TY - CHAP A1 - Wiesen, Patrick A1 - Engemann, Heiko A1 - Limpert, Nicolas A1 - Kallweit, Stephan T1 - Learning by Doing - Mobile Robotics in the FH Aachen ROS Summer School T2 - European Robotics Forum 2018, TRROS18 Workshop Y1 - 2018 SP - 47 EP - 58 ER - TY - CHAP A1 - Krückel, Kai A1 - Nolden, Florian A1 - Ferrein, Alexander A1 - Scholl, Ingrid T1 - Intuitive visual teleoperation for UGVs using free-look augmented reality displays T2 - 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA Y1 - 2015 U6 - https://doi.org/10.1109/ICRA.2015.7139809 SP - 4412 EP - 4417 ER - TY - CHAP A1 - Niemueller, Tim A1 - Neumann, Tobias A1 - Henke, Christoph A1 - Schönitz, Sebastian A1 - Reuter, Sebastian A1 - Ferrein, Alexander A1 - Jeschke, Sabina A1 - Lakemeyer, Gerhard T1 - International Harting Open Source Award 2016: Fawkes for the RoboCup Logistics League T2 - RoboCup 2016: RoboCup 2016: Robot World Cup XX. RoboCup 2016 Y1 - 2017 SN - 978-3-319-68792-6 U6 - https://doi.org/10.1007/978-3-319-68792-6_53 N1 - Lecture Notes in Computer Science, LNCS, Vol 9776 SP - 634 EP - 642 PB - Springer CY - Cham ER - TY - CHAP A1 - Kirsch, Maximilian A1 - Mataré, Victor A1 - Ferrein, Alexander A1 - Schiffer, Stefan T1 - Integrating golog++ and ROS for Practical and Portable High-level Control T2 - Proceedings of the 12th International Conference on Agents and Artificial Intelligence - Volume 2 N2 - 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. Y1 - 2020 U6 - https://doi.org/10.5220/0008984406920699 N1 - Proceedings of the 12th International Conference on Agents and Artificial Intelligence: ICAART 2020, Valletta, Malta SP - 692 EP - 699 PB - SciTePress CY - Setúbal, Portugal ER - TY - CHAP A1 - Alhwarin, Faraj A1 - Ferrein, Alexander A1 - Gebhardt, Andreas A1 - Kallweit, Stephan A1 - Scholl, Ingrid A1 - Tedjasukmana, Osmond Sanjaya T1 - Improving additive manufacturing by image processing and robotic milling T2 - 2015 IEEE International Conference on Automation Science and Engineering (CASE), Aug 24-28, 2015 Gothenburg, Sweden Y1 - 2015 U6 - https://doi.org/10.1109/CoASE.2015.7294217 SP - 924 EP - 929 ER - TY - CHAP A1 - Niemueller, Tim A1 - Neumann, Tobias A1 - Henke, Christoph A1 - Schönitz, Sebastian A1 - Reuter, Sebastian A1 - Ferrein, Alexander A1 - Jeschke, Sabina A1 - Lakemeyer, Gerhard T1 - Improvements for a robust production in the RoboCup logistics league 2016 T2 - RoboCup 2016: Robot World Cup XX. RoboCup 2016. Y1 - 2017 SN - 978-3-319-68792-6 U6 - https://doi.org/10.1007/978-3-319-68792-6_49 SP - 589 EP - 600 PB - Springer CY - Cham ER - TY - CHAP A1 - Chajan, Eduard A1 - Schulte-Tigges, Joschua A1 - Reke, Michael A1 - Ferrein, Alexander A1 - Matheis, Dominik A1 - Walter, Thomas T1 - GPU based model-predictive path control for self-driving vehicles T2 - IEEE Intelligent Vehicles Symposium (IV) N2 - 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. KW - Heuristic algorithms KW - Computational modeling KW - model-predictive control KW - GPU KW - autonomous driving Y1 - 2021 SN - 978-1-7281-5394-0 U6 - https://doi.org/10.1109/IV48863.2021.9575619 N1 - 2021 IEEE Intelligent Vehicles Symposium (IV), July 11-17, 2021. Nagoya, Japan SP - 1243 EP - 1248 PB - IEEE CY - New York, NY ER - TY - CHAP A1 - Mataré, Victor A1 - Schiffer, Stefan A1 - Ferrein, Alexander ED - Steinbauer, Gerald ED - Ferrein, Alexander T1 - golog++ : An integrative system design T2 - 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 Y1 - 2019 SN - 1613-0073 SP - 29 EP - 35 ER - TY - CHAP A1 - Niemueller, Tim A1 - Reuter, Sebastian A1 - Ferrein, Alexander ED - Almeida, Luis T1 - Fawkes for the RoboCup Logistics League T2 - RoboCup 2015: Robot World Cup XIX Y1 - 2016 SN - 978-3-319-29339-4 U6 - https://doi.org/10.1007/978-3-319-29339-4_31 N1 - Lecture Notes in Computer Science ; 9513 SP - 365 EP - 373 PB - Springer International Publishing CY - Cham ER - TY - CHAP A1 - Niemueller, Tim A1 - Reuter, Sebastian A1 - Ferrein, Alexander A1 - Jeschke, Sabina A1 - Lakemeyer, Gerhard ED - Almeida, Luis T1 - Evaluation of the RoboCup Logistics League and Derived Criteria for Future Competitions T2 - RoboCup 2015: Robot World Cup XIX Y1 - 2016 SN - 978-3-319-29339-4 U6 - https://doi.org/10.1007/978-3-319-29339-4_3 N1 - Lecture Notes in Computer Science ; 9513 SP - 31 EP - 43 PB - Springer International Publishing CY - Cham ER - TY - CHAP A1 - Leingartner, Max A1 - Maurer, Johannes A1 - Steinbauer, Gerald A1 - Ferrein, Alexander T1 - Evaluation of sensors and mapping approaches for disasters in tunnels T2 - IEEE International Symposium on Safety, Security, and Rescue Robotics : SSRR : 21-26 Oct. 2013, Linkoping, Sweden Y1 - 2013 SN - 978-1-4799-0879-0 SP - 1 EP - 7 ER - TY - CHAP A1 - Stopforth, Riaan A1 - Ferrein, Alexander A1 - Steinbauer, Gerald T1 - Europe and South African collaboration on the Mechatronics and Robotics systems as part of the SA Robotics Center T2 - ICRA 2015 Developing Countries Forum N2 - Mechatronics consist of the integration of mechanical engineering, electronic integration and computer science/ engineering. These broad fields are essential for robotic systems, yet it makes it difficult for the researchers to specialize and be experts in all these fields. Collaboration between researchers allow for the integration of experience and specialization, to allow optimized systems. Collaboration between the European countries and South Africa is critical, as each country has different resources available, which the other countries might not have. Applications with the need for approval of any restrictions, can also be obtained easier in some countries compared to others, thus preventing the delays of research. Some problems that have been experienced are discussed, with the Robotics Center of South Africa as a possible solution. Y1 - 2015 ER - TY - CHAP A1 - Schleupen, Josef A1 - Engemann, Heiko A1 - Bagheri, Mohsen A1 - Kallweit, Stephan A1 - Dahmann, Peter T1 - Developing a climbing maintenance robot for tower and rotor blade service of wind turbines T2 - Advances in Robot Design and Intelligent Control : Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD16) Y1 - 2017 SN - 978-3-319-49058-8 U6 - https://doi.org/10.1007/978-3-319-49058-8_34 N1 - Advances in Robot Design and Intelligent Control ; Vol. 540 SP - 310 EP - 319 PB - Springer CY - Cham ER - TY - CHAP A1 - Stopforth, Riaan A1 - Davrajh, Shaniel A1 - Ferrein, Alexander T1 - Design considerations of the duo fugam dual rotor UAV T2 - 2017 Pattern Recognition Association of South Africa and Robotics and Mechatronics (PRASA-RobMech) Y1 - 2017 SN - 978-1-5386-2314-5 U6 - https://doi.org/10.1109/RoboMech.2017.8261115 SP - 7 EP - 13 ER - TY - CHAP A1 - Schulte-Tigges, Joschua A1 - Matheis, Dominik A1 - Reke, Michael A1 - Walter, Thomas A1 - Kaszner, Daniel ED - Krömker, Heidi T1 - Demonstrating a V2X enabled system for transition of control and minimum risk manoeuvre when leaving the operational design domain T2 - HCII 2023: HCI in Mobility, Transport, and Automotive Systems N2 - Modern implementations of driver assistance systems are evolving from a pure driver assistance to a independently acting automation system. Still these systems are not covering the full vehicle usage range, also called operational design domain, which require the human driver as fall-back mechanism. Transition of control and potential minimum risk manoeuvres are currently research topics and will bridge the gap until full autonomous vehicles are