@inproceedings{DyllaFerreinLakemeyer2003,
  author    = {Dylla, Frank and Ferrein, Alexander and Lakemeyer, Gerhard},
  title     = {AllemaniACs 2003 team description},
  series = {RoboCup 2003 : Robot Soccer World Cup VII},
  booktitle = {RoboCup 2003 : Robot Soccer World Cup VII},
  pages     = {1 -- 3},
  year      = {2003},
  language  = {en}
}
@article{VorstFerreinLakemeyer2006,
  author    = {Vorst, Phillip and Ferrein, Alexander and Lakemeyer, Gerhard},
  title     = {AllemaniACs3D team description},
  pages     = {1 -- 6},
  year      = {2006},
  language  = {en}
}
@article{FerreinSchifferLakemeyer2006,
  author    = {Ferrein, Alexander and Schiffer, Stefan and Lakemeyer, Gerhard},
  title     = {Qualitative World Models for Soccer Robots / Schiffer, Stefan ; Ferrein, Alexander ; Lakemeyer, Gerhard},
  series = {Qualitative constraint calculi : application and integration ; KI 2006, 14 - 19 June 2006, Bremen, Germany ; 29th Annual German Conference on Artificial Intelligence ; workshop / Stefan W{\"o}lfl ... (eds.)},
  journal   = {Qualitative constraint calculi : application and integration ; KI 2006, 14 - 19 June 2006, Bremen, Germany ; 29th Annual German Conference on Artificial Intelligence ; workshop / Stefan W{\"o}lfl ... (eds.)},
  publisher = {Univ.},
  address   = {Bremen},
  isbn      = {3-88722-666-6},
  pages     = {3 -- 14},
  year      = {2006},
  language  = {en}
}
@inproceedings{AlhwarinFerreinGebhardtetal.2015,
  author    = {Alhwarin, Faraj and Ferrein, Alexander and Gebhardt, Andreas and Kallweit, Stephan and Scholl, Ingrid and Tedjasukmana, Osmond Sanjaya},
  title     = {Improving additive manufacturing by image processing and robotic milling},
  series = {2015 IEEE International Conference on Automation Science and Engineering (CASE), Aug 24-28, 2015 Gothenburg, Sweden},
  booktitle = {2015 IEEE International Conference on Automation Science and Engineering (CASE), Aug 24-28, 2015 Gothenburg, Sweden},
  doi       = {10.1109/CoASE.2015.7294217},
  pages     = {924 -- 929},
  year      = {2015},
  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 = {Proceedings of the 12th International Conference on Agents and Artificial Intelligence - Volume 2},
  booktitle = {Proceedings of the 12th International Conference on Agents and Artificial Intelligence - Volume 2},
  publisher = {SciTePress},
  address   = {Set{\´u}bal, Portugal},
  doi       = {10.5220/0008984406920699},
  pages     = {692 -- 699},
  year      = {2020},
  abstract  = {The field of Cognitive Robotics aims at intelligent decision making of autonomous robots. It has matured over the last 25 or so years quite a bit. That is, a number of high-level control languages and architectures have emerged from the field. One concern in this regard is the action language GOLOG. GOLOG has been used in a rather large number of applications as a high-level control language ranging from intelligent service robots to soccer robots. For the lower level robot software, the Robot Operating System (ROS) has been around for more than a decade now and it has developed into the standard middleware for robot applications. ROS provides a large number of packages for standard tasks in robotics like localisation, navigation, and object recognition. Interestingly enough, only little work within ROS has gone into the high-level control of robots. In this paper, we describe our approach to marry the GOLOG action language with ROS. In particular, we present our architecture on inte grating golog++, which is based on the GOLOG dialect Readylog, with the Robot Operating System. With an example application on the Pepper service robot, we show how primitive actions can be easily mapped to the ROS ActionLib framework and present our control architecture in detail.},
  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}
}
@article{FerreinSchifferLakemeyer2008,
  author    = {Ferrein, Alexander and Schiffer, Stefan and Lakemeyer, Gerhard},
  title     = {A Fuzzy Set Semantics for Qualitative Fluents in the Situation Calculus / Ferrein, Alexander ; Schiffer, Stefan ; Lakemeyer, Gerhard},
  series = {Intelligent Robotics and Applications : First International Conference, ICIRA 2008 Wuhan, China, October 15-17, 2008 Proceedings, Part I},
  journal   = {Intelligent Robotics and Applications : First International Conference, ICIRA 2008 Wuhan, China, October 15-17, 2008 Proceedings, Part I},
