# Publications

### 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.},
Address = {Nagoya, Japan},
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}}

• 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},
title = {RoCKIn@Home: Domestic Robots Challenge},
booktitle = {RoCKIn - Benchmarking Through Robot Competitions},
publisher = {InTech},
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},
title = {RoCKIn@Work: Industrial Robot Challenge},
booktitle = {RoCKIn - Benchmarking Through Robot Competitions},
publisher = {InTech},
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}}

• 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,
Address = {Dagstuhl, Germany},
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-Added = {2017-06-19 07:57:55 +0000},
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}}

• 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.},
title = {Aerodynamic Design Exploration through Surrogate-Assisted Illumination},
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},
url = {https://hal.inria.fr/hal-01518786},
year = {2017}
}

• 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.},
title = {Model-Based Remote Diagnosis of Motion Faults on an Omnidirectional Robot via Structural Analysis},
booktitle = {28th International Workshop on Principles of Diagnosis (DX)},
Address = {Brescia, Italy},
year = {2017}
}

• 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.},
title = {Data-Efficient Exploration, Optimization, and Modeling of Diverse Designs through Surrogate-Assisted Illumination},
booktitle = {GECCO '17: Proceedings of the Genetic and Evolutionary Computation Conference. Berlin, Germany, July 15-19, 2017},
pages = {99 -- 106},
isbn = {978-1-4503-4920-8},
doi = {10.1145/3071178.3071282},
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.},
Address = {Klagenfurt, Austria},
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}}

• 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.},
Address = {Leipzig, Germany},
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}}

• 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,
Address = {Leipzig, Germany},
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}}

• 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-Added = {2016-08-30 10:19:37 +0000},
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}}

• 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}}

• 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-Added = {2016-08-30 10:12:38 +0000},
Date-Modified = {2016-08-30 10:13:46 +0000},
Title = {Grasp Quality Evaluation in Underactuated Robotic Hands},
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. 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-Added = {2017-06-19 10:18:19 +0000},
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}}

• 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-Added = {2016-08-29 19:00:29 +0000},
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-Added = {2015-08-26 07:28:57 +0000},
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}}

### 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,
Address = {Lisbon, Portugal},
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,
Address = {Florence, Italy},
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}}

• 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-Added = {2015-03-31 07:50:11 +0000},
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}}

• 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-Added = {2015-03-31 07:50:11 +0000},
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}}

• M. A. Valdenegro Toro, “Fast Radial Symmetry Detection for Traffic Sign Recognition,” Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences, Sankt Augustin, Germany 2015.

Advanced driver assistance systems (ADAS) are technology systems and devices designed as an aid to the driver of a vehicle. One of the critical components of any ADAS is the traffic sign recognition module. For this module to achieve real-time performance, some preprocessing of input images must be done, which consists of a traffic sign detection (TSD) algorithm to reduce the possible hypothesis space. Performance of TSD algorithm is critical. One of the best algorithms used for TSD is the Radial Symmetry Detector (RSD), which can detect both Circular [7] and Polygonal traffic signs [5]. This algorithm runs in real-time on high end personal computers, but computational performance of must be improved in order to be able to run in real-time in embedded computer platforms. To improve the computational performance of the RSD, we propose a multiscale approach and the removal of a gaussian smoothing filter used in this algorithm. We evaluate the performance on both computation times, detection and false positive rates on a synthetic image dataset and on the german traffic sign detection benchmark [29]. We observed significant speedups compared to the original algorithm. Our Improved Radial Symmetry Detector is up to 5.8 times faster than the original on detecting Circles, up to 3.8 times faster on Triangle detection, 2.9 times faster on Square detection and 2.4 times faster on Octagon detection. All of this measurements were observed with better detection and false positive rates than the original RSD. When evaluated on the GTSDB, we observed smaller speedups, in the range of 1.6 to 2.3 times faster for Circle and Regular Polygon detection, but for Circle detection we observed a decreased detection rate than the original algorithm, while for Regular Polygon detection we always observed better detection rates. False positive rates were high, in the range of 80% to 90%. We conclude that our Improved Radial Symmetry Detector is a significant improvement of the Radial Symmetry Detector, both for Circle and Regular polygon detection. We expect that our improved algorithm will lead the way to obtain real-time traffic sign detection and recognition in embedded computer platforms.

@techreport{ValdenegroToro2015a,
Abstract = {Advanced driver assistance systems (ADAS) are technology systems and devices designed as an aid to the driver of a vehicle. One of the critical components of any ADAS is the traffic sign recognition module. For this module to achieve real-time performance, some preprocessing of input images must be done, which consists of a traffic sign detection (TSD) algorithm to reduce the possible hypothesis space. Performance of TSD algorithm is critical. One of the best algorithms used for TSD is the Radial Symmetry Detector (RSD), which can detect both Circular [7] and Polygonal traffic signs [5]. This algorithm runs in real-time on high end personal computers, but computational performance of must be improved in order to be able to run in real-time in embedded computer platforms. To improve the computational performance of the RSD, we propose a multiscale approach and the removal of a gaussian smoothing filter used in this algorithm. We evaluate the performance on both computation times, detection and false positive rates on a synthetic image dataset and on the german traffic sign detection benchmark [29]. We observed significant speedups compared to the original algorithm. Our Improved Radial Symmetry Detector is up to 5.8 times faster than the original on detecting Circles, up to 3.8 times faster on Triangle detection, 2.9 times faster on Square detection and 2.4 times faster on Octagon detection. All of this measurements were observed with better detection and false positive rates than the original RSD. When evaluated on the GTSDB, we observed smaller speedups, in the range of 1.6 to 2.3 times faster for Circle and Regular Polygon detection, but for Circle detection we observed a decreased detection rate than the original algorithm, while for Regular Polygon detection we always observed better detection rates. False positive rates were high, in the range of 80% to 90%. We conclude that our Improved Radial Symmetry Detector is a significant improvement of the Radial Symmetry Detector, both for Circle and Regular polygon detection. We expect that our improved algorithm will lead the way to obtain real-time traffic sign detection and recognition in embedded computer platforms.},
Address = {Sankt Augustin, Germany},
Author = {Valdenegro Toro, Matias Alejandro},
Date-Added = {2015-08-26 07:28:08 +0000},
Date-Modified = {2015-08-26 07:28:08 +0000},
Institution = {Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences},
Month = {August},
Title = {{Fast Radial Symmetry Detection for Traffic Sign Recognition}},
Url = {https://opus.bib.hochschule-bonn-rhein-sieg.de/files/1592/brsu_techreport_04_2015_Matias_Valdenegro_pdf1-4.pdf},
Year = {2015},
Bdsk-Url-1 = {http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:hbz:1044-opus-15922}}

• M. A. Valdenegro Toro, “Fast Text Detection for Road Scenes,” Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences, Sankt Augustin, Germany 2015.

Extraction of text information from visual sources is an important component of many modern applications, for example, extracting the text from traffic signs on a road scene in an autonomous vehicle. For natural images or road scenes this is a unsolved problem. In this thesis the use of histogram of stroke widths (HSW) for character and noncharacter region classification is presented. Stroke widths are extracted using two methods. One is based on the Stroke Width Transform and another based on run lengths. The HSW is combined with two simple region features– aspect and occupancy ratios– and then a linear SVM is used as classifier. One advantage of our method over the state of the art is that it is script-independent and can also be used to verify detected text regions with the purpose of reducing false positives. Our experiments on generated datasets of Latin, CJK, Hiragana and Katakana characters show that the HSW is able to correctly classify at least 90 % of the character regions, a similar figure is obtained for non-character regions. This performance is also obtained when training the HSW with one script and testing with a different one, and even when characters are rotated. On the English and Kannada portions of the Chars74K dataset we obtained over 95% correctly classified character regions. The use of raycasting for text line grouping is also proposed. By combining it with our HSW-based character classifier, a text detector based on Maximally Stable Extremal Regions (MSER) was implemented. The text detector was evaluated on our own dataset of road scenes from the German Autobahn, where 65% precision, 72% recall with a f-score of 69% was obtained. Using the HSW as a text verifier increases precision while slightly reducing recall. Our HSW feature allows the building of a script-independent and low parameter count classifier for character and non-character regions.