available. The authors showed in a demonstration that the transition of control mechanisms can be further improved by usage of communication technology. Receiving the incident type and position information by usage of standardised vehicle to everything (V2X) messages can improve the driver safety and comfort level. The connected and automated vehicle’s software framework can take this information to plan areas where the driver should take back control by initiating a transition of control which can be followed by a minimum risk manoeuvre in case of an unresponsive driver. This transition of control has been implemented in a test vehicle and was presented to the public during the IEEE IV2022 (IEEE Intelligent Vehicle Symposium) in Aachen, Germany. KW - V2X KW - Transiton of Control KW - Minimum Risk Manoeuvre KW - Operational Design Domain KW - Connected Automated Vehicle Y1 - 2023 SN - 978-3-031-35677-3 (Print) SN - 978-3-031-35678-0 (Online) U6 - https://doi.org/10.1007/978-3-031-35678-0_12 N1 - 5th International Conference, MobiTAS 2023, Held as Part of the 25th HCI International Conference, HCII 2023, Copenhagen, Denmark, July 23–28, 2023. SP - 200 EP - 210 PB - Springer CY - Cham ER - TY - CHAP A1 - Ferrein, Alexander A1 - Maier, Christopher A1 - Mühlbacher, Clemens A1 - Niemüller, Tim A1 - Steinbauer, Gerald A1 - Vassos, Stravros T1 - Controlling logistics robots with the action-based language YAGI T2 - Intelligent Robotics and Applications: 9th International Conference, ICIRA 2016, Tokyo, Japan, August 22-24, 2016, Proceedings, Part I Y1 - 2016 SN - 978-3-319-43505-3 (Print) SN - 978-3-319-43506-0 (Online) U6 - https://doi.org/10.1007/978-3-319-43506-0_46 N1 - Series: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) VL - 9834 SP - 525 EP - 537 PB - Springer ER - TY - CHAP A1 - Ferrein, Alexander A1 - Maier, Christopher A1 - Mühlbacher, Clemens A1 - Niemueller, Tim A1 - Steinbauer, Gerald A1 - Vassos, Stravros T1 - Controlling Logistics Robots with the Action-based Language YAGI T2 - Proceedings of the 2015 IROS Workshop on Workshop on Task Planning for Intelligent Robots in Service and Manufacturing Y1 - 2015 ER - TY - CHAP A1 - Ferrein, Alexander A1 - Meeßen, Marcus A1 - Limpert, Nicolas A1 - Schiffer, Stefan ED - Lepuschitz, Wilfried T1 - Compiling ROS schooling curricula via contentual taxonomies T2 - Robotics in Education N2 - 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. Y1 - 2021 SN - 978-3-030-67411-3 U6 - https://doi.org/10.1007/978-3-030-67411-3_5 N1 - RiE: International Conference on Robotics in Education (RiE); Advances in Intelligent Systems and Computing book series (AISC, volume 1316) SP - 49 EP - 60 PB - Springer CY - Cham ER - TY - CHAP A1 - Steinbauer, Gerald A1 - Ferrein, Alexander T1 - 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. T2 - CEUR workshop proceedings Y1 - 2019 SN - 1613-0073 N1 - edited by Gerald Steinbauer, Alexander Ferrein IS - Vol-2325 ER - TY - CHAP A1 - Dey, Thomas A1 - Elsen, Ingo A1 - Ferrein, Alexander A1 - Frauenrath, Tobias A1 - Reke, Michael A1 - Schiffer, Stefan ED - Makedon, Fillia T1 - CO2 Meter: a do-it-yourself carbon dioxide measuring device for the classroom T2 - PETRA '21: Proceedings of the 14th Pervasive Technologies Related to Assistive Environments Conference N2 - 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. KW - embedded hardware KW - sensor networks KW - information systems KW - education KW - do-it-yourself Y1 - 2021 SN - 9781450387927 U6 - https://doi.org/10.1145/3453892.3462697 N1 - PETRA '21: The 14th PErvasive Technologies Related to Assistive Environments Conference Corfu Greece 29 June 2021- 2 July 2021 SP - 292 EP - 299 PB - Association for Computing Machinery CY - New York ER -