  publisher = {Springer},
  address   = {Berlin},
  pages     = {498 -- 509},
  year      = {2008},
  language  = {en}
}
@article{SchifferFerreinLakemeyer2015,
  author    = {Schiffer, Stefan and Ferrein, Alexander and Lakemeyer, Gerhard},
  title     = {Abstracting Away Low-Level Details in Service Robotics with Fuzzy Fluents},
  series = {Model-Driven Knowledge Engineering for Improved Software Modularity in Robotics and Automation. Workshop at European Robotics Forum 2015 Vienna, Austria, March 11-13, 2015.},
  journal   = {Model-Driven Knowledge Engineering for Improved Software Modularity in Robotics and Automation. Workshop at European Robotics Forum 2015 Vienna, Austria, March 11-13, 2015.},
  pages     = {1 -- 4},
  year      = {2015},
  language  = {en}
}
@inproceedings{NiemuellerLakemeyerFerrein2013,
  author    = {Niem{\"u}ller, Tim and Lakemeyer, Gerhard and Ferrein, Alexander},
  title     = {Incremental task-level reasoning in a competitive factory automation scenario},
  series = {Designing intelligent robots : reintegrating AI II ; papers from the AAAI spring symposium ; [held March 25 - 27, 2013 in Palo Alto, California, USA, on the campus of Stanford University]. (Technical Report / Association for the Advancement of Artificial Intelligence ; 2013,4)},
  booktitle = {Designing intelligent robots : reintegrating AI II ; papers from the AAAI spring symposium ; [held March 25 - 27, 2013 in Palo Alto, California, USA, on the campus of Stanford University]. (Technical Report / Association for the Advancement of Artificial Intelligence ; 2013,4)},
  editor    = {Boots, Byron},
  organization    = {American Association for Artificial Intelligence},
  isbn      = {9781577356011},
  pages     = {43 -- 48},
  year      = {2013},
  language  = {en}
}
@article{NiemuellerLakemeyerFerreinetal.2013,
  author    = {Niem{\"u}ller, Tim and Lakemeyer, Gerhard and Ferrein, Alexander and Reuter, S. and Ewert, D. and Jeschke, S. and Pensky, D. and Karras, Ulrich},
  title     = {Proposal for advancements to the LLSF in 2014 and beyond},
  pages     = {Publ. online},
  year      = {2013},
  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}
}
@article{FerreinJacobsLakemeyer2005,
  author    = {Ferrein, Alexander and Jacobs, Stefan and Lakemeyer, Gerhard},
  title     = {Controlling Unreal Tournament 2004 Bots with the logic-based action language Golog / Jacobs, Stefan ; Ferrein, Alexander ; Lakemeyer, Gerhard},
  series = {Proceedings of the First AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment (AIIDE).},
  journal   = {Proceedings of the First AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment (AIIDE).},
  pages     = {151 -- 152},
  year      = {2005},
  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{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}
}
@article{FerreinRensMeyeretal.2011,
  author    = {Ferrein, Alexander and Rens, Gavin and Meyer, Thomas and Lakemeyer, Gerhard},
  title     = {A Logic for Specifying Partially Observable Stochastic Domains / Rens, Gavin ; Meyer, Thomas ; Ferrein, Alexander ; Lakemeyer, Gerhard},
  series = {Proceedings of the Ninth International Workshop pn non-Monotonic Reasoning, Action and Change (NRAC`11)},
  journal   = {Proceedings of the Ninth International Workshop pn non-Monotonic Reasoning, Action and Change (NRAC`11)},
  pages     = {15 -- 22},
  year      = {2011},
  language  = {en}
}
@inproceedings{LimpertSchifferFerrein2015,
  author    = {Limpert, Nicolas and Schiffer, Stefan and Ferrein, Alexander},
  title     = {A Local Planner for Ackermann-Driven Vehicles in ROS SBPL},
  series = {Proceedings of the International Conference on Pattern Recognition Association of South Africa and Robotics and Mechatronics (PRASA-RobMech), 2015},
  booktitle = {Proceedings of the International Conference on Pattern Recognition Association of South Africa and Robotics and Mechatronics (PRASA-RobMech), 2015},
  doi       = {10.1109/RoboMech.2015.7359518},
  pages     = {172 -- 177},
  year      = {2015},
  language  = {en}
}
@article{Ferrein2010,
  author    = {Ferrein, Alexander},
  title     = {golog.lua: Towards a Non-Prolog Implementation of Golog for Embedded Systems},
  pages     = {20 -- 28},
  year      = {2010},
  language  = {en}
}
@article{Ferrein2010,
  author    = {Ferrein, Alexander},
  title     = {golog.lua: Towards a Non-Prolog Implementation of Golog for Embedded Systems},
