all.bib
@comment{{This file has been generated by bib2bib 1.93}}
@comment{{Command line: /usr/local/bin/bib2bib -ob all.bib ais.bib arras.bib bennewitz-ais.bib burgard-nonais.bib grzonka.bib meyerdelius.bib pfaff.bib plagemann.bib rottmann.bib stachniss.bib steder.bib sturm.bib wurm.bib}}
@phdthesis{mozos2008phd,
title = {Semantic Place Labeling with Mobile Robots},
author = {Oscar Martinez Mozos},
year = {2008},
month = {July},
school = {University of Freiburg},
address = {Freiburg, Germany},
category = {thesis},
pdf = {./publications/phd_thesis.pdf}
}
@article{zender2008ras,
title = {Conceptual Spatial Representations for Indoor Mobile Robots},
author = {Hendrik Zender and Oscar Martinez Mozos and Patric Jensfelt and Geert-Jan M. Kruijff and Wolfram Burgard},
journal = {Robotics and Autonomous Systems},
publisher = {Elsevier},
volume = {56},
number = {6},
pages = {493--502},
month = {June},
year = {2008},
issn = {0921-8890},
jcr = {0.832 (2006)},
position = {4/12 ROBOTICS (2006)},
doi = {10.1016/j.robot.2008.03.007},
pdf = {./publications/zender2008ras.pdf},
category = {journal}
}
@article{stachniss2008amai,
title = {Efficient Exploration of Unknown Indoor Environments using a Team of Mobile Robots},
author = {Cyrill Stachniss and Oscar Martinez Mozos and Wolfram Burgard},
journal = {Annals of Mathematics and Artificial Intelligence},
year = {2008},
jcr = {0.756 (2007)},
issn = {1012-2443},
note = {To appear},
category = {journal}
}
@inproceedings{pronobis2008icra,
author = {Pronobis, A. and Martinez Mozos, O. and Caputo, B.},
title = {{SVM}-based Discriminative Accumulation Scheme for Place Recognition},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
year = {2008},
address = {Pasadena, CA, USA},
month = {May},
pages = {522--529},
issn = {1050-4729},
isbn = {978-1-4244-1647-9},
pdf = {./publications/pronobis2008icra.pdf},
category = {conference}
}
@inproceedings{mozos2007iros_workshop,
title = {From Labels to Semantics: An Integrated System for Conceptual Spatial Representations of Indoor Environments for Mobile Robots},
author = {Oscar Martinez Mozos and Patric Jensfelt and Hendrik Zender and Geert-Jan M. Kruijff and Wolfram Burgard},
booktitle = {Proceedings of the IEEE/RSJ IROS 2007 Workshop: Semantic information in robotics},
address = {San Diego, CA, USA},
year = {2007},
url = {./publications/mozos2007iros_workshop.html},
pdf = {./publications/mozos2007iros_workshop.pdf},
googlevideo = {./publications/mozos2007iros_workshop.html#video},
category = {workshop}
}
@article{stachniss2007it,
title = {Efficiently Learning Metric and Topological Maps with Autonomous Service Robots},
author = {Cyrill Stachniss and Giorgio Grisetti and Oscar Martinez Mozos and Wolfram Burgard},
journal = {it--Information Technology},
journallink = {http://it-information-technology.de/},
volume = {49},
number = {4},
year = {2007},
issn = {1611--2776},
pages = {232--237},
pdf = {./publications/stachniss2007it.pdf},
category = {journal}
}
@inproceedings{zender2007aaai,
title = {An Integrated Robotic System for Spatial Understanding and Situated Interaction in Indoor Environments},
author = {Hendrik Zender and Patric Jensfelt and Oscar Martinez Mozos and Geert-Jan M. Kruijff and Wolfram Burgard},
booktitle = {Proceedings of the Conference on Artificial Intelligence},
address = {Vancouver, British Columbia, Canada},
year = {2007},
pdf = {./publications/zender2007aaai.pdf},
url = {./publications/zender2007aaai.html},
googlevideo = {./publications/zender2007aaai.html#video},
category = {conference}
}
@inproceedings{triebel2007gfkl,
title = {Relational Learning in Mobile Robotics: An Application to Semantic Labeling of Objects in {2D} and {3D} Environment Maps},
author = {Rudolph Triebel and Oscar Martinez Mozos and Wolfram Burgard},
booktitle = {Annual Conference of the German Classification Society on Data Analysis, Machine Learning, and Applications},
address = {Freiburg, Germany},
year = {2007},
category = {conference}
}
@inbook{triebel2007gfkl_b,
title = {Studies in Classification, Data Analysis, and Knowledge Organization},
chapter = {Relational Learning in Mobile Robotics: An Application to Semantic Labeling of Objects in {2D} and {3D} Environment Maps},
author = {Triebel, R. and Mozos, O.M. and Burgard, W.},
editor = {C. Preisach, H. Burkhardt, L.Schmidt-Thieme, R.Decker},
year = {2008},
publisher = {Springer-Verlag},
pages = {293--300},
pdf = {./publications/triebel2007gfkl_book.pdf},
category = {book_chapter}
}
@inproceedings{mozos2007icra_workshop,
title = {From Labels to Semantics: An Integrated System for Conceptual Spatial Representations of Indoor Environments for Mobile Robots},
author = {Oscar Martinez Mozos and Patric Jensfelt and Hendrik Zender and Geert-Jan M. Kruijff and Wolfram Burgard},
booktitle = {Proceedings of the IEEE ICRA Workshop: Semantic information in robotics},
year = {2007},
pages = {33--40},
url = {./publications/mozos2007icra_workshop.html},
pdf = {./publications/mozos2007icra_workshop.pdf},
googlevideo = {./publications/mozos2007icra_workshop.html#video},
category = {workshop}
}
@inproceedings{arras2007icra,
title = {Using Boosted Features for the Detection of People in {2D} Range Data},
author = {Kai O. Arras and Oscar Martinez Mozos and Wolfram Burgard},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
year = {2007},
pages = {3402--3407},
url = {./publications/arras2007icra.html},
pdf = {./publications/arras2007icra.pdf},
video = {./multimedia/AdaBoostOffice.avi},
category = {conference}
}
@inproceedings{triebel2007ijcai,
title = {Instace-based AMN Classification for Improved Object Recognition in 2D and 3D Laser Range Data},
author = {Rudolph Triebel and Richard Schmidt and Oscar Martinez Mozos and Wolfram Burgard},
booktitle = {Proceedings of the International Joint Conference on Artificial Intelligence},
pages = {2225--2230},
address = {Hyderabad, India},
year = {2007},
pdf = {./publications/triebel2007ijcai.pdf},
category = {conference}
}
@inproceedings{mozos2006iros,
title = {Supervised Learning of Topological Maps using Semantic Information Extracted from Range Data.},
author = {Oscar Martinez Mozos and Wolfram Burgard},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
address = {Beijing, China},
year = {2006},
pdf = {./publications/mozos2006iros.pdf},
category = {conference}
}
@inproceedings{stachniss2006icra,
title = {Speeding-Up Multi-Robot Exploration by Considering Semantic Place Information},
author = {Cyrill Stachniss and Oscar Martinez Mozos and Wolfram Burgard},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
address = {Orlando, FL, USA},
year = {2006},
pages = {1692--1697},
pdf = {./publications/stachniss2006icra.pdf},
category = {conference}
}
@inbook{mozos2007star,
title = {Robotics Research: Results of the 12th International Symposium ISRR.},
author = {Oscar Martinez Mozos and Cyrill Stachniss and Axel Rottmann and Wolfram Burgard},
chapter = {Using AdaBoost for Place Labeling and Topological Map Building.},
year = {2007},
pages = {453--472},
editor = {Thrun, S. and Brooks, R. and Durrant-Whyte, H.},
publisher = {Springer-Verlag Berlin Heidelberg, Germany},
series = {{STAR} Springer tracts in advanced robotics},
volume = {28},
pdf = {./publications/mozos2007star.pdf},
category = {book_chapter}
}
@inproceedings{martinez2005icra,
title = {Supervised Learning of Places from Range Data using {A}da{B}oost},
author = {Oscar Martinez Mozos and Cyrill Stachniss and Wolfram Burgard},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
year = {2005},
pages = {1742--1747},
address = {Barcelona, Spain},
url = {./publications/martinez2005icra.html},
pdf = {./publications/martinez2005icra.pdf},
video = {./multimedia/fr079-online-classification.anim.avi},
finalistbeststudentpaper = {./images/icra05-best-student-paper-finalist.jpg},
category = {conference}
}
@mastersthesis{martinez2004thesis,
title = {Supervised Learning of Places from Range Data using AdaBoost},
author = {Oscar Martinez Mozos},
school = {University of Freiburg},
month = {December},
year = {2004},
url = {./publications/martinez2004thesis.html},
pdf = {./publications/martinez2004thesis.pdf},
ps = {./publications/martinez2004thesis.ps.gz},
category = {thesis}
}
@proceedings{arrasICRAWS09,
editor = {Kai O. Arras and \'{O}scar Mart\'{i}nez Mozos},
title = {People Detection and Tracking, ICRA'09 Workshop Proceedings},
address = {Kobe, Japan},
month = {May},
year = {2009}
}
@article{luberAURO08,
author = {Matthias Luber and Kai O. Arras and Christian Plagemann and Wolfram Burgard},
title = {Classifying Dynamic Objects: An Unsupervised Learning Approach},
journal = {Autonomous Robots},
year = {2009},
volume = {26},
number = {2-3},
pages = {141--151}
}
@phdthesis{tipaldiPHD09,
author = {Gian Diego Tipaldi},
title = {Looking Inside for Mapping the Outside: Introspective Simultaneous Localization and Mapping},
school = {University of Rome La Sapienza, PhD Thesis},
year = {2009},
note = {in press}
}
@inproceedings{lauICRA09,
author = {Boris Lau and Kai O. Arras and Wolfram Burgard},
title = {Tracking Groups of People with a Multi-Model Hypothesis Tracker},
booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA'09)},
year = {2009},
address = {Kobe, Japan}
}
@inproceedings{luberRSS08,
author = {Matthias Luber and Kai O. Arras and Christian Plagemann and Wolfram Burgard},
title = {Classifying Dynamic Objects: An Unsupervised Learning Approach},
booktitle = {Robotics: Science and Systems (RSS'08)},
year = {2008},
address = {Zurich, Switzerland}
}
@inproceedings{arrasICRA08,
author = {Kai O. Arras and Slawomir Grzonka and Matthias Luber and Wolfram Burgard},
title = {Efficient People Tracking in Laser Range Data using a Multi-Hypothesis Leg-Tracker with Adaptive Occlusion Probabilities},
booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA'08)},
year = {2008},
address = {Pasadena, USA}
}
@inproceedings{censiICRA08,
author = {Andrea Censi and Gian Diego Tipaldi},
title = {Lazy Localization using the Frozen Time Smoother},
booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA}'08)},
pages = {3167--3172},
year = {2008},
month = {May},
address = {Pasadena, CA}
}
@inproceedings{muellerCOGSYS08,
author = {J\"{o}rg M\"{u}ller and Cyrill Stachniss and Kai O. Arras and Wolfram Burgard},
title = {Socially Inspired Motion Planning for Mobile Robots in Populated Environments},
booktitle = {International Conference on Cognitive Systems (CogSys'08)},
year = {2008},
address = {Karlsruhe, Germany}
}
@inproceedings{iocchiSSRR07,
author = {L. Iocchi and S. Pellegrini and G. D. Tipaldi},
title = {Building multi-level planar maps integrating {LRF}, stereo vision and {IMU} sensors},
booktitle = {Proc. of {IEEE} International Workshop on Safety, Security and Rescue Robotics ({SSRR}'07)},
year = {2007},
address = {Rome, Italy}
}
@article{grisettiRAS07,
author = {G. Grisetti and G.D. Tipaldi and C. Stachniss and W. Burgard and D. Nardi},
title = {Fast and Accurate {SLAM} with Rao-Blackwellized Particle Filters},
journal = {Robotics and Autonomous Systems, Special Issue on Simultaneous Localization and Map Building},
year = {2007},
volume = {55},
number = {1},
pages = {30--38}
}
@inproceedings{tipaldiIROS07,
author = {Gian Diego Tipaldi and Giorgio Grisetti and Wolfram Burgard},
title = {Approximated Covariance Estimation in Graphical Approaches to SLAM},
booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07)},
address = {San Diego, USA},
year = {2007}
}
@inproceedings{tipaldiICRA07,
author = {Gian Diego Tipaldi and Alessandro Farinelli and Luca Iocchi and Daniele Nardi},
title = {Heterogeneous Feature State Estimation with Rao-Blackwellized Particle Filters},
booktitle = {Proc. {IEEE} International Conference on Robotics and Automation (ICRA'07)},
year = {2007},
address = {Rome, Italy}
}
@inproceedings{grisettiICRA06,
author = {G. Grisetti and G. D. Tipaldi and C. Stachniss and W. Burgard and D. Nardi},
title = {Speeding Up {R}ao {B}lackwellized {SLAM}},
booktitle = {Proc. {IEEE} International Conference on Robotics and Automation (ICRA'06)},
year = {2006},
address = {Orlando, USA}
}
@inproceedings{arrasICRA07,
author = {Kai O. Arras and \'{O}scar Mart\'{i}nez Mozos and Wolfram Burgard},
title = {Using Boosted Features for the Detection of People in 2D Range Data},
booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA'07)},
year = {2007},
address = {Rome, Italy}
}
@techreport{arrasTR05,
author = {Kai O. Arras and Daniela Cerqui},
title = {Do we want to share our lives and bodies with robots? A 2000-people survey},
type = {Technical Report},
number = {EPFL-ASL-TR-0605-001},
institution = {Autonomous Systems Lab, Swiss Federal Institute of Technology Lausanne},
month = {June},
year = {2005}
}
@manual{arrasManual04,
author = {Kai O. Arras},
title = {The CAS Robot Navigation Toolbox: Users Guide and Reference},
type = {Manual},
organization = {Center for Autonomous Systems, KTH},
month = {September},
year = {2004}
}
@inproceedings{wulfICRA04,
author = {Oliver Wulf and Kai O. Arras and Henrik I. Christensen and Bernardo Wagner},
title = {2{D} Mapping of Cluttered Indoor Environments by Means of 3{D} Perception},
booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA'04)},
year = {2004},
address = {New Orleans, USA}
}
@phdthesis{arrasPHD03,
author = {Kai O. Arras},
title = {Feature-Based Robot Navigation in Known and Unknown Environments},
school = {Swiss Federal Institute of Technology Lausanne (EPFL), Th\`{e}se No. 2765},
year = {2003},
month = {June}
}
@incollection{arrasSTAR03,
author = {Kai O. Arras and Nicola Tomatis and Roland Siegwart},
editor = {B. Siciliano and P. Dario},
title = {Robox, a Remarkable Mobile Robot for the Real World},