@techreport{ValdenegroToro2015,
Abstract = {Extraction of text information from visual sources is an important component of many modern applications, for example, extracting the text from traffic signs on a road scene in an autonomous vehicle. For natural images or road scenes this is a unsolved problem. In this thesis the use of histogram of stroke widths (HSW) for character and noncharacter region classification is presented. Stroke widths are extracted using two methods. One is based on the Stroke Width Transform and another based on run lengths. The HSW is combined with two simple region features-- aspect and occupancy ratios-- and then a linear SVM is used as classifier. One advantage of our method over the state of the art is that it is script-independent and can also be used to verify detected text regions with the purpose of reducing false positives. Our experiments on generated datasets of Latin, CJK, Hiragana and Katakana characters show that the HSW is able to correctly classify at least 90 % of the character regions, a similar figure is obtained for non-character regions. This performance is also obtained when training the HSW with one script and testing with a different one, and even when characters are rotated. On the English and Kannada portions of the Chars74K dataset we obtained over 95% correctly classified character regions. The use of raycasting for text line grouping is also proposed. By combining it with our HSW-based character classifier, a text detector based on Maximally Stable Extremal Regions (MSER) was implemented. The text detector was evaluated on our own dataset of road scenes from the German Autobahn, where 65% precision, 72% recall with a f-score of 69% was obtained. Using the HSW as a text verifier increases precision while slightly reducing recall. Our HSW feature allows the building of a script-independent and low parameter count classifier for character and non-character regions.},
Address = {Sankt Augustin, Germany},
Author = {Valdenegro Toro, Matias Alejandro},
Date-Added = {2015-08-26 07:28:08 +0000},
Date-Modified = {2015-08-26 07:28:08 +0000},
Institution = {Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences},
Month = {August},
Title = {{Fast Text Detection for Road Scenes}},
Url = {https://opus.bib.hochschule-bonn-rhein-sieg.de/files/1593/brsu_techreport_05_2015_Matias_Valdenegro_pdf1-4.pdf},
Year = {2015},
Bdsk-Url-1 = {http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:hbz:1044-opus-15936}}

• 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-Added = {2015-10-02 08:29:10 +0000},
Date-Modified = {2015-10-02 08:29:20 +0000},
Title = {{RRA}: Models and Tools for Robotics Run-time Adaptation},
Year = {2015}}

• 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-Added = {2015-10-02 08:27:50 +0000},
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}}

• 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,
Address = {New York, USA},
Author = {Gaier, Adam},
Booktitle = {Proceedings of the Companion Publication of the 2015 on Genetic and Evolutionary Computation Conference - GECCO Companion '15},
Date-Added = {2015-08-25 10:04:55 +0000},
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}}

• 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-Added = {2015-10-02 08:31:20 +0000},
Date-Modified = {2015-10-02 08:31:34 +0000},
Title = {Context-based Selection and Execution of Robot Perception Graphs},
Year = {2015}}

### 2014

• S. Alexandrov, “Geometric Segmentation of Point Cloud Data by Spectral Analysis,” Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences, Sankt Augustin, Germany 2014.

A principal step towards solving diverse perception problems is segmentation. Many algorithms benefit from initially partitioning input point clouds into objects and their parts. In accordance with cognitive sciences, segmentation goal may be formulated as to split point clouds into locally smooth convex areas, enclosed by sharp concave boundaries. This goal is based on purely geometrical considerations and does not incorporate any constraints, or semantics, of the scene and objects being segmented, which makes it very general and widely applicable. In this work we perform geometrical segmentation of point cloud data according to the stated goal. The data is mapped onto a graph and the task of graph partitioning is considered. We formulate an objective function and derive a discrete optimization problem based on it. Finding the globally optimal solution is an NP-complete problem; in order to circumvent this, spectral methods are applied. Two algorithms that implement the divisive hierarchical clustering scheme are proposed. They derive graph partition by analyzing the eigenvectors obtained through spectral relaxation. The specifics of our application domain are used to automatically introduce cannot-link constraints in the clustering problem. The algorithms function in completely unsupervised manner and make no assumptions about shapes of objects and structures that they segment. Three publicly available datasets with cluttered real-world scenes and an abundance of box-like, cylindrical, and free-form objects are used to demonstrate convincing performance. Preliminary results of this thesis have been contributed to the International Conference on Autonomous Intelligent Systems (IAS-13).

@techreport{Alexandrov2014,
Abstract = {A principal step towards solving diverse perception problems is segmentation. Many algorithms benefit from initially partitioning input point clouds into objects and their parts. In accordance with cognitive sciences, segmentation goal may be formulated as to split point clouds into locally smooth convex areas, enclosed by sharp concave boundaries. This goal is based on purely geometrical considerations and does not incorporate any constraints, or semantics, of the scene and objects being segmented, which makes it very general and widely applicable. In this work we perform geometrical segmentation of point cloud data according to the stated goal. The data is mapped onto a graph and the task of graph partitioning is considered. We formulate an objective function and derive a discrete optimization problem based on it. Finding the globally optimal solution is an NP-complete problem; in order to circumvent this, spectral methods are applied. Two algorithms that implement the divisive hierarchical clustering scheme are proposed. They derive graph partition by analyzing the eigenvectors obtained through spectral relaxation. The specifics of our application domain are used to automatically introduce cannot-link constraints in the clustering problem. The algorithms function in completely unsupervised manner and make no assumptions about shapes of objects and structures that they segment. Three publicly available datasets with cluttered real-world scenes and an abundance of box-like, cylindrical, and free-form objects are used to demonstrate convincing performance. Preliminary results of this thesis have been contributed to the International Conference on Autonomous Intelligent Systems (IAS-13).},
Address = {Sankt Augustin, Germany},
Author = {Alexandrov, Sergey},
Institution = {Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences},
Month = {September},
Timestamp = {2014.07.10},
Title = {{Geometric Segmentation of Point Cloud Data by Spectral Analysis}},
Url = {https://opus.bib.hochschule-bonn-rhein-sieg.de/files/22/brsu_techreport_02_2014_Sergey_Alexandrov_pdf_1_4.pdf},
Year = {2014},
Bdsk-Url-1 = {https://opus.bib.hochschule-bonn-rhein-sieg.de/files/22/brsu_techreport_02_2014_Sergey_Alexandrov_pdf_1_4.pdf}}

• S. Schneider, “Design of a declarative language for task-oriented grasping and tool-use with dextrous robotic hands,” Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences, Sankt Augustin, Germany 2014.

