@inproceedings{NikolovskiLimpertNessauetal.2023,
  author    = {Nikolovski, Gjorgji and Limpert, Nicolas and Nessau, Hendrik and Reke, Michael and Ferrein, Alexander},
  title     = {Model-predictive control with parallelised optimisation for the navigation of autonomous mining vehicles},
  series = {2023 IEEE Intelligent Vehicles Symposium (IV)},
  booktitle = {2023 IEEE Intelligent Vehicles Symposium (IV)},
  publisher = {IEEE},
  isbn      = {979-8-3503-4691-6 (Online)},
  doi       = {10.1109/IV55152.2023.10186806},
  pages     = {6 Seiten},
  year      = {2023},
  abstract  = {The work in modern open-pit and underground mines requires the transportation of large amounts of resources between fixed points. The navigation to these fixed points is a repetitive task that can be automated. The challenge in automating the navigation of vehicles commonly used in mines is the systemic properties of such vehicles. Many mining vehicles, such as the one we have used in the research for this paper, use steering systems with an articulated joint bending the vehicle's drive axis to change its course and a hydraulic drive system to actuate axial drive components or the movements of tippers if available. To address the difficulties of controlling such a vehicle, we present a model-predictive approach for controlling the vehicle. While the control optimisation based on a parallel error minimisation of the predicted state has already been established in the past, we provide insight into the design and implementation of an MPC for an articulated mining vehicle and show the results of real-world experiments in an open-pit mine environment.},
  language  = {en}
}
@inproceedings{EichenbaumNikolovskiMuelhensetal.2023,
  author    = {Eichenbaum, Julian and Nikolovski, Gjorgji and M{\"u}lhens, Leon and Reke, Michael and Ferrein, Alexander and Scholl, Ingrid},
  title     = {Towards a lifelong mapping approach using Lanelet 2 for autonomous open-pit mine operations},
  series = {2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)},
  booktitle = {2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)},
  publisher = {IEEE},
  isbn      = {979-8-3503-2069-5 (Online)},
  doi       = {10.1109/CASE56687.2023.10260526},
  pages     = {8 Seiten},
  year      = {2023},
  abstract  = {Autonomous agents require rich environment models for fulfilling their missions. High-definition maps are a well-established map format which allows for representing semantic information besides the usual geometric information of the environment. These are, for instance, road shapes, road markings, traffic signs or barriers. The geometric resolution of HD maps can be as precise as of centimetre level. In this paper, we report on our approach of using HD maps as a map representation for autonomous load-haul-dump vehicles in open-pit mining operations. As the mine undergoes constant change, we also need to constantly update the map. Therefore, we follow a lifelong mapping approach for updating the HD maps based on camera-based object detection and GPS data. We show our mapping algorithm based on the Lanelet 2 map format and show our integration with the navigation stack of the Robot Operating System. We present experimental results on our lifelong mapping approach from a real open-pit mine.},
  language  = {en}
}
@inproceedings{ViehmannLimpertHofmannetal.2023,
  author    = {Viehmann, Tarik and Limpert, Nicolas and Hofmann, Till and Henning, Mike and Ferrein, Alexander and Lakemeyer, Gerhard},
  title     = {Winning the RoboCup logistics league with visual servoing and centralized goal reasoning},
  series = {RoboCup 2022},
  booktitle = {RoboCup 2022},
  editor    = {Eguchi, Amy and Lau, Nuno and Paetzel-Pr{\"u}smann, Maike and Wanichanon, Thanapat},
  publisher = {Springer},
  address   = {Cham},
  isbn      = {978-3-031-28468-7 (Print)},
  doi       = {https://doi.org/10.1007/978-3-031-28469-4_25},
  pages     = {300 -- 312},
  year      = {2023},
  abstract  = {The RoboCup Logistics League (RCLL) is a robotics competition in a production logistics scenario in the context of a Smart Factory. In the competition, a team of three robots needs to assemble products to fulfill various orders that are requested online during the game. This year, the Carologistics team was able to win the competition with a new approach to multi-agent coordination as well as significant changes to the robot's perception unit and a pragmatic network setup using the cellular network instead of WiFi. In this paper, we describe the major components of our approach with a focus on the changes compared to the last physical competition in 2019.},
  language  = {en}
}
@inproceedings{ArndtConzenElsenetal.2023,
  author    = {Arndt, Tobias and Conzen, Max and Elsen, Ingo and Ferrein, Alexander and Galla, Oskar and K{\"o}se, Hakan and Schiffer, Stefan and Tschesche, Matteo},
  title     = {Anomaly detection in the metal-textile industry for the reduction of the cognitive load of quality control workers},
  series = {PETRA '23: Proceedings of the 16th International Conference on PErvasive Technologies Related to Assistive Environments},
  booktitle = {PETRA '23: Proceedings of the 16th International Conference on PErvasive Technologies Related to Assistive Environments},
  publisher = {ACM},
  isbn      = {9798400700699},
  doi       = {10.1145/3594806.3596558},
  pages     = {535 -- 542},
  year      = {2023},
