@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}
}
@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{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}
}
@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}
}
@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{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{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},
  publisher = {IEEE},
  address   = {New York, NY},
  isbn      = {978-1-7281-4162-6},
  doi       = {10.1109/SAUPEC/RobMech/PRASA48453.2020.9041020},
  pages     = {1 -- 6},
  year      = {2020},
  abstract  = {In this paper we report on an architecture for a self-driving car that is based on ROS2. Self-driving cars have to take decisions based on their sensory input in real-time, providing high reliability with a strong demand in functional safety. In principle, self-driving cars are robots. However, typical robot software, in general, and the previous version of the Robot Operating System (ROS), in particular, does not always meet these requirements. With the successor ROS2 the situation has changed and it might be considered as a solution for automated and autonomous driving. Existing robotic software based on ROS was not ready for safety critical applications like self-driving cars. We propose an architecture for using ROS2 for a self-driving car that enables safe and reliable real-time behaviour, but keeping the advantages of ROS such as a distributed architecture and standardised message types. First experiments with an automated real passenger car at lower and higher speed-levels show that our approach seems feasible for autonomous driving under the necessary real-time conditions.},
  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{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}
}