booktitle = {Experimental Robotics VIII},
series = {Springer Advanced Robotics Series (STAR)},
publisher = {Springer},
year = {2003}
}
@periodical{baerfeldtRAS03,
editor = {Albert-Jan Baerfeldt and Kai O. Arras and Christian Balkenius},
title = {Special issue with the best papers of Eurobot'01, Robotics and Autonomous Systems},
year = {2003},
volume = {44},
number = {1}
}
@article{arrasRAS03,
author = {Kai O. Arras and Jos\'{e} A. Castellanos and Martin Schilt and Roland Siegwart},
title = {Feature-Based Multi-Hypothesis Localization and Tracking Using Geometric Constraints},
journal = {Robotics and Autonomous Systems},
volume = {44},
number = {1},
year = {2003}
}
@article{siegwartRAS03,
author = {Roland Siegwart and Kai O. Arras and Samir Bouabdallah and Daniel Burnier and Gilles Froidevaux and Xavier Greppin and Bj\"{o}rn Jensen and Antoine Lorotte and Laetitia Mayor and Mathieu Meisser and Roland Philippsen and Ralph Piguet and Guy Ramel and Gregoire Terrien and Nicola Tomatis},
title = {Robox at {E}xpo.02: A Large-Scale Installation of Personal Robots},
journal = {Robotics and Autonomous Systems},
volume = {42},
number = {3-4},
pages = {203-222},
month = {March},
year = {2003}
}
@inproceedings{cerquiPISTA03,
author = {Daniela Cerqui and Kai O. Arras},
title = {Human Beings and Robots: Towards a Symbiosis? A 00-People Survey},
booktitle = {Proc. International Conference on Socio Political Informatics and Cybernetics (PISTA'03)},
address = {Orlando, USA},
year = {2003}
}
@inproceedings{martinelliISRR03,
author = {Agostino Martinelli and Adriana Tapus and Kai O. Arras and Roland Siegwart},
title = {Representations and Maps for Real World Navigation},
booktitle = {Proc. 11th International Symposium of Robotics Research (ISRR'03)},
address = {Siena, Italy},
year = {2003}
}
@inproceedings{arrasICRA03,
author = {Kai O. Arras and Roland Philippsen and Nicola Tomatis and Marc de Battista and Martin Schilt and Roland Siegwart},
title = {A Navigation Framework for Multiple Mobile Robots and its Application at the {E}xpo.02 Exhibition},
booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA'03)},
address = {Taipei, Taiwan},
year = {2003}
}
@inproceedings{tomatisICRA03,
author = {Nicola Tomatis and Gregoire Terrien and Ralph Piguet and Daniel Burnier and Samir Bouabdallah and Kai O. Arras and Roland Siegwart},
title = {Designing a Secure and Robust Mobile Interacting Robot for the Long Term},
booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA'03)},
address = {Taipei, Taiwan},
year = {2003}
}
@inproceedings{siegwartASER03,
author = {Roland Siegwart and Kai O. Arras and Bj\"{o}rn Jensen and Roland Philippsen and Nicola Tomatis},
title = {Design, Implementation and Exploitation of a New Fully Autonomous Tour Guide Robot},
booktitle = {Proc. 1st International Workshop on Advances in Service Robotics (ASER'03)},
address = {Bardolino, Italy},
year = {2003}
}
@proceedings{arrasIROSWS02,
editor = {Kai O. Arras and Wolfram Burgard},
title = {Robots in Exhibitions, IROS'02 Workshop Proceedings},
address = {Lausanne, Switzerland},
month = {October},
year = {2002}
}
@inproceedings{arrasISER02,
author = {Kai O. Arras and Nicola Tomatis and Roland Siegwart},
title = {Robox, a Remarkable Mobile Robot for the Real World},
booktitle = {Proc. 8th Int. Symposium on Experimental Robotics (ISER'02)},
address = {Sant'Angelo d'Ischia, Italy},
year = {2002}
}
@inproceedings{arrasICRA02a,
author = {Kai O. Arras and Jos\'{e} A. Castellanos and Roland Siegwart},
title = {Feature-Based Multi-Hypothesis Localization and Tracking for Mobile Robots Using Geometric Constraints},
booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA'02)},
address = {Washington DC, USA},
year = {2002}
}
@inproceedings{arrasICRA02b,
author = {Kai O. Arras and Jan Persson and Nicola Tomatis and Roland Siegwart},
title = {Real-Time Obstacle Avoidance For Polygonal Robots With A Reduced Dynamic Window},
booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA'02)},
address = {Washington DC, USA},
year = {2002}
}
@inproceedings{tomatisISR02,
author = {Nicola Tomatis and Roland Philippsen and Bj\"{o}rn Jensen and Kai O. Arras and Gregoire Terrien and Ralph Piguet and Roland Siegwart},
title = {Building a Fully Autonomous Tour Guide Robot: Where Academic Research Meets Industry},
booktitle = {Proc. 33rd International Symposium on Robotics (ISR'02)},
address = {Stockholm, Sweden},
year = {2002}
}
@proceedings{arrasEUROBOTProc01,
editor = {Kai O. Arras and Christian Balkenius and Albert-Jan Baerfeldt and Wolfram Burgard and Roland Siegwart},
title = {Proceedings of the 4th European Workshop on Advanced Mobile Robots (Eurobot'01)},
address = {Lund, Sweden},
month = {September},
year = {2001}
}
@article{arrasRAS01,
author = {Kai O. Arras and Nicola Tomatis and Bj\"{o}rn Jensen and Roland Siegwart},
title = {Multisensor On-the-Fly Localization: Precision and Reliability for Applications},
journal = {Robotics and Autonomous Systems},
volume = {34},
number = {2-3},
pages = {131-143},
month = {February},
year = {2001}
}
@inproceedings{arrasEUROBOT01,
author = {Kai O. Arras and Jos\'{e} A. Castellanos and Martin Schilt and Roland Siegwart},
title = {Towards Feature-Based Multi-Hypothesis Localization and Tracking},
booktitle = {Proc. 4th European Workshop on Advanced Mobile Robots (Eurobot'01)},
address = {Lund, Sweden},
year = {2001}
}
@inproceedings{caprariAMIRE01,
author = {Gilles Caprari and Kai O. Arras and Roland Siegwart},
title = {Robot Navigation in Centimeter Range Labyrinths},
booktitle = {Proc. 5th International Heinz Nixdorf Symposium, Autonomous Minirobots for Research and Edutainment (AMiRE'01)},
address = {Paderborn, Germany},
year = {2001}
}
@inproceedings{tomatisAIM01,
author = {Nicola Tomatis and Roberto Brega and Kai O. Arras and Bj\"{o}rn Jensen and Benoit Moreau and Jan Persson and Roland Siegwart},
title = {A Complex Mechatronic System: from Design to Application},
booktitle = {Proc. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM'01)},
address = {Como, Italy},
year = {2001}
}
@inproceedings{tomatisICRA01,
author = {Nicola Tomatis and Illah Nourbakhsh and Kai O. Arras and Roland Siegwart},
title = {A Hybrid Approach for Robust and Precise Mobile Robot Navigation with Compact Environment Modeling},
booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA'01)},
address = {Seoul, Korea},
year = {2001}
}
@inproceedings{arrasIROS00,
author = {Kai O. Arras and Nicola Tomatis and Roland Siegwart},
title = {Multisensor On-the-Fly Localization Using Laser and Vision},
booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'00)},
address = {Takamatsu, Japan},
year = {2000}
}
@inproceedings{bregaIROS00,
author = {Roberto Brega and Nicola Tomatis and Kai O. Arras},
title = {The Need for Autonomy and Real-Time in Mobile Robotics: A Case Study of {XO}/2 and {P}ygmalion},
booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'00)},
address = {Takamatsu, Japan},
year = {2000}
}
@inproceedings{caprariIROS00,
author = {Gilles Caprari and Kai O. Arras and Roland Siegwart},
title = {The Autonomous Miniature Robot {A}lice: From Prototypes to Applications},
booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'00)},
address = {Takamatsu, Japan},
year = {2000}
}
@inproceedings{moreauSPIE00,
author = {Benoit Moreau and Nicola Tomatis and Kai O. Arras},
title = {Multimodal Web Interface for Task Supervision and Specification},
booktitle = {Proc. of SPIE, vol. 4195, Mobile Robots XV and Telemanipulator and Telepresence Technologies VII},
address = {Boston, USA},
year = {2000}
}
@inproceedings{arrasEUROBOT99,
author = {Kai O. Arras and Nicola Tomatis},
title = {Improving Robustness and Precision in Mobile Robot Localization by Using Laser Range Finding and Monocular Vision},
booktitle = {Proc. 3rd European Workshop on Advanced Mobile Robots (Eurobot'99)},
address = {Z\"{u}rich, Switzerland},
year = {1999}
}
@inproceedings{WullschlegerEUROBOT99,
author = {Felix H. Wullschleger and Kai O. Arras and Sjur J. Vestli},
title = {A Flexible Exploration Framework for Map Building},
booktitle = {Proc. 3rd European Workshop on Advanced Mobile Robots (Eurobot'99)},
address = {Z\"{u}rich, Switzerland},
year = {1999}
}
@inproceedings{arrasAMS99,
author = {Kai O. Arras and Nicola Tomatis},
title = {Sensordatenfusion zur Robusten und Pr\"{a}zisen {EKF} {L}okalisierung von {M}obilen {R}obotern},
booktitle = {Autonome Mobile Systeme (AMS'99)},
address = {M\"{u}nchen, Germany},
year = {1999}
}
@techreport{arrasTR98,
author = {Kai O. Arras},
title = {An Introduction to Error Propagation: Derivation, Meaning and Examples of {C}y = {F}x {C}x {F}x'},
type = {Technical Report},
number = {EPFL-ASL-TR-98-01 R3},
institution = {Autonomous Systems Lab, Swiss Federal Institute of Technology Lausanne},
month = {September},
year = {1998}
}
@inproceedings{arrasICRA98,
author = {Kai O. Arras and Sjur J. Vestli},
title = {Hybrid, high-precision localisation for the mail distributing mobile robot system {MOPS}},
booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA'98)},
address = {Leuven, Belgium},
year = {1998}
}
@inproceedings{arrasSPIE97,
author = {Kai O. Arras and Roland Siegwart},
title = {Feature Extraction and Scene Interpretation for Map-Based Navigation and Map Building},
booktitle = {Proc. of SPIE, vol. 3210, Mobile Robotics XII, p. 42-53},
address = {Pittsburgh, USA},
year = {1997}
}
@inproceedings{arrasAMS96,
author = {Kai O. Arras and Sjur J. Vestli and Nadine Tschichold-G\"{u}rman},
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author = {Bennewitz, M.},
title = {Mobile Robot Navigation in Dynamic Environments},
school = {University of Freiburg, Department of Computer Science},
year = {2004}
}
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author = {Bennewitz, M.},
title = {Generieren, {A}usf{\"u}hren und {R}evidieren von {S}chedules autonomer mobiler {S}erviceroboter},
school = {University of Bonn, Department of Computer Science},
year = 1999,
note = {In German}
}
@incollection{bennewitz05geronto,
author = {Bennewitz, M. and Burgard, W.},
title = {Serviceroboter f{\"u}r den {P}flegebereich},
booktitle = {Handbuch Geriatrie},
publisher = {Deutsche Krankenhaus Verlagsgesellschaft mbH},
year = {2005},
editor = {Fenger and Kolb and Nikolaus and Raem and Rychlik},
address = {D{\"u}sseldorf},
note = {In German}
}
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journal = {The International Journal of Robotics Research (IJRR)},
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number = {1}
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author = {Bennewitz, M. and Burgard, W. and Thrun, S.},
title = {Finding and Optimizing Solvable Priority Schemes for Decoupled Path Planning Techniques for Teams of Mobile Robots},
year = 2002,
journal = {Robotics and Autonomous Systems},
volume = {41}
}
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author = {Beetz, M. and Arbuckle, T. and Belker, T. and Bennewitz, M. and Burgard, W. and Cremers, A.~B. and Fox, D. and Grosskreutz, H. and H{\"a}hnel, D. and Schulz, D.},
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author = {Cielniak, G. and Bennewitz, M. and Burgard, W.},
title = {Robust Localization of Persons Based on Learned Motion Patterns},
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year = 2003
}
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author = {Cielniak, G. and Bennewitz, M. and Burgard, W.},
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year = 2003
}
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author = {Bennewitz, M. and Burgard, W. and Thrun, S.},
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booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 2003
}
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author = {Bennewitz, M. and Burgard, W. and Thrun, S.},
title = {Using {EM} to Learn Motion Behaviors of Persons with Mobile
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booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2002
}
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author = {Bennewitz, M. and Burgard, W. and Thrun, S.},
title = {Learning Motion Patterns of Persons for Mobile Service Robots},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 2002
}
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author = {Bennewitz, M. and Burgard, W. and Thrun, S.},
title = {Exploiting Constraints During Prioritized Path Planning for Teams of Mobile Robots},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2001
}
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author = {Bennewitz, M. and Burgard, W. and Thrun, S.},
title = {Constraint-based Optimization of Priority Schemes for Decoupled Path Planning Techniques},
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year = 2001,
publisher = {Springer Verlag}
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author = {Bennewitz, M. and Burgard, W. and Thrun, S.},
title = {Optimizing Schedules for Prioritized Path Planning of Multi-Robot Systems},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 2001
}
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year = 1999,
publisher = {Springer Verlag}
}
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author = {Beetz, M. and Bennewitz, M. and Grosskreutz, H.},
title = {Probabilistic, Prediction-based Schedule Debugging for Autonomous Robot Office Couriers},
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year = 1999,
publisher = {Springer Verlag}
}
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author = {Thrun, S. and Bennewitz, M. and Burgard, W. and Dellaert, F. and Fox, D. and H{\"a}hnel, D. and Rosenberg, C. and Roy, N. and Schulte, J. and Schulz, D.},
