TY  - CHAP
A1  - Hofmann, Till
A1  - Mataré, Victor
A1  - Schiffer, Stefan
A1  - Ferrein, Alexander
A1  - Lakemeyer, Gerhard
T1  - Constraint-based online transformation of abstract plans into executable robot actions
T2  - Proceedings of the 2018 AAAI Spring Symposium on Integrating Representation, Reasoning, Learning, and Execution for Goal Directed Autonomy
Y1  - 2018
SP  - 549
EP  - 553
ER  - 
TY  - CHAP
A1  - Ferrein, Alexander
A1  - Schiffer, Stefan
A1  - Kallweit, Stephan
T1  - The ROSIN Education Concept - Fostering ROS Industrial-Related Robotics Education in Europe
T2  - ROBOT 2017: Third Iberian Robotics Conference
Y1  - 2018
SN  - 978-3-319-70836-2
U6  - http://dx.doi.org/10.1007/978-3-319-70836-2_31
N1  - Advances in Intelligent Systems and Computing, vol 694;
(AISC, volume 694)
SP  - 370
EP  - 381
PB  - Springer
CY  - Cham
ER  - 
TY  - CHAP
A1  - Hofmann, Till
A1  - Mataré, Victor
A1  - Neumann, Tobias
A1  - Schönitz, Sebastian
A1  - Henke, Christoph
A1  - Limpert, Nicolas
A1  - Niemueller, Tim
A1  - Ferrein, Alexander
A1  - Jeschke, Sabina
A1  - Lakemeyer, Gerhard
T1  - Enhancing Software and Hardware Reliability for a Successful Participation in the RoboCup Logistics League 2017
Y1  - 2018
SN  - 978-3-030-00308-1
U6  - http://dx.doi.org/10.1007/978-3-030-00308-1_40
N1  - Lecture Notes in Computer Science, vol 11175
SP  - 486
EP  - 497
PB  - Springer
CY  - Cham
ER  - 
TY  - JOUR
A1  - Schiffer, Stefan
A1  - Ferrein, Alexander
T1  - ERIKA—Early Robotics Introduction at Kindergarten Age
JF  - Multimodal Technologies Interact
N2  - 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.
Y1  - 2018
U6  - http://dx.doi.org/10.3390/mti2040064
SN  - 2414-4088
VL  - 2
IS  - 4
PB  - MDPI
CY  - Basel
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  - http://dx.doi.org/10.1109/RoboMech.2017.8261115
SP  - 7
EP  - 13
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  - Alhwarin, Faraj
A1  - Ferrein, Alexander
A1  - Scholl, Ingrid
T1  - An Efficient Hashing Algorithm for NN Problem in HD Spaces
T2  - Lecture Notes in Computer Science
Y1  - 2019
SN  - 978-303005498-4
U6  - http://dx.doi.org/10.1007/978-3-030-05499-1_6
N1  - 7th International Conference on Pattern Recognition Applications and Methods, ICPRAM 2018; Funchal; Portugal; 16 January 2018 through 18 January 2018; Code 222779
SP  - 101
EP  - 115
ER  - 
TY  - CHAP
A1  - Ferrein, Alexander
A1  - Scholl, Ingrid
A1  - Neumann, Tobias
A1  - Krückel, Kai
A1  - Schiffer, Stefan
T1  - A system for continuous underground site mapping and exploration
Y1  - 2019
U6  - http://dx.doi.org/10.5772/intechopen.85859
ER  - 
TY  - CHAP
A1  - Ferrein, Alexander
A1  - Bharatheesha, Mukunda
A1  - Schiffer, Stefan
A1  - Corbato, Carlos Hernandez
T1  - TRROS 2018 :  Teaching Robotics with ROS Workshop at ERF 2018;  Proceedings of the Workshop on Teaching Robotics with ROS (held at ERF 2018), co-located with European Robotics Forum 2018 (ERF 2018), Tampere, Finland, March 15th, 2018
T2  - CEUR Workshop Proceedings
Y1  - 2019
SN  - 1613-0073
IS  - Vol-2329
ER  - 
TY  - CHAP
A1  - Alhwarin, Faraj
A1  - Schiffer, Stefan
A1  - Ferrein, Alexander
A1  - Scholl, Ingrid
T1  - An Optimized Method for 3D Body Scanning Applications Based on KinectFusion
T2  - Communications in Computer and Information Science
Y1  - 2019
U6  - http://dx.doi.org/10.1007/978-3-030-29196-9_6
SN  - 1865-0929
N1  - 11th International Joint Conference on Biomedical Engineering Systems and Technologies, BIOSTEC 2018; Funchal; Portugal; 19 January 2018 through 21 January 2018
VL  - 1024
SP  - 100
EP  - 113
PB  - Springer
ER  - 
TY  - CHAP
A1  - Eltester, Niklas Sebastian
A1  - Ferrein, Alexander
A1  - Schiffer, Stefan
T1  - A smart factory setup based on the RoboCup logistics league
