Publications

2020

  • Steffen Kaden. Zweibeiniges laufen für humanoide roboter im robocup. Master's thesis, Humboldt-Universität zu Berlin, 2020.
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    @MastersThesis{2020_studienarbeit_kaden, author = "Kaden, Steffen", title = {Zweibeiniges Laufen f\"ur Humanoide Roboter im RoboCup}, school = {Humboldt-Universit\"at zu Berlin}, year = "2020", type = "Studienarbeit" }
  • Heinrich Mellmann, Benjamin Schlotter, Lea Musiolek, and Verena V. Hafner. Anticipation as a mechanism for complex behavior in artificial agents. Artificial Life Conference Proceedings, pages 157–159, 2020. URL: https://www.mitpressjournals.org/doi/abs/10.1162/isal_a_00314.
    [BibTeX : | show dialog | copy]
    @article{ALIFE-MellmannEtAl-20, author = "Mellmann, Heinrich and Schlotter, Benjamin and Musiolek, Lea and Hafner, Verena V.", title = "Anticipation as a Mechanism for Complex Behavior in Artificial Agents", journal = "Artificial Life Conference Proceedings", year = "2020", number = "32", pages = "157-159", url = "https://www.mitpressjournals.org/doi/abs/10.1162/isal\_a\_00314" }
  • Anh Thu Nguyen. Realtime object detection on the nao robot. Master's thesis, Humboldt-Universität zu Berlin, 2020.
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    @MastersThesis{2020_studienarbeit_nguyen, author = "Nguyen, Anh Thu", title = "Realtime Object Detection on the NAO Robot", school = {Humboldt-Universit\"at zu Berlin}, year = "2020", type = "Studienarbeit" }
  • Anastasia Prisacaru. Gretchen - a humanoid robot for research and education. Master's thesis, Humboldt-Universität zu Berlin, 2020.
    [BibTeX : | show dialog | copy]
    @MastersThesis{2020_prisacaru_bachelorarbeit, author = "Prisacaru, Anastasia", title = "Gretchen - a humanoid robot for research and education", school = {Humboldt-Universit\"at zu Berlin}, year = "2020", type = "Bachelorarbeit" }
  • Benjamin Schlotter. Analyse von robocup spielen - erkennen und lokalisieren von nao robotern. Master's thesis, Humboldt-Universität zu Berlin, 2020.
    [BibTeX : | show dialog | copy]
    @MastersThesis{2020_studienarbeit_schlotter, author = "Schlotter, Benjamin", title = "Analyse von RoboCup Spielen - Erkennen und Lokalisieren von Nao Robotern", school = {Humboldt-Universit\"at zu Berlin}, year = "2020", type = "Studienarbeit" }
  • Philipp Strobel. Teamstrategie und -koordination im kontext des roboterfußballs. Master's thesis, Humboldt-Universität zu Berlin, 2020.
    [BibTeX : | show dialog | copy]
    @MastersThesis{2020_strobel_diplomarbeit, author = "Strobel, Philipp", title = "Teamstrategie und -koordination im Kontext des Roboterfu{\ss}balls", school = {Humboldt-Universit\"at zu Berlin}, year = "2020", type = "Diplomarbeit" }

2019

  • Robert Martin. Visuelle positionsbestimmung für mobile roboter im robocup kontext. Master's thesis, Humboldt-Universität zu Berlin, 2019.
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    @MastersThesis{2019_martin_bachelorarbeit, author = "Martin, Robert", title = {Visuelle Positionsbestimmung f\"ur mobile Roboter im RoboCup Kontext}, school = {Humboldt-Universit\"at zu Berlin}, year = "2019", type = "Bachelorarbeit" }
  • Heinrich Mellmann, Benjamin Schlotter, and Philipp Strobel. Toward data driven development in robocup. In RoboCup 2019: Robot Soccer World Cup XXIII. 2019. to appear.
    [BibTeX : | show dialog | copy]
    @InProceedings{robocuptools_19, author = "Mellmann, Heinrich and Schlotter, Benjamin and Strobel, Philipp", title = "Toward Data Driven Development in RoboCup", booktitle = "RoboCup 2019: Robot Soccer World Cup XXIII", year = "2019", note = "to appear", keywords = "RoboCup, Data Driven Development, Robot Detection, Visual Robot Tracking, Camera Localization" }
  • Heinrich Mellmann, Benjamin Schlotter, and Philipp Strobel. Robocup.tools - data driven research and development in robocup. 2019. URL: http://robocup.tools.
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    @Misc{2019-rcf20-project-game-evaluation, author = "Mellmann, Heinrich and Schlotter, Benjamin and Strobel, Philipp", title = "robocup.tools - Data Driven Research and Development in RoboCup", year = "2019", type = "Project Proposal", url = "http://robocup.tools" }