  abstract  = {This paper presents an approach for reducing the cognitive load for humans working in quality control (QC) for production processes that adhere to the 6σ -methodology. While 100\% QC requires every part to be inspected, this task can be reduced when a human-in-the-loop QC process gets supported by an anomaly detection system that only presents those parts for manual inspection that have a significant likelihood of being defective. This approach shows good results when applied to image-based QC for metal textile products.},
  language  = {en}
}
@article{SchulteTiggesFoersterNikolovskietal.2022,
  author    = {Schulte-Tigges, Joschua and F{\"o}rster, Marco and Nikolovski, Gjorgji and Reke, Michael and Ferrein, Alexander and Kaszner, Daniel and Matheis, Dominik and Walter, Thomas},
  title     = {Benchmarking of various LiDAR sensors for use in self-driving vehicles in real-world environments},
  series = {Sensors},
  volume    = {22},
  journal   = {Sensors},
  number    = {19},
  publisher = {MDPI},
  address   = {Basel},
  issn      = {1424-8220},
  doi       = {10.3390/s22197146},
  pages     = {20 Seiten},
  year      = {2022},
  abstract  = {Abstract In this paper, we report on our benchmark results of the LiDAR sensors Livox Horizon, Robosense M1, Blickfeld Cube, Blickfeld Cube Range, Velodyne Velarray H800, and Innoviz Pro. The idea was to test the sensors in different typical scenarios that were defined with real-world use cases in mind, in order to find a sensor that meet the requirements of self-driving vehicles. For this, we defined static and dynamic benchmark scenarios. In the static scenarios, both LiDAR and the detection target do not move during the measurement. In dynamic scenarios, the LiDAR sensor was mounted on the vehicle which was driving toward the detection target. We tested all mentioned LiDAR sensors in both scenarios, show the results regarding the detection accuracy of the targets, and discuss their usefulness for deployment in self-driving cars.},
  language  = {en}
}
@inproceedings{ChajanSchulteTiggesRekeetal.2021,
  author    = {Chajan, Eduard and Schulte-Tigges, Joschua and Reke, Michael and Ferrein, Alexander and Matheis, Dominik and Walter, Thomas},
  title     = {GPU based model-predictive path control for self-driving vehicles},
  series = {IEEE Intelligent Vehicles Symposium (IV)},
  booktitle = {IEEE Intelligent Vehicles Symposium (IV)},
  publisher = {IEEE},
  isbn      = {978-1-7281-5394-0},
  doi       = {10.1109/IV48863.2021.9575619},
  pages     = {1243 -- 1248},
  year      = {2021},
  abstract  = {One central challenge for self-driving cars is a proper path-planning. Once a trajectory has been found, the next challenge is to accurately and safely follow the precalculated path. The model-predictive controller (MPC) is a common approach for the lateral control of autonomous vehicles. The MPC uses a vehicle dynamics model to predict the future states of the vehicle for a given prediction horizon. However, in order to achieve real-time path control, the computational load is usually large, which leads to short prediction horizons. To deal with the computational load, the control algorithm can be parallelized on the graphics processing unit (GPU). In contrast to the widely used stochastic methods, in this paper we propose a deterministic approach based on grid search. Our approach focuses on systematically discovering the search area with different levels of granularity. To achieve this, we split the optimization algorithm into multiple iterations. The best sequence of each iteration is then used as an initial solution to the next iteration. The granularity increases, resulting in smooth and predictable steering angle sequences. We present a novel GPU-based algorithm and show its accuracy and realtime abilities with a number of real-world experiments.},
  language  = {en}
}
@inproceedings{FerreinMeessenLimpertetal.2021,
  author    = {Ferrein, Alexander and Meeßen, Marcus and Limpert, Nicolas and Schiffer, Stefan},
  title     = {Compiling ROS Schooling Curricula via Contentual Taxonomies},
  series = {Robotics in Education},
  booktitle = {Robotics in Education},
  editor    = {Lepuschitz, Wilfried},
  publisher = {Springer},
  address   = {Cham},
  isbn      = {978-3-030-67411-3},
  doi       = {10.1007/978-3-030-67411-3_5},
  pages     = {49 -- 60},
  year      = {2021},
  language  = {en}
}
@inproceedings{DeyElsenFerreinetal.2021,
  author    = {Dey, Thomas and Elsen, Ingo and Ferrein, Alexander and Frauenrath, Tobias and Reke, Michael and Schiffer, Stefan},
  title     = {CO2 Meter: a do-it-yourself carbon dioxide measuring device for the classroom},
  series = {PETRA 2021: The 14th PErvasive Technologies Related to Assistive Environments Conference},
  booktitle = {PETRA 2021: The 14th PErvasive Technologies Related to Assistive Environments Conference},
  editor    = {Makedon, Fillia},
  publisher = {Association for Computing Machinery},
  address   = {New York},
  isbn      = {9781450387927},
  doi       = {10.1145/3453892.3462697},
  pages     = {292 -- 299},
  year      = {2021},