T2  - 2020 IEEE Conference on Industrial Cyberphysical Systems (ICPS)
N2  - In this paper we present SMART-FACTORY, a setup for a research and teaching facility in industrial robotics that is based on the RoboCup Logistics League. It is driven by the need for developing and applying solutions for digital production. Digitization receives constantly increasing attention in many areas, especially in industry. The common theme is to make things smart by using intelligent computer technology. Especially in the last decade there have been many attempts to improve existing processes in factories, for example, in production logistics, also with deploying cyber-physical systems. An initiative that explores challenges and opportunities for robots in such a setting is the RoboCup Logistics League. Since its foundation in 2012 it is an international effort for research and education in an intra-warehouse logistics scenario. During seven years of competition a lot of knowledge and experience regarding autonomous robots was gained. This knowledge and experience shall provide the basis for further research in challenges of future production. The focus of our SMART-FACTORY is to create a stimulating environment for research on logistics robotics, for teaching activities in computer science and electrical engineering programmes as well as for industrial users to study and explore the feasibility of future technologies. Building on a very successful history in the RoboCup Logistics League we aim to provide stakeholders with a dedicated facility oriented at their individual needs.
Y1  - 2020
U6  - http://dx.doi.org/10.1109/ICPS48405.2020.9274766
N1  - 2020 IEEE Conference on Industrial Cyberphysical Systems (ICPS), 10-12 June 2020, Tampere, Finland.
SP  - 297
EP  - 302
PB  - IEEE
ER  - 
TY  - JOUR
A1  - Claer, Mario
A1  - Ferrein, Alexander
A1  - Schiffer, Stefan
T1  - Calibration of a Rotating or Revolving Platform with a LiDAR Sensor
JF  - Applied Sciences
Y1  - 2019
U6  - http://dx.doi.org/10.3390/app9112238
SN  - 2076-3417
VL  - Volume 9
IS  - issue 11, 2238
PB  - MDPI
CY  - Basel
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  - 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  - http://dx.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
ER  - 
TY  - CHAP
A1  - Hofmann, Till
A1  - Limpert, Nicolas
A1  - Mataré, Viktor
A1  - Ferrein, Alexander
A1  - Lakemeyer, Gerhard
T1  - Winning the RoboCup Logistics League with Fast Navigation, Precise Manipulation, and Robust Goal Reasoning
T2  - RoboCup 2019: Robot World Cup XXIII. RoboCup
Y1  - 2019
SN  - 978-3-030-35699-6
U6  - http://dx.doi.org/10.1007/978-3-030-35699-6_41
N1  - Lecture Notes in Computer Science, vol 11531
SP  - 504
EP  - 516
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  - 12th International Conference on Agents and Artificial Intelligence
Y1  - 2020
U6  - http://dx.doi.org/10.5220/0008984406920699
ER  - 
TY  - JOUR
A1  - Hofmann, Till
A1  - Limpert, Nicolas
A1  - Mataré, Victor
A1  - Schönitz, Sebastian
A1  - Niemueller, Tim
A1  - Ferrein, Alexander
A1  - Lakemeyer, Gerhard
T1  - The Carologistics RoboCup Logistics Team 2018
N2  - 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 Schönitz,
Morian Sonnet, Carsten Stoffels, and Tarik Viehmann.
This paper is based on the last year’s team description.
Y1  - 2018
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  - JOUR
A1  - Limpert, Nicolas
A1  - Wiesen, Patrick
A1  - Ferrein, Alexander
A1  - Kallweit, Stephan
A1  - Schiffer, Stefan
T1  - The ROSIN Project and its Outreach to South Africa
JF  - R&D Journal
Y1  - 2019
VL  - 35
SP  - 1
EP  - 6
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
Y1  - 2021
SN  - 978-3-030-67411-3
U6  - http://dx.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  -