Apparently simple manipulation tasks for a human such as transportation or tool use are challenging to replicate in an autonomous service robot. Nevertheless, dextrous manipulation is an important aspect for a robot in many daily tasks. While it is possible to manufacture special-purpose hands for one specific task in industrial settings, a generalpurpose service robot in households must have flexible hands which can adapt to many tasks. Intelligently using tools enables the robot to perform tasks more efficiently and even beyond the designed capabilities. In this work a declarative domain-specific language, called Grasp Domain Definition Language (GDDL), is presented that allows the specification of grasp planning problems independently of a specific grasp planner. This design goal resembles the idea of the Planning Domain Definition Language (PDDL). The specification of GDDL requires a detailed analysis of the research in grasping in order to identify best practices in different domains that contribute to a grasp. These domains describe for instance physical as well as semantic properties of objects and hands. Grasping always has a purpose which is captured in the task domain definition. It enables the robot to grasp an object in a taskdependent manner. Suitable representations in these domains have to be identified and formalized for which a domain-driven software engineering approach is applied. This kind of modeling allows the specification of constraints which guide the composition of domain entity specifications. The domain-driven approach fosters reuse of domain concepts while the constraints enable the validation of models already during design time. A proof of concept implementation of GDDL into the GraspIt! grasp planner is developed. Preliminary results of this thesis have been published and presented on the IEEE International Conference on Robotics and Automation (ICRA).

@techreport{Schneider2014b,
Abstract = {Apparently simple manipulation tasks for a human such as transportation or tool use are challenging to replicate in an autonomous service robot. Nevertheless, dextrous manipulation is an important aspect for a robot in many daily tasks. While it is possible to manufacture special-purpose hands for one specific task in industrial settings, a generalpurpose service robot in households must have flexible hands which can adapt to many tasks. Intelligently using tools enables the robot to perform tasks more efficiently and even beyond the designed capabilities. In this work a declarative domain-specific language, called Grasp Domain Definition Language (GDDL), is presented that allows the specification of grasp planning problems independently of a specific grasp planner. This design goal resembles the idea of the Planning Domain Definition Language (PDDL). The specification of GDDL requires a detailed analysis of the research in grasping in order to identify best practices in different domains that contribute to a grasp. These domains describe for instance physical as well as semantic properties of objects and hands. Grasping always has a purpose which is captured in the task domain definition. It enables the robot to grasp an object in a taskdependent manner. Suitable representations in these domains have to be identified and formalized for which a domain-driven software engineering approach is applied. This kind of modeling allows the specification of constraints which guide the composition of domain entity specifications. The domain-driven approach fosters reuse of domain concepts while the constraints enable the validation of models already during design time. A proof of concept implementation of GDDL into the GraspIt! grasp planner is developed. Preliminary results of this thesis have been published and presented on the IEEE International Conference on Robotics and Automation (ICRA).},
Address = {Sankt Augustin, Germany},
Author = {Schneider, Sven},
Institution = {Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences},
Keywords = {Grasping, Grasp Planner, Grasp Domain Definition Language, GDDL, Domain-Specific Language},
Month = {September},
School = {Bonn-Rhein-Sieg University of Applied Sciences},
Timestamp = {2013.07.13},
Title = {{Design of a declarative language for task-oriented grasping and tool-use with dextrous robotic hands}},
Url = {https://opus.bib.hochschule-bonn-rhein-sieg.de/files/17/brsu_techreport_01_2014_Sven_Schneider_pdf1_4_online.pdf},
Year = {2014},
Bdsk-Url-1 = {https://opus.bib.hochschule-bonn-rhein-sieg.de/files/17/brsu_techreport_01_2014_Sven_Schneider_pdf1_4_online.pdf}}

• 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,
Address = {Bergamo, Italy},
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}}

• 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-Added = {2015-09-02 10:49:45 +0000},
Date-Modified = {2015-09-16 09:38:27 +0000},
Title = {Towards Robust Task Execution for Domestic Service Robots},
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.},
Address = {Joao Pessoa, Brazil},
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}}

• 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-Added = {2015-09-02 10:52:34 +0000},
Date-Modified = {2015-09-02 10:53:32 +0000},
Title = {Enhancing Action Execution by Using Spatial Relational Knowledge},
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,
Address = {Chicago, Illinois, USA},
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}}

• 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-Added = {2015-10-02 09:11:46 +0000},
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.},
Address = {Bergamo, Italy},
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}}

• 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.},
Address = {Joao Pessoa, Brazil},
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}}

• 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-Added = {2015-10-02 08:11:19 +0000},
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-Added = {2015-03-31 07:50:11 +0000},
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-Added = {2015-03-31 07:50:11 +0000},
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,
Address = {Dearborn, Michigan, USA},
Author = {Gaier, Adam and Asteroth, Alexander},
Booktitle = {IEEE Intelligent Vehicles Symposium},
Date-Added = {2014-09-15 10:39:16 +0000},
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-Added = {2014-09-15 10:37:38 +0000},
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}}

• 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.},
Address = {Busan, South Korea},
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-Added = {2014-09-15 10:33:35 +0000},
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}}

• 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,
Address = {Bergamo, Italy},
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-,
Address = {Gothenburg, Sweden},
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-Added = {2014-09-15 10:42:25 +0000},
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}}

• 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-Added = {2015-09-16 09:36:36 +0000},
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/}}

### 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,
Address = {Eindhoven, Netherlands},
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,
Address = {Coimbra, Portugal},
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,
Address = {Jerusalem, Israel},
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,
Address = {Jerusalem, Israel},
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-Added = {2015-03-31 07:50:11 +0000},
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,
Address = {Karlsruhe, Germany},
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,
Address = {Tokyo, Japan},
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,
Address = {Lyon, France},
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-Added = {2015-03-31 07:54:06 +0000},
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-Added = {2015-03-31 07:50:11 +0000},
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.},
Address = {Kuala Lumpur, Malaysia},
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,
Address = {Montevideo, Uruguay},
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-Added = {2014-09-15 10:31:34 +0000},
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, “3D Objekt Kategorisierung in haeuslichen Umgebungen,” in Informatik Tage 2012, Bonn, Germany, 2012.
[BibTeX]
@inproceedings{Mueller2012,
Address = {Bonn, Germany},
Author = {Mueller, Christian Atanas},
Booktitle = {Informatik Tage 2012},
Publisher = {Gesellschaft fuer Informatik e.V. (GI)},
Title = {{3D Objekt Kategorisierung in haeuslichen Umgebungen}},
Year = {2012}}

• C. A. Mueller, “3D Object Shape Categorization in Domestic Environments,” Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences, Sankt Augustin, Germany, February, 2012.

In service robotics, tasks without the involvement of objects are barely applicable, like in searching, fetching or delivering tasks. Service robots are supposed to capture efficiently object related information in real world scenes while for instance considering clutter and noise, and also being flexible and scalable to memorize a large set of objects. Besides object perception tasks like object recognition where the object’s identity is analyzed, object categorization is an important visual object perception cue that associates unknown object instances based on their e.g. appearance or shape to a corresponding category. We present a pipeline from the detection of object candidates in a domestic scene over the description to the final shape categorization of detected candidates. In order to detect object related information in cluttered domestic environments an object detection method is proposed that copes with multiple plane and object occurrences like in cluttered scenes with shelves. Further a surface reconstruction method based on Growing Neural Gas (GNG) in combination with a shape distribution-based descriptor is proposed to reflect shape characteristics of object candidates. Beneficial properties provided by the GNG such as smoothing and denoising effects support a stable description of the object candidates which also leads towards a more stable learning of categories. Based on the presented descriptor a dictionary approach combined with a supervised shape learner is presented to learn prediction models of shape categories. Experimental results, of different shapes related to domestically appearing object shape categories such as cup, can, box, bottle, bowl, plate and ball, are shown. A classification accuracy of about 90% and a sequential execution time of lesser than two seconds for the categorization of an unknown object is achieved which proves the reasonableness of the proposed system design. Additional results are shown towards object tracking and false positive handling to enhance the robustness of the categorization. Also an initial approach towards incremental shape category learning is proposed that learns a new category based on the set of previously learned shape categories.