  series = {Cognitive Robotics / Lakemeyer, Gerhard (ed.)},
  journal   = {Cognitive Robotics / Lakemeyer, Gerhard (ed.)},
  pages     = {1 -- 15},
  year      = {2010},
  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{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}
}
@incollection{NiemuellerReuterEwertetal.2015,
  author    = {Niemueller, Tim and Reuter, Sebastian and Ewert, Daniel and Ferrein, Alexander and Jeschke, Sabina and Lakemeyer, Gerhard},
  title     = {Decisive Factors for the Success of the Carologistics RoboCup Team in the RoboCup Logistics League 2014},
  series = {RoboCup 2014: Robot World Cup XVIII},
  booktitle = {RoboCup 2014: Robot World Cup XVIII},
  publisher = {Springer},
  isbn      = {978-3-319-18615-3},
  pages     = {155 -- 167},
  year      = {2015},
  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{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 '21: Proceedings of the 14th Pervasive Technologies Related to Assistive Environments Conference},
  booktitle = {PETRA '21: Proceedings of 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{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},
  address   = {New York, NY},
  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}
}
@article{SchifferFerrein2016,
  author    = {Schiffer, Stefan and Ferrein, Alexander},
  title     = {Decision-Theoretic Planning with Fuzzy Notions in GOLOG},
  series = {International Journal of Uncertainty, Fuzziness and Knowledge-Based Systems},
  volume    = {24},
  journal   = {International Journal of Uncertainty, Fuzziness and Knowledge-Based Systems},
  number    = {Issue Suppl. 2},
  publisher = {World Scientific},
  address   = {Singapur},
  issn      = {1793-6411},
  doi       = {10.1142/S0218488516400134},
  pages     = {123 -- 143},
  year      = {2016},
  abstract  = {In this paper we present an extension of the action language Golog that allows for using fuzzy notions in non-deterministic argument choices and the reward function in decision-theoretic planning. Often, in decision-theoretic planning, it is cumbersome to specify the set of values to pick from in the non-deterministic-choice-of-argument statement. Also, even for domain experts, it is not always easy to specify a reward function. Instead of providing a finite domain for values in the non-deterministic-choice-of-argument statement in Golog, we now allow for stating the argument domain by simply providing a formula over linguistic terms and fuzzy uents. In Golog's forward-search DT planning algorithm, these formulas are evaluated in order to find the agent's optimal policy. We illustrate this in the Diner Domain where the agent needs to calculate the optimal serving order.},
  language  = {en}
}
@inproceedings{RensFerreinPoel2008,
  author    = {Rens, Gavin and Ferrein, Alexander and Poel, Etienne van der},
  title     = {Extending DTGolog to deal with POMD-Ps},
  series = {Proceedings of the Nineteenth Annual Symposium of the Pattern Recognition Association of South Africa (PRASA 2008)},
  booktitle = {Proceedings of the Nineteenth Annual Symposium of the Pattern Recognition Association of South Africa (PRASA 2008)},
  organization    = {Pattern Recognition Association of South Africa},
  pages     = {49 -- 54},
  year      = {2008},
  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}
}
@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: Robot World Cup XXV},
  booktitle = {RoboCup 2022: Robot World Cup XXV},
  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}
}
@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}
}
@incollection{RebelHueningScholletal.2015,
  author    = {Rebel, S{\"o}ren and H{\"u}ning, Felix and Scholl, Ingrid and Ferrein, Alexander},
  title     = {MQOne: Low-cost design for a rugged-terrain robot platform},
  series = {Intelligent robotics and applications : 8th International Conference, ICIRA 2015, Portsmouth, UK, August 24-27, 2015, Proceedings, Part II (Lecture notes in computer science : vol. 9245)},
  booktitle = {Intelligent robotics and applications : 8th International Conference, ICIRA 2015, Portsmouth, UK, August 24-27, 2015, Proceedings, Part II (Lecture notes in computer science : vol. 9245)},
  publisher = {Springer},
  address   = {Cham},
  isbn      = {978-3-319-22875-4 (print) ; 978-3-319-22876-1 (E-Book)},
  doi       = {10.1007/978-3-319-22876-1_19},
