Publications

2014

  • Multi-hypothesis goal modeling for a humanoid soccer robot
    M. M. Scheunemann and H. Mellmann
    Proceedings of the 9th workshop on humanoid soccer robots, 14th ieee-ras international conference on humanoid robots (humanoids), madrid, spain. , 2014 .
    [BibTeX] [PDF]
    @InProceedings{HSR-ScheunemannMellmann-14,
    Title = {Multi-Hypothesis Goal Modeling for a Humanoid Soccer Robot},
    Author = {Scheunemann, Marcus M and Mellmann, Heinrich},
    Booktitle = {Proceedings of the 9th Workshop on Humanoid Soccer Robots, 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain.},
    Year = {2014},
    Url = {http://www.ais.uni-bonn.de/humanoidsoccer/ws14/papers/HSR14_Scheunemann.pdf},
    Owner = {scheunemann},
    Timestamp = {2014.11.29}
    }

2013

  • Adaptive grasping for a small humanoid robot utilizing force- and electric current sensors
    H. Mellmann, M. Scheunemann, and O. Stadie
    Proceedings of the 22nd international workshop on concurrency, specification and programming (cs&p) , Warsaw, Poland , 2013 , pp. 283-293.
    [BibTeX] [Abstract] [PDF]
    The ability to grasp objects of different size and shape is one of the most important skills of a humanoid robot. Human grasping integrates a lot of different senses. In particular, the tactile sensing is very important for a stable grasping motion. When we lift a box without knowing what is inside, we do it carefully using our tactile and proprioceptive senses to estimate the weight and thus, the force necessary to hold and to lift this box. In this paper we present an adaptive controlling mechanism which enables a robot to grasp objects of different weights. Thereby, we only use the proprioceptive sensors like positions and electric current at the joints and force sensors at the end-effectors providing the robot with tactile feedback. We implemented and tested our approach on a humanoid robot.

    @INPROCEEDINGS{CSP-MellmannScheunemannEtAl-13,
    author = {Heinrich Mellmann and Marcus Scheunemann and Oliver Stadie},
    title = {Adaptive Grasping for a Small Humanoid Robot Utilizing Force- and
    Electric Current Sensors},
    booktitle = {Proceedings of the 22nd International Workshop on Concurrency, Specification
    and Programming (CS\&P)},
    year = {2013},
    editor = {Marcin S. Szczuka and Ludwik Czaja and Magdalena Kacprzak},
    volume = {1032},
    series = {CEUR Workshop Proceedings},
    pages = {283-293},
    address = {Warsaw, Poland},
    publisher = {CEUR-WS.org},
    abstract = {The ability to grasp objects of different size and shape is one of
    the most important skills of a humanoid robot. Human grasping integrates
    a lot of different senses. In particular, the tactile sensing is
    very important for a stable grasping motion. When we lift a box without
    knowing what is inside, we do it carefully using our tactile and
    proprioceptive senses to estimate the weight and thus, the force
    necessary to hold and to lift this box. In this paper we present
    an adaptive controlling mechanism which enables a robot to grasp
    objects of different weights. Thereby, we only use the proprioceptive
    sensors like positions and electric current at the joints and force
    sensors at the end-effectors providing the robot with tactile feedback.
    We implemented and tested our approach on a humanoid robot.},
    bibsource = {DBLP, http://dblp.uni-trier.de},
    crossref = {DBLP:conf/csp/2013},
    ee = {http://ceur-ws.org/Vol-1032/paper-24.pdf},
    owner = {gxy},
    timestamp = {2013.11.03}
    }

  • Voronoi based strategic positioning for robot soccer
    S. Kaden, H. Mellmann, M. Scheunemann, and Hans-Dieter Burkhard
    Proceedings of the 22nd international workshop on concurrency, specification and programming (cs&p) , Warsaw, Poland , 2013 , pp. 271-282.
    [BibTeX] [Abstract] [PDF]
    Strategic positioning is a decisive part of the team play within a soccer game. In most solutions the positioning techniques are treated as a constituent of a complete team play strategy. In a comprehensive overview we discuss the team play and positioning methods used within RoboCup and extract the essential requirements for player positioning. In this work, we propose an approach for strategic positioning allowing for flexible formulation of arbitrary strategies. Based on the conditions of a specific strategy, the field is subdivided in regions by a Voronoi tessellation and each region is assigned a weight. Those weights influence the calculation of the optimal robot position as well as the path. A team play strategy can be expressed by the choice of the tessellation as well as the choice of the weights. This provides a powerful abstraction layer simplifying the design of the actual play strategy. We also present an implementation of an example strategy based on this approach and analyse the performance of our approach in simulation.

    @INPROCEEDINGS{CSP-KadenMellmannEtAl-13,
    author = {Steffen Kaden and Heinrich Mellmann and Marcus Scheunemann and Hans-Dieter
    Burkhard},
    title = {Voronoi Based Strategic Positioning for Robot Soccer},
    booktitle = {Proceedings of the 22nd International Workshop on Concurrency, Specification
    and Programming (CS\&P)},
    year = {2013},
    editor = {Marcin S. Szczuka and Ludwik Czaja and Magdalena Kacprzak},
    volume = {1032},
    series = {CEUR Workshop Proceedings},
    pages = {271-282},
    address = {Warsaw, Poland},
    publisher = {CEUR-WS.org},
    abstract = {Strategic positioning is a decisive part of the team play within a
    soccer game. In most solutions the positioning techniques are treated
    as a constituent of a complete team play strategy. In a comprehensive
    overview we discuss the team play and positioning methods used within
    RoboCup and extract the essential requirements for player positioning.
    In this work, we propose an approach for strategic positioning allowing
    for flexible formulation of arbitrary strategies. Based on the conditions
    of a specific strategy, the field is subdivided in regions by a Voronoi
    tessellation and each region is assigned a weight. Those weights
    influence the calculation of the optimal robot position as well as
    the path. A team play strategy can be expressed by the choice of
    the tessellation as well as the choice of the weights. This provides
    a powerful abstraction layer simplifying the design of the actual
    play strategy. We also present an implementation of an example strategy
    based on this approach and analyse the performance of our approach
    in simulation.},
    bibsource = {DBLP, http://dblp.uni-trier.de},
    ee = {http://ceur-ws.org/Vol-1032/paper-23.pdf},
    owner = {gxy},
    timestamp = {2013.11.03}
    }

2011

  • Dynamic motion control: adaptive bimanual grasping for a humanoid robot
    H. Mellmann and G. Cotugno
    Fundamenta informaticae , vol. 112 , iss. 1 , pp. 89-101 , 2011 .
    [BibTeX] [Abstract]
    The ability to grasp objects of different size and shape is one of the most important skills of a humanoid robot. There are a lot of different approaches tackling this problem; however, there is no general solution. The complexity and the skill of a possible grasping motion depend hardly on a particular robot. In this paper we analyze the kinematic and sensory grasping abilities of the humanoid robot Nao. Its kinematic constraints and hand’s mechanical structure represent an interesting case of study due to lack of actuators for fingers and the limited computation power. After describing the platform and studying its capabilities, we propose some simple controllers and we present a benchmark based on some experimental data.