  abstract  = {In this paper we report on CO2 Meter, a do-it-yourself carbon dioxide measuring device for the classroom. Part of the current measures for dealing with the SARS-CoV-2 pandemic is proper ventilation in indoor settings. This is especially important in schools with students coming back to the classroom even with high incidents rates. Static ventilation patterns do not consider the individual situation for a particular class. Influencing factors like the type of activity, the physical structure or the room occupancy are not incorporated. Also, existing devices are rather expensive and often provide only limited information and only locally without any networking. This leaves the potential of analysing the situation across different settings untapped. Carbon dioxide level can be used as an indicator of air quality, in general, and of aerosol load in particular. Since, according to the latest findings, SARS-CoV-2 can be transmitted primarily in the form of aerosols, carbon dioxide may be used as a proxy for the risk of a virus infection. Hence, schools could improve the indoor air quality and potentially reduce the infection risk if they actually had measuring devices available in the classroom. Our device supports schools in ventilation and it allows for collecting data over the Internet to enable a detailed data analysis and model generation. First deployments in schools at different levels were received very positively. A pilot installation with a larger data collection and analysis is underway.},
  language  = {en}
}
@inproceedings{EltesterFerreinSchiffer2020,
  author    = {Eltester, Niklas Sebastian and Ferrein, Alexander and Schiffer, Stefan},
  title     = {A smart factory setup based on the RoboCup logistics league},
  series = {2020 IEEE Conference on Industrial Cyberphysical Systems (ICPS)},
  booktitle = {2020 IEEE Conference on Industrial Cyberphysical Systems (ICPS)},
  publisher = {IEEE},
  doi       = {10.1109/ICPS48405.2020.9274766},
  pages     = {297 -- 302},
  year      = {2020},
  abstract  = {In this paper we present SMART-FACTORY, a setup for a research and teaching facility in industrial robotics that is based on the RoboCup Logistics League. It is driven by the need for developing and applying solutions for digital production. Digitization receives constantly increasing attention in many areas, especially in industry. The common theme is to make things smart by using intelligent computer technology. Especially in the last decade there have been many attempts to improve existing processes in factories, for example, in production logistics, also with deploying cyber-physical systems. An initiative that explores challenges and opportunities for robots in such a setting is the RoboCup Logistics League. Since its foundation in 2012 it is an international effort for research and education in an intra-warehouse logistics scenario. During seven years of competition a lot of knowledge and experience regarding autonomous robots was gained. This knowledge and experience shall provide the basis for further research in challenges of future production. The focus of our SMART-FACTORY is to create a stimulating environment for research on logistics robotics, for teaching activities in computer science and electrical engineering programmes as well as for industrial users to study and explore the feasibility of future technologies. Building on a very successful history in the RoboCup Logistics League we aim to provide stakeholders with a dedicated facility oriented at their individual needs.},
  language  = {en}
}
@inproceedings{KirschMatareFerreinetal.2020,
  author    = {Kirsch, Maximilian and Matar{\´e}, Victor and Ferrein, Alexander and Schiffer, Stefan},
  title     = {Integrating golog++ and ROS for Practical and Portable High-level Control},
  series = {12th International Conference on Agents and Artificial Intelligence},
  booktitle = {12th International Conference on Agents and Artificial Intelligence},
  doi       = {10.5220/0008984406920699},
  year      = {2020},
  language  = {en}
}
@inproceedings{RekePeterSchulteTiggesetal.2020,
  author    = {Reke, Michael and Peter, Daniel and Schulte-Tigges, Joschua and Schiffer, Stefan and Ferrein, Alexander and Walter, Thomas and Matheis, Dominik},
  title     = {A Self-Driving Car Architecture in ROS2},
  series = {2020 International SAUPEC/RobMech/PRASA Conference, Cape Town, South Africa},
  booktitle = {2020 International SAUPEC/RobMech/PRASA Conference, Cape Town, South Africa},
  isbn      = {978-1-7281-4162-6},
  doi       = {10.1109/SAUPEC/RobMech/PRASA48453.2020.9041020},
  pages     = {1 -- 6},
  year      = {2020},
  language  = {en}
}
@inproceedings{MatareSchifferFerrein2019,
  author    = {Matar{\´e}, Victor and Schiffer, Stefan and Ferrein, Alexander},
  title     = {golog++ : An integrative system design},
  series = {CogRob 2018. Cognitive Robotics Workshop : Proceedings of the 11th Cognitive Robotics Workshop 2018 co-located with 16th International Conference on Principles of Knowledge Representation and Reasoning (KR 2018) Tempe, AZ, USA, October 27th, 2018},
  booktitle = {CogRob 2018. Cognitive Robotics Workshop : Proceedings of the 11th Cognitive Robotics Workshop 2018 co-located with 16th International Conference on Principles of Knowledge Representation and Reasoning (KR 2018) Tempe, AZ, USA, October 27th, 2018},
  editor    = {Steinbauer, Gerald and Ferrein, Alexander},
  issn      = {1613-0073},
  pages     = {29 -- 35},
  year      = {2019},
  language  = {en}
}
@inproceedings{AlhwarinFerreinScholl2019,
  author    = {Alhwarin, Faraj and Ferrein, Alexander and Scholl, Ingrid},
  title     = {An Efficient Hashing Algorithm for NN Problem in HD Spaces},
  series = {Lecture Notes in Computer Science},
  booktitle = {Lecture Notes in Computer Science},
  isbn      = {978-303005498-4},
  doi       = {10.1007/978-3-030-05499-1_6},
  pages     = {101 -- 115},
  year      = {2019},
  language  = {en}
}
@inproceedings{FerreinSchollNeumannetal.2019,
  author    = {Ferrein, Alexander and Scholl, Ingrid and Neumann, Tobias and Kr{\"u}ckel, Kai and Schiffer, Stefan},
