0000},
Doi = {10.1007/978-3-540-89076-8_5},
Pages = {5--16},
Title = {XPERSim: {A} Simulator for Robot Learning by Experimentation},
Year = {2008},
Bdsk-Url-1 = {http://dx.doi.org/10.1007/978-3-540-89076-8_5}}

• I. Awaad, R. Hartanto, B. Leon, and P. Ploeger, “A Software System for Robotic Learning by Experimentation,” in Workshop on Robot Simulators: Available software, scientific applications and future at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2008.
[BibTeX]
@inproceedings{Awaad2008A-Software-Syst,
Author = {Awaad, Iman and Hartanto, Ronny and Leon, Beatriz and Ploeger, Paul},
Booktitle = {Workshop on Robot Simulators: Available software, scientific applications and future at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
Date-Modified = {2015-03-31 07:50:11 +0000},
Keywords = {robotics, simulation, software architecture},
Title = {A Software System for Robotic Learning by Experimentation},
Year = {2008}}

• I. Awaad, R. Hartanto, B. León, and P. Plöger, “A Software System for Robotic Learning by Experimentation,” in Simulation, Modeling, and Programming for Autonomous Robots, First International Conference, SIMPAR 2008, Venice, Italy, November 3-6, 2008. Proceedings, 2008, p. 99–110. doi:10.1007/978-3-540-89076-8_13
[BibTeX]
@inproceedings{Awaad2008A-Software-SIMPAR,
Author = {Awaad, Iman and Hartanto, Ronny and Le{\'{o}}n, Beatriz and Pl{\"{o}}ger, Paul{-}Gerhard},
Booktitle = {Simulation, Modeling, and Programming for Autonomous Robots, First International Conference, {SIMPAR} 2008, Venice, Italy, November 3-6, 2008. Proceedings},
Date-Modified = {2015-03-31 08:00:42 +0000},
Doi = {10.1007/978-3-540-89076-8_13},
Pages = {99--110},
Title = {A Software System for Robotic Learning by Experimentation},
Year = {2008},
Bdsk-Url-1 = {http://dx.doi.org/10.1007/978-3-540-89076-8_13}}

### 2007

• G. Indiveri, J. Paulus, and P. G. Ploeger, “Task Based Kinematical Robot Control in the Presence of Actuator Velocity Saturation and Its Application to Trajectory Tracking for an Omni-wheeled Mobile Robot,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy, 2007.
[BibTeX]
@inproceedings{Indiveri2007,
Author = {Indiveri, G. and Paulus, Jan and Ploeger, Paul G.},
Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
Title = {{Task Based Kinematical Robot Control in the Presence of Actuator Velocity Saturation and Its Application to Trajectory Tracking for an Omni-wheeled Mobile Robot}},
Year = {2007}}

• I. Bratko, D. Suc, I. Awaad, J. Demsar, P. Gemeiner, M. Guid, B. Leon, M. Mestnik, J. Prankle, E. Prassler, M. Vincze, and J. Zabkar, “Initial experiments in robot discovery in XPERO,” in Workshop on “Concept Learning for Embodied Agents at the IEEE International Conference on Robotics and Automation (ICRA), 2007.
[BibTeX]
@conference{Bratko2007Initial-experim,
Author = {Bratko, I. and Suc, D. and Awaad, I. and Demsar, J. and Gemeiner, P. and Guid, M. and Leon, B. and Mestnik, M. and Prankle, J. and Prassler, E. and Vincze, M. and Zabkar, J.},
Booktitle = {Workshop on "Concept Learning for Embodied Agents at the IEEE International Conference on Robotics and Automation (ICRA)},
Date-Modified = {2015-03-31 07:50:11 +0000},
Keywords = {XPERO, robotics, learning},
Title = {Initial experiments in robot discovery in XPERO},
Year = {2007}}