    @ARTICLE{FI-MellmannCotugno-11,
    author = {Heinrich Mellmann and Giuseppe Cotugno},
    title = {Dynamic Motion Control: Adaptive Bimanual Grasping for a Humanoid
    Robot},
    journal = {Fundamenta Informaticae},
    year = {2011},
    volume = {112},
    pages = {89-101},
    number = {1},
    abstract = {The ability to grasp objects of different size and shape is one of
    the most important skills of a humanoid robot. There are a lot of
    different approaches tackling this problem; however, there is no
    general solution. The complexity and the skill of a possible grasping
    motion depend hardly on a particular robot. In this paper we analyze
    the kinematic and sensory grasping abilities of the humanoid robot
    Nao. Its kinematic constraints and hand's mechanical structure represent
    an interesting case of study due to lack of actuators for fingers
    and the limited computation power. After describing the platform
    and studying its capabilities, we propose some simple controllers
    and we present a benchmark based on some experimental data.},
    owner = {mellmann},
    timestamp = {2011.06.13}
    }

  • Local goal model for a humanoid soccer robot
    H. Mellmann and M. Scheunemann
    Proceedings of the workshop on concurrency, specification, and programming cs&p 2011 , Pułtusk, Poland , 2011 , pp. 353-360.
    [BibTeX]
    @INPROCEEDINGS{CSP-MellmannScheunemann-11,
    author = {Heinrich Mellmann and Marcus Scheunemann},
    title = {Local Goal Model for a Humanoid Soccer Robot},
    booktitle = {Proceedings of the Workshop on Concurrency, Specification, and Programming
    CS\&P 2011},
    year = {2011},
    editor = {Marcin Szczuka, Ludwik Czaja, Andrzej Skowron, Magdalena Kacprzak},
    pages = {353-360},
    address = {Pułtusk, Poland},
    month = {September},
    publisher = {Bia{\l}ystok University of Technology},
    owner = {admin},
    timestamp = {2011.11.12}
    }

2010

  • Nao-team humboldt 2010
    H. Burkhard, F. Holzhauer, T. Krause, H. Mellmann, C. N. Ritter, O. Welter, and Yuan Xu
    Humboldt Universität zu Berlin , 2010 .
    [BibTeX] [PDF]
    @TECHREPORT{tdp10,
    author = {Hans-Dieter Burkhard and Florian Holzhauer and Thomas Krause and
    Heinrich Mellmann and Claas Norman Ritter and Oliver Welter and Yuan
    Xu},
    title = {NAO-Team Humboldt 2010},
    institution = {Humboldt Universität zu Berlin},
    year = {2010},
    owner = {Heinrich Mellmann},
    timestamp = {2010.02.03},
    url = {http://www.naoteamhumboldt.de/wp-content/uploads/2010/02/NaoTH10Description.pdf}
    }

  • Dynamic motion control: adaptive bimanual grasping for a humanoid robot
    G. Cotugno and H. Mellmann
    Workshop on concurrency, specification, and programming (cs&p) , Börnicke (near Berlin), Germany , 2010 .
    [BibTeX] [Abstract]
    In this paper we analyze the kinematic and sensory grasping abilities of the humanoid robot Nao. Its kinematic constraints and hand’s mechanical structure represent an interesting case of study due to lack of actuators for fingers and the limited computation power. After describing the platform and studying its capabilities, we propose some simple controllers and we present a benchmark based on some experimental data.

    @INPROCEEDINGS{CSP-CotugnoMellmann-10,
    author = {Giuseppe Cotugno and Heinrich Mellmann},
    title = {Dynamic Motion Control: Adaptive Bimanual Grasping for a Humanoid
    Robot},
    booktitle = {Workshop on Concurrency, Specification, and Programming (CS\&P)},
    year = {2010},
    volume = {Volume 2},
    address = {Börnicke (near Berlin), Germany},
    month = {September},
    abstract = {In this paper we analyze the kinematic and sensory grasping abilities
    of the humanoid robot Nao. Its kinematic constraints and hand's mechanical
    structure represent an interesting case of study due to lack of actuators
    for fingers and the limited computation power. After describing the
    platform and studying its capabilities, we propose some simple controllers
    and we present a benchmark based on some experimental data.},
    owner = {gxy},
    timestamp = {2010.09.29}
    }

  • Ein anderes modell der welt: alternative methoden zur lokalisierung mobiler roboter
    H. Mellmann , Diploma Thesis , Humboldt Universität zu Berlin , 2010 , (in German).
    [BibTeX] [Abstract] [PDF]
    Many tasks of a mobile robot, e.g., navigation, require the knowledge of the positions of the objects in the surrounding environment. This task is especially challenging for the robots which perception is based on a directed visual system, e.g., a camera with a limited view angle. The incomplete and noisy sensor information leads to the uncertainty in the robots belief of the world. An appropriate model of the world may enable the robot to make plans and to realize complex behavior. The state of the art modeling methods use often only a small part of the available information. In particular the redundant information remain unused. In this work we investigate methods to exploit effectively the redundant information in order to get a better model of the world. In the first part we discuss a number of possibilities to use of specific properties of the objects to estimate the parameters of the camera matrix. In the second part we present a constraint based approach for the world modeling.

    @MASTERSTHESIS{DiplomaThesis-Mellmann-10,
    author = {Heinrich Mellmann},
    title = {Ein anderes Modell der Welt: Alternative Methoden zur Lokalisierung
    Mobiler Roboter},
    school = {Humboldt Universität zu Berlin},
    year = {2010},
    type = {Diploma Thesis},
    month = {April},
    note = {(in German)},
    abstract = {Many tasks of a mobile robot, e.g., navigation, require the knowledge
    of the positions of the objects in the surrounding environment. This
    task is especially challenging for the robots which perception is
    based on a directed visual system, e.g., a camera with a limited
    view angle. The incomplete and noisy sensor information leads to
    the uncertainty in the robots belief of the world. An appropriate
    model of the world may enable the robot to make plans and to realize
    complex behavior. The state of the art modeling methods use often
    only a small part of the available information. In particular the
    redundant information remain unused. In this work we investigate
    methods to exploit effectively the redundant information in order
    to get a better model of the world. In the first part we discuss
    a number of possibilities to use of specific properties of the objects
    to estimate the parameters of the camera matrix. In the second part
    we present a constraint based approach for the world modeling.},
    owner = {Heinrich Mellmann},
    timestamp = {2010.07.27},
    url = {http://www.heinrich-mellmann.de/content/publications/data/2011-05-13-diplomarbeit-mellmann-very-final.pdf}
    }

  • Adaptive motion control with visual feedback for a humanoid robot
    H. Mellmann and Y. Xu
    Ieee/rsj international conference on intelligent robots and systems (iros 2010) , 2010 .
    [BibTeX] [Abstract] [PDF]
    The performance of a soccer robot is highly dependent on its motion ability. The kicking motion is one of the most important motions in a soccer game. However, automatic, full body motion generation for humanoid robots presents a formidable computational challenge. At the current state the most common approaches of implementing this motion are based on key frame technique. Such solutions are inflexible, i.e., in order to adjust the aimed direction of the kick the robot has to walk around the ball. The adjustment costs a lot of time especially if some precise adjustments have to be done, e.g., for a penalty kick. In this paper we present an approach for adaptive control of the motions. We implemented our approach in order to solve the task of kicking the ball on a humanoid robot Nao. The approach was tested both in simulation and on a real robot.