  title     = {A system for continuous underground site mapping and exploration},
  doi       = {10.5772/intechopen.85859},
  pages     = {16 Seiten},
  year      = {2019},
  language  = {en}
}
@inproceedings{FerreinBharatheeshaSchifferetal.2019,
  author    = {Ferrein, Alexander and Bharatheesha, Mukunda and Schiffer, Stefan and Corbato, Carlos Hernandez},
  title     = {TRROS 2018 : Teaching Robotics with ROS Workshop at ERF 2018; Proceedings of the Workshop on Teaching Robotics with ROS (held at ERF 2018), co-located with European Robotics Forum 2018 (ERF 2018), Tampere, Finland, March 15th, 2018},
  series = {CEUR Workshop Proceedings},
  booktitle = {CEUR Workshop Proceedings},
  number    = {Vol-2329},
  issn      = {1613-0073},
  pages     = {68 Seiten},
  year      = {2019},
  language  = {en}
}
@inproceedings{AlhwarinSchifferFerreinetal.2019,
  author    = {Alhwarin, Faraj and Schiffer, Stefan and Ferrein, Alexander and Scholl, Ingrid},
  title     = {An Optimized Method for 3D Body Scanning Applications Based on KinectFusion},
  series = {Communications in Computer and Information Science},
  volume    = {1024},
  booktitle = {Communications in Computer and Information Science},
  publisher = {Springer},
  issn      = {1865-0929},
  doi       = {10.1007/978-3-030-29196-9_6},
  pages     = {100 -- 113},
  year      = {2019},
  language  = {en}
}
@article{ClaerFerreinSchiffer2019,
  author    = {Claer, Mario and Ferrein, Alexander and Schiffer, Stefan},
  title     = {Calibration of a Rotating or Revolving Platform with a LiDAR Sensor},
  series = {Applied Sciences},
  volume    = {Volume 9},
  journal   = {Applied Sciences},
  number    = {issue 11, 2238},
  publisher = {MDPI},
  address   = {Basel},
  issn      = {2076-3417},
  doi       = {10.3390/app9112238},
  pages     = {18 Seiten},
  year      = {2019},
  language  = {en}
}
@inproceedings{DonnerRabelScholletal.2019,
  author    = {Donner, Ralf and Rabel, Matthias and Scholl, Ingrid and Ferrein, Alexander and Donner, Marc and Geier, Andreas and John, Andr{\´e} and K{\"o}hler, Christian and Varga, Sebastian},
  title     = {Die Extraktion bergbaulich relevanter Merkmale aus 3D-Punktwolken eines untertagetauglichen mobilen Multisensorsystems},
  series = {Tagungsband Geomonitoring},
  booktitle = {Tagungsband Geomonitoring},
  doi       = {10.15488/4515},
  pages     = {91 -- 110},
  year      = {2019},
  language  = {de}
}
@inproceedings{SteinbauerFerrein2019,
  author    = {Steinbauer, Gerald and Ferrein, Alexander},
  title     = {CogRob 2018 : Cognitive Robotics Workshop. Proceedings of the 11th Cognitive Robotics Workshop 2018 co-located with 16th International Conference on Principles of Knowledge Representation and Reasoning (KR 2018). Tempe, AZ, USA, October 27th, 2018.},
  series = {CEUR workshop proceedings},
  booktitle = {CEUR workshop proceedings},
  number    = {Vol-2325},
  issn      = {1613-0073},
  pages     = {46 Seiten},
  year      = {2019},
  language  = {en}
}
@inproceedings{HofmannLimpertMatareetal.2019,
  author    = {Hofmann, Till and Limpert, Nicolas and Matar{\´e}, Viktor and Ferrein, Alexander and Lakemeyer, Gerhard},
  title     = {Winning the RoboCup Logistics League with Fast Navigation, Precise Manipulation, and Robust Goal Reasoning},
  series = {RoboCup 2019: Robot World Cup XXIII. RoboCup},
  booktitle = {RoboCup 2019: Robot World Cup XXIII. RoboCup},
  publisher = {Springer},
  address   = {Cham},
  isbn      = {978-3-030-35699-6},
  doi       = {10.1007/978-3-030-35699-6_41},
  pages     = {504 -- 516},
  year      = {2019},
  language  = {en}
}
@article{LimpertWiesenFerreinetal.2019,
  author    = {Limpert, Nicolas and Wiesen, Patrick and Ferrein, Alexander and Kallweit, Stephan and Schiffer, Stefan},
  title     = {The ROSIN Project and its Outreach to South Africa},
  series = {R\&D Journal},
  volume    = {35},
  journal   = {R\&D Journal},
  pages     = {1 -- 6},
  year      = {2019},
  language  = {en}
}
@inproceedings{AlhwarinFerreinScholl2018,
  author    = {Alhwarin, Faraj and Ferrein, Alexander and Scholl, Ingrid},
  title     = {CRVM: Circular Random Variable-based Matcher - A Novel Hashing Method for Fast NN Search in High-dimensional Spaces},
  series = {Proceedings of the 7th International Conference on Pattern Recognition Applications and Methods, ICPRAM 2018},
  booktitle = {Proceedings of the 7th International Conference on Pattern Recognition Applications and Methods, ICPRAM 2018},
  isbn      = {978-989-758-276-9},
  doi       = {10.5220/0006692802140221},
  pages     = {214 -- 221},
  year      = {2018},
  language  = {en}
}
@inproceedings{AlhwarinSchifferFerreinetal.2018,
  author    = {Alhwarin, Faraj and Schiffer, Stefan and Ferrein, Alexander and Scholl, Ingrid},
  title     = {Optimized KinectFusion Algorithm for 3D Scanning Applications},
  series = {Proceedings of the 11th International Joint Conference on Biomedical Engineering Systems and Technologies - Volume 2: BIOIMAGING},
  booktitle = {Proceedings of the 11th International Joint Conference on Biomedical Engineering Systems and Technologies - Volume 2: BIOIMAGING},
  isbn      = {978-989-758-278-3},
  doi       = {10.5220/0006594700500057},
  pages     = {50 -- 57},
  year      = {2018},
  language  = {en}
}
@inproceedings{HofmannMatareSchifferetal.2018,
  author    = {Hofmann, Till and Matar{\´e}, Victor and Schiffer, Stefan and Ferrein, Alexander and Lakemeyer, Gerhard},
  title     = {Constraint-based online transformation of abstract plans into executable robot actions},