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year = 1999
}
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year = 1999
}
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year = 2004
}
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year = 2003
}
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year = 2001
}
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year = 2000
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year = 2000
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year = 1998
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year = 1998
}
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year = 1997
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year = 1998
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Armin B. Cremers and
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Jiannis Strikos and
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note = {In German}
}
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author = {Burgard, W.},
title = {Goal-directed Forward Chaining for Logic Programs},
school = {University of Bonn, Department of Computer Science},
year = {1991}
}
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approach},
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author = {Burgard, W. and Cremers, A.B. and Fox, D. and Heidelbach,
M. and Kappel, A.M. and L{\"u}ttring\-haus-Kappel, S.},
title = {Knowledge-enhanced {CO}-monitoring in Coal Mines},
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Engineering Applications of Artificial Intelligence \&
Expert Systems},
year = 1996
}
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author = {Burgard, W. and Cremers, A.B. and Fox, D. and Heidelbach,
M. and Kappel, A.M. and L{\"u}ttringhaus-Kappel, S.},
title = {Logic Programming Tools Applied to Fire Detection in
Hard-coal Mines},
booktitle = {Proc.~of the Joint International Conference and Symposium on
Logic Programming},
year = 1996
}
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@misc{Bur97Mus,
author = {Burgard, W. and Cremers, A. B. and Fox, D. and H{\"a}hnel,
D. and Lakemeyer, G. and Schulz, D. and Steiner, W. and
Thrun, S.},
title = {The {{\em RHINO}} museum tour-guide project},
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year = {1997}
}
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publisher = {IEEE Computer Society Press}
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year = 1998,
address = {Karlsruhe, Germany}
}
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year = {1998}
}
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D. and Kappel, A.M. and L{\"u}ttring\-haus{-}Kappel, S.},
title = {{V}erbesserte {B}randfr{\"u}herkennung im
{S}teinkohlenbergbau durch {V}orhersage von
{CO-K}on\-zen\-tra\-tio\-nen},
booktitle = {KI Themenheft Data Mining},
publisher = {ScienTec Publishing GmbH},
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year = {1998},
note = {In German}
}
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number = 1,
month = mar,
year = 1997,
abstract = { This approach, designed for mobile robots equipped with
synchro-drives, is derived directly from the motion dynamics
of the robot. In experiments, the dynamic window approach
safely controlled the mobile robot RHINO at speeds of up to
95 cm/sec, in populated and dynamic environments. },
keywords = {collision avoidance, mobile robots, reactive motion control,
motion dynamics}
}
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author = {Fox, D. and Burgard, W. and Thrun, S.},
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author = {Fox, D. and Burgard, W. and Kruppa, H. and Thrun, S.},
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publisher = {Springer Verlag},
year = 1999,
series = {LNCS}
}
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title = {Markov Localization for Mobile Robots in Dynamic
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journal = {Journal of Artificial Intelligence Research (JAIR)},
year = {1999},
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author = {Fox, D. and Burgard, W. and Dellaert, F. and Thrun, S.},
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booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)},
year = 1999
}
@techreport{Fox99Mul,
author = {Fox, D. and Burgard, W. and Kruppa, H. and Thrun, S.},
title = {A {M}onte {C}arlo Algorithm for Multi-Robot Localization},
institution = {Carnegie Mellon University},
year = 1999,
number = {CMS-CS-99-120}
}
@inproceedings{Fox99Pro,
author = {Fox, D. and Burgard, W. and Thrun, S.},
title = {Probabilistic Methods for Mobile Robot Mapping},
booktitle = {Proc.~of the IJCAI-99 Workshop on Adaptive Spatial
Representations of Dynamic Environments},
year = 1999,
address = {Stockholm, Sweden}
}
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year = {2003}
}
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Artificial Intelligence (IJCAI)},
year = 2003
}
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author = {H{\"a}hnel, D. and Schulz, D. and Burgard, W.},
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author = {Knoll, A. and Burgard, W. and Christaller, Th.},
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year = 2001
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year = 2001
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year = 1999
}
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author = {Schulz, D. and Burgard, W. and Fox, D. and Thrun, S. and
Cremers, A.B.},
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year = {2000}
}
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author = {Schulz, D. and Burgard, W. and Fox, D. and Cremers, A.B.},
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year = 2001
}
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author = {Schulz, D. and Burgard, W. and Fox, D. and Cremers, A.B.},
title = {Tracking Multiple Moving Objects with a Mobile Robot},
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Computer Vision and Pattern Recognition (CVPR)},
year = {2001}
}
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author = {Schulz, D. and Moors, M. and Burgard, W. and Cremers, A.B.},
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Tele-Presence},
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year = {2002}
}
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author = {Schulz, D. and Burgard, W. and Fox, D. Cremers, A.B.},
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year = 2003,
volume = 22,
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booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)},
year = 2000
}
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year = {2000},
booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)}
}
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booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)}
}
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author = {Thrun, S. and B\"{u}cken, A. and Burgard, W. and Fox, D. and
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Krell, M. and Schimdt, T.},
title = {Map Learning and High-Speed Navigation in \mbox{RHINO}},
crossref = {AI-ROBOTS}
}
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year = 1998
}
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Robotics \& Automation (ICRA)},
year = 1998
}
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Rosenberg, C. and Roy, N. and Schulte, J. and Schulz, D.},
title = {{MINERVA}: A second generation mobile tour-guide robot},
year = {1999},
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Robotics \& Automation (ICRA)}
}
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author = {Thrun, S. and Bennewitz, M. and Burgard, W. and Cremers,
A.B. and Dellaert, F. and Fox, D. and H\"{a}hnel, D. and
Rosenberg, C. and Roy, N. and Schulte, J. and Schulz, D.},
title = {{MINERVA}: A tour-guide robot that learns},
year = {1999},
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Intelligence (KI), Germany},
publisher = {Springer Verlag}
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year = {1999},
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}
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Robotics \& Automation (ICRA)},
year = 2003
}
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Emery Montemerlo, R. and Deepayan, C. and Burgard, W.},
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volume = 20,
number = 3
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year = {2002}
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year = {2003}
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booktitle = {Proc.~of the Int. Symposium of Robotics Research (ISRR)},
year = {2003}
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K. and Philipose, M.},
title = {Mapping and Localization with {RFID} Technology},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
year = 2004
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title = {Multi-Hypothesis Tracking of Clusters of People},
author = {Mucientes, M. and Burgard, W.},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2006}
}
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author = {Sack, D. and Burgard, W.},
title = {A Comparison of Methods for Line Extraction from Range Data},
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Vehicles (IAV)},
year = 2004
}
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author = {Veeck, M. and Burgard, W.},
title = {Learning Polyline Maps from Range Scan Data Acquired with
Mobile Robots},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2004
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year = {2006},
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year = 2006,
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series = springerstaradvanced,
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address = {Kobe, Japan},
year = {2009},
abstract = {To act intelligently in dynamic environments, a system must understand the current situation it is involved in at any given time. This requires dealing with temporal context, handling multiple and ambiguous interpretations, and accounting for various sources of uncertainty. In this paper we propose a probabilistic approach to modeling and recognizing situations. We define a situation as a distribution over sequences of states that have some meaningful interpretation. Each situation is characterized by an individual hidden Markov model that describes the corresponding distribution. In particular, we consider typical traffic scenarios and describe how our framework can be used to model and track different situations while they are evolving. The approach was evaluated experimentally in vehicular traffic scenarios using real and simulated data. The results show that our system is able to recognize and track multiple situation instances in parallel and make sensible decisions between competing hypotheses. Additionally, we show that our models can be used for predicting the position of the tracked vehicles.},
note = {to appear}
}
@inproceedings{joho09icra,
title = {Modeling RFID Signal Strength and Tag Detection for Localization and Mapping},
author = {Dominik Joho and Christian Plagemann and Wolfram Burgard},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
address = {Kobe, Japan},
year = {2009},
abstract = {In recent years, there has been an increasing interest within the robotics community to investigate if Radio Frequency Identification (RFID) technology can be utilized for solving localization and mapping problems in the context of mobile robots. We present a novel sensor model which can be utilized for localizing RFID tags and for tracking a mobile agent moving through an RFID-equipped environment. The proposed probabilistic sensor model characterizes the received signal strength indication (RSSI) information as well as the tag detection events to achieve a higher modeling accuracy compared to state-of-the-art models that deal with one of these aspects only. We furthermore propose a method that is able to bootstrap such a sensor model in a fully unsupervised fashion. Real-world experiments demonstrate the effectiveness of the proposed approach also in comparison to existing techniques.},
note = {to appear}
}
@phdthesis{plagemann08phd,
author = {Plagemann, C.},
title = {Gaussian Processes for Flexible Robot Learning},
school = {University of Freiburg, Department of Computer Science},
year = 2008,
month = {December},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/plagemann08phd.pdf}
}
@inproceedings{plagemann08ecml,
title = {Nonstationary Gaussian Process Regression using Point Estimates
of Local Smoothness},
author = {Plagemann, C. and Kersting, K. and Burgard, W.},
booktitle = {Proc.~of the European Conference on Machine Learning (ECML)},
address = {Antwerp, Belgium},
year = {2008},
abstract = {
Gaussian processes using nonstationary covariance functions are a
powerful tool for Bayesian regression with input-dependent
smoothness. A common approach is to model the local smoothness by a
latent process that is integrated over using Markov chain Monte Carlo
approaches. In this paper, we demonstrate that an approximation that
uses the estimated mean of the local smoothness yields good results
and allows one to employ efficient gradient-based optimization
techniques for jointly learning the parameters of the latent and the
observed processes. Extensive experiments on both synthetic and
real-world data, including challenging problems in robotics, show the
relevance and feasibility of our approach.