### 2006

• T. Wisspeintner, A. Bose, and P. G. Ploeger, “Robot Prototyping for Rough Terrain Applications and High Mobility with VolksBot RT,” in Proceedings of Safety, Security and Rescue Robotics, 2006.
[BibTeX]
@inproceedings{Wisspeintner2006,
Author = {Wisspeintner, T. and Bose, A. and Ploeger, Paul G.},
Booktitle = {Proceedings of Safety, Security and Rescue Robotics},
Title = {{Robot Prototyping for Rough Terrain Applications and High Mobility with VolksBot RT}},
Year = {2006}}

• S. Olufs, F. Adolf, R. Hartanto, and P. G. Ploeger, “Towards Probabilistic Shape Vision in RoboCup: A Practical Approach,” in RoboCup Symposium, Bremen, Germany, 2006.
[BibTeX]
@inproceedings{Olufs2006,
Author = {Olufs, Sven and Adolf, F. and Hartanto, Ronny and Ploeger, Paul G.},
Booktitle = {RoboCup Symposium},
Title = {{Towards Probabilistic Shape Vision in RoboCup: A Practical Approach}},
Year = {2006}}

• G. Indiveri, J. Paulus, and P. G. Ploeger, “Motion Control of Swedish Wheeled Mobile Robots in the Presence of Actuator Saturation,” in RoboCup Symposium, Bremen, Germany, 2006.
[BibTeX]
@inproceedings{Indiveri2006,
Author = {Indiveri, G. and Paulus, Jan and Ploeger, Paul G.},
Booktitle = {RoboCup Symposium},
Title = {{Motion Control of Swedish Wheeled Mobile Robots in the Presence of Actuator Saturation}},
Year = {2006}}

### 2005

• T. van der Zant and P. G. Ploeger, “Lightweight Management – Taming the RoboCup Development Process,” in RoboCup Symposium, Osaka, Japan, 2005.
[BibTeX]
@inproceedings{VanderZant2005,
Author = {van der Zant, Tijn and Ploeger, Paul G.},
Booktitle = {RoboCup Symposium},
Title = {{Lightweight Management - Taming the RoboCup Development Process}},
Year = {2005}}

• M. Salmen and P. G. Ploeger, “Echo State Networks used for Motor Control,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain, 2005.
[BibTeX]
@inproceedings{Salmen2005,
Author = {Salmen, M. and Ploeger, Paul G.},
Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
Title = {{Echo State Networks used for Motor Control}},
Year = {2005}}

### 2004

• K. Ishii, T. van der Zant, P. G. Ploeger, and V. Becanovic, “Identification of Motion with Echo State Network,” in Oceans’04, Kobe, Japan, 2004.
[BibTeX]
@inproceedings{Ishii2004,
Author = {Ishii, K. and van der Zant, Tijn and Ploeger, Paul G. and Becanovic, V.},
Booktitle = {Oceans'04},
Title = {{Identification of Motion with Echo State Network}},
Year = {2004}}

### 2003

• P. G. Ploeger, A. Arghir, T. Guenther, and R. Hosseiny, “Echo State Networks for Mobile Robot Modeling and Control,” in Proceedings of the RoboCup, Paduva, Italy, 2003.
[BibTeX]
@inproceedings{Ploeger2003,
Author = {Ploeger, Paul G. and Arghir, A. and Guenther, T. and Hosseiny, R.},
Booktitle = {Proceedings of the RoboCup},
Title = {{Echo State Networks for Mobile Robot Modeling and Control}},
Year = {2003}}

• J. Ji, G. Indiveri, P. G. Ploeger, and A. Bredenfeld, “An Omni-Vision based Self-Localization Method for Soccer Robot,” in Proceedings of the IEEE Intelligent Vehicles Symposium, Columbus, Ohio, USA, 2003.
[BibTeX]
@inproceedings{Ji2003,
Author = {Ji, J. and Indiveri, G. and Ploeger, Paul G. and Bredenfeld, Ansgar},
Booktitle = {Proceedings of the IEEE Intelligent Vehicles Symposium},
Title = {{An Omni-Vision based Self-Localization Method for Soccer Robot}},
Year = {2003}}