  pages     = {209 -- 221},
  year      = {2015},
  abstract  = {Rugged terrain robot designs are important for field robotics missions. A number of commercial platforms are available, however, at an impressive price. In this paper, we describe the hardware and software component of a low-cost wheeled rugged-terrain robot. The robot is based on an electric children quad bike and is modified to be driven by wire. In terms of climbing properties, operation time and payload it can compete with some of the commercially available platforms, but at a far lower price.},
  language  = {en}
}
@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}
}
@article{FerreinDyllaLakemeyeretal.2008,
  author    = {Ferrein, Alexander and Dylla, Frank and Lakemeyer, Gerhard and Murray, Jan},
  title     = {Approaching a formal soccer theory from behaviour specifications in robotic soccer / Dylla, Frank ; Ferrein, Alexander ; Lakemeyer, Gerhard ; Murray, Jan ; Obst, Oliver ; R{\"o}fer, Thomas ; Schiffer, Stefan ; Stolzenburg, Frieder ; Visser, Ubbo ; Wagner, Tho},
  series = {Computers in sport / editors: P Dabnichki},
  journal   = {Computers in sport / editors: P Dabnichki},
  publisher = {WIT Press},
  address   = {Southampton},
  isbn      = {978-1-8456-4064-4},
  pages     = {161 -- 185},
  year      = {2008},
  language  = {en}
}
@article{BooysenRiegerFerrein2011,
  author    = {Booysen, Tracy and Rieger, Michael and Ferrein, Alexander},
  title     = {Towards inexpensive robots for science \& technology teaching and education in Africa},
  publisher = {IEEE},
  address   = {New York},
  isbn      = {978-1-61284-992-8},
  pages     = {1 -- 6},
  year      = {2011},
  language  = {en}
}
@inproceedings{FerreinMaierMuehlbacheretal.2015,
  author    = {Ferrein, Alexander and Maier, Christopher and M{\"u}hlbacher, Clemens and Niemueller, Tim and Steinbauer, Gerald and Vassos, Stravros},
  title     = {Controlling Logistics Robots with the Action-based Language YAGI},
  series = {Proceedings of the 2015 IROS Workshop on Workshop on Task Planning for Intelligent Robots in Service and Manufacturing},
  booktitle = {Proceedings of the 2015 IROS Workshop on Workshop on Task Planning for Intelligent Robots in Service and Manufacturing},
  year      = {2015},
  language  = {en}
}
@article{GspandlPillReipetal.2011,
  author    = {Gspandl, Stephan and Pill, Ingo and Reip, Michael and Steinbauer, Gerald and Ferrein, Alexander},
  title     = {Belief Management for High-Level Robot Programs},
  series = {Proceedings of the Twenty-Second International Joint Conference on Artificial Intelligence [electronic resource] : Barcelona, Catalonia, Spain, 16 - 22 July 2011 / sponsored by International Joint Conferences on Artificial Intelligence (IJCAI) and the Association for the Advancement of Artificial Intelligence (AAAI). Ed. by Toby Walsh},
  journal   = {Proceedings of the Twenty-Second International Joint Conference on Artificial Intelligence [electronic resource] : Barcelona, Catalonia, Spain, 16 - 22 July 2011 / sponsored by International Joint Conferences on Artificial Intelligence (IJCAI) and the Association for the Advancement of Artificial Intelligence (AAAI). Ed. by Toby Walsh},
  pages     = {900 -- 905},
  year      = {2011},
  language  = {en}
}
@article{Ferrein2008,
  author    = {Ferrein, Alexander},
  title     = {Towards applying soccer moves in the RoboCup Standard Platform League},
  series = {{\"O}GAI-Journal},
  volume    = {Bd. 27},
  journal   = {{\"O}GAI-Journal},
  number    = {H. 3},
  organization    = {{\"O}sterreichische Gesellschaft f{\"u}r Artificial Intelligence},
  issn      = {0254-4326},
  pages     = {4 -- 9},
  year      = {2008},
  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},
  abstract  = {The Robot Operating System (ROS) is the current de-facto standard in robot middlewares. The steadily increasing size of the user base results in a greater demand for training as well. User groups range from students in academia to industry professionals with a broad spectrum of developers in between. To deliver high quality training and education to any of these audiences, educators need to tailor individual curricula for any such training. In this paper, we present an approach to ease compiling curricula for ROS trainings based on a taxonomy of the teaching contents. The instructor can select a set of dedicated learning units and the system will automatically compile the teaching material based on the dependencies of the units selected and a set of parameters for a particular training. We walk through an example training to illustrate our work.},