    @INPROCEEDINGS{IROS-MellmannXu-10,
    author = {Heinrich Mellmann and Yuan Xu},
    title = {Adaptive Motion Control with Visual Feedback for a Humanoid Robot},
    booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems
    (IROS 2010)},
    year = {2010},
    abstract = {The performance of a soccer robot is highly dependent on its motion
    ability. The kicking motion is one of the most important motions
    in a soccer game. However, automatic, full body motion generation
    for humanoid robots presents a formidable computational challenge.
    At the current state the most common approaches of implementing this
    motion are based on key frame technique. Such solutions are inflexible,
    i.e., in order to adjust the aimed direction of the kick the robot
    has to walk around the ball. The adjustment costs a lot of time especially
    if some precise adjustments have to be done, e.g., for a penalty
    kick. In this paper we present an approach for adaptive control of
    the motions. We implemented our approach in order to solve the task
    of kicking the ball on a humanoid robot Nao. The approach was tested
    both in simulation and on a real robot.},
    owner = {gxy},
    timestamp = {2010.07.27}
    }

  • Naoth software architecture for an autonomous agent
    H. Mellmann, Y. Xu, T. Krause, and F. Holzhauer
    Proceedings of the international workshop on standards and common platforms for robotics (scpr 2010) , Darmstadt , 2010 , pp. 316-327.
    [BibTeX] [Abstract] [PDF]
    An appropriate architecture (i.e., framework) is the base of each successful heterogeneous software project. It enables a group of developers to work at the same project and to organize their solutions. From this point of view, the artificial intelligence and/or robotics related research projects are usually more complicated, since the actual result of the project is often not clear. In particular, a strong organization of the software is necessary if the project is involved in education. Obviously, there is no perfect framework which could satisfy all the needs of the developers. In this paper we present a modular software architecture designed to implement an autonomous agent. In particular, it is used to develop software which is used simultaneously at several platforms (e.g., humanoid robot, simulated agent). One of the main aspects considered in our design is a strong code modularization which allows for re-usability, transparency and easily testing. Other important aspects are real-time applicability and simple usage. This paper presents the main concepts and the particular implementation of the important parts. We also provide a qualitative comparison with other existing robotics frameworks.

    @INPROCEEDINGS{SCPR-MellmannXuEtAl-10,
    author = {Heinrich Mellmann and Yuan Xu and Thomas Krause and Florian Holzhauer},
    title = {NaoTH Software Architecture for an Autonomous Agent},
    booktitle = {Proceedings of the International Workshop on Standards and Common
    Platforms for Robotics (SCPR 2010)},
    year = {2010},
    pages = {316--327},
    address = {Darmstadt},
    month = {November},
    abstract = {An appropriate architecture (i.e., framework) is the base of each
    successful heterogeneous software project. It enables a group of
    developers to work at the same project and to organize their solutions.
    From this point of view, the artificial intelligence and/or robotics
    related research projects are usually more complicated, since the
    actual result of the project is often not clear. In particular, a
    strong organization of the software is necessary if the project is
    involved in education. Obviously, there is no perfect framework which
    could satisfy all the needs of the developers. In this paper we present
    a modular software architecture designed to implement an autonomous
    agent. In particular, it is used to develop software which is used
    simultaneously at several platforms (e.g., humanoid robot, simulated
    agent). One of the main aspects considered in our design is a strong
    code modularization which allows for re-usability, transparency and
    easily testing. Other important aspects are real-time applicability
    and simple usage. This paper presents the main concepts and the particular
    implementation of the important parts. We also provide a qualitative
    comparison with other existing robotics frameworks.},
    owner = {gxy},
    timestamp = {2010.11.21}
    }

  • Narrowing reality gap and validation: improving the simulator for humanoid soccer robot
    Y. Xu and H. Burkhard
    Concurrency, specification and programming cs&p’2010 , Helenenau, Germany , 2010 .
    [BibTeX]
    @INPROCEEDINGS{xucsp2010,
    author = {Yuan Xu and Hans-Dieter Burkhard},
    title = {Narrowing Reality Gap and Validation: Improving the Simulator for
    Humanoid Soccer Robot},
    booktitle = {Concurrency, Specification and Programming CS\&P'2010},
    year = {2010},
    address = {Helenenau, Germany},
    month = {September},
    owner = {gxy},
    timestamp = {2014.01.27}
    }

  • Adaptive motion control: dynamic kick for a humanoid robot
    Y. Xu and H. Mellmann
    Proceedings of the 33rd annual german conference on artificial intelligence (ki 2010) , 2010 , pp. 392-399.
    [BibTeX] [Abstract] [PDF]
    Automatic, full body motion generation for humanoid robots presents a formidable computational challenge. The kicking motion is one of the most important motions in a soccer game. However, at the current state the most common approaches of implementing this motion are based on key frame technique. Such solutions are inflexible and cost a lot of time to adjust robot’s position. In this paper we present an approach for adaptive control of the motions. We implemented our approach in order to solve the task of kicking the ball on a humanoid robot Nao. The approach was tested both in simulation and on a real robot.

    @INPROCEEDINGS{KI-XuMellmann-10,
    author = {Xu, Yuan and Mellmann, Heinrich},
    title = {Adaptive Motion Control: Dynamic Kick for a Humanoid Robot},
    booktitle = {Proceedings of the 33rd Annual German Conference on Artificial Intelligence
    (KI 2010)},
    year = {2010},
    editor = {Dillmann, Rüdiger and Beyerer, Jürgen and Hanebeck, Uwe and Schultz,
    Tanja},
    volume = {6359},
    series = {Lecture Notes in Computer Science},
    pages = {392--399},
    publisher = {Springer Berlin / Heidelberg},
    abstract = {Automatic, full body motion generation for humanoid robots presents
    a formidable computational challenge. The kicking motion is one of
    the most important motions in a soccer game. However, at the current
    state the most common approaches of implementing this motion are
    based on key frame technique. Such solutions are inflexible and cost
    a lot of time to adjust robot’s position. In this paper we present
    an approach for adaptive control of the motions. We implemented our
    approach in order to solve the task of kicking the ball on a humanoid
    robot Nao. The approach was tested both in simulation and on a real
    robot.},
    affiliation = {Institut für Informatik, LFG Künstliche Intelligenz, Humboldt-Universität
    zu Berlin, Germany},
    doi = {10.1007/978-3-642-16111-7_45},
    owner = {gxy},
    timestamp = {2011.01.04},
    url = {http://dx.doi.org/10.1007/978-3-642-16111-7_45}
    }

  • An approach to close the gap between simulation and real robots
    Y. Xu, H. Mellmann, and H. Burkhard
    2nd international conference on simulation, modeling and programming for autonomous robots (simpar) , 2010 , pp. 533-544.
    [BibTeX] [Abstract] [PDF]
    Numerous simulators have been developed over the years to assist robotics research in the development, testing, and evaluation. Nevertheless, there is still a big gap between the simulation and the reality. This makes it difficult to transfer methods and code. The 3D simulator | SimSpark is developed and used by a big community of AI researchers in RoboCup. But up to now there are only few applications to real robots. In this paper, we discuss the general possibilities how the SimSpark simulator can be used to support research in cognitive robotics and present applications on the humanoid robot Nao. As a result of our investigation we have developed a unified team playing both in Simulation League and Standard Platform League in RoboCup.

    @INPROCEEDINGS{SIMPAR-XuMellmannEtAl-10,
    author = {Xu, Yuan and Mellmann, Heinrich and Burkhard, Hans-Dieter},
    title = {An Approach to Close the Gap between Simulation and Real Robots},
    booktitle = {2nd International Conference on Simulation, Modeling and Programming
    for Autonomous Robots (SIMPAR)},
    year = {2010},
    editor = {Ando, Noriaki and Balakirsky, Stephen and Hemker, Thomas and Reggiani,
    Monica and von Stryk, Oskar},
    series = {Lecture Notes in Computer Science},
    pages = {533--544},
    publisher = {Springer Berlin / Heidelberg},
    note = {(german)},
    abstract = {Numerous simulators have been developed over the years to assist robotics
    research in the development, testing, and evaluation. Nevertheless,
    there is still a big gap between the simulation and the reality.
    This makes it difficult to transfer methods and code. The 3D simulator
    | SimSpark is developed and used by a big community of AI researchers
    in RoboCup. But up to now there are only few applications to real
    robots. In this paper, we discuss the general possibilities how the
    SimSpark simulator can be used to support research in cognitive robotics
    and present applications on the humanoid robot Nao. As a result of
    our investigation we have developed a unified team playing both in
    Simulation League and Standard Platform League in RoboCup.},
    affiliation = {Institut für Informatik, LFG Künstliche Intelligenz, Humboldt-Universität
    zu Berlin, Rudower Chaussee 25, 12489 Berlin, Germany},
    doi = {10.1007/978-3-642-17319-6_48},
    owner = {gxy},
    timestamp = {2011.01.04},
    url = {http://dx.doi.org/10.1007/978-3-642-17319-6_48}
    }