2018

  • Heinrich Mellmann, Benjamin Schlotter, Steffen Kaden, Philipp Strobel, Thomas Krause, Etienne Couque-Castelnovo, Claas-Norman Ritter, Tobias Hübner, and Schahin Tofangchi. Berlin united - nao team humboldt team report 2018. techreport, Adaptive Systeme, Institut für Informatik, Humboldt-Universität zu Berlin, Unter den Linden 6, 10099 Berlin, Germany, 2018.
    [BibTeX : | show dialog | copy]
    @TechReport{naoth-report18, author = {Mellmann, Heinrich and Schlotter, Benjamin and Kaden, Steffen and Strobel, Philipp and Krause, Thomas and Couque-Castelnovo, Etienne and Ritter, Claas-Norman and H\"ubner, Tobias and Tofangchi, Schahin}, title = "Berlin United - Nao Team Humboldt Team Report 2018", institution = {Adaptive Systeme, Institut f\"ur Informatik, Humboldt-Universit\"at zu Berlin, Unter den Linden 6, 10099 Berlin, Germany}, year = "2018", type = "techreport", timestamp = "2018-11-11" }
  • Philipp Strobel. Methoden und werkzeuge zur analyse von teamverhalten und -strategie im roboterfußball. Master's thesis, Humboldt-Universität zu Berlin, 2018.
    [BibTeX : | show dialog | copy]
    @MastersThesis{strobel-studienarbeit, author = "Strobel, Philipp", title = "Methoden und Werkzeuge zur Analyse von Teamverhalten und -strategie im Roboterfu{\ss}ball", school = {Humboldt-Universit\"at zu Berlin}, year = "2018", type = "Studienarbeit" }