  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{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{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{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}
}
@inproceedings{HofmannLimpertMatareetal.2019,
  author    = {Hofmann, Till and Limpert, Nicolas and Matar{\´e}, Victor 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{RensFerrein2013,
  author    = {Rens, Gavin and Ferrein, Alexander},
  title     = {Belief-node condensation for online POMDP algorithms},
  publisher = {IEEE},
  address   = {New York},
  pages     = {1 -- 7},
  year      = {2013},
  abstract  = {Slightly extended version of the paper accepted at the Robotics and Artificial Intelligence Workshop, a special track of IEEE AFRICON-2013, held in Mauritius, 9-12 September 2013},
  language  = {en}
}
@inproceedings{FerreinNiemuellerSchifferetal.2013,
  author    = {Ferrein, Alexander and Niem{\"u}ller, Tim and Schiffer, Stefan and Lakemeyer, Gerhard},
  title     = {Lessons learnt from developing the embodied AI platform CAESAR for domestic service robotics},
  series = {Designing intelligent robots : reintegrating AI II ; papers from the AAAI spring symposium ; [held March 25 - 27, 2013 in Palo Alto, California, USA, on the campus of Stanford University]. (Technical Report / Association for the Advancement of Artificial Intelligence ; 2013,4)},
  booktitle = {Designing intelligent robots : reintegrating AI II ; papers from the AAAI spring symposium ; [held March 25 - 27, 2013 in Palo Alto, California, USA, on the campus of Stanford University]. (Technical Report / Association for the Advancement of Artificial Intelligence ; 2013,4)},
  editor    = {Boots, Byron},
  organization    = {American Association for Artificial Intelligence},
  isbn      = {9781577356011},
  pages     = {21 -- 26},
  year      = {2013},
  language  = {en}
}
@inproceedings{LeingartnerMaurerSteinbaueretal.2013,
  author    = {Leingartner, Max and Maurer, Johannes and Steinbauer, Gerald and Ferrein, Alexander},
  title     = {Evaluation of sensors and mapping approaches for disasters in tunnels},
  series = {IEEE International Symposium on Safety, Security, and Rescue Robotics : SSRR : 21-26 Oct. 2013, Linkoping, Sweden},
  booktitle = {IEEE International Symposium on Safety, Security, and Rescue Robotics : SSRR : 21-26 Oct. 2013, Linkoping, Sweden},
  organization    = {Institute of Electrical and Electronics Engineers},
  isbn      = {978-1-4799-0879-0},
  pages     = {1 -- 7},
  year      = {2013},
  language  = {en}
}
@inproceedings{NiemuellerEwertReuteretal.2013,
  author    = {Niem{\"u}ller, Tim and Ewert, Daniel and Reuter, Sebastian and Ferrein, Alexander and Jeschke, Sabina and Lakemeyer, Gerhard},
  title     = {The Carologistics RoboCup Logistics Team 2013},
  series = {RoboCup 2013 : Eindhoven},
  booktitle = {RoboCup 2013 : Eindhoven},
  organization    = {Robocup <2013, Eindhoven>},
  pages     = {1 -- 8},
  year      = {2013},
  language  = {en}
}
@inproceedings{FerreinLakemeyerSchiffer2006,
  author    = {Ferrein, Alexander and Lakemeyer, Gerhard and Schiffer, Stefan},
  title     = {AllemaniACs@ home 2006 team description},
  pages     = {1 -- 6},
  year      = {2006},
  language  = {en}
}
@article{FerreinSteinbauerMcPhillipsetal.2007,
  author    = {Ferrein, Alexander and Steinbauer, Gerald and McPhillips, Graeme and Potgieter, Anet},
  title     = {Establishing the RoboCup Standard League in Africa - applying for the RoboCup Standard League with a German-Austrian-South African Research Project},
  pages     = {1 -- 5},
  year      = {2007},
  language  = {en}
}
@article{FerreinFritzLakemeyer2005,
  author    = {Ferrein, Alexander and Fritz, Christian and Lakemeyer, Gerhard},
  title     = {Using Golog for Deliberation and Team Coordination in Robotic Soccer / Ferrein, Alexander ; Fritz, Christian ; Lakemeyer, Gerhard},
  series = {K{\"u}nstliche Intelligenz : KI. 19 (2005), H. 1},
  journal   = {K{\"u}nstliche Intelligenz : KI. 19 (2005), H. 1},
  isbn      = {0933-1875},
  pages     = {24 -- 30},
  year      = {2005},
  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}
}