2009

  • Nao-team humboldt 2009
    H. Burkhard, F. Holzhauer, T. Krause, H. Mellmann, C. N. Ritter, O. Welter, and Yuan Xu
    Humboldt Universität zu Berlin , 2009 .
    [BibTeX] [PDF]
    @TECHREPORT{tdp09,
    author = {Hans-Dieter Burkhard and Florian Holzhauer and Thomas Krause and
    Heinrich Mellmann and Claas Norman Ritter and Oliver Welter and Yuan
    Xu},
    title = {NAO-Team Humboldt 2009},
    institution = {Humboldt Universität zu Berlin},
    year = {2009},
    owner = {Heinrich Mellmann},
    timestamp = {2010.02.03},
    url = {http://www.naoteamhumboldt.de/wp-content/uploads/2010/02/NaoTH09Report_final.pdf}
    }

  • Constraint based world modeling for multi agent systems in dynamic environments
    D. Göhring , PhD Thesis , Humboldt University Berlin , 2009 , [Online: Stand 2010-05-23T15:08:02Z].
    [BibTeX] [Abstract] [PDF]
    % \selectlanguage{ngerman} Die mobile Robotik stellt ein sehr junges und komplexes Forschungsfelder unserer Zeit dar. Innerhalb der letzten Jahrzehnte wurde es Robotern möglich, sich innerhalb ihrer Umgebung zu bewegen, zu navigieren und mit ihrer Umwelt zu interagieren. Aufgrund der Tatsache, dass die Welt von Unsicherheit geprägt ist und ein Roboter immer nur partielle Information über sie erhalten kann, wurden probabilistische Navigationsverfahren entwickelt, mit denen sich Roboter lokalisieren und Objekte ihrer Umgebung modellieren können. Weiterhin wurden in letzter Zeit Verfahren untersucht, die die kooperative Exploration der Umgebung durch eine Gruppe von Robotern zum Ziel haben. In der vorliegenden Arbeit wird ein neuartiges Konzept, welches sich Perzeptrelationen für die kooperative Umweltmodellierung zu Nutze macht, vorgestellt und evaluiert. Einen zweiten Beitrag der Arbeit stellen constraintbasierte Lokalisierungstechniken dar, die es einem oder mehreren Robotern auf effiziente Art und Weise ermöglichen, sich zu lokalisieren und ihre Umwelt zu modellieren. % \selectlanguage{english} Mobile autonomous robotics is a very young and complex field of research. Only in recent decades have robots become able to explore, to move, navigate and to interact with their environment. Since the world is uncertain and since robots can only gain partial information about it, probabilistic navigation algorithms have become very popular whenever a robot has to localize itself or surrounding objects. Furthermore, cooperative exploration and localization approaches have become very relevant lately, as robots begin to act not just alone but in groups. Within this thesis a new approach using the concept of spatial percept-relations for cooperative environment modeling is presented and evaluated. As a second contribution, constraint based localization techniques will be introduced for having a robot or a group of robots efficiently localized and to model their environment.

    @PHDTHESIS{Goehring10Dissertation,
    author = {Daniel Göhring},
    title = {Constraint based world modeling for multi agent systems in dynamic
    environments},
    school = {Humboldt University Berlin},
    year = {2009},
    note = {[Online: Stand 2010-05-23T15:08:02Z]},
    abstract = {% \selectlanguage{ngerman} Die mobile Robotik stellt ein sehr junges
    und komplexes Forschungsfelder unserer Zeit dar. Innerhalb der letzten
    Jahrzehnte wurde es Robotern möglich, sich innerhalb ihrer Umgebung
    zu bewegen, zu navigieren und mit ihrer Umwelt zu interagieren. Aufgrund
    der Tatsache, dass die Welt von Unsicherheit geprägt ist und ein
    Roboter immer nur partielle Information über sie erhalten kann, wurden
    probabilistische Navigationsverfahren entwickelt, mit denen sich
    Roboter lokalisieren und Objekte ihrer Umgebung modellieren können.
    Weiterhin wurden in letzter Zeit Verfahren untersucht, die die kooperative
    Exploration der Umgebung durch eine Gruppe von Robotern zum Ziel
    haben. In der vorliegenden Arbeit wird ein neuartiges Konzept, welches
    sich Perzeptrelationen für die kooperative Umweltmodellierung zu
    Nutze macht, vorgestellt und evaluiert. Einen zweiten Beitrag der
    Arbeit stellen constraintbasierte Lokalisierungstechniken dar, die
    es einem oder mehreren Robotern auf effiziente Art und Weise ermöglichen,
    sich zu lokalisieren und ihre Umwelt zu modellieren. % \selectlanguage{english}
    Mobile autonomous robotics is a very young and complex field of research.
    Only in recent decades have robots become able to explore, to move,
    navigate and to interact with their environment. Since the world
    is uncertain and since robots can only gain partial information about
    it, probabilistic navigation algorithms have become very popular
    whenever a robot has to localize itself or surrounding objects. Furthermore,
    cooperative exploration and localization approaches have become very
    relevant lately, as robots begin to act not just alone but in groups.
    Within this thesis a new approach using the concept of spatial percept-relations
    for cooperative environment modeling is presented and evaluated.
    As a second contribution, constraint based localization techniques
    will be introduced for having a robot or a group of robots efficiently
    localized and to model their environment.},
    file = {:http\://edoc.hu-berlin.de/dissertationen/goehring-daniel-2009-11-10/PDF/goehring.pdf:PDF},
    keywords = {% \selectlanguage{ngerman}Künstliche Intelligenz, Robotik, Lokalisierungsverfahren,
    Constraints % \selectlanguage{english}Robotics, Artificial Intelligence,
    Localization Approaches, Constraints},
    owner = {gxy},
    publisher = { Humboldt-Universität zu Berlin, Mathematisch-Naturwissenschaftliche
    Fakultät II },
    timestamp = {2014.01.27},
    url = {http://edoc.hu-berlin.de/docviews/abstract.php?id=30348}
    }

  • Constraint based world modeling in mobile robotics
    D. Göhring, H. Mellmann, and H. Burkhard
    Proc. ieee international conference on robotics and automation (icra 2009) , 2009 , pp. 2538-2543.
    [BibTeX] [Abstract] [PDF]
    In this paper we present a novel approach using constraint based techniques for world modeling, i.e. self localization and object modeling. Within the last years, we have seen a reduction of landmarks such as beacons or colored goals within the RoboCup domain. Using other features as line information becomes more important. Using such sensor data is tricky, especially when the resulting position belief is stretched over a larger area. Constraints can overcome this limitations, as they have several advantages: they can represent large distributions and are easy to store and to communicate to other robots. Propagation of several constraints can be computationally cheap. Even high dimensional belief functions can be used. We will describe a sample implementation and show experimental results.