},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/plagemann08ecml.pdf}
}
@proceedings{burgard08ias,
editor = {Burgard, W. and Dillmann, R. and Plagemann, C. and
Vahrenkamp, N.},
title = {Proc. of the 10th International Conference on Intelligent
Autonomous Systems, Baden-Baden, Germany, July 23-25, 2008},
booktitle = {IAS},
publisher = {IOS Press},
year = {2008},
isbn = {978-1-58603-887-8}
}
@inproceedings{plagemann08iros,
title = {Learning Predictive Terrain Models for Legged Robot Locomotion},
author = {Plagemann, C. and Mischke, S. and Prentice, S. and Kersting, K.
and Roy, N. and Burgard, W.},
booktitle = {Proc.~of the IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS)},
address = {Nice, France},
year = {2008},
abstract = {
Legged robots require the ability to build accurate models of their
environment in order to plan and execute their actions. We present a
novel, probabilistic terrain model based on Gaussian processes that
can be learned and updated efficiently using sparse approximation
techniques. The major benefit of our model is its ability to predict
elevations at unseen locations more reliably than alternative
approaches, while it also yields estimates of the predictive
uncertainties. In particular, our Gaussian process adapts its
covariance to the situation at hand, allowing more accurate inference
of terrain height at points that have not been directly observed. We
show how a conventional motion planner can use the learned terrain
model to to plan a path to a goal location, using a terrain-specific
cost model to accept or reject candidate footholds. In experiments
with a real quadruped robot equipped with a laser range finder, we
demonstrate the usefulness of our approach and discuss its benefits
compared to simpler terrain models such as elevations grids.
},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/plagemann08iros.pdf}
}
@inproceedings{luber08rss,
title = {Tracking and Classification of Dynamic Objects: An Unsupervised
Learning Approach},
author = {Luber, M. and Arras, K. and Plagemann, C. and Burgard, W.},
booktitle = {Robotics: Science and Systems (RSS)},
address = {Zurich, Switzerland},
year = {2008},
month = {June},
optpdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/sturm08rss.pdf},
optabstract = {}
}
@inproceedings{reiser08robotik,
title = {Verteilte Software-Entwicklung in der Robotik - ein Integrations- und
Testframework},
author = {Reiser, U. and Mies, C. and Plagemann, C.},
booktitle = {Robotik},
address = {Munich, Germany},
year = {2008},
optmonth = {},
abstract = {Eine der größten Herausforderungen innerhalb der Robotik ist die Integration vieler, komplexer Hardware- und Softwarekomponenten zu einem robust funktionierenden Gesamtsystem. Neben den zahlreichen wissenschaftlichen Fragestellungen, die auf Systemebene zu lösen sind, hängt der Integrationserfolg insbesondere von der Lösung praktischer Probleme wie dem Zusammenspiel vieler Entwicklungspartner und der typischerweise stark limitierten Verfügbarkeit von Einzelkomponenten ab. Leistungsfähige Hardwarekomponenten, wie beispielsweise Mehrfingergreifer und Leichtbauarme, sind in der Regel Spezialanfertigungen und stehen daher nur wenigen Partnern innerhalb von Projekten zur Verfügung. In diesem Beitrag wird ein neues Integrations- und Testframework zur räumlich verteilten Forschung und Entwicklung an solchen Komponenten und integrierten Systemen vorgestellt. Entwickler können hierbei Beiträge zu einer Technologieplattform leisten, ohne ständigen, direkten Zugang zur Hardware besitzen zu müssen.},
note = {In German}
}
@inproceedings{pfaff08icra,
title = {Gaussian Mixture Models for Probabilistic Localization},
author = {Pfaff, P. and Plagemann, C. and Burgard, W.},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
address = {Pasadena, CA, USA},
year = {2008},
abstract = {Range sensors have become popular for mobile robot localization since they directly measure the geometry of the local environment. In situations in which the robot operates close to obstacles or in highly cluttered environments, however, small changes in the pose of the robot can lead to completely different geometries measured by the range sensor. The resulting enormous variances in the likelihood of observations can lead to major problems in probabilistic approaches such as Monte Carlo localization as important hypotheses or particles might get lost which substantially decreases the robustness of such approaches. A common solution is to artificially smooth the likelihood function or to only integrate a small fraction of the measurements. In this paper we present a more fundamental and robust approach which models the likelihood function for single range measurements as a mixture of Gaussians. In practical experiments we compare our approach to previous methods and demonstrate that it provides a substantially more robust localization.},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/pfaff08icra.pdf}
}
@inproceedings{meyerdelius07gfkl,
title = {A Probabilistic Relational Model for Characterizing Situations in Dynamic Multi-Agent Systems},
author = {Meyer-Delius, C. and Plagemann, C. and von~Wichert, G. and Feiten, W. and Lawitzky, G. and Burgard, W.},
booktitle = {Proc.~of the 31st Annual Conference of the German Classification Society on Data Analysis, Machine Learning, and Applications (GfKl)},
address = {Freiburg, Germany},
year = {2007},
abstract = {Artificial systems with a high degree of autonomy require reliable semantic information about the context they operate in. State interpretation, however, is a difficult task. Interpretations may depend on a history of states and there may be more than one valid interpretation. We propose a model for spatio-temporal situations using hidden Markov models based on relational state descriptions, which are extracted from the estimated state of an underlying dynamic system. Our model covers concurrent situations, scenarios with multiple agents, and situations of varying durations. To evaluate the practical usefulness of our model, we apply it to the concrete task of online traffic analysis.},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/meyerdelius07gfkl.pdf}
}
@inproceedings{pfaff07iros,
title = {Improved Likelihood Models for Probabilistic Localization based on Range Scans},
author = {Pfaff, P. and Plagemann, C. and Burgard, W.},
booktitle = {Proc.~of the IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS)},
address = {San Diego, CA, USA},
year = {2007},
abstract = {},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/pfaff07iros.pdf}
}
@inproceedings{grzonka07fsr,
author = {Grzonka, S. and Plagemann, C. and Grisetti, G. and Burgard, W.},
title = {Look-ahead Proposals for Robust Grid-based SLAM},
booktitle = {Proc. of the International Conference on Field and Service Robotics (FSR)},
year = {2007},
month = {July},
address = {Chamonix, France},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/grzonka07fsr.pdf},
abstract = {Simultaneous Localization and Mapping (SLAM) is one of the classical problems in mobile robotics. The task is to build a map of the environment using on-board sensors while at the same time localizing the robot relative to this map. Rao-Blackwellized particle filters have emerged as a powerful technique for solving the SLAM problem in a wide variety of environments. It is a well-known fact for sampling-based approaches that the choice of the proposal distribution greatly influences the robustness and efficiency achievable by the algorithm. In this paper, we present a significantly improved proposal distribution for grid-based SLAM, which utilizes whole sequences of sensor measurements rather than only the most recent one. We have implemented our system on a real robot and evaluated its performance on standard data sets as well as in hard outdoor settings with few and ambiguous features. Our approach improves the localization accuracy and the map quality. At the same time, it substantially reduces the risk of mapping failures.}
}
@inproceedings{plagemann07rss,
title = {Gaussian Beam Processes: A Nonparametric Bayesian Measurement Model for Range Finders},
author = {Plagemann, C. and Kersting, K. and Pfaff, P. and Burgard, W.},
booktitle = {Robotics: Science and Systems (RSS)},
address = {Atlanta, Georgia, USA},
year = {2007},
month = {June},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/plagemann07rss.pdf},
abstract = {In probabilistic mobile robotics, the development of measurement models plays a crucial role as it directly influences the efficiency and the robustness of the robot's performance in a great variety of tasks including localization, tracking, and map building. In this paper, we present a novel probabilistic measurement model for range finders, called Gaussian Beam Processes, which treats the measurement modeling task as a nonparametric Bayesian regression problem and solves it using Gaussian processes. The major advantage of our approach lies in the smoothness of the resulting model which appropriately represents correlations between adjacent beams using covariance functions. Moreover, the Gaussian process treatment results in a sound probabilistic measurement model with a pool of well-established techniques for likelihood estimation and range prediction for an arbitrary number of beams. Experiments on real world and synthetic data show that Gaussian Beam Processes combine the advantages of two popular measurement models.}
}
@inproceedings{lang07rss,
title = {Adaptive Non-Stationary Kernel Regression for Terrain Modeling},
author = {Lang, T. and Plagemann, C. and Burgard, W.},
booktitle = {Robotics: Science and Systems (RSS)},
address = {Atlanta, Georgia, USA},
year = {2007},
month = {June},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/lang07rss.pdf},
abstract = {Three-dimensional digital terrain models are of fundamental importance in many areas such as the geo-sciences and outdoor robotics. Accurate modeling requires the ability to deal with a varying data density and to balance smoothing against the preservation of discontinuities. The latter is particularly important for robotics applications, as discontinuities that arise, for example, at steps, stairs, or building walls are important features for path planning or terrain segmentation tasks. In this paper, we present an extension of the well-established Gaussian process regression technique, that utilizes non-stationary covariance functions to locally adapt to the structure of the terrain data. In this way, we achieve strong smoothing in flat areas and along edges and at the same time preserve edges and corners. The derived model yields predictive height distributions for arbitrary locations of the terrain and therefore allows us to fill gaps in data and to perform conservative predictions in occluded areas.}
}
@inproceedings{kersting07icml,
title = {Most Likely Heteroscedastic Gaussian Process Regression},
author = {Kersting, K. and Plagemann, C. and Pfaff, P. and Burgard, W.},
booktitle = {International Conference on Machine Learning (ICML)},
address = {Corvallis, Oregon, USA},
year = {2007},
month = {March},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/kersting07icml.pdf},