@techreport{Muller2012,
Abstract = {In service robotics, tasks without the involvement of objects are barely applicable, like in searching, fetching or delivering tasks. Service robots are supposed to capture efficiently object related information in real world scenes while for instance considering clutter and noise, and also being flexible and scalable to memorize a large set of objects. Besides object perception tasks like object recognition where the object's identity is analyzed, object categorization is an important visual object perception cue that associates unknown object instances based on their e.g. appearance or shape to a corresponding category. We present a pipeline from the detection of object candidates in a domestic scene over the description to the final shape categorization of detected candidates. In order to detect object related information in cluttered domestic environments an object detection method is proposed that copes with multiple plane and object occurrences like in cluttered scenes with shelves. Further a surface reconstruction method based on Growing Neural Gas (GNG) in combination with a shape distribution-based descriptor is proposed to reflect shape characteristics of object candidates. Beneficial properties provided by the GNG such as smoothing and denoising effects support a stable description of the object candidates which also leads towards a more stable learning of categories. Based on the presented descriptor a dictionary approach combined with a supervised shape learner is presented to learn prediction models of shape categories. Experimental results, of different shapes related to domestically appearing object shape categories such as cup, can, box, bottle, bowl, plate and ball, are shown. A classification accuracy of about 90% and a sequential execution time of lesser than two seconds for the categorization of an unknown object is achieved which proves the reasonableness of the proposed system design. Additional results are shown towards object tracking and false positive handling to enhance the robustness of the categorization. Also an initial approach towards incremental shape category learning is proposed that learns a new category based on the set of previously learned shape categories.},
Address = {Sankt Augustin, Germany},
Author = {Mueller, Christian Atanas},
Institution = {Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences},
Number = {February},
Title = {{3D Object Shape Categorization in Domestic Environments}},
Url = {https://opus.bib.hochschule-bonn-rhein-sieg.de/files/9/brsu_techreport_01_2012_Christian_Atanas_Mueller.pdf},
Year = {2012},
Bdsk-Url-1 = {http://opus.bib.hochschule-bonn-rhein-sieg.de/opus-3.3/volltexte/2012/11/pdf/brsu%5C_techreport%5C_01%5C_2012%5C_Christian%5C_Atanas%5C_Mueller.pdf}}

• 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,
Address = {Vilamoura, Portugal},
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}}

• A. Kuestenmacher, “Methods for Failure Detection for Mobile Manipulation,” Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences, Sankt Augustin, Germany, March, 2012.

The work presented in this paper focuses on the comparison of well-known and new fault-diagnosis algorithms in the robot domain. The main challenge for fault diagnosis is to allow the robot to effectively cope not only with internal hardware and software faults but with external disturbances and errors from dynamic and complex environments as well. Based on a study of literature covering fault-diagnosis algorithms, I selected four of these methods based on both linear and non-linear models, analysed and implemented them in a mathematical robot-model, representing a four-wheels-OMNI robot. In experiments I tested the ability of the algorithms to detect and identify abnormal behaviour and to optimize the model parameters for the given training data. The final goal was to point out the strengths of each algorithm and to figure out which method would best suit the demands of fault diagnosis for a particular robot.

@techreport{Kustenmacher2012,
Abstract = {The work presented in this paper focuses on the comparison of well-known and new fault-diagnosis algorithms in the robot domain. The main challenge for fault diagnosis is to allow the robot to effectively cope not only with internal hardware and software faults but with external disturbances and errors from dynamic and complex environments as well. Based on a study of literature covering fault-diagnosis algorithms, I selected four of these methods based on both linear and non-linear models, analysed and implemented them in a mathematical robot-model, representing a four-wheels-OMNI robot. In experiments I tested the ability of the algorithms to detect and identify abnormal behaviour and to optimize the model parameters for the given training data. The final goal was to point out the strengths of each algorithm and to figure out which method would best suit the demands of fault diagnosis for a particular robot.},
Address = {Sankt Augustin, Germany},
Author = {Kuestenmacher, Anastassia},
Institution = {Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences},
Number = {March},
Title = {{Methods for Failure Detection for Mobile Manipulation}},
Url = {https://opus.bib.hochschule-bonn-rhein-sieg.de/files/11/brsu_techreport_04_2012_Anastassia_Kuestenmacher.pdf},
Year = {2012},
Bdsk-Url-1 = {http://opus.bib.hochschule-bonn-rhein-sieg.de/opus-3.3/volltexte/2012/13/pdf/brsu%5C_techreport%5C_04%5C_2012%5C_Anastassia%5C_Kuestenmacher.pdf}}

• 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,
Address = {Mexico City, Mexico},
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,
Address = {Mexico City, Mexico},
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}}

• F. Hegger, “3D People Detection in Domestic Environments,” Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences, Sankt Augustin, Germany, March, 2012.

The ability of detecting people has become a crucial subtask, especially in robotic systems which aiman application in public or domestic environments. Robots already provide their services e.g. in real home improvement markets and guide people to a desired product1. In such a scenario many robot internal tasks would benefit from the knowledge of knowing the number and positions of people in the vicinity. The navigation for example could treat them as dynamical moving objects and also predict their next motion directions in order to compute a much safer path. Or the robot could specifically approach customers and offer its services. This requires to detect a person or even a group of people in a reasonable range in front of the robot. Challenges of such a real-world task are e.g. changing lightning conditions, a dynamic environment and different people shapes. In this thesis a 3D people detection approach based on point cloud data provided by the Microsoft Kinect is implemented and integrated on mobile service robot. A Top-Down/Bottom-Up segmentation is applied to increase the systems flexibility and provided the capability to the detect people even if they are partially occluded. A feature set is proposed to detect people in various pose configurations and motions using a machine learning technique. The system can detect people up to a distance of 5 meters. The experimental evaluation compared different machine learning techniques and showed that standing people can be detected with a rate of 87.29\% and sitting people with 74.94\% using a Random Forest classifier. Certain objects caused several false detections. To elimante those a verification is proposed which further evaluates the persons shape in the 2D space. The detection component has been implemented as s sequential (frame rate of 10 Hz) and a parallel application (frame rate of 16 Hz). Finally, the component has been embedded into complete people search task which explorates the environment, find all people and approach each detected person.

@techreport{Hegger2012,
Abstract = {The ability of detecting people has become a crucial subtask, especially in robotic systems which aiman application in public or domestic environments. Robots already provide their services e.g. in real home improvement markets and guide people to a desired product1. In such a scenario many robot internal tasks would benefit from the knowledge of knowing the number and positions of people in the vicinity. The navigation for example could treat them as dynamical moving objects and also predict their next motion directions in order to compute a much safer path. Or the robot could specifically approach customers and offer its services. This requires to detect a person or even a group of people in a reasonable range in front of the robot. Challenges of such a real-world task are e.g. changing lightning conditions, a dynamic environment and different people shapes. In this thesis a 3D people detection approach based on point cloud data provided by the Microsoft Kinect is implemented and integrated on mobile service robot. A Top-Down/Bottom-Up segmentation is applied to increase the systems flexibility and provided the capability to the detect people even if they are partially occluded. A feature set is proposed to detect people in various pose configurations and motions using a machine learning technique. The system can detect people up to a distance of 5 meters. The experimental evaluation compared different machine learning techniques and showed that standing people can be detected with a rate of 87.29\% and sitting people with 74.94\% using a Random Forest classifier. Certain objects caused several false detections. To elimante those a verification is proposed which further evaluates the persons shape in the 2D space. The detection component has been implemented as s sequential (frame rate of 10 Hz) and a parallel application (frame rate of 16 Hz). Finally, the component has been embedded into complete people search task which explorates the environment, find all people and approach each detected person.},
Address = {Sankt Augustin, Germany},
Annote = { From Duplicate 1 ( 3D People Detection in Domestic Environments - Hegger, Frederik ) },
Author = {Hegger, Frederik},
Institution = {Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences},
Keywords = {3D segmentation,local surface normals,random forest},
Number = {March},
Title = {{3D People Detection in Domestic Environments}},
Url = {https://opus.bib.hochschule-bonn-rhein-sieg.de/files/8/brsu_techreport_02_2012_Frederik_Hegger.pdf},
Year = {2012},
Bdsk-Url-1 = {http://opus.bib.hochschule-bonn-rhein-sieg.de/opus-3.3/volltexte/2012/10/pdf/brsu%5C_techreport%5C_02%5C_2012%5C_Frederik%5C_Hegger.pdf}}

• N. Akhtar, “Improving reliability of mobile manipulators against unknown external faults,” Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences, Sankt Augustin, Germany, March, 2012.