    @INPROCEEDINGS{ICRA-GoehringMellmann-09,
    author = {Daniel Göhring and Heinrich Mellmann and Hans-Dieter Burkhard},
    title = {Constraint Based World Modeling in Mobile Robotics},
    booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA
    2009)},
    year = {2009},
    pages = {2538--2543},
    abstract = {In this paper we present a novel approach using constraint based techniques
    for world modeling, i.e. self localization and object modeling. Within
    the last years, we have seen a reduction of landmarks such as beacons
    or colored goals within the RoboCup domain. Using other features
    as line information becomes more important. Using such sensor data
    is tricky, especially when the resulting position belief is stretched
    over a larger area. Constraints can overcome this limitations, as
    they have several advantages: they can represent large distributions
    and are easy to store and to communicate to other robots. Propagation
    of several constraints can be computationally cheap. Even high dimensional
    belief functions can be used. We will describe a sample implementation
    and show experimental results.},
    doi = {10.1109/ROBOT.2009.5152208},
    file = {:ICRA-GoehringMellmann-09.pdf:PDF},
    keywords = {Autonomous Agents, Humanoid Robots, Localization},
    owner = {mellmann},
    timestamp = {2009.05.14}
    }

  • Active landmark selection for vision-based self-localization
    H. Mellmann
    Proceedings of the workshop on concurrency, specification, and programming cs&p 2009 , Kraków-Przegorzaly, Poland , 2009 , pp. 398-405.
    [BibTeX] [Abstract] [PDF]
    The most of the vision based self-localization methods are using landmarks to estimate the position of the robot. The results of those methods depend highly on the precision of the perceptual information provided by the vision system. Depending on situation, some landmarks provide more certain measurements than others. We present a general criterion to predict the sensitivity of measurements concerning errors. In addition an algorithm is presented for automatic selection of optimal landmarks. This enables the robot to choose actively those landmarks that provide the highest certainty, which leads to better localization results. We demonstrate the performance and accuracy of the algorithm through a series of experiments.

    @INPROCEEDINGS{CSP-Mellmann-09,
    author = {Heinrich Mellmann},
    title = {Active Landmark Selection for Vision-Based Self-Localization},
    booktitle = {Proceedings of the Workshop on Concurrency, Specification, and Programming
    CS\&P 2009},
    year = {2009},
    volume = {Volume 2},
    pages = {398--405},
    address = {Kraków-Przegorzaly, Poland},
    month = {September},
    abstract = {The most of the vision based self-localization methods are using landmarks
    to estimate the position of the robot. The results of those methods
    depend highly on the precision of the perceptual information provided
    by the vision system. Depending on situation, some landmarks provide
    more certain measurements than others. We present a general criterion
    to predict the sensitivity of measurements concerning errors. In
    addition an algorithm is presented for automatic selection of optimal
    landmarks. This enables the robot to choose actively those landmarks
    that provide the highest certainty, which leads to better localization
    results. We demonstrate the performance and accuracy of the algorithm
    through a series of experiments.},
    keywords = {RoboCup, localization, landmark selection, active vision, humanoid
    robots, Aibo},
    owner = {admin},
    timestamp = {2009.10.04},
    url = {http://csp2009.mimuw.edu.pl/proc.php}
    }

  • Reinforcement learning in continuous state and action spaces
    V. Uc-Cetina , PhD Thesis , Humboldt-Universität zu Berlin , 2009 .
    [BibTeX]
    @PHDTHESIS{Uc-Cetina09thesis,
    author = {Vìctor Uc-Cetina},
    title = {Reinforcement Learning in Continuous State and Action Spaces},
    school = {Humboldt-Universität zu Berlin},
    year = {2009},
    owner = {gxy},
    timestamp = {2014.01.27}
    }

2008

  • Constraint based object state modeling
    D. Göhring, H. Mellmann, and H. Burkhard
    European robotics symposium 2008 (euros) , Prague, Chech Republic , 2008 , pp. 63-72.
    [BibTeX] [Abstract] [PDF]
    Modeling the environment is crucial for a mobile robot. Common approaches use Bayesian filters like particle filters, Kalman filters and their extended forms. We present an alternative and supplementing approach using constraint techniques based on spatial constraints between object positions. This yields several advantages: a) the agent can choose from a variety of belief functions, b) the computational complexity is decreased by efficient algorithms. The focus of the paper are constraint propagation techniques under the special requirements of navigation tasks.

    @INPROCEEDINGS{EUROS-GoehringMellmann-08,
    author = {Daniel Göhring and Heinrich Mellmann and Hans-Dieter Burkhard},
    title = {Constraint Based Object State Modeling},
    booktitle = {European Robotics Symposium 2008 (EUROS)},
    year = {2008},
    editor = {Bruyninckx Herman and Preucil Libor and Kulich Miroslav},
    volume = {Volume 44/2008},
    series = {Springer Tracts in Advanced Robotics},
    pages = {63--72},
    address = {Prague, Chech Republic},
    publisher = {Springer Berlin / Heidelberg},
    abstract = {Modeling the environment is crucial for a mobile robot. Common approaches
    use Bayesian filters like particle filters, Kalman filters and their
    extended forms. We present an alternative and supplementing approach
    using constraint techniques based on spatial constraints between
    object positions. This yields several advantages: a) the agent can
    choose from a variety of belief functions, b) the computational complexity
    is decreased by efficient algorithms. The focus of the paper are
    constraint propagation techniques under the special requirements
    of navigation tasks.},
    doi = {10.1007/978-3-540-78317-6_7},
    owner = {mellmann},
    timestamp = {Dienstag, 12. Februar 2008},
    url = {http://www.springerlink.com/content/th6218453434x817}
    }

  • Constraint based belief modeling
    D. Göhring, H. Mellmann, and H. Burkhard
    Robocup 2008: robot soccer world cup xii , 2008 .
    [BibTeX] [Abstract]
    In this paper we present a novel approach using constraint based techniques for world modeling, i.e. self localization and object modeling. Within the last years, we have seen a reduction of landmarks as beacons, colored goals, within the RoboCup domain. Using other fea- tures as line information becomes more important. Using such sensor data is tricky, especially when the resulting position belief is stretched over a larger area. Constraints can overcome this limitations, as they have several advantages: They can represent large distributions and are easy to store and to communicate to other robots. Propagation of a several constraints can be computationally cheap. Even high dimensional belief functions can be used. We will describe a sample implementation and show experimental results.

    @INPROCEEDINGS{RC-GoehringMellmann-08,
    author = {Daniel Göhring and Heinrich Mellmann and Hans-Dieter Burkhard},
    title = {Constraint Based Belief Modeling},
    booktitle = {RoboCup 2008: Robot Soccer World Cup XII},
    year = {2008},
    editor = {Luca Iocchi and Hitoshi Matsubara and Alfredo Weitzenfeld and Changjiu
    Zhou},
    series = {Lecture Notes in Artificial Intelligence},
    publisher = {Springer},
    abstract = {In this paper we present a novel approach using constraint based techniques
    for world modeling, i.e. self localization and object modeling. Within
    the last years, we have seen a reduction of landmarks as beacons,
    colored goals, within the RoboCup domain. Using other fea- tures
    as line information becomes more important. Using such sensor data
    is tricky, especially when the resulting position belief is stretched
    over a larger area. Constraints can overcome this limitations, as
    they have several advantages: They can represent large distributions
    and are easy to store and to communicate to other robots. Propagation
    of a several constraints can be computationally cheap. Even high
    dimensional belief functions can be used. We will describe a sample
    implementation and show experimental results.},
    owner = {mellmann},
    timestamp = {2008.08.05}
    }

  • Constraint based localization on a humanoid robot
    D. Göhring, H. Mellmann, and H. Burkhard
    Proceedings of the workshop on concurrency, specification, and programming cs&p 2008 , 2008 .
    [BibTeX] [Abstract]
    In this paper we will present an application for constraint based methods to self localize within the RoboCup domain. During a robotic soccer game, robots of a team need to know where they and their team mates are on the Field, therefore they need to localize themselves. For self localization, constraint based methods can be an e?ective alternative to classic Bayesian approaches as Kalman ?lters or Monte-Carlo methods. In this paper we will present, how constraint based techniques can be applied to a humanoid robot. Therefore we will implement constraint based methods in a humanoid robot "NAO" and see how the constraint based approach works within the Standard Platform League.