  series = {Proceedings of the 2018 AAAI Spring Symposium on Integrating Representation, Reasoning, Learning, and Execution for Goal Directed Autonomy},
  booktitle = {Proceedings of the 2018 AAAI Spring Symposium on Integrating Representation, Reasoning, Learning, and Execution for Goal Directed Autonomy},
  pages     = {549 -- 553},
  year      = {2018},
  language  = {en}
}
@inproceedings{FerreinSchifferKallweit2018,
  author    = {Ferrein, Alexander and Schiffer, Stefan and Kallweit, Stephan},
  title     = {The ROSIN Education Concept - Fostering ROS Industrial-Related Robotics Education in Europe},
  series = {ROBOT 2017: Third Iberian Robotics Conference},
  booktitle = {ROBOT 2017: Third Iberian Robotics Conference},
  publisher = {Springer},
  address   = {Cham},
  isbn      = {978-3-319-70836-2},
  doi       = {10.1007/978-3-319-70836-2_31},
  pages     = {370 -- 381},
  year      = {2018},
  language  = {en}
}
@inproceedings{HofmannMatareNeumannetal.2018,
  author    = {Hofmann, Till and Matar{\´e}, Victor and Neumann, Tobias and Sch{\"o}nitz, Sebastian and Henke, Christoph and Limpert, Nicolas and Niemueller, Tim and Ferrein, Alexander and Jeschke, Sabina and Lakemeyer, Gerhard},
  title     = {Enhancing Software and Hardware Reliability for a Successful Participation in the RoboCup Logistics League 2017},
  publisher = {Springer},
  address   = {Cham},
  isbn      = {978-3-030-00308-1},
  doi       = {10.1007/978-3-030-00308-1_40},
  pages     = {486 -- 497},
  year      = {2018},
  language  = {en}
}
@article{SchifferFerrein2018,
  author    = {Schiffer, Stefan and Ferrein, Alexander},
  title     = {ERIKA—Early Robotics Introduction at Kindergarten Age},
  series = {Multimodal Technologies Interact},
  volume    = {2},
  journal   = {Multimodal Technologies Interact},
  number    = {4},
  publisher = {MDPI},
  address   = {Basel},
  issn      = {2414-4088},
  doi       = {10.3390/mti2040064},
  pages     = {15},
  year      = {2018},
  abstract  = {In this work, we report on our attempt to design and implement an early introduction to basic robotics principles for children at kindergarten age. One of the main challenges of this effort is to explain complex robotics contents in a way that pre-school children could follow the basic principles and ideas using examples from their world of experience. What sets apart our effort from other work is that part of the lecturing is actually done by a robot itself and that a quiz at the end of the lesson is done using robots as well. The humanoid robot Pepper from Softbank, which is a great platform for human-robot interaction experiments, was used to present a lecture on robotics by reading out the contents to the children making use of its speech synthesis capability. A quiz in a Runaround-game-show style after the lecture activated the children to recap the contents they acquired about how mobile robots work in principle. In this quiz, two LEGO Mindstorm EV3 robots were used to implement a strongly interactive scenario. Besides the thrill of being exposed to a mobile robot that would also react to the children, they were very excited and at the same time very concentrated. We got very positive feedback from the children as well as from their educators. To the best of our knowledge, this is one of only few attempts to use a robot like Pepper not as a tele-teaching tool, but as the teacher itself in order to engage pre-school children with complex robotics contents.},
  language  = {en}
}
@article{HofmannLimpertMatareetal.2018,
  author    = {Hofmann, Till and Limpert, Nicolas and Matar{\´e}, Victor and Sch{\"o}nitz, Sebastian and Niemueller, Tim and Ferrein, Alexander and Lakemeyer, Gerhard},
  title     = {The Carologistics RoboCup Logistics Team 2018},
  year      = {2018},
  abstract  = {The Carologistics team participates in the RoboCup Logistics League for the seventh year. The RCLL requires precise vision, manipulation and path planning, as well as complex high-level decision making and multi-robot coordination. We outline our approach with an emphasis on recent modifications to those components. The team members in 2018 are David Bosen, Christoph Gollok, Mostafa Gomaa, Daniel Habering, Till Hofmann, Nicolas Limpert, Sebastian Sch{\"o}nitz, Morian Sonnet, Carsten Stoffels, and Tarik Viehmann. This paper is based on the last year's team description.},
  language  = {en}
}
@inproceedings{NiemuellerNeumannHenkeetal.2017,
  author    = {Niemueller, Tim and Neumann, Tobias and Henke, Christoph and Sch{\"o}nitz, Sebastian and Reuter, Sebastian and Ferrein, Alexander and Jeschke, Sabina and Lakemeyer, Gerhard},
  title     = {Improvements for a robust production in the RoboCup logistics league 2016},
  series = {RoboCup 2016: Robot World Cup XX. RoboCup 2016.},
  booktitle = {RoboCup 2016: Robot World Cup XX. RoboCup 2016.},
  publisher = {Springer},
  address   = {Cham},
  isbn      = {978-3-319-68792-6},
  doi       = {10.1007/978-3-319-68792-6_49},
  pages     = {589 -- 600},
  year      = {2017},
  language  = {en}
}
@article{NiemuellerKarrasFerrein2017,
  author    = {Niemueller, Tim and Karras, Ulrich and Ferrein, Alexander},
  title     = {Meisterschaft der Maschinen: Die Industrial Logistic Liga},
  series = {C´t Magazin f{\"u}r Computertechnik},
  journal   = {C´t Magazin f{\"u}r Computertechnik},
  number    = {26},
  year      = {2017},
  language  = {de}
}
@incollection{NiemuellerZwillingLakemeyeretal.2017,
  author    = {Niemueller, Tim and Zwilling, Frederik and Lakemeyer, Gerhard and L{\"o}bach, Matthias and Reuter, Sebastian and Jeschke, Sabina and Ferrein, Alexander},