2017

  • Yigit Can Akcay. Pfadplanung und schrittkoordination für humanoide roboter. Master's thesis, Humboldt-Universität zu Berlin, 2017.
    [BibTeX : | show dialog | copy]
    @MastersThesis{2017_akcay_bachelorarbeit, author = "Can Akcay, Yigit", title = {Pfadplanung und Schrittkoordination f\"ur Humanoide Roboter}, school = {Humboldt-Universit\"at zu Berlin}, year = "2017", type = "Bachelorarbeit" }
  • Dominik Krienelke. Visuelle detektion humanoider roboter basierend auf histogrammen orientierter gradienten (german). Master's thesis, Humboldt-Universität zu Berlin, 2017.
    [BibTeX : | show dialog | copy]
    @MastersThesis{Krienelke2017, author = "Krienelke, Dominik", title = "Visuelle Detektion humanoider Roboter basierend auf Histogrammen orientierter Gradienten (German)", school = "Humboldt-Universität zu Berlin", year = "2017", comment = "To appear." }
  • Dominik Krienelke. Visuelle Detektion humanoider Roboter basierend auf Histogrammen orientierter Gradienten. Master's thesis, Humboldt-Universität zu Berlin, Februar 2017. URL: https://www2.informatik.hu-berlin.de/~naoth/docs/diplomarbeiten/2017-krienelke-diploma-thesis.pdf.
    [BibTeX : | show dialog | copy]
    @MastersThesis{krienelke2017, author = "Krienelke, Dominik", title = "{Visuelle Detektion humanoider Roboter basierend auf Histogrammen orientierter Gradienten}", school = {Humboldt-Universit\"at zu Berlin}, year = "2017", type = "Diplomarbeit", month = "Februar", url = "https://www2.informatik.hu-berlin.de/\textasciitilde naoth/docs/diplomarbeiten/2017-krienelke-diploma-thesis.pdf", urldate = "14.09.2018" }
  • Heinrich Mellmann and Benjamin Schlotter. Advances on simulation based selection of actions for a humanoid soccer-robot. In Proceedings of the 12th Workshop on Humanoid Soccer Robots, 17th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain. 2017.
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    @inproceedings{HSR-MellmannSchlotter-17, author = "Mellmann, Heinrich and Schlotter, Benjamin", title = "Advances on Simulation Based Selection of Actions for a Humanoid Soccer-Robot", booktitle = "Proceedings of the 12th Workshop on Humanoid Soccer Robots, 17th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain.", year = "2017" }
  • Heinrich Mellmann, Benjamin Schlotter, Steffen Kaden, Philipp Strobel, Thomas Krause, Claas-Norman Ritter, Tobias Hübner, and Schahin Tofangchi. Berlin united - nao team humboldt team report 2017. techreport, Adaptive Systeme, Institut für Informatik, Humboldt-Universität zu Berlin, Unter den Linden 6, 10099 Berlin, Germany, 2017.
    [BibTeX : | show dialog | copy]
    @TechReport{naoth-report17, author = {Mellmann, Heinrich and Schlotter, Benjamin and Kaden, Steffen and Strobel, Philipp and Krause, Thomas and Ritter, Claas-Norman and H\"ubner, Tobias and Tofangchi, Schahin}, title = "Berlin United - Nao Team Humboldt Team Report 2017", institution = {Adaptive Systeme, Institut f\"ur Informatik, Humboldt-Universit\"at zu Berlin, Unter den Linden 6, 10099 Berlin, Germany}, year = "2017", type = "techreport", timestamp = "2018-11-11" }
  • Robin Papke. Deep Learning Based Robot Detection in the Context of RoboCup. Master's thesis, Humboldt-Universität zu Berlin, November 2017.
    [BibTeX : | show dialog | copy]
    @MastersThesis{papke2017, author = "Papke, Robin", title = "{Deep Learning Based Robot Detection in the Context of RoboCup}", school = {Humboldt-Universit\"at zu Berlin}, year = "2017", type = "Bachelorarbeit", month = "November", date = "12.11.2017" }
  • Benjamin Schlotter. Selection of Actions based on Forward Simulations. Master's thesis, Humboldt-Universität zu Berlin, 2017.
    [BibTeX : | show dialog | copy]
    @MastersThesis{schlotter2017, author = "Schlotter, Benjamin", title = "{Selection of Actions based on Forward Simulations}", school = {Humboldt-Universit\"at zu Berlin}, year = "2017", type = "Bachelorarbeit" }
  • Lucas Schwaß. Visuelle Verfolgung humanoider Roboter im RoboCup-Kontext. Master's thesis, Humboldt-Universität zu Berlin, Oktober 2017.
    [BibTeX : | show dialog | copy]
    @MastersThesis{schwass2018, author = "Schwa{\ss}, Lucas", title = "{Visuelle Verfolgung humanoider Roboter im RoboCup-Kontext}", school = {Humboldt-Universit\"at zu Berlin}, year = "2017", type = "Diplomarbeit", month = "Oktober", date = "30.10.2017" }