    @INPROCEEDINGS{CSP-GoehringMellmannEtAl-08,
    author = {Daniel Göhring and Heinrich Mellmann and Hans-Dieter Burkhard},
    title = {Constraint Based Localization on a Humanoid Robot},
    booktitle = {Proceedings of the Workshop on Concurrency, Specification, and Programming
    CS\&P 2008},
    year = {2008},
    abstract = {In this paper we will present an application for constraint based
    methods to self localize within the RoboCup domain. During a robotic
    soccer game, robots of a team need to know where they and their team
    mates are on the Field, therefore they need to localize themselves.
    For self localization, constraint based methods can be an e?ective
    alternative to classic Bayesian approaches as Kalman ?lters or Monte-Carlo
    methods. In this paper we will present, how constraint based techniques
    can be applied to a humanoid robot. Therefore we will implement constraint
    based methods in a humanoid robot "NAO" and see how the constraint
    based approach works within the Standard Platform League.},
    owner = {admin},
    timestamp = {2009.10.05}
    }

  • Constraint based world modeling
    D. Göhring, H. Mellmann, K. Gerasymova, and H. Burkhard
    Fundamenta informaticae , vol. Volume 85 , iss. 1-4 , pp. 123-137 , 2008 .
    [BibTeX] [Abstract] [PDF]
    Common approaches for robot navigation use Bayesian filters like particle filters, Kalman filters and their extended forms. We present an alternative and supplementing approach using constraint techniques based on spatial constraints between object positions. This yields several advantages. The robot can choose from a variety of belief functions, and the computational complexity is decreased by efficient algorithms. The paper investigates constraint propagation techniques under the special requirements of navigation tasks. Sensor data are noisy, but a lot of redundancies can be exploited to improve the quality of the result. We introduce two quality measures: The ambiguity measure for constraint sets defines the precision, while inconsistencies are measured by the inconsistency measure. The measures can be used for evaluating the available data and for computing best fitting hypothesis. A constraint propagation algorithm is presented.

    @ARTICLE{FI-GoehringMellmannGerasimova-08,
    author = {Daniel Göhring and Heinrich Mellmann and Kataryna Gerasymova and
    Hans-Dieter Burkhard},
    title = {Constraint Based World Modeling},
    journal = {Fundamenta Informaticae},
    year = {2008},
    volume = {Volume 85},
    pages = {123-137},
    number = {1-4},
    abstract = {Common approaches for robot navigation use Bayesian filters like particle
    filters, Kalman filters and their extended forms. We present an alternative
    and supplementing approach using constraint techniques based on spatial
    constraints between object positions. This yields several advantages.
    The robot can choose from a variety of belief functions, and the
    computational complexity is decreased by efficient algorithms. The
    paper investigates constraint propagation techniques under the special
    requirements of navigation tasks. Sensor data are noisy, but a lot
    of redundancies can be exploited to improve the quality of the result.
    We introduce two quality measures: The ambiguity measure for constraint
    sets defines the precision, while inconsistencies are measured by
    the inconsistency measure. The measures can be used for evaluating
    the available data and for computing best fitting hypothesis. A constraint
    propagation algorithm is presented.},
    file = {:http\://nbn-resolving.de/urn\:nbn\:de\:kobv\:11-10094810:PDF},
    owner = {mellmann},
    timestamp = {2008.08.05},
    url = {http://iospress.metapress.com/content/2051310891588554/}
    }

  • Memory-based state-estimation
    M. Jüngel and H. Mellmann
    Fundamenta informaticae , vol. Volume 85 , iss. Number 1-4 , pp. 297-311 , 2008 .
    [BibTeX] [Abstract] [PDF]
    In this paper we introduce a state-estimation method that uses a short-term memory to calculate the current state. A common way to solve state estimation problems is to use implementations of the Bayesian algorithm like Kalman filters or particle filters. When implementing a Bayesian filter several problems can arise. One difficulty is to obtain error models for the sensors and for the state transitions. The other difficulty is to find an adequate compromise between the accuracy of the belief probability distribution and the computational costs that are needed to update it. In this paper we show how a short-term memory of perceptions and actions can be used to calculate the state. In contrast to the Bayesian filter, this method does not need an internal representation of the state which is updated by the sensor and motion information. It is shown that this is especially useful when information of sparse sensors (sensors with non-unique measurements with respect of the state) has to be integrated.

    @ARTICLE{FI-JuengelMellmann-08,
    author = {Matthias Jüngel and Heinrich Mellmann},
    title = {Memory-Based State-Estimation},
    journal = {Fundamenta Informaticae},
    year = {2008},
    volume = {Volume 85},
    pages = {297--311},
    number = {Number 1-4},
    abstract = {In this paper we introduce a state-estimation method that uses a short-term
    memory to calculate the current state. A common way to solve state
    estimation problems is to use implementations of the Bayesian algorithm
    like Kalman filters or particle filters. When implementing a Bayesian
    filter several problems can arise. One difficulty is to obtain error
    models for the sensors and for the state transitions. The other difficulty
    is to find an adequate compromise between the accuracy of the belief
    probability distribution and the computational costs that are needed
    to update it. In this paper we show how a short-term memory of perceptions
    and actions can be used to calculate the state. In contrast to the
    Bayesian filter, this method does not need an internal representation
    of the state which is updated by the sensor and motion information.
    It is shown that this is especially useful when information of sparse
    sensors (sensors with non-unique measurements with respect of the
    state) has to be integrated.},
    owner = {mellmann},
    timestamp = {2008.08.05},
    url = {http://iospress.metapress.com/content/2051310891588554/}
    }

  • Using reference objects to improve vision-based bearing measurements
    H. Mellmann, M. Jüngel, and M. Spranger
    Proc. ieee/rsj international conference on intelligent robots and systems iros 2008 , Acropolis Convention Center, Nice, France , 2008 , pp. 3939-3945.
    [BibTeX] [Abstract] [PDF]
    Robots perceiving its environment using cameras usually need a good representation of how the camera is aligned to the body and how the camera is rotated relative to the ground. This is especially important for bearing-based distance measurement. In this paper we show how to use reference objects to improve vision-based distance measurements to objects of unknown size. Several methods for different kinds of reference objects are introduced. These are objects of known size (like a ball), objects extending over the horizon (like goals and beacons), and objects with known shape on the ground (like field lines). We give a detailed description how to determine the rotation of the robot’s camera relative to the ground, provide an error-estimation for all methods and describe the experiments we performed on an Aibo robot.

    @INPROCEEDINGS{IROS-MellmannJuengelSpranger-08,
    author = {Heinrich Mellmann and Matthias Jüngel and Michael Spranger},
    title = {Using Reference Objects to Improve Vision-Based Bearing Measurements},
    booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
    Systems IROS 2008},
    year = {2008},
    pages = {3939--3945},
    address = {Acropolis Convention Center, Nice, France},
    month = {22--26 Sept.},
    publisher = {IEEE},
    abstract = {Robots perceiving its environment using cameras usually need a good
    representation of how the camera is aligned to the body and how the
    camera is rotated relative to the ground. This is especially important
    for bearing-based distance measurement. In this paper we show how
    to use reference objects to improve vision-based distance measurements
    to objects of unknown size. Several methods for different kinds of
    reference objects are introduced. These are objects of known size
    (like a ball), objects extending over the horizon (like goals and
    beacons), and objects with known shape on the ground (like field
    lines). We give a detailed description how to determine the rotation
    of the robot's camera relative to the ground, provide an error-estimation
    for all methods and describe the experiments we performed on an Aibo
    robot.},
    doi = {10.1109/IROS.2008.4651128},
    keywords = {Localization, Computer Vision, Recognition},
    owner = {mellmann},
    timestamp = {2008.08.05}
    }