A robot (e.g. mobile manipulator) that interacts with its environment to perform its tasks, often faces situations in which it is unable to achieve its goals despite perfect functioning of its sensors and actuators. These situations occur when the behavior of the object(s) manipulated by the robot deviates from its expected course because of unforeseeable ircumstances. These deviations are experienced by the robot as unknown external faults. In this work we present an approach that increases reliability of mobile manipulators against the unknown external faults. This approach focuses on the actions of manipulators which involve releasing of an object. The proposed approach, which is triggered after detection of a fault, is formulated as a three-step scheme that takes a definition of a planning operator and an example simulation as its inputs. The planning operator corresponds to the action that fails because of the fault occurrence, whereas the example simulation shows the desired/expected behavior of the objects for the same action. In its first step, the scheme finds a description of the expected behavior of the objects in terms of logical atoms (i.e. description vocabulary). The description of the simulation is used by the second step to find limits of the parameters of the manipulated object. These parameters are the variables that define the releasing state of the object. Using randomly chosen values of the parameters within these limits, this step creates different examples of the releasing state of the object. Each one of these examples is labelled as desired or undesired according to the behavior exhibited by the object (in the simulation), when the object is released in the state corresponded by the example. The description vocabulary is also used in labeling the examples autonomously. In the third step, an algorithm (i.e. N-Bins) uses the labelled examples to suggest the state for the object in which releasing it avoids the occurrence of unknown external faults. The proposed N-Bins algorithm can also be used for binary classification problems. Therefore, in our experiments with the proposed approach we also test its prediction ability along with the analysis of the results of our approach. The results show that under the circumstances peculiar to our approach, N-Bins algorithm shows reasonable prediction accuracy where other state of the art classification algorithms fail to do so. Thus, N-Bins also extends the ability of a robot to predict the behavior of the object to avoid unknown external faults. In this work we use simulation environment OPENRave that uses physics engine ODE to simulate the dynamics of rigid bodies.

@techreport{Akhtar2012,
Abstract = {A robot (e.g. mobile manipulator) that interacts with its environment to perform its tasks, often faces situations in which it is unable to achieve its goals despite perfect functioning of its sensors and actuators. These situations occur when the behavior of the object(s) manipulated by the robot deviates from its expected course because of unforeseeable ircumstances. These deviations are experienced by the robot as unknown external faults. In this work we present an approach that increases reliability of mobile manipulators against the unknown external faults. This approach focuses on the actions of manipulators which involve releasing of an object. The proposed approach, which is triggered after detection of a fault, is formulated as a three-step scheme that takes a definition of a planning operator and an example simulation as its inputs. The planning operator corresponds to the action that fails because of the fault occurrence, whereas the example simulation shows the desired/expected behavior of the objects for the same action. In its first step, the scheme finds a description of the expected behavior of the objects in terms of logical atoms (i.e. description vocabulary). The description of the simulation is used by the second step to find limits of the parameters of the manipulated object. These parameters are the variables that define the releasing state of the object. Using randomly chosen values of the parameters within these limits, this step creates different examples of the releasing state of the object. Each one of these examples is labelled as desired or undesired according to the behavior exhibited by the object (in the simulation), when the object is released in the state corresponded by the example. The description vocabulary is also used in labeling the examples autonomously. In the third step, an algorithm (i.e. N-Bins) uses the labelled examples to suggest the state for the object in which releasing it avoids the occurrence of unknown external faults. The proposed N-Bins algorithm can also be used for binary classification problems. Therefore, in our experiments with the proposed approach we also test its prediction ability along with the analysis of the results of our approach. The results show that under the circumstances peculiar to our approach, N-Bins algorithm shows reasonable prediction accuracy where other state of the art classification algorithms fail to do so. Thus, N-Bins also extends the ability of a robot to predict the behavior of the object to avoid unknown external faults. In this work we use simulation environment OPENRave that uses physics engine ODE to simulate the dynamics of rigid bodies.},
Address = {Sankt Augustin, Germany},
Author = {Akhtar, Naveed},
Institution = {Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences},
Keywords = {binary classification,external faults,mobile manipulators},
Number = {March},
Title = {{Improving reliability of mobile manipulators against unknown external faults}},
Url = {https://opus.bib.hochschule-bonn-rhein-sieg.de/files/7/Naveedthesis.pdf},
Year = {2012},
Bdsk-Url-1 = {http://opus.bib.hochschule-bonn-rhein-sieg.de/opus-3.3/volltexte/2012/9/pdf/Naveedthesis.pdf}}

### 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,
Address = {San Francisco, USA},
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}}

• 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,
Address = {Istanbul, Turkey},
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,
Address = {San Francisco, USA},
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}}

• 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}}

• A. Bochem, “Active Tracking with Accelerated Image Processing in Hardware,” Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences, Sankt Augustin, Germany, January, 2011.

This thesis work presents the implementation and validation of image processing problems in hardware to estimate the performance and precision gain. It compares the implementation for the addressed problem on a Field Programmable Gate Array (FPGA) with a software implementation for a General Purpose Processor (GPP) architecture. For both solutions the implementation costs for their development is an important aspect in the validation. The analysis of the flexibility and extendability that can be achieved by a modular implementation for the FPGA design was another major aspect. This work is based upon approaches from previous work, which included the detection of Binary Large OBjects (BLOBs) in static images and continuous video streams [13, 15]. One addressed problem of this work is the tracking of the detected BLOBs in continuous image material. This has been implemented for the FPGA platform and the GPP architecture. Both approaches have been compared with respect to performance and precision. This research project is motivated by the MI6 project of the Computer Vision research group, which is located at the Bonn-Rhein-Sieg University of Applied Sciences. The intent of the MI6 project is the tracking of a user in an immersive environment. The proposed solution is to attach a light emitting device to the user for tracking the created light dots on the projection surface of the immersive environment. Having the center points of those light dots would allow the estimation of the user’s position and orientation. One major issue that makes Computer Vision problems computationally expensive is the high amount of data that has to be processed in real-time. Therefore, one major target for the implementation was to get a processing speed of more than 30 frames per second. This would allow the system to realize feedback to the user in a response time which is faster than the human visual perception. One problem that comes with the idea of using a light emitting device to represent the user, is the precision error. Dependent on the resolution of the tracked projection surface of the immersive environment, a pixel might have a size in cm2. Having a precision error of only a few pixels, might lead to an offset in the estimated user’s position of several cm. In this research work the development and validation of a detection and tracking system for BLOBs on a Cyclone II FPGA from Altera has been realized. The system supports different input devices for the image acquisition and can perform detection and tracking for five to eight BLOBs. A further extension of the design has been evaluated and is possible with some constraints. Additional modules for compressing the image data based on run-length encoding and sub-pixel precision for the computed BLOB center-points have been designed. For the comparison of the FPGA approach for BLOB tracking a similar implementation in software using a multi-threaded approach has been realized. The system can transmit the detection or tracking results on two available communication interfaces, USB and RS232. The analysis of the hardware solution showed a similar precision for the BLOB detection and tracking as the software approach. One problem is the strong increase of the allocated resources when extending the system to process more BLOBs. With one of the applied target platforms, the DE2-70 board from Altera, the BLOB detection could be extended to process up to thirty BLOBs. The implementation of the tracking approach in hardware required much more effort than the software solution. The design of high level problems in hardware for this case are more expensive than the software implementation. The search and match steps in the tracking approach could be realized more efficiently and reliably in software. The additional pre-processing modules for sub-pixel precision and run-length-encoding helped to increase the system’s performance and precision.