2016

  • Heinrich Mellmann, Benjamin Schlotter, and Christian Blum. Simulation Based Selection of Actions for a Humanoid Soccer-Robot. In RoboCup 2016: Robot Soccer World Cup XX. 2016. to appear. URL: http://www.naoteamhumboldt.de/wp-content/papercite-data/pdf/2016-mellmannschlotterblum.pdf.
    [BibTeX : | show dialog | copy]
    @InProceedings{RC-MellmannSchlotterBlum-16, author = "Mellmann, Heinrich and Schlotter, Benjamin and Blum, Christian", title = "{Simulation Based Selection of Actions for a Humanoid Soccer-Robot}", booktitle = "RoboCup 2016: Robot Soccer World Cup XX", year = "2016", note = "to appear", abstract = "This paper introduces a method for making fast decisions in a highly dynamic situation, based on forward simulation. This approach is inspired by the decision problem within the RoboCup domain. In this environment, selecting the right action is often a challenging task. The outcome of a particular action may depend on a wide variety of environmental factors, such as the robot's position on the field or the location of obstacles. In addition, the perception is often heterogeneous, uncertain, and incomplete. In this context, we investigate forward simulation as a versatile and extensible yet simple mechanism for inference of decisions. The outcome of each possible action is simulated based on the estimated state of the situation. The simulation of a single action is split into a number of simple deterministic simulations -- samples -- based on the uncertainties of the estimated state and of the action model. Each of the samples is then evaluated separately, and the evaluations are combined and compared with those of other actions to inform the overall decision. This allows us to effectively combine heterogeneous perceptual data, calculate a stable decision, and reason about its uncertainty. This approach is implemented for the kick selection task in the RoboCup SPL environment and is actively used in competitions. We present analysis of real game data showing significant improvement over our previous methods.", keywords = "RoboCup, humanoid robots, internal simulation, decision making", url = "http://www.naoteamhumboldt.de/wp-content/papercite-data/pdf/2016-mellmannschlotterblum.pdf", urldate = "14.09.2018" }
  • Heinrich Mellmann, Benjamin Schlotter, Steffen Kaden, Philipp Strobel, Thomas Krause, Claas-Norman Ritter, Tobias Hübner, and Schahin Tofangchi. Berlin united - nao team humboldt team report 2016. techreport, Adaptive Systeme, Institut für Informatik, Humboldt-Universität zu Berlin, Unter den Linden 6, 10099 Berlin, Germany, 2016. URL: http://www.naoteamhumboldt.de/wp-content/papercite-data/pdf/naoth-report16.pdf.
    [BibTeX : | show dialog | copy]
    @TechReport{naoth-report16, author = {Mellmann, Heinrich and Schlotter, Benjamin and Kaden, Steffen and Strobel, Philipp and Krause, Thomas and Ritter, Claas-Norman and H\"ubner, Tobias and Tofangchi, Schahin}, title = "Berlin United - Nao Team Humboldt Team Report 2016", institution = {Adaptive Systeme, Institut f\"ur Informatik, Humboldt-Universit\"at zu Berlin, Unter den Linden 6, 10099 Berlin, Germany}, year = "2016", type = "techreport", timestamp = "2016-12-09", url = "http://www.naoteamhumboldt.de/wp-content/papercite-data/pdf/naoth-report16.pdf" }

2014

  • Marcus M Scheunemann and Heinrich Mellmann. Multi-hypothesis goal modeling for a humanoid soccer robot. In Proceedings of the 9th Workshop on Humanoid Soccer Robots, 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain. 2014. URL: http://www.ais.uni-bonn.de/humanoidsoccer/ws14/papers/HSR14_Scheunemann.pdf, doi:10.13140/2.1.4830.4963.
    [BibTeX : | show dialog | copy]
    @INPROCEEDINGS{HSR-ScheunemannMellmann-14, author = "Scheunemann, Marcus M and Mellmann, Heinrich", title = "Multi-Hypothesis Goal Modeling for a Humanoid Soccer Robot", booktitle = "Proceedings of the 9th Workshop on Humanoid Soccer Robots, 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain.", year = "2014", doi = "10.13140/2.1.4830.4963", url = "http://www.ais.uni-bonn.de/humanoidsoccer/ws14/papers/HSR14\_Scheunemann.pdf" }