2007

  • Exploiting Past Experience. Case-Based Decision Support for Soccer Agents
    R. Berger and G. Lämmel
    Proceedings of the 30th annual german conference on artificial intelligence (ki’07) , 2007 .
    [BibTeX]
    @INPROCEEDINGS{berger-laemmel-wall-pass,
    author = {Ralf Berger and Gregor Lämmel},
    title = {Exploiting {Past} {E}xperience. {C}ase-{B}ased {D}ecision {S}upport
    for {S}occer {A}gents},
    booktitle = {Proceedings of the 30th Annual German Conference on Artificial Intelligence
    (KI'07)},
    year = {2007},
    publisher = {Springer},
    owner = {gxy},
    timestamp = {2014.01.27}
    }

  • Cases in robotic soccer.
    H. Burkhard and R. Berger
    Case-based reasoning research and development, proc. 7th international conference on case-based reasoning, iccbr 2007 , 2007 , pp. 1-15.
    [BibTeX]
    @INPROCEEDINGS{BurkhardBerger07Cases,
    author = {Hans-Dieter Burkhard and Ralf Berger},
    title = {Cases in Robotic Soccer.},
    booktitle = {Case-Based Reasoning Research and Development, Proc. 7th International
    Conference on Case-Based Reasoning, ICCBR 2007},
    year = {2007},
    editor = {Rosina O. Weber, Michael M. Richter},
    series = {Lecture Notes in Artificial Intelligence},
    pages = {1--15},
    publisher = {Springer},
    owner = {gxy},
    timestamp = {2014.01.27}
    }

  • Cooperative object localization using line-based percept communication
    D. Göhring
    Robocup 2007: robot soccer world cup xi , 2007 .
    [BibTeX]
    @INPROCEEDINGS{goehring07linerelation,
    author = {Daniel Göhring},
    title = {Cooperative Object Localization Using Line-Based Percept Communication},
    booktitle = {RoboCup 2007: Robot Soccer World Cup XI},
    year = {2007},
    editor = {U. Visser and F. Ribeiro and T. Ohashi and F. Dellaert},
    series = {Lecture Notes in Artificial Intelligence},
    publisher = {Springer},
    owner = {gxy},
    timestamp = {2014.01.27}
    }

  • Cooperative world modeling in dynamic multi-robot environments
    D. Göhring and H. Burkhard
    Fundamenta informaticae , vol. 75 , iss. 1–4 , pp. 281-294 , 2007 .
    [BibTeX]
    @ARTICLE{goehring07relation-funamenta,
    author = {Daniel Göhring and Hans-Dieter Burkhard},
    title = {Cooperative World Modeling in Dynamic Multi-Robot Environments},
    journal = {Fundamenta Informaticae},
    year = {2007},
    volume = {75},
    pages = {281--294},
    number = {1--4},
    owner = {goehring},
    publisher = {IOS Press},
    timestamp = {2007.05.04}
    }

  • Sensor Modeling Using Visual-Object Relation in Multi Robot Object Tracking
    D. Göhring and J. Hoffmann
    Robocup 2006: robot soccer world cup x , 2007 .
    [BibTeX]
    @INPROCEEDINGS{rc-06-objectrelation,
    author = {Daniel Göhring and Jan Hoffmann},
    title = {{S}ensor {M}odeling {U}sing {V}isual-{O}bject {R}elation in {M}ulti
    {R}obot {O}bject {T}racking},
    booktitle = {RoboCup 2006: Robot Soccer World Cup X},
    year = {2007},
    series = {Lecture Notes in Artificial Intelligence},
    publisher = {Springer},
    owner = {gxy},
    timestamp = {2014.01.27}
    }

  • Proprioceptive Motion Modeling for Monte Carlo Localization
    J. Hoffmann
    Robocup 2006: robot soccer world cup x , 2007 .
    [BibTeX]
    @INPROCEEDINGS{rc-06-prop-motion-modelling,
    author = {Jan Hoffmann},
    title = {{P}roprioceptive {M}otion {M}odeling for {M}onte {C}arlo {L}ocalization},
    booktitle = {RoboCup 2006: Robot Soccer World Cup X},
    year = {2007},
    series = {Lecture Notes in Artificial Intelligence},
    publisher = {Springer},
    owner = {gxy},
    timestamp = {2014.01.27}
    }

  • Self-localization using odometry and horizontal bearings to landmarks
    M. Jüngel and M. Risler
    Robocup 2007: robot soccer world cup xi , 2007 .
    [BibTeX]
    @INPROCEEDINGS{RC-JuengelRisler-08,
    author = {Matthias J{\"u}ngel and Max Risler},
    title = {Self-Localization Using Odometry and Horizontal Bearings to Landmarks},
    booktitle = {RoboCup 2007: Robot Soccer World Cup XI},
    year = {2007},
    editor = {U. Visser and F. Ribeiro and T. Ohashi and F. Dellaert},
    series = {Lecture Notes in Artificial Intelligence},
    publisher = {Springer},
    owner = {gxy},
    timestamp = {2014.01.27}
    }

  • Bearing-only localization for mobile robots
    M. Jüngel
    Proceedings of the 2007 international conference on advanced robotics (icar 2007), jeju, korea, , 2007 .
    [BibTeX] [PDF]
    @INPROCEEDINGS{2007-08-icar07-Juengel-BearingOnlyLocalizationForMobileRobots,
    author = {Matthias Jüngel},
    title = {Bearing-Only Localization for Mobile Robots},
    booktitle = {Proceedings of the 2007 International Conference on Advanced Robotics
    (ICAR 2007), Jeju, Korea,},
    year = {2007},
    month = {August},
    file = {2007-08-icar07-Juengel-BearingOnlyLocalizationForMobileRobots.pdf:ATH-papers-pdf\\2007-08-icar07-Juengel-BearingOnlyLocalizationForMobileRobots.pdf:PDF},
    owner = {juengel},
    timestamp = {2007.08.02},
    url = {http://www.robocup.de/aiboteamhumboldt/papers/2007-08-icar07-Juengel-BearingOnlyLocalizationForMobileRobots.pdf}
    }

  • Self-localization based on a short-term memory of bearings and odometry
    M. Jüngel
    Proceedings of the ieee/rsj international conference on intelligent robots and systems (iros 2007) , San Diego , 2007 .
    [BibTeX] [PDF]
    @INPROCEEDINGS{2007-10-iros07-Juengel-SelfLocalizationBasedOnAShortTermMemoryOfBearingsAndOdometry,
    author = {Matthias Jüngel},
    title = {Self-Localization Based on a Short-Term Memory of Bearings and Odometry},
    booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent
    Robots and Systems (IROS 2007)},
    year = {2007},
    address = {San Diego},
    month = {October},
    file = {2007-10-iros07-Juengel-SelfLocalizationBasedOnAShortTermMemoryOfBearingsAndOdometry.pdf:ATH-papers-pdf\\2007-10-iros07-Juengel-SelfLocalizationBasedOnAShortTermMemoryOfBearingsAndOdometry.pdf:PDF},
    owner = {juengel},
    timestamp = {2007.08.02},
    url = {http://www.robocup.de/aiboteamhumboldt/papers/2007-10-iros07-Juengel-SelfLocalizationBasedOnAShortTermMemoryOfBearingsAndOdometry.pdf}
    }

  • Improving vision-based distance measurements using reference objects
    M. Jüngel, H. Mellmann, and M. Spranger
    Robocup 2007: robot soccer world cup xi , 2007 , pp. 89-100.
    [BibTeX] [Abstract] [PDF]
    Robots perceiving their environment using cameras usually need a good representation of how the camera is aligned to the body and how the camera is rotated relative to the ground. This is especially important for bearing-based distance measurements. In this paper we show how to use reference objects to improve vision-based distance measurements to objects of unknown size. Several methods for different kinds of reference objects are introduced. These are objects of known size (like a ball), objects extending over the horizon (like goals and beacons), and objects with known shape on the ground (like field lines). We give a detailed description how to determine the rotation of the robot’s camera relative to the ground, provide an error-estimation for all methods and describe the experiments we performed on an Aibo robot.