abstract = {This paper presents a novel Gaussian process (GP) approach to regression with input-dependent noise rates. We follow Goldberg et al.'s approach and model the noise variance using a second GP in addition to the GP governing the noise-free output value. In contrast to Goldberg et al., however, we do not use a Markov chain Monte Carlo method to approximate the posterior noise variance but a most likely noise approach. The resulting model is easy to implement and can directly be used in combination with various existing extensions of the standard GPs such as sparse approximations. Extensive experiments on both synthetic and real-world data, including a challenging perception problem in robotics, show the effectiveness of most likely heteroscedastic GP regression.}
}
@article{kersting07ar,
title = {Learning to Transfer Optimal Navigation Policies},
author = {Kersting, K. and Plagemann, C. and Cocora, A. and Burgard, W. and De Raedt, L.},
journal = {Advanced Robotics. Special Issue on Imitative Robots},
year = {2007},
volume = {21},
number = {9},
month = {September},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/kersting07ar.pdf},
abstract = {Autonomous agents that act in the real world utilizing sensory input greatly rely on the ability to plan their actions and to transfer these skills across tasks. The majority of path planning approaches for mobile robots, however, solve the current navigation problem from scratch given the current and goal configuration of the robot. Consequently, these approaches yield highly efficient plans for the specific situation, but the computed policies typically do not transfer to other, similar tasks. In this paper, we propose to apply techniques from statistical relational learning to the path planning problem. More precisely, we propose to learn relational decision trees as abstract navigation strategies from example paths. Relational abstraction has several interesting and important properties. First, it allows a mobile robot to imitate navigation behavior shown by users or by optimal policies. Second, it yields comprehensible models of behavior. Finally, a navigation policy learned in one environment naturally transfers to unknown environments. In several experiments with real robots and in simulated runs, we demonstrate that our approach yields efficient navigation plans. We show that our system is robust against observation noise and can outperform hand-crafted policies.}
}
@inproceedings{plagemann07snowb,
title = {Heteroscedastic Gaussian Process Regression for Modeling Range Sensors in Mobile Robotics},
author = {Plagemann, C. and Kersting, K. and Pfaff, P. and Burgard, W.},
booktitle = {Snowbird learning workshop},
address = {San Juan, Puerto Rico},
year = {2007},
month = {March},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/plagemann07snowb.pdf}
}
@inproceedings{plagemann07ijcai,
title = {Efficient Failure Detection on Mobile Robots Using Particle Filters with Gaussian Process Proposals},
author = {Plagemann, C. and Fox, D. and Burgard, W.},
booktitle = {Proc.~of the Twentieth International Joint Conference on Artificial Intelligence (IJCAI)},
address = {Hyderabad, India},
year = {2007},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/plagemann07ijcai.pdf},
abstract = {The ability to detect failures and to analyze their causes is one of the preconditions of truly autonomous mobile robots. Especially online failure detection is a complex task, since the effects of failures are typically difficult to model and often resemble the noisy system behavior in a fault-free operational mode. In this paper we present an approach that applies Gaussian process classification and regression techniques for learning highly effective proposal distributions of a particle filter that is applied to track the state of the system. As a result, the efficiency and robustness of the state estimation process is substantially improved. In practical experiments carried out with a real robot we demonstrate that our system is capable of detecting collisions with unseen obstacles while at the same time estimating the changing point of contact with the obstacle.}
}
@inproceedings{lamon06iros,
title = {Mapping with an Autonomous Car},
author = {Lamon, P. and Stachniss, C. and Triebel, R. and Pfaff, P. and Plagemann, C. and Grisetti, G. and Kolsky, S. and Burgard, W. and Siegwart, R.},
booktitle = {In IEEE/RSJ IROS 2006 Workshop: Safe Navigation in Open and Dynamic Environments},
address = {Beijing, China},
year = {2006},
abstract = {In this paper, we present an approach towards mapping and safe navigation in real, large-scale environments with an autonomous car. The goal is to enable the car to autonomously navigate on roads while avoiding obstacles and while simultaneously learning an accurate three-dimensional model of the environment. To achieve these goals, we apply probabilistic state estimation techniques, network-based pose optimization, and a sensor-based traversability analysis approach. In order to achieve fast map learning, our system compresses the sensor data using multi-level surface maps. The overall system runs on a modified Smart car equipped with different types of sensors. We present several results obtained from extensive experiments which illustrate the capabilities of our vehicle.}
}
@article{cocora06ki,
title = {Learning Relational Navigation Policies},
author = {Cocora, A. and Kersting, K. and Plagemann, C. and Burgard, W. and De Raedt, L.},
journal = {KI - K{\"u}nstliche Intelligenz, Themenheft Lernen und Selbstorganisation von Verhalten},
pages = {12--18},
year = {2006},
volume = {3}
}
@inproceedings{cocora06iros,
title = {Learning Relational Navigation Policies},
author = {Cocora, A. and Kersting, K. and Plagemann, C. and Burgard, W. and De Raedt, L.},
booktitle = {Proc.~of the IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS)},
address = {Beijing, China},
year = {2006},
abstract = {Navigation is one of the fundamental tasks for a mobile robot. The majority of path planning approaches has been designed to entirely solve the given problem from scratch given the current and goal configurations of the robot. Although these approaches yield highly efficient plans, the computed policies typically do not transfer to other, similar tasks. We propose to learn relational decision trees as abstract navigation strategies from example paths. Relational abstraction has several interesting and important properties. First, it allows a mobile robot to generalize navigation plans from specific examples provided by users or exploration. Second, the navigation policy learned in one environment can be transferred to unknown environments. In several experiments with real robots in a real environment and in simulated runs, we demonstrate the usefulness
of our approach.},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/cocora06iros.pdf}
}
@inproceedings{plagemann05ams,
author = {Plagemann, C. and Burgard, W.},
title = {Sequential Parameter Estimation for Fault Diagnosis in Mobile Robots Using Particle Filters.},
booktitle = {Autonome Mobile Systeme 2005 (AMS)},
year = {2005},
pages = {197-202},
publisher = {Springer}
}
@inproceedings{plagemann05dagm,
author = {Plagemann, C. and M{\"u}ller, T. and Burgard, W.},
title = {Vision-Based 3D Object Localization Using Probabilistic
Models of Appearance.},
booktitle = {Pattern Recognition, 27th DAGM Symposium, Vienna, Austria},
year = {2005},
pages = {184-191},
publisher = {Springer},
series = {Lecture Notes in Computer Science},
volume = {3663},
editor = {Walter G. Kropatsch and Robert Sablatnig and Allan Hanbury},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/plagemann05dagm.pdf}
}
@mastersthesis{plagemann04mastersThesis,
author = {Plagemann, C.},
title = {{A}nsichtsbasierte {E}rkennung und {L}okalisierung von {O}bjekten zur {I}nitialisierung eines {V}erfolgungsprozesses},
school = {University of Karlsruhe, Department of Computer
Science and Fraunhofer Institute IITB, Karlsruhe},
year = 2004,
note = {In German},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/plagemann04mastersThesis.pdf}
}
@inproceedings{rottmann07iros,
author = {Rottmann, A. and Plagemann, C. and Hilgers, P. and Burgard, W.},
title = {Autonomous Blimp Control using Model-free Reinforcement Learning in a Continuous State and Action Space},
booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
address = {San Diego, CA, USA},
year = {2007},
month = {October},
url = {http://www.informatik.uni-freiburg.de/~rottmann/publication/rottmann07iros.pdf}
}
@inproceedings{rottmann07ecmr,
title = {Towards an Experimental Autonomous Blimp Platform},
author = {Rottmann, A. and Sippel, M. and Zitterell, T. and Burgard, W. and Reindl, L. and Scholl, C.},
booktitle = {Proc.~of the European Conference on Mobile Robots (ECMR)},
address = {Freiburg, Germany},
year = {2007},
url = {http://www.informatik.uni-freiburg.de/~rottmann/publication/rottmann07ecmr.pdf}
}
@article{mozos2007ras,
title = {Supervised semantic labeling of places using information extracted from sensor data},
author = {Mart\'{i}nez Mozos, O. and Triebel, R. and Jensfelt, P. and Rottmann, A. and Burgard, W.},
journal = {Robotics and Autonomous Systems},
volume = {55},
number = {5},
year = {2007},
month = {May},
pages = {391--402},
url = {http://www.informatik.uni-freiburg.de/~rottmann/publication/mozos07ras.pdf}
}
@inproceedings{mozos2006iros_w,
title = {Semantic Labeling of Places using Information Extracted from Laser and Vision Sensor Data},
author = {Mart\'{i}nez Mozos, O. and Rottmann, A. and Triebel, R. and Jensfelt, P. and Burgard, W.},
booktitle = {In Proc.~of the IEEE/RSJ IROS 2006 Workshop: From sensors to human spatial concepts},
address = {Beijing, China},
year = {2006},
url = {http://www.informatik.uni-freiburg.de/~rottmann/publication/mozos2006iros_w.pdf}
}
@inproceedings{gil2006iros,
title = {Improving Data Association in Rao-Blackwellized visual SLAM},
author = {Gil, A. and Reinoso, O. and Burgard, W. and Stachniss, C. and Mart\'{i}nez Mozos, O.},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
address = {Beijing, China},
year = {2006},
url = {http://www.informatik.uni-freiburg.de/~rottmann/publication/gil06icinco.pdf}
}
@inproceedings{stachniss2005isrr,
title = {Semantic Labeling of Places},
author = {Stachniss, C. and Mart\'{i}nez-Mozos, O. and Rottmann, A. and Burgard, W.},
booktitle = {International Symposium of Robotics Research (ISRR)},
year = {2005},
address = {San Francisco, CA, USA},
url = {http://www.informatik.uni-freiburg.de/~rottmann/publication/stachniss05isrr.pdf}
}
@mastersthesis{rottmann05masterthesis,
title = {Bild- und laserbasierte Klassifikation von Umgebungen mit mobilen Robotern},
author = {Axel Rottmann},
school = {University of Freiburg, Department of Computer Science},
year = {2005},
note = {In German},
url = {http://www.informatik.uni-freiburg.de/~rottmann/publication/rottmann05mt.pdf}
}
@inproceedings{schneider09iros,
author = {A. Schneider and J. Sturm C. Stachniss and M. Reisert and H. Burkhardt and W. Burgard},
title = {Object Identification with Tactile Sensors Using Bag-of-Features},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2009
}
@inproceedings{endres09rss,
author = {F. Enders and C. Plagemann and Stachniss, C. and Burgard, W.},
title = {Scene Analysis using Latent Dirichlet Allocation},
booktitle = {Proc. of Robotics: Science and Systems (RSS)},
address = {Seattle, WA, USA},
year = 2009
}
@inproceedings{endres09rssws,