### 2002

• V. Becanovic, G. Indiveri, H. -U. Kobialka, P. G. Ploeger, and A. Stocker, “Silicon Retina Sensing guided by Omni-directional Vision,” in Mechatronics and Machine Vision in Practice, 2002.
[BibTeX]
@inproceedings{Becanovic2002b,
Author = {Becanovic, V. and Indiveri, G. and Kobialka, H.-U. and Ploeger, Paul G. and Stocker, A.},
Booktitle = {Mechatronics and Machine Vision in Practice},
Title = {{Silicon Retina Sensing guided by Omni-directional Vision}},
Year = {2002}}

• V. Becanovic, G. Indiveri, H. -U. Kobialka, and P. G. Ploeger, “Silicon Retina Sensing guided by Omni-directional Vision,” in Mechatronics and Machine Vision, 2002.
[BibTeX]
@inproceedings{Becanovic2002a,
Author = {Becanovic, V. and Indiveri, G. and Kobialka, H.-U. and Ploeger, Paul G.},
Booktitle = {Mechatronics and Machine Vision},
Publisher = {Giorgio Martinelli},
Title = {{Silicon Retina Sensing guided by Omni-directional Vision}},
Year = {2002}}

• V. Becanovic, A. Bredenfeld, and P. G. Ploeger, “Reactive Robot Control using Silicon Retina Sensors,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Washington, DC, USA, 2002.
[BibTeX]
@inproceedings{Becanovic2002,
Author = {Becanovic, V. and Bredenfeld, Ansgar and Ploeger, Paul G.},
Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
Title = {{Reactive Robot Control using Silicon Retina Sensors}},
Year = {2002}}

### 2000

• A. Bredenfeld, T. Christaller, W. Goehring, H. Guenther, H. Jaeger, H. -U. Kobialka, P. G. Ploeger, P. Schoell, A. Siegberg, A. Streit, C. Verbeek, and J. Wilberg, “Behavior Engineering with ‘Dual Dynamics’ Models and Design Tools,” in RoboCup-99: Robot Soccer World Cup III, 2000.
[BibTeX]
@inproceedings{Bredenfeld2000,
Author = {Bredenfeld, Ansgar and Christaller, T. and Goehring, W. and Guenther, H. and Jaeger, H. and Kobialka, H.-U. and Ploeger, Paul G. and Schoell, P. and Siegberg, A. and Streit, A. and Verbeek, C. and Wilberg, J.},
Booktitle = {RoboCup-99: Robot Soccer World Cup III},
Publisher = {Manuela Veloso},
Title = {{Behavior Engineering with 'Dual Dynamics' Models and Design Tools}},
Year = {2000}}

### 1999

• A. Bredenfeld, T. Christaller, W. Goehring, H. Guenther, H. Jaeger, H. -U. Kobialka, P. G. Ploeger, P. Schoell, A. Siegberg, A. Streit, C. Verbeek, and J. Wilberg, “Behavior Engineering with ”Dual Dynamics” Models and Design Tools,” in Sixteenth International Joint Conference on Artificial Intelligence (IJCAI) Workshop ABS-4 Third International Workshop on RoboCup, 1999.
[BibTeX]
@inproceedings{Bredenfeld1999,
Author = {Bredenfeld, Ansgar and Christaller, T. and Goehring, W. and Guenther, H. and Jaeger, H. and Kobialka, H.-U. and Ploeger, Paul G. and Schoell, P. and Siegberg, A. and Streit, A. and Verbeek, C. and Wilberg, J.},
Booktitle = {Sixteenth International Joint Conference on Artificial Intelligence (IJCAI) Workshop ABS-4 Third International Workshop on RoboCup},
Publisher = {Manuela Veloso},
Title = {{Behavior Engineering with ''Dual Dynamics'' Models and Design Tools}},
Year = {1999}}