  title     = {Cyber-Physical System Intelligence},
  series = {Industrial Internet of Things},
  booktitle = {Industrial Internet of Things},
  publisher = {Springer},
  address   = {Cham},
  isbn      = {978-3-319-42559-7},
  doi       = {10.1007/978-3-319-42559-7_17},
  pages     = {447 -- 472},
  year      = {2017},
  abstract  = {Cyber-physical systems are ever more common in manufacturing industries. Increasing their autonomy has been declared an explicit goal, for example, as part of the Industry 4.0 vision. To achieve this system intelligence, principled and software-driven methods are required to analyze sensing data, make goal-directed decisions, and eventually execute and monitor chosen tasks. In this chapter, we present a number of knowledge-based approaches to these problems and case studies with in-depth evaluation results of several different implementations for groups of autonomous mobile robots performing in-house logistics in a smart factory. We focus on knowledge-based systems because besides providing expressive languages and capable reasoning techniques, they also allow for explaining how a particular sequence of actions came about, for example, in the case of a failure.},
  language  = {en}
}
@inproceedings{StopforthDavrajhFerrein2017,
  author    = {Stopforth, Riaan and Davrajh, Shaniel and Ferrein, Alexander},
  title     = {South African robotics entity for a collaboration initiative},
  series = {Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference (PRASA-RobMech), 2016},
  booktitle = {Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference (PRASA-RobMech), 2016},
  publisher = {IEEE},
  isbn      = {978-1-5090-3335-5},
  doi       = {10.1109/RoboMech.2016.7813144},
  pages     = {1 -- 6},
  year      = {2017},
  language  = {en}
}
@inproceedings{WalentaSchellekensFerreinetal.2017,
  author    = {Walenta, Robert and Schellekens, Twan and Ferrein, Alexander and Schiffer, Stefan},
  title     = {A decentralised system approach for controlling AGVs with ROS},
  series = {AFRICON, Proceedings},
  booktitle = {AFRICON, Proceedings},
  publisher = {IEEE},
  isbn      = {978-1-5386-2775-4},
  issn      = {2153-0033},
  doi       = {10.1109/AFRCON.2017.8095693},
  pages     = {1436 -- 1441},
  year      = {2017},
  language  = {en}
}
@incollection{NiemuellerLakemeyerReuteretal.2017,
  author    = {Niemueller, T. and Lakemeyer, G. and Reuter, S. and Jeschke, S. and Ferrein, Alexander},
  title     = {Benchmarking of Cyber-Physical Systems in Industrial Robotics: The RoboCup Logistics League as a CPS Benchmark Blueprint},
  series = {Cyber-Physical Systems: Foundations, Principles and Applications},
  booktitle = {Cyber-Physical Systems: Foundations, Principles and Applications},
  publisher = {Academic Press},
  address   = {London},
  doi       = {10.1016/B978-0-12-803801-7.00013-4},
  pages     = {193 -- 207},
  year      = {2017},
  abstract  = {In the future, we expect manufacturing companies to follow a new paradigm that mandates more automation and autonomy in production processes. Such smart factories will offer a variety of production technologies as services that can be combined ad hoc to produce a large number of different product types and variants cost-effectively even in small lot sizes. This is enabled by cyber-physical systems that feature flexible automated planning methods for production scheduling, execution control, and in-factory logistics. During development, testbeds are required to determine the applicability of integrated systems in such scenarios. Furthermore, benchmarks are needed to quantify and compare system performance in these industry-inspired scenarios at a comprehensible and manageable size which is, at the same time, complex enough to yield meaningful results. In this chapter, based on our experience in the RoboCup Logistics League (RCLL) as a specific example, we derive a generic blueprint for how a holistic benchmark can be developed, which combines a specific scenario with a set of key performance indicators as metrics to evaluate the overall integrated system and its components.},
  language  = {de}
}
@inproceedings{NiemuellerNeumannHenkeetal.2017,
  author    = {Niemueller, Tim and Neumann, Tobias and Henke, Christoph and Sch{\"o}nitz, Sebastian and Reuter, Sebastian and Ferrein, Alexander and Jeschke, Sabina and Lakemeyer, Gerhard},
  title     = {International Harting Open Source Award 2016: Fawkes for the RoboCup Logistics League},
  series = {RoboCup 2016: RoboCup 2016: Robot World Cup XX. RoboCup 2016},
  booktitle = {RoboCup 2016: RoboCup 2016: Robot World Cup XX. RoboCup 2016},
  publisher = {Springer},
  address   = {Cham},
  isbn      = {978-3-319-68792-6},
  doi       = {10.1007/978-3-319-68792-6_53},
  pages     = {634 -- 642},
  year      = {2017},
  language  = {en}
}
@inproceedings{ZugNiemuellerHochgeschwenderetal.2017,
  author    = {Zug, Sebastian and Niemueller, Tim and Hochgeschwender, Nico and Seidensticker, Kai and Seidel, Martin and Friedrich, Tim and Neumann, Tobias and Karras, Ulrich and Kraetzschmar, Gerhard K. and Ferrein, Alexander},
  title     = {An Integration Challenge to Bridge the Gap Among Industry-Inspired RoboCup Leagues},
  series = {RoboCup 2016: Robot World Cup XX. RoboCup 2016.},
  booktitle = {RoboCup 2016: Robot World Cup XX. RoboCup 2016.},
  publisher = {Springer},
  address   = {Cham},
  isbn      = {978-3-319-68792-6},
  doi       = {10.1007/978-3-319-68792-6_13},
  pages     = {157 -- 168},
  year      = {2017},
  language  = {en}