author = {Endres, F. and Hess, J. and Franklin, N. and Plagemann, C. and Stachniss, C. and Burgard, W.},
title = {Estimating Range Information from Monocular Vision},
booktitle = {Workshop Regression in Robotics - Approaches and Applications at Robotics: Science and Systems (RSS)},
year = 2009,
address = {Seattle, WA, USA}
}
@inproceedings{sturm09rssws,
author = {J. Sturm and Stachniss, C. and V. Predeap and C. Plagemann and K. Konolige and Burgard, W.},
title = {Towards Understanding Articulated Objects},
booktitle = {Workshop Integrating Mobility and Manipulation at Robotics: Science and Systems (RSS)},
year = 2009,
address = {Seattle, WA, USA}
}
@inproceedings{sturm09snowbird,
author = {J. Sturm and Stachniss, C. and V. Predeap and C. Plagemann and K. Konolige and Burgard, W.},
title = {Learning Kinematic Models for Articulated Objects},
booktitle = {Online Proc. of the Learning Workshop (Snowbird)},
year = 2009,
address = {Clearwater, FL, USA}
}
@article{stachniss09auro,
title = {Gas Distribution Modeling using Sparse Gaussian Process Mixtures},
author = {Stachniss, C. and Plagemann, C. and Lilienthal, A.J.},
journal = {Autonomous Robots},
year = 2009,
volume = 26,
issue = 2,
pages = {187ff}
}
@article{stachniss09amai,
title = {Efficient Exploration of Unknown Indoor Environments using a Team of Mobile Robots},
author = {Stachniss, C. and Martinez Mozos, O. and Burgard, W.},
journal = {Annals of Mathematics and Artificial Intelligence},
year = 2009,
volume = 52,
issue = 2,
pages = {205ff}
}
@inbook{mueller09cogsysbook,
author = {M\"uller, J. and Stachniss, C. and Arras, K.O. and Burgard, W.},
chapter = {Socially Inspired Motion Planning for Mobile Robots in Populated Environments},
series = {Cognitive Systems Monographs},
publisher = {Springer Verlag},
year = 2009,
title = {Cognitive Systems 2008},
note = {In press}
}
@inproceedings{bennewitz09icra,
author = {M. Bennewitz and Stachniss, C. and Behnke, S. and Burgard, W.},
title = {Utilizing Reflection Properties of Surfaces to Improve Mobile Robot Localization},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
address = {Kobe, Japan},
year = 2009
}
@inproceedings{strasdat09icra,
author = {H. Strasdat and Stachniss, C. and Burgard, W.},
title = {Which Landmark is Useful? Learning Selection Policies for Navigation in Unknown Environments},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
address = {Kobe, Japan},
year = 2009
}
@inproceedings{frank09icra,
author = {B. Frank and C. Stachniss and R. Schmedding and W. Burgard and M. Teschner},
title = {Real-world Robot Navigation amongst Deformable Obstacles},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
address = {Kobe, Japan},
year = 2009
}
@inproceedings{eppner09icra,
author = {C. Eppner and J. Sturm and M. Bennewitz and Stachniss, C. and Burgard, W.},
title = {Imitation Learning with Generalized Task Descriptions},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
year = 2009,
address = {Kobe, Japan}
}
@inproceedings{kretzschmar08iros,
author = {Kretzschmar, H. and Stachniss, C. and Plagemann, C. and W. Burgard},
title = {Estimating Landmark Locations from Geo-Referenced Photographs},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2008,
address = {Nice, France},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/kretzschmar08iros.pdf}
}
@inproceedings{pfaff08iros,
author = {Pfaff, P. and Stachniss, C. and Plagemann, C. and W. Burgard},
title = {Efficiently Learning High-dimensional Observation Models for Monte-Carlo Localization using Gaussian Mixtures},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2008,
address = {Nice, France},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/pfaff08iros.pdf}
}
@inproceedings{stachniss08rss,
author = {Stachniss, C. and Plagemann, C. and Lilienthal, A. and Burgard, W.},
title = {Gas Distribution Modeling using Sparse Gaussian Process Mixture Models},
booktitle = {Proc. of Robotics: Science and Systems (RSS)},
year = 2008,
address = {Zurich, Switzerland},
note = {To appear},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss08rss.pdf}
}
@inproceedings{mueller08cogsys,
author = {M\"uller, J. and Stachniss, C. and Arras, K.O. and Burgard, W.},
title = {Socially Inspired Motion Planning for Mobile Robots in Populated Environments},
booktitle = {International Conference on Cognitive Systems (CogSys)},
address = {Baden Baden, Germany},
year = 2008
}
@inproceedings{stachniss08icra,
author = {Stachniss, C. and Bennewitz, M. and Grisetti, G. and Behnke, S. and Burgard, W.},
title = {How to Learn Accurate Grid Maps with a Humanoid},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
address = {Pasadena, CA, USA},
year = 2008,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss08icra.pdf}
}
@inproceedings{plagemann08icra,
author = {Plagemann, C. and Endres, F. and Hess, J. and Stachniss, C. and Burgard, W.},
title = {Monocular Range Sensing: A Non-Parametric Learning Approach},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
address = {Pasadena, CA, USA},
year = 2008,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/plagemann08icra.pdf}
}
@inproceedings{grisetti08icra,
author = {Grisetti, G. and Lordi Rizzini, D. and Stachniss, C. and Olson, E. and Burgard, W.},
title = {Online Constraint Network Optimization for Efficient Maximum Likelihood Map Learning},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
address = {Pasadena, CA, USA},
year = 2008,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti08icra.pdf}
}
@inproceedings{frank08icra,
author = {Frank, B. and Becker, M. and Stachniss, C. and Teschner, M. and Burgard, W.},
title = {Efficient Path Planning for Mobile Robots in Environments with Deformable Objects},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
address = {Pasadena, CA, USA},
year = 2008,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/frank08icra.pdf}
}
@inproceedings{frank08icraws,
author = {Frank, B. and Becker, M. and Stachniss, C. and Teschner, M. and Burgard, W.},
title = {Learning Cost Functions for Mobile Robot Navigation in Environments with Deformable Objects},
booktitle = {Workshop on Path Planning on Cost Maps at the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
address = {Pasadena, CA, USA},
year = 2008,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/frank08icraws.pdf}
}
@inproceedings{steder08visappws,
author = {Steder, B. and Grisetti, G. and Stachniss, C. and Burgard, W.},
title = {Learning Visual Maps using Cameras and Inertial Sensors},
booktitle = {Workshop on Robotic Perception, International Conference on Computer Vision Theory and Applications},
year = 2008,
address = {Funchal, Madeira, Portugal},
note = {To appear}
}
@book{rss07proceedings,
editor = {Burgard, W. and Brock, O. and Stachniss, C.},
title = {Robotics: Science and Systems III},
publisher = {MIT Press},
year = {2008},
month = {March},
isbn = {0262524848},
note = {In press}
}
@inbook{burgard07starbook,
author = {Burgard, W. and Stachniss, C. and Haehnel, D.},
editor = {Laugier, C. and Chatila, R.},
title = {Autonomous Navigation in Dynamic Environments},
chapter = {Mobile Robot Map Learning from Range Data in Dynamic Environments},
publisher = {Springer Verlag},
year = 2007,
volume = {35},
series = {STAR Springer tracts in advanced robotics}
}
@inproceedings{stachniss07iros,
author = {Stachniss, C. and Grisetti, G. and Burgard, W. and Roy, N.},
title = {Evaluation of Gaussian Proposal Distributions for Mapping with Rao-Blackwellized Particle Filters},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2007,
address = {San Diego, CA, USA},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss07iros.pdf}
}
@inproceedings{grisetti07iros,
author = {Grisetti, G. and Grzonka, S. and Stachniss, C. and Pfaff, P. and Burgard, W.},
title = {Efficient Estimation of Accurate Maximum Likelihood Maps in 3D},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2007,
address = {San Diego, CA, USA},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti07iros.pdf}
}
@inproceedings{pfaff07irosws,
author = {Pfaff, P. and Kuemmerle, R. and Joho, D. and Stachniss, C. and Triebel, R. and Burgard},
title = {Navigation in Combined Outdoor and Indoor Environments using Multi-Level Surface Maps},
booktitle = {Workshop on Safe Navigation in Open and Dynamic Environments at the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2007,
address = {San Diego, CA, USA},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/pfaff07irosws.pdf}
}
@inproceedings{joho07ams,
author = {Joho, D. and Stachniss, C. and Pfaff, P. and Burgard, W.},
title = {Autonomous Exploration for 3D Map Learning},
booktitle = {Proc.~Fachgespr{\"a}che Autonome Mobile Systeme},
year = 2007,
address = {Kaiserslautern, Germany},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/joho07ams.pdf}
}
@inproceedings{strasdat07ams,
author = {Strasdat, H. and Stachniss, C. and Bennewitz, M. and Burgard, W.},
title = {Visual Bearing-Only Simultaneous Localization and Mapping with Improved Feature Matching},
booktitle = {Proc.~Fachgespr{\"a}che Autonome Mobile Systeme},
year = 2007,
address = {Kaiserslautern, Germany},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/strasdat07ams.pdf}
}
@article{stachniss07it,
title = {Efficiently Learning Metric and Topological Maps with Autonomous Service Robots},
author = {Stachniss, C. and Grisetti, G. and Mart\'{i}nez-Mozos, O. and Burgard, W.},
journal = {it -- Information Technology},
editor = {Buss, M. and Lawitzki, G.},
year = 2007,
volume = {49},
number = {4},
pages = {232--238}
}
@inproceedings{grisetti07rss,
author = {Grisetti, G. and Stachniss, C. and Grzonka, S. and Burgard, W.},
title = {A Tree Parameterization for Efficiently Computing Maximum Likelihood Maps using Gradient Descent},
booktitle = {Proc. of Robotics: Science and Systems (RSS)},
year = 2007,
address = {Atlanta, GA, USA},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti07rss.pdf}
}
@inproceedings{pfaff07icra,
author = {Pfaff, P. and Triebel, R. and Stachniss, C. and Lamon, P. and
Burgard, W. and Siegwart, R.},
title = {Towards Mapping of Cities},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
year = 2007,
address = {Rome, Italy},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/pfaff07icra.pdf}
}
@inbook{martinez07starbook,
author = {Mart\'{i}nez-Mozos, O. and Stachniss, C. and Rottmann, A. and Burgard, W.},
editor = {Thrun, S. and Brooks, R. and Durrant-Whyte, H.},
title = {Robotics Research},
chapter = {Using AdaBoost for Place Labelling and Topological Map Building},
publisher = {Springer Verlag},
year = 2007,
volume = {28},
series = {STAR Springer tracts in advanced robotics},
isbn = {978-3-540-48110-2},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/martinez07springer.pdf}
}
@article{grisetti07trans,
title = {Improved Techniques for Grid Mapping with Rao-Blackwellized Particle Filters},
author = {Grisetti, G. and Stachniss, C. and Burgard, W.},
journal = {IEEE Transactions on Robotics},
year = 2007,
pages = {34--46},
volume = {23},
number = {1},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti07tro.pdf}
}
@article{grisetti07jras,
title = {Fast and Accurate SLAM with Rao-Blackwellized Particle Filters},
author = {Grisetti, G. and Tipaldi, G.D. and Stachniss, C. and
Burgard, W. and Nardi, D.},
journal = {Journal of Robotics \& Autonomous Systems},
year = {2007},
pages = {30--38},
volume = {55},
number = {1},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti07jras.pdf}