    @INPROCEEDINGS{RC-JuengelMellmannSpranger-07,
    author = {Matthias Jüngel and Heinrich Mellmann and Michael Spranger},
    title = {Improving Vision-Based Distance Measurements using Reference Objects},
    booktitle = {RoboCup 2007: Robot Soccer World Cup XI},
    year = {2007},
    editor = {Ubbo Visser and Fernando Ribeiro and Takeshi Ohashi and Frank Dellaert},
    volume = {Volume 5001/2008},
    series = {Lecture Notes in Computer Science},
    pages = {89--100},
    publisher = {Springer Berlin / Heidelberg},
    abstract = {Robots perceiving their environment using cameras usually need a good
    representation of how the camera is aligned to the body and how the
    camera is rotated relative to the ground. This is especially important
    for bearing-based distance measurements. In this paper we show how
    to use reference objects to improve vision-based distance measurements
    to objects of unknown size. Several methods for different kinds of
    reference objects are introduced. These are objects of known size
    (like a ball), objects extending over the horizon (like goals and
    beacons), and objects with known shape on the ground (like field
    lines). We give a detailed description how to determine the rotation
    of the robot's camera relative to the ground, provide an error-estimation
    for all methods and describe the experiments we performed on an Aibo
    robot.},
    doi = {10.1007/978-3-540-68847-1},
    keywords = {RoboCup, humanoid robots, Aibo, camera matrix, reference objects},
    owner = {mellmann},
    timestamp = {Freitag, 18. Juli 2008},
    url = {http://www.springerlink.com/content/y4730241r836k4l5}
    }

  • GermanTeam 2007 – The German national RoboCup team
    T. Röfer, J. Brose, D. Göhring, M. Jüngel, T. Laue, and M. Risler
    Robocup 2007: robot soccer world cup xi preproceedings , 2007 .
    [BibTeX]
    @INPROCEEDINGS{2007:RoboCup-TDP-GermanTeam,
    author = {T. R\"ofer and J. Brose and D. G\"ohring and M. J\"ungel and T. Laue
    and M. Risler},
    title = {German{T}eam 2007 - {T}he {G}erman National {R}obo{C}up Team},
    booktitle = { RoboCup 2007: Robot Soccer World Cup XI Preproceedings },
    year = {2007},
    publisher = { RoboCup Federation },
    owner = {gxy},
    timestamp = {2014.01.27}
    }

2006

  • Die Doppelpass-Architektur. Verhaltenssteuerung autonomer Agenten in dynamischen Umgebungen
    R. Berger , Diploma Thesis , Humboldt-Universität zu Berlin, Institut für Informatik , 2006 , (in German).
    [BibTeX]
    @MASTERSTHESIS{diplom-berger,
    author = {Ralf Berger},
    title = {Die {D}oppelpass-{A}rchitektur. {V}erhaltenssteuerung autonomer {A}genten
    in dynamischen {U}mgebungen},
    school = {Humboldt-Universität zu Berlin, Institut für Informatik},
    year = {2006},
    type = {Diploma Thesis},
    note = {(in German)},
    owner = {gxy},
    timestamp = {2014.01.27}
    }

  • Distributed object modeling using object relations in dynamic environments
    D. Göhring
    Proceedings of concurrency, specification and programming (cs&p 2006) , 2006 .
    [BibTeX]
    @INPROCEEDINGS{goehring06csp,
    author = {Daniel Göhring},
    title = {Distributed Object Modeling Using Object Relations in Dynamic Environments},
    booktitle = {Proceedings of Concurrency, Specification and Programming (CS\&P
    2006)},
    year = {2006},
    owner = {goehring},
    timestamp = {2007.05.04}
    }

  • Multi robot object tracking and self localization using visual percept relations
    D. Göhring and H. Burkhard
    Proceedings of ieee/rsj international conference of intelligent robots and systems (iros), pages 31–36 , 2006 .
    [BibTeX]
    @INPROCEEDINGS{goehring06irosrelation,
    author = {Daniel Göhring and Hans-Dieter Burkhard},
    title = {Multi Robot Object Tracking and Self Localization Using Visual Percept
    Relations},
    booktitle = {Proceedings of IEEE/RSJ International Conference of Intelligent Robots
    and Systems (IROS), pages 31--36},
    year = {2006},
    publisher = {IEEE},
    owner = {goehring},
    timestamp = {2007.01.11}
    }

  • Further studies on the use of negative information
    J. Hoffmann, M. Spranger, D. Göhring, Matthias Jüngel, and H. Burkhard
    Proceedings of the 2006 ieee international conference on robotics and automation (icra) ieee , 2006 .
    [BibTeX]
    @INPROCEEDINGS{hoffmann_et_al_ICRA2006,
    author = {Jan Hoffmann and Michael Spranger and Daniel Göhring and Matthias
    Jüngel and Hans-Dieter Burkhard},
    title = {Further Studies On The Use Of Negative Information},
    booktitle = {Proceedings of the 2006 IEEE International Conference on Robotics
    and Automation (ICRA) IEEE},
    year = {2006},
    owner = {gxy},
    timestamp = {2014.01.27}
    }

  • Xabsl – a pragmatic approach to behavior engineering
    M. Lötzsch, M. Risler, and M. Jüngel
    Proceedings of ieee/rsj international conference of intelligent robots and systems (iros) , Beijing, China , 2006 , pp. 5124-5129.
    [BibTeX]
    @INPROCEEDINGS{2006:IROSLoetzschRislerJuengel,
    author = {M. Lötzsch and M. Risler and M. Jüngel},
    title = {XABSL - A Pragmatic Approach to Behavior Engineering},
    booktitle = {Proceedings of IEEE/RSJ International Conference of Intelligent Robots
    and Systems (IROS)},
    year = {2006},
    pages = {5124-5129},
    address = {Beijing, China},
    month = {October 9-15},
    owner = {gxy},
    timestamp = {2014.01.27}
    }

2005

  • Programming Bounded Rationality
    H. D. Burkhard
    Proceedings of the international workshop on monitoring, security, and rescue techniques in multiagent systems (msras 2004) , 2005 , pp. 347-362.
    [BibTeX]
    @INPROCEEDINGS{hdb-bound-rat,
    author = {Hans Dieter Burkhard},
    title = {Programming {B}ounded {R}ationality},
    booktitle = {Proceedings of the International Workshop on Monitoring, Security,
    and Rescue Techniques in Multiagent Systems (MSRAS 2004)},
    year = {2005},
    pages = {347--362},
    publisher = {Springer},
    owner = {gxy},
    timestamp = {2014.01.27}
    }

2004

  • Vierbeiniges Laufen: Modellierung und Optimierung von Roboterbewegungen
    U. Düffert , Diploma Thesis , Humboldt-Universität zu Berlin , 2004 , (in German).
    [BibTeX]
    @MASTERSTHESIS{DiplomaThesis-Dueffert-04,
    author = {Uwe Düffert},
    title = {{V}ierbeiniges {L}aufen: {M}odellierung und {O}ptimierung von {R}oboterbewegungen},
    school = {Humboldt-Universität zu Berlin},
    year = {2004},
    type = {Diploma Thesis},
    note = {(in German)},
    owner = {gxy},
    timestamp = {2014.01.27}
    }