@techreport{Bochem2011,
Abstract = {This thesis work presents the implementation and validation of image processing problems in hardware to estimate the performance and precision gain. It compares the implementation for the addressed problem on a Field Programmable Gate Array (FPGA) with a software implementation for a General Purpose Processor (GPP) architecture. For both solutions the implementation costs for their development is an important aspect in the validation. The analysis of the flexibility and extendability that can be achieved by a modular implementation for the FPGA design was another major aspect. This work is based upon approaches from previous work, which included the detection of Binary Large OBjects (BLOBs) in static images and continuous video streams [13, 15]. One addressed problem of this work is the tracking of the detected BLOBs in continuous image material. This has been implemented for the FPGA platform and the GPP architecture. Both approaches have been compared with respect to performance and precision. This research project is motivated by the MI6 project of the Computer Vision research group, which is located at the Bonn-Rhein-Sieg University of Applied Sciences. The intent of the MI6 project is the tracking of a user in an immersive environment. The proposed solution is to attach a light emitting device to the user for tracking the created light dots on the projection surface of the immersive environment. Having the center points of those light dots would allow the estimation of the user's position and orientation. One major issue that makes Computer Vision problems computationally expensive is the high amount of data that has to be processed in real-time. Therefore, one major target for the implementation was to get a processing speed of more than 30 frames per second. This would allow the system to realize feedback to the user in a response time which is faster than the human visual perception. One problem that comes with the idea of using a light emitting device to represent the user, is the precision error. Dependent on the resolution of the tracked projection surface of the immersive environment, a pixel might have a size in cm2. Having a precision error of only a few pixels, might lead to an offset in the estimated user's position of several cm. In this research work the development and validation of a detection and tracking system for BLOBs on a Cyclone II FPGA from Altera has been realized. The system supports different input devices for the image acquisition and can perform detection and tracking for five to eight BLOBs. A further extension of the design has been evaluated and is possible with some constraints. Additional modules for compressing the image data based on run-length encoding and sub-pixel precision for the computed BLOB center-points have been designed. For the comparison of the FPGA approach for BLOB tracking a similar implementation in software using a multi-threaded approach has been realized. The system can transmit the detection or tracking results on two available communication interfaces, USB and RS232. The analysis of the hardware solution showed a similar precision for the BLOB detection and tracking as the software approach. One problem is the strong increase of the allocated resources when extending the system to process more BLOBs. With one of the applied target platforms, the DE2-70 board from Altera, the BLOB detection could be extended to process up to thirty BLOBs. The implementation of the tracking approach in hardware required much more effort than the software solution. The design of high level problems in hardware for this case are more expensive than the software implementation. The search and match steps in the tracking approach could be realized more efficiently and reliably in software. The additional pre-processing modules for sub-pixel precision and run-length-encoding helped to increase the system's performance and precision.},
Address = {Sankt Augustin, Germany},
Author = {Bochem, Alexander},
Institution = {Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences},
Number = {January},
Publisher = {University of Applied Sciences Bonn-Rhein-Sieg},
Title = {{Active Tracking with Accelerated Image Processing in Hardware}},
Url = {https://opus.bib.hochschule-bonn-rhein-sieg.de/files/10/brsu_techreport_01_2011_Alexander_Bochem.pdf},
Year = {2011},
Bdsk-Url-1 = {http://opus.bib.hochschule-bonn-rhein-sieg.de/opus-3.3/volltexte/2012/12/pdf/brsu%5C_techreport%5C_01%5C_2011%5C_Alexander%5C_Bochem.pdf}}

• 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,
Address = {Tallinn, Estonia},
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}}

• 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,
Address = {Murnau, Germany},
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, “Fault reasoning based on Naive Physics,” Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences, Sankt Augustin, Germany, April, 2011.

A system that interacts with its environment can be much more robust if it is able to reason about the faults that occur in its environment, despite perfect functioning of its internal components. For robots, which interact with the same environment as human beings, this robustness can be obtained by incorporating human-like reasoning abilities in them. In this work we use naive physics to enable reasoning about external faults in robots. We propose an approach for diagnosing external faults that uses qualitative reasoning on naive physics concepts for diagnosis. These concepts are mainly individual properties of objects that define their state qualitatively. The reasoning process uses physical laws to generate possible states of the concerned object(s), which could result into a detected external fault. Since effective reasoning about any external fault requires the information of relevant properties and physical laws, we associate different properties and laws to different types of faults which can be detected by a robot. The underlying ontology of this association is proposed on the basis of studies conducted (by other researchers) on reasoning of physics novices about everyday physical phenomena. We also formalize some definitions of properties of objects into a small framework represented in First-Order logic. These definitions represent naive concepts behind the properties and are intended to be independent from objects and circumstances. The definitions in the framework illustrates our proposal of using different biased definitions of properties for different types of faults. In this work, we also present a brief review of important contributions in the area of naive/qualitative physics. These reviews help in understanding the limitations of naive/qualitative physics in general. We also apply our approach to simple scenarios to asses its limitations in particular. Since this work was done independent of any particular real robotic system, it can be seen as a theoretical proof of the concept of usefulness of naive physics for external fault reasoning in robotics.

@techreport{Akhtar2011b,
Abstract = {A system that interacts with its environment can be much more robust if it is able to reason about the faults that occur in its environment, despite perfect functioning of its internal components. For robots, which interact with the same environment as human beings, this robustness can be obtained by incorporating human-like reasoning abilities in them. In this work we use naive physics to enable reasoning about external faults in robots. We propose an approach for diagnosing external faults that uses qualitative reasoning on naive physics concepts for diagnosis. These concepts are mainly individual properties of objects that define their state qualitatively. The reasoning process uses physical laws to generate possible states of the concerned object(s), which could result into a detected external fault. Since effective reasoning about any external fault requires the information of relevant properties and physical laws, we associate different properties and laws to different types of faults which can be detected by a robot. The underlying ontology of this association is proposed on the basis of studies conducted (by other researchers) on reasoning of physics novices about everyday physical phenomena. We also formalize some definitions of properties of objects into a small framework represented in First-Order logic. These definitions represent naive concepts behind the properties and are intended to be independent from objects and circumstances. The definitions in the framework illustrates our proposal of using different biased definitions of properties for different types of faults. In this work, we also present a brief review of important contributions in the area of naive/qualitative physics. These reviews help in understanding the limitations of naive/qualitative physics in general. We also apply our approach to simple scenarios to asses its limitations in particular. Since this work was done independent of any particular real robotic system, it can be seen as a theoretical proof of the concept of usefulness of naive physics for external fault reasoning in robotics.},
Address = {Sankt Augustin, Germany},
Author = {Akhtar, Naveed},
Institution = {Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences},
Number = {April},
Title = {{Fault reasoning based on Naive Physics}},
Url = {https://opus.bib.hochschule-bonn-rhein-sieg.de/files/5/brsu_techreport_02_2011_Naveed_Akhtar_with_keywords_1.pdf},
Year = {2011},
Bdsk-Url-1 = {http://opus.bib.hochschule-bonn-rhein-sieg.de/opus-3.3/volltexte/2011/5/pdf/brsu%5C_techreport%5C_02%5C_2011%5C_Naveed%5C_Akhtar%5C_with%5C_keywords%5C_1.pdf}}

### 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,
Address = {Taipeh, Taiwan},
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,
Address = {Baltimore, USA},
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,
Address = {Anchorage, USA},
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,
Address = {Munich, Germany},
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,
Address = {Graz, Austria},
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}}

• D. Holz, “Autonomous Exploration and Inspection,” Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences, Sankt Augustin, Germany, Technical Report December, 2009.

