@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}
}