}
@inproceedings{meier06sensor,
author = {Meier, D. and Stachniss, C. and Burgard, W.},
title = {Cooperative Exploration With Multiple Robots Using Low Bandwidth Communication},
booktitle = {Informationsfusion in der Mess- und Sensortechnik},
year = 2006,
pages = {145--157},
editor = {Beyerer, J. and Puente Le\'{o}n, F. and Sommer, K.-D.},
isbn = {3-86644-053-7},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/meier06sensor.pdf}
}
@inproceedings{lamon06smart,
author = {Lamon, P. and Stachniss, C. and Triebel, R. and Pfaff, P. and Plagemann, C. and
Grisetti, G. and Kolski, S. and Burgard, W. and Siegwart, R.},
title = {Mapping with an Autonomous Car},
booktitle = {Workshop on Safe Navigation in Open and Dynamic Environments at the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2006,
address = {Beijing, China},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/lamon06iros.pdf}
}
@inproceedings{kolski06smart,
author = {Kolski, S. and Furgeson, D. and Stachniss, C. and Siegwart, R.},
title = {Autonomous Driving in Dynamic Environments},
booktitle = {Workshop on Safe Navigation in Open and Dynamic Environments at the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2006,
address = {Beijing, China}
}
@inproceedings{gil06iros,
author = {Gil, A. and Reinoso, O. and Mart\'{i}nez-Mozos, O. and Stachniss, C. and
Burgard, W.},
title = {Improving Data Association in Vision-based SLAM},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2006,
address = {Beijing, China}
}
@article{sonntag06endod,
title = {Determination of Root Canal Curvatures before and
after Canal Preparation (Part II): A Method based on
Numeric Calculus},
author = {Sonntag, D. and Stachniss-Carp, S. and Stachniss,
C. and Stachniss, V.},
journal = {Aust Endod J},
volume = {32},
pages = {16--25},
year = {2006},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/sonntag06endod.pdf}
}
@phdthesis{stachniss06phd,
author = {Stachniss, C.},
title = {Exploration and Mapping with Mobile Robots},
school = {University of Freiburg, Department of Computer
Science},
year = 2006,
month = {April},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss06phd.pdf}
}
@inproceedings{stachniss06icra,
author = {Stachniss, C. and Mart\'{i}nez-Mozos, O. and
Burgard, W.},
title = {Speeding-Up Multi-Robot Exploration by Considering
Semantic Place Information},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
year = 2006,
address = {Orlando, FL, USA},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss06icra.pdf},
pages = {1692--1697}
}
@inproceedings{grisetti06icra,
author = {Grisetti, G. and Tipaldi, G.D. and Stachniss, C. and
Burgard, W. and Nardi, D.},
title = {Speeding-Up Rao-Blackwellized SLAM},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
year = 2006,
address = {Orlando, FL, USA},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti06icra.pdf},
pages = {442--447}
}
@inproceedings{plagemann06euros,
author = {Plagemann, C. and Stachniss, C. and Burgard, W.},
title = {Efficient Failure Detection for Mobile Robots using
Mixed-Abstraction Particle Filters},
editor = {H.I. Christiensen},
booktitle = {European Robotics Symposium 2006},
publisher = {Springer-Verlag Berlin Heidelberg, Germany},
year = 2006,
volume = {22},
series = {STAR Springer tracts in advanced robotics},
pages = {93--107},
isbn = {3-540-32688-X},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/plagemann06euros.pdf}
}
@inproceedings{bennewitz06euros,
author = {Bennewitz, M. and Stachniss, C. and Burgard, W. and
Behnke, S.},
editor = {H.I. Christiensen},
booktitle = {European Robotics Symposium 2006},
title = {Metric Localization with Scale-Invariant Visual
Features using a Single Perspective Camera},
publisher = {Springer-Verlag Berlin Heidelberg, Germany},
year = 2006,
volume = {22},
series = {STAR Springer tracts in advanced robotics},
pages = {143--157},
isbn = {3-540-32688-X},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/bennewitz06euros.pdf}
}
@article{stachniss05ar,
author = {Stachniss, C. and H\"{a}hnel, D. and Burgard, W. and
Grisetti, G.},
title = {On Actively Closing Loops in Grid-based {FastSLAM}},
journal = {Advanced Robotics},
year = 2005,
volume = {19},
number = {10},
pages = {1059--1080},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss05ar.pdf}
}
@inproceedings{stachniss05isrr,
author = {Stachniss, C. and Mart\'{i}nez-Mozos, O. and
Rottmann, A. and Burgard, W.},
title = {Semantic Labeling of Places},
booktitle = {Proc.~of the Int. Symposium of Robotics Research (ISRR)},
year = 2005,
address = {San Francisco, CA, USA},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss05isrr.pdf}
}
@inproceedings{stachniss05robotics,
title = {Information Gain-based Exploration Using
Rao-Blackwellized Particle Filters},
author = {Stachniss, C. and Grisetti, G. and Burgard, W.},
booktitle = {Proc. of Robotics: Science and Systems (RSS)},
year = 2005,
address = {Cambridge, MA, USA},
pages = {65--72},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss05rss.pdf}
}
@inproceedings{meier05ecmr,
author = {Meier, D. and Stachniss, C. and Burgard, W.},
title = {Coordinating Multiple Robots During Exploration
Under Communication With Limited Bandwidth},
booktitle = {Proc.~of the European Conference on Mobile Robots (ECMR)},
year = 2005,
pages = {26--31},
address = {Ancona, Italy},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/meier05ecmr.pdf}
}
@inproceedings{stachniss05aaai,
title = {Mobile Robot Mapping and Localization in Non-Static
Environments},
author = {Stachniss, C. and Burgard, W.},
booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)},
year = 2005,
address = {Pittsburgh, PA, USA},
pages = {1324--1329},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss05aaai.pdf}
}
@inproceedings{rottmann05aaai,
title = {Place Classification of Indoor Environments with
Mobile Robots using Boosting},
author = {Rottmann, A. and Mart\'{i}nez-Mozos, O. and
Stachniss, C. and Burgard, W.},
booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)},
year = 2005,
address = {Pittsburgh, PA, USA},
pages = {1306--1311},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/rottmann05aaai.pdf}
}
@article{trahaniasWebfair,
author = {Trahanias, P. and Burgard, W. and Argyros, A. and
H\"{a}hnel, D. and Baltzakis, H. and Pfaff, P. and
Stachniss, C.},
title = {{TOURBOT} and {WebFAIR}: Web-Operated Mobile Robots
for Tele-Presence in Populated Exhibitions},
journal = {IEEE Robotics \& Automation Magazine},
year = 2005,
volume = {12},
number = {2},
pages = {77--89},
pdfurl = {http://ieeexplore.ieee.org/iel5/100/31383/01458329.pdf?arnumber=1458329}
}
@article{burgard05tro,
author = {W. Burgard and M. Moors and C. Stachniss and
F. Schneider},
title = {Coordinated Multi-Robot Exploration},
journal = {IEEE Transactions on Robotics},
year = 2005,
volume = {21},
number = {3},
pages = {376--378},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/burgard05tro.pdf}
}
@inproceedings{burgard05snowbird,
title = {Information Gain-based Exploration Using
Rao-Blackwellized Particle Filters},
author = {Burgard, W. and Stachniss, C. and Grisetti, G.},
booktitle = {Proc. of the Learning Workshop (Snowbird)},
year = 2005,
address = {Snowbird, UT, USA},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/burgard05snowbird.pdf}
}
@inproceedings{stachniss05icra,
title = {Recovering Particle Diversity in a Rao-Blackwellized
Particle Filter for SLAM after Actively Closing
Loops},
author = {Stachniss, C. and Grisetti, G. and Burgard, W.},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
year = 2005,
pages = {667--672},
address = {Barcelona, Spain},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss05icra.pdf}
}
@inproceedings{martinez05icra,
title = {Supervised Learning of Places from Range Data using
Adaboost},
author = {Mart\'{i}nez-Mozos, O. and Stachniss, C. and
W. Burgard},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
year = 2005,
pages = {1742--1747},
address = {Barcelona, Spain},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/martinez05icra.pdf}
}
@inproceedings{grisetti05icra,
title = {Improving Grid-based SLAM with Rao-Blackwellized
Particle Filters by Adaptive Proposals and Selective
Resampling},
author = {Grisetti, G. and Stachniss, C. and Burgard, W.},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
year = 2005,
pages = {2443--2448},
address = {Barcelona, Spain},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti05icra.pdf}
}
@inproceedings{stachniss04soave,
author = {Stachniss, C. and Grisetti, G. and H\"{a}hnel,
D. and Burgard, W.},
title = {Improved Rao-Blackwellized Mapping by Adaptive
Sampling and Active Loop-Closure},
booktitle = {Proc.~of the Workshop on Self-Organization of AdaptiVE behavior (SOAVE)},
year = 2004,
pages = {1--15},
address = {Ilmenau, Germany},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss04soave.pdf}
}
@inproceedings{stachniss04iros,
author = {Stachniss, C. and H\"{a}hnel, D. and Burgard, W.},
title = {Exploration with Active Loop-Closing for {FastSLAM}},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2004,
pages = {1505--1510},
address = {Sendai, Japan},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss04iros.pdf}
}
@inproceedings{stachniss03dagstuhl,
author = {Stachniss, C. and H\"{a}hnel, D. and Burgard, W.},
title = {Grid-based {FastSLAM} and Exploration with Active Loop
Closing},
booktitle = {Online Proc.~of the Dagstuhl Seminar on Robot
Navigation (Dagstuhl Seminar~03501)},
year = 2003,
address = {Dagstuhl, Germany}
}
@inproceedings{stachniss03iros,
author = {Stachniss, C. and Burgard, W.},
title = {Mapping and Exploration with Mobile Robots using
Coverage Maps},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2003,
pages = {476--481},
address = {Las Vegas, NV, USA},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss03iros.pdf}
}
@inproceedings{stachniss03ecmr,
author = {Stachniss, C. and Burgard, W.},
title = {Using Coverage Maps to Represent the Environment of
Mobile Robots},
booktitle = {Proc.~of the European Conference on Mobile Robots (ECMR)},
year = 2003,
pages = {59--64},
address = {Radziejowice, Poland},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss03ecmr.pdf}
}
@inproceedings{stachniss03ijcai,
author = {Stachniss, C. and Burgard, W.},
title = {Exploring Unknown Environments with Mobile Robots
using Coverage Maps},
booktitle = {Proc.~of the International Joint Conference on
Artificial Intelligence (IJCAI)},
year = 2003,
pages = {1127--1132},
address = {Acapulco, Mexico},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss03ijcai.pdf}
}
@inproceedings{stachniss02iros,
author = {Stachniss, C. and Burgard, W.},
title = {An Integrated Approach to Goal-directed Obstacle
Avoidance under Dynamic Constraints for Dynamic
Environments},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2002,
pages = {508--513},
address = {Lausanne, Switzerland},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss02iros.pdf}
}
@mastersthesis{stachniss02diplom,
author = {Stachniss, C.},
title = {{Z}ielgerichtete {K}ollisionsvermeidung f{\"u}r
mobile {R}oboter in dynamischen {U}mgebungen},
school = {University of Freiburg, Department of Computer
Science},
year = 2002,
note = {In German},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss02diplom.pdf}
}
@article{kuemmerle09auro,
author = {K\"ummerle, R. and Steder, B. and Dornhege, C. and Ruhnke, M. and Grisetti, G.