Autonomous mobile robots need internal environment representations or models of their environment in order to act in a goal-directed manner, plan actions and navigate effectively. Especially in those situations where a robot can not be provided with a manually constructed model or in environments that change over time, the robot needs to possess the ability of autonomously constructing models and maintaining these models on its own. To construct a model of an environment multiple sensor readings have to be acquired and integrated into a single representation. Where the robot has to take these sensor readings is determined by an exploration strategy. The strategy allows the robot to sense all environmental structures and to construct a complete model of its workspace. Given a complete environment model, the task of inspection is to guide the robot to all modeled environmental structures in order to detect changes and to update the model if necessary. Informally stated, exploration and inspection provide the means for acquiring as much information as possible by the robot itself. Both exploration and inspection are highly integrated problems. In addition to the according strategies, they require for several abilities of a robotic system and comprise various problems from the field of mobile robotics including Simultaneous localization and Mapping (SLAM), motion planning and control as well as reliable collision avoidance. The goal of this thesis is to develop and implement a complete system and a set of algorithms for robotic exploration and inspection. That is, instead of focussing on specific strategies, robotic exploration and inspection are addressed as the integrated problems that they are. Given the set of algorithms a real mobile service robot has to be able to autonomously explore its workspace, construct a model of its workspace and use this model in subsequent tasks e.g. for navigating in the workspace or inspecting the workspace itself. The algorithms need to be reliable, robust against environment dynamics and internal failures and applicable online in real-time on a real mobile robot. The resulting system should allow a mobile service robot to navigate effectively and reliably in a domestic environment and avoid all kinds of collisions. In the context of mobile robotics, domestic environments combine the characteristics of being cluttered, dynamic and populated by humans and domestic animals. SLAM is going to be addressed in terms of incremental range image registration which provides efficient means to construct internal environment representations online while moving through the environment. Two registration algorithms are presented that can be applied on two-dimensional and three-dimensional data together with several extensions and an incremental registration procedure. The algorithms are used to construct two different types of environment representations, memory-efficient sparse points and probabilistic reflection maps. For effective navigation in the robot’s workspace, different path planning algorithms are going to be presented for the two types of environment representations. Furthermore, two motion controllers will be described that allow a mobile robot to follow planned paths and to approach a target position and orientation. Finally this thesis will present different exploration and inspection strategies that use the aforementioned algorithms to move the robot to previously unexplored or uninspected terrain and update the internal environment representations accordingly. These strategies are augmented with algorithms for detecting changes in the environment and for segmenting internal models into individual rooms. The resulting system performed very successfully in the 2008 and 2009 RoboCup@Home competitions.

@techreport{Holz2009,
Abstract = {Autonomous mobile robots need internal environment representations or models of their environment in order to act in a goal-directed manner, plan actions and navigate effectively. Especially in those situations where a robot can not be provided with a manually constructed model or in environments that change over time, the robot needs to possess the ability of autonomously constructing models and maintaining these models on its own. To construct a model of an environment multiple sensor readings have to be acquired and integrated into a single representation. Where the robot has to take these sensor readings is determined by an exploration strategy. The strategy allows the robot to sense all environmental structures and to construct a complete model of its workspace. Given a complete environment model, the task of inspection is to guide the robot to all modeled environmental structures in order to detect changes and to update the model if necessary. Informally stated, exploration and inspection provide the means for acquiring as much information as possible by the robot itself. Both exploration and inspection are highly integrated problems. In addition to the according strategies, they require for several abilities of a robotic system and comprise various problems from the field of mobile robotics including Simultaneous localization and Mapping (SLAM), motion planning and control as well as reliable collision avoidance. The goal of this thesis is to develop and implement a complete system and a set of algorithms for robotic exploration and inspection. That is, instead of focussing on specific strategies, robotic exploration and inspection are addressed as the integrated problems that they are. Given the set of algorithms a real mobile service robot has to be able to autonomously explore its workspace, construct a model of its workspace and use this model in subsequent tasks e.g. for navigating in the workspace or inspecting the workspace itself. The algorithms need to be reliable, robust against environment dynamics and internal failures and applicable online in real-time on a real mobile robot. The resulting system should allow a mobile service robot to navigate effectively and reliably in a domestic environment and avoid all kinds of collisions. In the context of mobile robotics, domestic environments combine the characteristics of being cluttered, dynamic and populated by humans and domestic animals. SLAM is going to be addressed in terms of incremental range image registration which provides efficient means to construct internal environment representations online while moving through the environment. Two registration algorithms are presented that can be applied on two-dimensional and three-dimensional data together with several extensions and an incremental registration procedure. The algorithms are used to construct two different types of environment representations, memory-efficient sparse points and probabilistic reflection maps. For effective navigation in the robot's workspace, different path planning algorithms are going to be presented for the two types of environment representations. Furthermore, two motion controllers will be described that allow a mobile robot to follow planned paths and to approach a target position and orientation. Finally this thesis will present different exploration and inspection strategies that use the aforementioned algorithms to move the robot to previously unexplored or uninspected terrain and update the internal environment representations accordingly. These strategies are augmented with algorithms for detecting changes in the environment and for segmenting internal models into individual rooms. The resulting system performed very successfully in the 2008 and 2009 RoboCup@Home competitions.},
Address = {Sankt Augustin, Germany},
Author = {Holz, Dirk},
Booktitle = {Applied Sciences},
Institution = {Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences},
Number = {December},
Title = {{Autonomous Exploration and Inspection}},
Type = {Technical Report},
Url = {https://opus.bib.hochschule-bonn-rhein-sieg.de/files/4/brsu_techreport_01_2009_holz.pdf},
Year = {2009},
Bdsk-Url-1 = {http://opus.bib.hochschule-bonn-rhein-sieg.de/opus-3.3/volltexte/2010/4/pdf/brsu%5C_techreport%5C_01%5C_2009%5C_holz.pdf}}

### 2008

• A. Juarez, “A Computational Model of Robotic Surprise,” Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences, Sankt Augustin, Germany, January, 2008.

