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 - http://dx.doi.org/10.1109/RoboMech.2017.8261115 SP - 7 EP - 13 ER - TY - JOUR A1 - Steinbauer, Gerald A1 - Ferrein, Alexander T1 - 20 Years of RoboCup JF - KI - Künstliche Intelligenz Y1 - 2016 U6 - http://dx.doi.org/10.1007/s13218-016-0442-z SN - 1610-1987 VL - 30 IS - 3-4 SP - 221 EP - 224 PB - Springer CY - Berlin 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 - 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 - http://dx.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 - JOUR A1 - Schulte-Tigges, Joschua A1 - Förster, Marco A1 - Nikolovski, Gjorgji A1 - Reke, Michael A1 - Ferrein, Alexander A1 - Kaszner, Daniel A1 - Matheis, Dominik A1 - Walter, Thomas T1 - Benchmarking of various LiDAR sensors for use in self-driving vehicles in real-world environments JF - Sensors N2 - 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. KW - Lidar KW - Benchmark KW - Self-driving Y1 - 2022 U6 - http://dx.doi.org/10.3390/s22197146 SN - 1424-8220 N1 - This article belongs to the Special Issue "Sensor Fusion for Vehicles Navigation and Robotic Systems" VL - 22 IS - 19 PB - MDPI CY - Basel ER - TY - CHAP A1 - Scholl, Ingrid A1 - Bartella, Alex A1 - Moluluo, Cem A1 - Ertural, Berat A1 - Laing, Frederic A1 - Suder, Sebastian T1 - MedicVR : Acceleration and Enhancement Techniques for Direct Volume Rendering in Virtual Reality T2 - Bildverarbeitung für die Medizin 2019 : Algorithmen – Systeme – Anwendungen Y1 - 2019 SN - 978-3-658-25326-4 U6 - http://dx.doi.org/10.1007/978-3-658-25326-4_32 SP - 152 EP - 157 PB - Springer Vieweg CY - Wiesbaden 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 - http://dx.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 - JOUR A1 - Schiffer, Stefan A1 - Ferrein, Alexander T1 - Decision-Theoretic Planning with Fuzzy Notions in GOLOG JF - International Journal of Uncertainty, Fuzziness and Knowledge-Based Systems N2 - 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. Y1 - 2016 U6 - http://dx.doi.org/10.1142/S0218488516400134 SN - 1793-6411 VL - 24 IS - Issue Suppl. 2 SP - 123 EP - 143 PB - World Scientific CY - Singapur ER - TY - CHAP A1 - Schiffer, Stefan A1 - Ferrein, Alexander T1 - A System Layout for Cognitive Service Robots T2 - Cognitive Robot Architectures. Proceedings of EUCognition 2016 Y1 - 2017 SN - 1613-0073 N1 - CEUR-WS Vol-1855 SP - 44 EP - 45 ER - TY - CHAP A1 - Reke, Michael A1 - Peter, Daniel A1 - Schulte-Tigges, Joschua A1 - Schiffer, Stefan A1 - Ferrein, Alexander A1 - Walter, Thomas A1 - Matheis, Dominik T1 - A Self-Driving Car Architecture in ROS2 T2 - 2020 International SAUPEC/RobMech/PRASA Conference, Cape Town, South Africa Y1 - 2020 SN - 978-1-7281-4162-6 U6 - http://dx.doi.org/10.1109/SAUPEC/RobMech/PRASA48453.2020.9041020 SP - 1 EP - 6 ER - TY - CHAP A1 - Nikolovski, Gjorgji A1 - Limpert, Nicolas A1 - Nessau, Hendrik A1 - Reke, Michael A1 - Ferrein, Alexander T1 - Model-predictive control with parallelised optimisation for the navigation of autonomous mining vehicles T2 - 2023 IEEE Intelligent Vehicles Symposium (IV) N2 - 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. KW - Mpc KW - Control KW - Path-following KW - Navigation KW - Automation Y1 - 2023 SN - 979-8-3503-4691-6 (Online) SN - 979-8-3503-4692-3 (Print) U6 - http://dx.doi.org/10.1109/IV55152.2023.10186806 N1 - IEEE Symposium on Intelligent Vehicle, 4.-7. June 2023, Anchorage, AK, USA. PB - IEEE ER - TY - CHAP A1 - Niemueller, Tim A1 - Zwilling, Frederik A1 - Lakemeyer, Gerhard A1 - Löbach, Matthias A1 - Reuter, Sebastian A1 - Jeschke, Sabina A1 - Ferrein, Alexander T1 - Cyber-Physical System Intelligence T2 - Industrial Internet of Things N2 - 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. KW - Smart factory KW - Industry 4.0 KW - Multi-robot systems KW - Autonomous mobile robots KW - RoboCup Y1 - 2017 SN - 978-3-319-42559-7 U6 - http://dx.doi.org/10.1007/978-3-319-42559-7_17 N1 - Springer Series in Wireless Technology SP - 447 EP - 472 PB - Springer 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 - http://dx.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 - 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 - http://dx.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 - Ewert, Daniel A1 - Ferrein, Alexander A1 - Jeschke, Sabina A1 - Lakemeyer, Gerhard T1 - Decisive Factors for the Success of the Carologistics RoboCup Team in the RoboCup Logistics League 2014 T2 - RoboCup 2014: Robot World Cup XVIII Y1 - 2015 SN - 978-3-319-18615-3 N1 - Lecture Notes in Computer Science ; 8992 SP - 155 EP - 167 PB - Springer ER - TY - CHAP A1 - Niemueller, Tim A1 - Reuter, Sebastian A1 - Ewert, Daniel A1 - Ferrein, Alexander A1 - Jeschke, Sabina A1 - Lakemeyer, Gerhard ED - Almeida, Luis T1 - The Carologistics Approach to Cope with the Increased Complexity and New Challenges of the RoboCup Logistics League 2015 T2 - RoboCup 2015: Robot World Cup XIX Y1 - 2016 SN - 978-3-319-29339-4 U6 - http://dx.doi.org/10.1007/978-3-319-29339-4_4 N1 - Lecture Notes in Computer Science ; 9513 SP - 47 EP - 59 PB - Springer International Publishing CY - Cham 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 - http://dx.doi.org/10.1007/978-3-319-68792-6_49 SP - 589 EP - 600 PB - Springer CY - Cham 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 - http://dx.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 - Niemueller, Tim A1 - Ferrein, Alexander A1 - Reuter, Sebastian A1 - Jeschke, Sabina A1 - Lakemeyer, Gerhard T1 - The RoboCup Logistics League as a Holistic Multi-Robot Smart Factory Benchmark T2 - Proceedings of the IROS 2015 Open forum on evaluation of results, replication of experiments and benchmarking in robotics research N2 - With autonomous mobile robots receiving increased attention in industrial contexts, the need for benchmarks becomes more and more an urgent matter. The RoboCup Logistics League (RCLL) is one specific industry-inspired scenario focusing on production logistics within a Smart Factory. In this paper, we describe how the RCLL allows to assess the performance of a group of robots within the scenario as a whole, focusing specifically on the coordination and cooperation strategies and the methods and components to achieve them. We report on recent efforts to analyze performance of teams in 2014 to understand the implications of the current grading scheme, and derived criteria and metrics for performance assessment based on Key Performance Indicators (KPI) adapted from classic factory evaluation. We reflect on differences and compatibility towards RoCKIn, a recent major benchmarking European project. Y1 - 2015 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 -