and Stachniss, C. and Kleiner, A.},
doi = {http://dx.doi.org/10.1007/s10514-009-9155-6},
title = {On Measuring the Accuracy of {SLAM} Algorithms},
journal = {Journal of Autonomous Robots},
year = {2009}
}
@inproceedings{steder09iros,
author = {Steder, B. and Grisetti, G. and Van Loock, M. and Burgard, W.},
title = {Robust On-line Model-based Object Detection from Range Images},
booktitle = {Proc. of the {IEEE/RSJ} Int. Conf. on Intelligent Robots and Systems (IROS)},
address = {St. Louis, MO, USA},
month = oct,
year = {2009}
}
@inproceedings{burgard09iros,
author = {W. Burgard and C. Stachniss and G. Grisetti and B. Steder and
R. K{\"u}mmerle and C. Dornhege and M. Ruhnke and A. Kleiner and
Juan D. Tard{\'o}s},
title = {A Comparison of SLAM Algorithms Based on a Graph of Relations},
booktitle = {Proc. of the {IEEE/RSJ} Int. Conf. on Intelligent Robots and Systems (IROS)},
address = {St. Louis, MO, USA},
month = oct,
year = {2009}
}
@inproceedings{kuemmerl09rss,
author = {K\"ummerle, R. and Steder, B. and Dornhege, C. and Kleiner, A. and Grisetti, G. and Burgard, W.},
title = {Large Scale Graph-based {SLAM} using Aerial Images as Prior Information},
year = {2009},
booktitle = {Proc.~of Robotics: Science and Systems (RSS)}
}
@inproceedings{ruhnke09icra,
author = {Ruhnke, M. and Steder, B. and Grisetti, G. and Burgard, W.},
title = {Unsupervised Learning of 3D Object Models from Partial Views},
year = {2009},
address = {Kobe, Japan},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)}
}
@article{steder08ieee,
author = {Steder, Bastian and Grisetti, Giorgio and Stachniss, Cyrill and Burgard, Wolfram},
title = {Visual {SLAM} for Flying Vehicles},
journal = {{IEEE} Transactions on Robotics},
year = {2008},
month = {10},
volume = {24},
number = {5},
pages = {1088--1093}
}
@inproceedings{steder08visapp,
author = {Bastian Steder, Giorgio Grisetti, Slawomir Grzonka, Cyrill Stachniss, and Wolfram Burgard},
title = {Estimating Consistent Elevation Maps using Down-Looking Cameras and Inertial Sensors},
booktitle = {Proc. of the Workshop on Robotic Perception on the International Conference on Computer Vision Theory and Applications},
address = {Funchal, Madeira, Portugal},
year = {2008}
}
@inproceedings{steder07iros,
author = {Steder, Bastian and Grisetti, Giorgio and Grzonka, Slawomir and Stachniss, Cyrill and Rottmann, Axel and Burgard, Wolfram},
title = {Learning Maps in 3D using Attitude and Noisy Vision Sensors},
booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2007},
address = {San Diego, CA, USA},
url = {http://www.informatik.uni-freiburg.de/~steder/publications/IROS07_0961_FI.pdf}
}
@inproceedings{steder07irosws,
author = {Steder, Bastian and Rottmann, Axel and Grisetti, Giorgio and Stachniss, Cyrill and Burgard, Wolfram},
title = {Autonomous Navigation for Small Flying Vehicles},
booktitle = {Workshop on Micro Aerial Vehicles at the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
address = {San Diego, CA, USA},
url = {http://www.informatik.uni-freiburg.de/~steder/publications/stederIros07WS.pdf}
}
@mastersthesis{stederDA07,
author = {Steder, Bastian},
title = {Techniken f{\"u}r bildbasiertes SLAM unter Verwendung von Lagesensoren},
school = {Albert-Ludwigs-Universit{\"a}t},
address = {Freiburg},
type = {Diplomarbeit},
year = {2007},
url = {http://www.informatik.uni-freiburg.de/~steder/publications/diplomarbeit_steder.pdf}
}
@inproceedings{Soest06bnaic,
author = {D.A. van Soest and M. de Greef and J. Sturm and A. Visser},
title = {Autonomous Color Learning in an Artificial Environment},
booktitle = {Proc. 18th Dutch-Belgian Artificial Intelligence Conference, BNAIC'06},
address = {Namur, Belgium},
month = oct,
year = 2006,
pages = {299--306},
urlpdf = {http://www.informatik.uni-freiburg.de/~sturm/media/automaticcolorcalibrationsynopsis.pdf}
}
@inproceedings{Sturm06robocup,
author = {J. Sturm and P. van Rossum and A. Visser},
title = {Panoramic Localization in the 4-Legged League},
booktitle = {Proc. 10th RoboCup International Symposium},
month = oct,
year = 2007,
volume = 4434,
pages = {387--394},
editor = {G. Lakemeyer and E. Sklar and D. Sorrenti and T. Takahashi},
publisher = {Springer},
address = {Berlin Heidelberg New York},
urlpdf = {http://www.informatik.uni-freiburg.de/~sturm/media/panoramiclocalization.pdf},
note = {To be published in the Lecture Notes on Artificial Intelligence series, Springer Verlag, Berlin}
}
@inproceedings{Visser06bnaic,
author = {A. Visser and J. Sturm and F.C.A. Groen},
title = {Robot companion localization at home and in the office},
booktitle = {Proc. 18th Dutch-Belgian Artificial Intelligence Conference, BNAIC'06},
address = {Namur, Belgium},
pages = {347--354},
month = oct,
year = 2006,
urlpdf = {http://www.informatik.uni-freiburg.de/~sturm/media/panoramiclocalizationatoffice.pdf}
}
@inproceedings{Visser06robocup-tdp,
author = {A. Visser and P. van Rossum and and J. Westra and J. Sturm and D.A. van Soest and M. de Greef},
title = {Dutch AIBO Team at RoboCup 2006},
year = {2006},
month = {June},
pdfurl = {http://www.informatik.uni-freiburg.de/~sturm/media/dat_2006_tdp.pdf},
booktitle = {Proceedings CD RoboCup 2006, Bremen, Germany}
}
@inproceedings{Wijngaards05robocup-tdp,
author = {N. Wijngaards and F. Dignum and P. Jonker and T. de Ridder and A. Visser and S. Leijnen and J. Sturm and S. van Weers},
title = {Dutch AIBO Team at RoboCup 2005},
year = {2005},
month = {July},
pdfurl = {http://www.informatik.uni-freiburg.de/~sturm/media/dutchaiboteam_tdp_2005.pdf},
booktitle = {Proceedings CD RoboCup 2005, Osaka, Japan}
}
@techreport{Sturm05robocup-techrep,
author = {J. Sturm and A. Visser and N. Wijngaards},
title = {{D}utch {A}ibo {T}eam: Technical Report {R}obo{C}up 2005},
institution = {Dutch Aibo Team},
month = {October},
year = 2005,
howpublished = {http://www.informatik.uni-freiburg.de/~sturm/media/dat2005techreport.pdf}
}
@techreport{Visser06robocup-techrep,
author = {A. Visser and J. Sturm
and P. van Rossum
and J. Westra and Th. Bink},
title = {{D}utch {A}ibo {T}eam: Technical Report {R}obo{C}up 2006},
institution = {Dutch Aibo Team},
month = {December},
year = 2006,
howpublished = {http://www.informatik.uni-freiburg.de/~sturm/media/dat2006techreport.pdf}
}
@inproceedings{sturm08icra,
title = {Unsupervised Body Scheme Learning through Self-Perception},
author = {Sturm, J. and Plagemann, C. and Burgard, W.},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
address = {Pasadena, CA, USA},
year = {2008},
abstract = {In this paper, we present an approach allowing a robot to learn a generative model of its own physical body from scratch using self-perception with a single monocular camera. Our approach yields a compact Bayesian network for the robot's kinematic structure including the forward and inverse models relating action commands and body pose. We propose to simultaneously learn local action models for all pairs of perceivable body parts from data generated through random ``motor babbling.'' From this repertoire of local models, we construct a Bayesian network for the full system using the pose prediction accuracy on a separate cross validation data set as the criterion for model selection. The resulting model can be used to predict the body pose when no perception is available and allows for gradient-based posture control. In experiments with real and simulated manipulator arms, we show that our system is able to quickly learn compact and accurate models and to robustly deal with noisy observations.},
pdfurl = {http://www.informatik.uni-freiburg.de/~sturm/media/sturm08icra.pdf},
pages = {3328--3333}
}
@inproceedings{sturm08rss,
title = {Adaptive Body Scheme Models for Robust Robotic Manipulation},
author = {Sturm, J. and Plagemann, C. and Burgard, W.},
booktitle = {Robotics: Science and Systems (RSS)},
address = {Zurich, Switzerland},
year = {2008},
month = {June},
note = {To appear},
optpdfurl = {http://www.informatik.uni-freiburg.de/~sturm/media/sturm08rss.pdf},
optabstract = {}
}
@inproceedings{sturm08rss-workshop,
title = {Body Scheme Learning and Life-Long Adaptation for Robotic Manipulation},
author = {Sturm, J. and Plagemann, C. and Burgard, W.},
booktitle = {Proceedings of the Workshop on Robot Manipulation at Robotics: Science and Systems Conference (RSS)},
address = {Zurich, Switzerland},
year = {2008},
month = {June},
note = {To appear},
optpdfurl = {http://www.informatik.uni-freiburg.de/~sturm/media/sturm08rss-workshop.pdf},
optabstract = {}
}
@inproceedings{schulz09gwr,
author = {Hannes Schulz and Lionel Ott and Jürgen Sturm and Wolfram Burgard},
title = {Learning Kinematics from Direct Self-Observation Using Nearest-Neighbor Methods},
conference = {Proc.~of the German Workshop on Robotics},
year = {2009}
}
@inproceedings{sturm09rss-manip,
author = {Jürgen Sturm and Cyrill Stachniss and Vijay Pradeep and Christian Plagemann and Kurt Konolige and Wolfram Burgard},
title = {Towards Understanding Articulated Objects},
conference = {Proc.~of the Workshop on Robot Manipulation at Robotics: Science and Systems Conference (RSS)},
year = {2009}
}
@inproceedings{sturm09ijcai,
author = {Jürgen Sturm and Vijay Pradeep and Cyrill Stachniss and Christian Plagemann and Kurt Konolige and Wolfram Burgard},
title = {Learning Kinematic Models for Articulated Objects},
conference = {Proc.~of the International Joint Conference on
Artificial Intelligence (IJCAI)},
year = {2009},
keywords = {robotics; machine learning; model selection},
abstract = {Robots operating in home environments must be able to interact with articulated objects such as doors or drawers. Ideally, robots are able to autonomously infer articulation models by observation. In this paper, we present an approach to learn kinematic models by inferring the connectivity of rigid parts and the articulation models for the corresponding links. Our method uses a mixture of parameterized and parameter-free (Gaussian process) representations and finds low-dimensional manifolds that provide the best explanation of the given observations. Our approach has been implemented and evaluated using real data obtained in various realistic home environment settings.},
url = {http://www.aaai.org/ocs/index.php/IJCAI/IJCAI-09/paper/view/408}
}
@inproceedings{meyerdel09iros,
author = {Daniel Meyer-Delius and Jürgen Sturm and Wolfram Burgard},
title = {Regression-Based Online Situation Recognition for Vehicular Traffic Scenarios},
conference = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2009}
}
@article{sturm09jp,
title = {Body schema learning for robotic manipulators from visual self-perception},
journal = {Journal of Physiology-Paris},
volume = {103},
number = {3-5},
pages = {220--231},
year = {2009},
note = {Neurorobotics},
issn = {0928-4257},
doi = {DOI: 10.1016/j.jphysparis.2009.08.005},
url = {http://www.sciencedirect.com/science/article/B6VMC-4WY6JVM-D/2/0aaabe9b7dc9628c8c818fa87c8b56e9},
author = {Jürgen Sturm and Christian Plagemann and Wolfram Burgard}
}
@inproceedings{wurm09iros,
author = {Wurm, K.M. and Kuemmerle, R and Stachniss, C. and W. Burgard},
title = {Improving Robot Navigation in Structured Outdoor Environments by Identifying Vegetation from Laser Data},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2009,
month = oct,
address = {St. Louis, MO, USA},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/wurm09iros.pdf}
}
@article{wurm09ras,
title = {Bridging the Gap Between Feature- and Grid-based SLAM},
author = {Wurm, K.M. and Stachniss, C. and Grisetti, G.},
journal = {Journal of Robotics \& Autonomous Systems},
year = {2009},
note = {In press},
url = {http://dx.doi.org/10.1016/j.robot.2009.09.009}
}
@inproceedings{wurm08iros,
author = {K.M. Wurm and Stachniss, C. and W. Burgard},
title = {Coordinated Multi-Robot Exploration using a Segmentation of the Environment},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2008,
month = sep,
address = {Nice, France},
url = {http://www.informatik.uni-freiburg.de/~wurm/wurm08iros.pdf}
}
@inproceedings{wurm07ecmr,
author = {Wurm, K. M. and Stachniss, C. and Grisetti, G. and Burgard, W.},
title = {Improved Simultaneous Localization and Mapping
using a Dual Representation of the Environment},
booktitle = {Proc.~of the European Conference on Mobile Robots (ECMR)},
address = {Freiburg, Germany},
year = 2007,
month = sep,
url = {http://www.informatik.uni-freiburg.de/~wurm/wurm07ecmr.pdf}
}
@mastersthesis{wurm07da,
author = {Wurm, Kai M.},
title = {Robustes {L}ernen von {U}mgebungskarten durch {I}ntegration verschiedener {R}epr{\"a}sentationen},
school = {Albert-Ludwigs-Universit{\"a}t},
address = {Freiburg},
type = {Diplomarbeit},
month = {July},
year = {2007},
note = {In German},
url = {http://www.informatik.uni-freiburg.de/~wurm/wurm07diplom.pdf}
}