The research of autonomous artificial agents that adapt to and survive in changing, possibly hostile environments, has gained momentum in recent years. Many of such agents incorporate mechanisms to learn and acquire new knowledge from its environment, a feature that becomes fundamental to enable the desired adaptation, and account for the challenges that the environment poses. The issue of how to trigger such learning, however, has not been as thoroughly studied as its significance suggest. The solution explored is based on the use of surprise (the reaction to unexpected events), as the mechanism that triggers learning. This thesis introduces a computational model of surprise that enables the robotic learner to experience surprise and start the acquisition of knowledge to explain it. A measure of surprise that combines elements from information and probability theory, is presented. Such measure offers a response to surprising situations faced by the robot, that is proportional to the degree of unexpectedness of such event. The concepts of short- and long-term memory are investigated as factors that influence the resulting surprise. Short-term memory enables the robot to habituate to new, repeated surprises, and to “forget” about old ones, allowing them to become surprising again. Long-term memory contains knowledge that is known a priori or that has been previously learned by the robot. Such knowledge influences the surprise mechanism, by applying a subsumption principle: if the available knowledge is able to explain the surprising event, suppress any trigger of surprise. The computational model of robotic surprise has been successfully applied to the domain of a robotic learner, specifically one that learns by experimentation. A brief introduction to the context of such application is provided, as well as a discussion on related issues like the relationship of the surprise mechanism with other components of the robot conceptual architecture, the challenges presented by the specific learning paradigm used, and other components of the motivational structure of the agent.

@techreport{Juarez2008,
Abstract = {The research of autonomous artificial agents that adapt to and survive in changing, possibly hostile environments, has gained momentum in recent years. Many of such agents incorporate mechanisms to learn and acquire new knowledge from its environment, a feature that becomes fundamental to enable the desired adaptation, and account for the challenges that the environment poses. The issue of how to trigger such learning, however, has not been as thoroughly studied as its significance suggest. The solution explored is based on the use of surprise (the reaction to unexpected events), as the mechanism that triggers learning. This thesis introduces a computational model of surprise that enables the robotic learner to experience surprise and start the acquisition of knowledge to explain it. A measure of surprise that combines elements from information and probability theory, is presented. Such measure offers a response to surprising situations faced by the robot, that is proportional to the degree of unexpectedness of such event. The concepts of short- and long-term memory are investigated as factors that influence the resulting surprise. Short-term memory enables the robot to habituate to new, repeated surprises, and to forget'' about old ones, allowing them to become surprising again. Long-term memory contains knowledge that is known a priori or that has been previously learned by the robot. Such knowledge influences the surprise mechanism, by applying a subsumption principle: if the available knowledge is able to explain the surprising event, suppress any trigger of surprise. The computational model of robotic surprise has been successfully applied to the domain of a robotic learner, specifically one that learns by experimentation. A brief introduction to the context of such application is provided, as well as a discussion on related issues like the relationship of the surprise mechanism with other components of the robot conceptual architecture, the challenges presented by the specific learning paradigm used, and other components of the motivational structure of the agent.},
Address = {Sankt Augustin, Germany},
Author = {Juarez, Alex},
Institution = {Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences},
Number = {January},
Title = {{A Computational Model of Robotic Surprise}},
Url = {https://opus.bib.hochschule-bonn-rhein-sieg.de/files/1/brsu_techreport_01_2008_juarez.pdf},
Year = {2008},
Bdsk-Url-1 = {http://opus.bib.hochschule-bonn-rhein-sieg.de/opus-3.3/volltexte/2010/1/pdf/brsu%5C_techreport%5C_01%5C_2008%5C_juarez.pdf}}

• 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,
Address = {Cologne, Germany},
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. Leon, “XPERSIF: A Software Integration Framework & Architecture for Robotic Learning by Experimentation,” Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences, Sankt Augustin, Germany 2008.

The integration of independently-developed applications into an efficient system, particularly in a distributed setting, is the core issue addressed in this work. Cooperation between researchers across various field boundaries in order to solve complex problems has become commonplace. Due to the multidisciplinary nature of such efforts, individual applications are developed independent of the integration process. The integration of individual applications into a fully-functioning architecture is a complex and multifaceted task. This thesis extends a component-based architecture, previously developed by the authors, to allow the integration of various software applications which are deployed in a distributed setting. The test bed for the framework is the EU project XPERO, the goal of which is robot learning by experimentation. The task at hand is the integration of the required applications, such as planning of experiments, perception of parametrized features, robot motion control and knowledge-based learning, into a coherent cognitive architecture. This allows a mobile robot to use the methods involved in experimentation in order to learn about its environment. To meet the challenge of developing this architecture within a distributed, heterogeneous environment, the authors specified, defined, developed, implemented and tested a component-based architecture called XPERSIF. The architecture comprises loosely-coupled, autonomous components that offer services through their well-defined interfaces and form a service-oriented architecture. The Ice middleware is used in the communication layer. Its deployment facilitates the necessary refactoring of concepts. One fully specified and detailed use case is the successful integration of the XPERSim simulator which constitutes one of the kernel components of XPERO. The results of this work demonstrate that the proposed architecture is robust and flexible, and can be successfully scaled to allow the complete integration of the necessary applications, thus enabling robot learning by experimentation. The design supports composability, thus allowing components to be grouped together in order to provide an aggregate service. Distributed simulation enabled real time tele-observation of the simulated experiment. Results show that incorporating the XPERSim simulator has substantially enhanced the speed of research and the information flow within the cognitive learning loop.

@techreport{Awaad2008,
Abstract = {The integration of independently-developed applications into an efficient system, particularly in a distributed setting, is the core issue addressed in this work. Cooperation between researchers across various field boundaries in order to solve complex problems has become commonplace. Due to the multidisciplinary nature of such efforts, individual applications are developed independent of the integration process. The integration of individual applications into a fully-functioning architecture is a complex and multifaceted task. This thesis extends a component-based architecture, previously developed by the authors, to allow the integration of various software applications which are deployed in a distributed setting. The test bed for the framework is the EU project XPERO, the goal of which is robot learning by experimentation. The task at hand is the integration of the required applications, such as planning of experiments, perception of parametrized features, robot motion control and knowledge-based learning, into a coherent cognitive architecture. This allows a mobile robot to use the methods involved in experimentation in order to learn about its environment. To meet the challenge of developing this architecture within a distributed, heterogeneous environment, the authors specified, defined, developed, implemented and tested a component-based architecture called XPERSIF. The architecture comprises loosely-coupled, autonomous components that offer services through their well-defined interfaces and form a service-oriented architecture. The Ice middleware is used in the communication layer. Its deployment facilitates the necessary refactoring of concepts. One fully specified and detailed use case is the successful integration of the XPERSim simulator which constitutes one of the kernel components of XPERO. The results of this work demonstrate that the proposed architecture is robust and flexible, and can be successfully scaled to allow the complete integration of the necessary applications, thus enabling robot learning by experimentation. The design supports composability, thus allowing components to be grouped together in order to provide an aggregate service. Distributed simulation enabled real time tele-observation of the simulated experiment. Results show that incorporating the XPERSim simulator has substantially enhanced the speed of research and the information flow within the cognitive learning loop.},
Address = {Sankt Augustin, Germany},
Author = {Awaad, Iman and Leon, Beatriz},
Date-Added = {2015-08-26 07:28:08 +0000},
Date-Modified = {2015-08-26 07:28:08 +0000},
Institution = {Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences},
Month = {February},
Title = {{XPERSIF: A Software Integration Framework \& Architecture for Robotic Learning by Experimentation}},
Year = {2008},
Bdsk-Url-1 = {http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:hbz:1044-opus-15922}}

• 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-Added = {2015-03-31 07:50:11 +0000},
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 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-Added = {2015-03-31 07:59:00 +0000},
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. 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-Added = {2015-03-31 08:00:04 +0000},
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,
Address = {Rome, Italy},
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-Added = {2015-03-31 07:50:11 +0000},
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,
Address = {Bremen, Germany},
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,
Address = {Bremen, Germany},
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,
Address = {Osaka, Japan},
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,
Address = {Barcelona, Spain},
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,
Address = {Kobe, Japan},
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,
Address = {Columbus, Ohio, USA},
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},
Publisher = {Robin Bradbeer},
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,
Address = {Washington, DC, USA},
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}}