}
@inproceedings{MarcoFerrein2017,
  author    = {Marco, Heather G. and Ferrein, Alexander},
  title     = {AGNES: The African-German Network of Excellence in Science},
  series = {Proceedings of the 2nd Developing World Robotics Forum, Workshop at IEEE AFRICON 2017},
  booktitle = {Proceedings of the 2nd Developing World Robotics Forum, Workshop at IEEE AFRICON 2017},
  pages     = {1 -- 2},
  year      = {2017},
  language  = {en}
}
@inproceedings{SchifferFerrein2017,
  author    = {Schiffer, Stefan and Ferrein, Alexander},
  title     = {A System Layout for Cognitive Service Robots},
  series = {Cognitive Robot Architectures. Proceedings of EUCognition 2016},
  booktitle = {Cognitive Robot Architectures. Proceedings of EUCognition 2016},
  issn      = {1613-0073},
  pages     = {44 -- 45},
  year      = {2017},
  language  = {en}
}
@inproceedings{StopforthDavrajhFerrein2017,
  author    = {Stopforth, Riaan and Davrajh, Shaniel and Ferrein, Alexander},
  title     = {Design considerations of the duo fugam dual rotor UAV},
  series = {2017 Pattern Recognition Association of South Africa and Robotics and Mechatronics (PRASA-RobMech)},
  booktitle = {2017 Pattern Recognition Association of South Africa and Robotics and Mechatronics (PRASA-RobMech)},
  isbn      = {978-1-5386-2314-5},
  doi       = {10.1109/RoboMech.2017.8261115},
  pages     = {7 -- 13},
  year      = {2017},
  language  = {en}
}
@inproceedings{NiemuellerReuterEwertetal.2016,
  author    = {Niemueller, Tim and Reuter, Sebastian and Ewert, Daniel and Ferrein, Alexander and Jeschke, Sabina and Lakemeyer, Gerhard},
  title     = {The Carologistics Approach to Cope with the Increased Complexity and New Challenges of the RoboCup Logistics League 2015},
  series = {RoboCup 2015: Robot World Cup XIX},
  booktitle = {RoboCup 2015: Robot World Cup XIX},
  editor    = {Almeida, Luis},
  publisher = {Springer International Publishing},
  address   = {Cham},
  isbn      = {978-3-319-29339-4},
  doi       = {10.1007/978-3-319-29339-4_4},
  pages     = {47 -- 59},
  year      = {2016},
  language  = {en}
}
@inproceedings{NiemuellerReuterFerreinetal.2016,
  author    = {Niemueller, Tim and Reuter, Sebastian and Ferrein, Alexander and Jeschke, Sabina and Lakemeyer, Gerhard},
  title     = {Evaluation of the RoboCup Logistics League and Derived Criteria for Future Competitions},
  series = {RoboCup 2015: Robot World Cup XIX},
  booktitle = {RoboCup 2015: Robot World Cup XIX},
  editor    = {Almeida, Luis},
  publisher = {Springer International Publishing},
  address   = {Cham},
  isbn      = {978-3-319-29339-4},
  doi       = {10.1007/978-3-319-29339-4_3},
  pages     = {31 -- 43},
  year      = {2016},
  language  = {en}
}
@inproceedings{NiemuellerReuterFerrein2016,
  author    = {Niemueller, Tim and Reuter, Sebastian and Ferrein, Alexander},
  title     = {Fawkes for the RoboCup Logistics League},
  series = {RoboCup 2015: Robot World Cup XIX},
  booktitle = {RoboCup 2015: Robot World Cup XIX},
  editor    = {Almeida, Luis},
  publisher = {Springer International Publishing},
  address   = {Cham},
  isbn      = {978-3-319-29339-4},
  doi       = {10.1007/978-3-319-29339-4_31},
  pages     = {365 -- 373},
  year      = {2016},
  language  = {en}
}
@article{LeingartnerMaurerFerreinetal.2016,
  author    = {Leingartner, Max and Maurer, Johannes and Ferrein, Alexander and Steinbauer, Gerald},
  title     = {Evaluation of Sensors and Mapping Approaches for Disasters in Tunnels},
  series = {Journal of Field Robotics},
  volume    = {33},
  journal   = {Journal of Field Robotics},
  number    = {8},
  publisher = {Wiley-VCH},
  address   = {Weinheim},
  issn      = {1556-4967},
  doi       = {10.1002/rob.21611},
  pages     = {1037 -- 1057},
  year      = {2016},
  abstract  = {Ground or aerial robots equipped with advanced sensing technologies, such as three-dimensional laser scanners and advanced mapping algorithms, are deemed useful as a supporting technology for first responders. A great deal of excellent research in the field exists, but practical applications at real disaster sites are scarce. Many projects concentrate on equipping robots with advanced capabilities, such as autonomous exploration or object manipulation. In spite of this, realistic application areas for such robots are limited to teleoperated reconnaissance or search. In this paper, we investigate how well state-of-the-art and off-the-shelf components and algorithms are suited for reconnaissance in current disaster-relief scenarios. The basic idea is to make use of some of the most common sensors and deploy some widely used algorithms in a disaster situation, and to evaluate how well the components work for these scenarios. We acquired the sensor data from two field experiments, one from a disaster-relief operation in a motorway tunnel, and one from a mapping experiment in a partly closed down motorway tunnel. Based on these data, which we make publicly available, we evaluate state-of-the-art and off-the-shelf mapping approaches. In our analysis, we integrate opinions and replies from first responders as well as from some algorithm developers on the usefulness of the data and the limitations of the deployed approaches, respectively. We discuss the lessons we learned during the two missions. These lessons are interesting for the community working in similar areas of urban search and rescue, particularly reconnaissance and search.},
  language  = {en}
}
@inproceedings{FerreinMaierMuehlbacheretal.2016,
  author    = {Ferrein, Alexander and Maier, Christopher and M{\"u}hlbacher, Clemens and Niem{\"u}ller, Tim and Steinbauer, Gerald and Vassos, Stravros},
  title     = {Controlling logistics robots with the action-based language YAGI},
  series = {Intelligent Robotics and Applications: 9th International Conference, ICIRA 2016, Tokyo, Japan, August 22-24, 2016, Proceedings, Part I},
  volume    = {9834},
  booktitle = {Intelligent Robotics and Applications: 9th International Conference, ICIRA 2016, Tokyo, Japan, August 22-24, 2016, Proceedings, Part I},
  publisher = {Springer},
  isbn      = {978-3-319-43505-3 (Print)},
  doi       = {10.1007/978-3-319-43506-0_46},
  pages     = {525 -- 537},
  year      = {2016},
  language  = {en}
}
@inproceedings{NeumannDuelbergSchifferetal.2016,
  author    = {Neumann, Tobias and D{\"u}lberg, Enno and Schiffer, Stefan and Ferrein, Alexander},
  title     = {A rotating platform for swift acquisition of dense 3D point clouds},
  series = {Intelligent Robotics and Applications: 9th International Conference, ICIRA 2016, Tokyo, Japan, August 22-24, 2016, Proceedings, Part I},
  volume    = {9834},
  booktitle = {Intelligent Robotics and Applications: 9th International Conference, ICIRA 2016, Tokyo, Japan, August 22-24, 2016, Proceedings, Part I},
  publisher = {Springer},
  isbn      = {978-3-319-43505-3 (Print)},
  doi       = {10.1007/978-3-319-43506-0_22},
  pages     = {257 -- 268},
  year      = {2016},
  language  = {en}
}
@article{FerreinSchifferBooysenetal.2016,
  author    = {Ferrein, Alexander and Schiffer, Stefan and Booysen, T. and Stopforth, R.},
  title     = {Why it is harder to run RoboCup in South Africa: Experiences from German South African collaborations},
  series = {International Journal of Advanced Robotic Systems},
  volume    = {13},
  journal   = {International Journal of Advanced Robotic Systems},
  number    = {5},
  issn      = {1729-8806},
  doi       = {10.1177/1729881416662789},
  pages     = {1 -- 13},
  year      = {2016},
  abstract  = {Robots are widely used as a vehicle to spark interest in science and technology in learners. A number of initiatives focus on this issue, for instance, the Roberta Initiative, the FIRST Lego League, the World Robot Olympiad and RoboCup Junior. Robotic competitions are valuable not only for school learners but also for university students, as the RoboCup initiative shows. Besides technical skills, the students get some project exposure and experience what it means to finish their tasks on time. But qualifying students for future high-tech areas should not only be for students from developed countries. In this article, we present our experiences with research and education in robotics within the RoboCup initiative, in Germany and South Africa; we report on our experiences with trying to get the RoboCup initiative in South Africa going. RoboCup has a huge support base of academic institutions in Germany; this is not the case in South Africa. We present our 'north-south' collaboration initiatives in RoboCup between Germany and South Africa and discuss some of the reasons why we think it is harder to run RoboCup in South Africa.},
  language  = {en}
}
@article{FerreinSteinbauer2016,
  author    = {Ferrein, Alexander and Steinbauer, Gerald},
  title     = {20 Years of RoboCup - A Subjective Retrospection},
  series = {KI - K{\"u}nstliche Intelligenz},
  volume    = {30},
  journal   = {KI - K{\"u}nstliche Intelligenz},
  number    = {3},
  publisher = {Springer},
  address   = {Berlin},
  issn      = {1610-1987},
  doi       = {10.1007/s13218-016-0449-5},
  pages     = {225 -- 232},
  year      = {2016},
  abstract  = {This summer, RoboCup competitions were held for the 20th time in Leipzig, Germany. It was the second time that RoboCup took place in Germany, 10 years after the 2006 RoboCup in Bremen. In this article, we give an overview on the latest developments of RoboCup and what happened in the different leagues over the last decade. With its 20th edition, RoboCup clearly is a success story and a role model for robotics competitions. From our personal view point, we acknowledge this by giving a retrospection about what makes RoboCup such a success.},
  language  = {en}
}
@article{FerreinSteinbauer2016,
  author    = {Ferrein, Alexander and Steinbauer, Gerald},
  title     = {The Interplay of Aldebaran and RoboCup},
  series = {KI - K{\"u}nstliche Intelligenz},
  volume    = {30},
  journal   = {KI - K{\"u}nstliche Intelligenz},
  number    = {3-4},
  publisher = {Springer},
  address   = {Berlin},
  issn      = {1610-1987},
  doi       = {10.1007/s13218-016-0440-1},
  pages     = {325 -- 326},
  year      = {2016},
  language  = {en}
}
@article{SteinbauerFerrein2016,
  author    = {Steinbauer, Gerald and Ferrein, Alexander},
  title     = {20 Years of RoboCup},
  series = {KI - K{\"u}nstliche Intelligenz},
  volume    = {30},
  journal   = {KI - K{\"u}nstliche Intelligenz},
  number    = {3-4},
  publisher = {Springer},
  address   = {Berlin},
  issn      = {1610-1987},
  doi       = {10.1007/s13218-016-0442-z},
  pages     = {221 -- 224},
  year      = {2016},
  language  = {en}
}
@article{FerreinSteinbauer2016,
  author    = {Ferrein, Alexander and Steinbauer, Gerald},
  title     = {Looking back on 20 Years of RoboCup},
  series = {KI - K{\"u}nstliche Intelligenz},
  volume    = {30},
  journal   = {KI - K{\"u}nstliche Intelligenz},
  number    = {3-4},
  publisher = {Springer},
  address   = {Berlin},
  issn      = {1610-1987},
  doi       = {10.1007/s13218-016-0443-y},
  pages     = {321 -- 323},
  year      = {2016},
  language  = {en}
}