2013

  • Steffen Kaden. Strategische positionierung von robotern im robocup. Master's thesis, Humboldt-Universität zu Berlin, 2013.
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    @MastersThesis{2013_kaden_bachelorarbeit, author = "Kaden, Steffen", title = "Strategische Positionierung von Robotern im RoboCup", school = {Humboldt-Universit\"at zu Berlin}, year = "2013", type = "Bachelorarbeit" }
  • Steffen Kaden, Heinrich Mellmann, Marcus Scheunemann, and Hans-Dieter Burkhard. Voronoi based strategic positioning for robot soccer. In Marcin S. Szczuka, Ludwik Czaja, and Magdalena Kacprzak, editors, Proceedings of the 22nd International Workshop on Concurrency, Specification and Programming (CS&P), volume 1032 of CEUR Workshop Proceedings, 271–282. Warsaw, Poland, 2013. CEUR-WS.org.
    [BibTeX : | show dialog | copy]
    @INPROCEEDINGS{CSP-KadenMellmannEtAl-13, author = "Kaden, Steffen and Mellmann, Heinrich and Scheunemann, Marcus and Burkhard, Hans-Dieter", editor = "Szczuka, Marcin S. and Czaja, Ludwik and Kacprzak, Magdalena", title = "Voronoi Based Strategic Positioning for Robot Soccer", booktitle = "Proceedings of the 22nd International Workshop on Concurrency, Specification and Programming (CS\\&P)", year = "2013", volume = "1032", series = "CEUR Workshop Proceedings", pages = "271-282", address = "Warsaw, Poland", publisher = "CEUR-WS.org", abstract = "Strategic positioning is a decisive part of the team play within a soccer game. In most solutions the positioning techniques are treated as a constituent of a complete team play strategy. In a comprehensive overview we discuss the team play and positioning methods used within RoboCup and extract the essential requirements for player positioning. In this work, we propose an approach for strategic positioning allowing for flexible formulation of arbitrary strategies. Based on the conditions of a specific strategy, the field is subdivided in regions by a Voronoi tessellation and each region is assigned a weight. Those weights influence the calculation of the optimal robot position as well as the path. A team play strategy can be expressed by the choice of the tessellation as well as the choice of the weights. This provides a powerful abstraction layer simplifying the design of the actual play strategy. We also present an implementation of an example strategy based on this approach and analyse the performance of our approach in simulation.", bibsource = "DBLP, http://dblp.uni-trier.de", ee = "http://ceur-ws.org/Vol-1032/paper-23.pdf", owner = "gxy", timestamp = "2013.11.03" }
  • Heinrich Mellmann, Marcus Scheunemann, and Oliver Stadie. Adaptive grasping for a small humanoid robot utilizing force- and electric current sensors. In Marcin S. Szczuka, Ludwik Czaja, and Magdalena Kacprzak, editors, Proceedings of the 22nd International Workshop on Concurrency, Specification and Programming (CS&P), volume 1032 of CEUR Workshop Proceedings, 283–293. Warsaw, Poland, 2013. CEUR-WS.org.
    [BibTeX : | show dialog | copy]
    @INPROCEEDINGS{CSP-MellmannScheunemannEtAl-13, author = "Mellmann, Heinrich and Scheunemann, Marcus and Stadie, Oliver", editor = "Szczuka, Marcin S. and Czaja, Ludwik and Kacprzak, Magdalena", title = "Adaptive Grasping for a Small Humanoid Robot Utilizing Force- and Electric Current Sensors", booktitle = "Proceedings of the 22nd International Workshop on Concurrency, Specification and Programming (CS\\&P)", year = "2013", volume = "1032", series = "CEUR Workshop Proceedings", pages = "283-293", address = "Warsaw, Poland", publisher = "CEUR-WS.org", abstract = "The ability to grasp objects of different size and shape is one of the most important skills of a humanoid robot. Human grasping integrates a lot of different senses. In particular, the tactile sensing is very important for a stable grasping motion. When we lift a box without knowing what is inside, we do it carefully using our tactile and proprioceptive senses to estimate the weight and thus, the force necessary to hold and to lift this box. In this paper we present an adaptive controlling mechanism which enables a robot to grasp objects of different weights. Thereby, we only use the proprioceptive sensors like positions and electric current at the joints and force sensors at the end-effectors providing the robot with tactile feedback. We implemented and tested our approach on a humanoid robot.", bibsource = "DBLP, http://dblp.uni-trier.de", crossref = "DBLP:conf/csp/2013", ee = "http://ceur-ws.org/Vol-1032/paper-24.pdf", owner = "gxy", timestamp = "2013.11.03", tags = "2013" }

2011

  • Thomas Krause. Erfahrungsbasierte Lernmethoden zur visuellen Trajektorienvorhersage humanoider Roboter. Master's thesis, Humboldt-Universität zu Berlin, 2011.
    [BibTeX : | show dialog | copy]
    @mastersthesis{krause_erfahrungsbasierte_2011, author = "Krause, Thomas", title = "Erfahrungsbasierte {Lernmethoden} zur visuellen {Trajektorienvorhersage} humanoider {Roboter}", copyright = "All rights reserved", school = {Humboldt-Universit\"at zu Berlin}, year = "2011" }
  • Heinrich Mellmann and Giuseppe Cotugno. Dynamic motion control: adaptive bimanual grasping for a humanoid robot. Fundamenta Informaticae, 112(1):89–101, 2011.
    [BibTeX : | show dialog | copy]
    @ARTICLE{FI-MellmannCotugno-11, author = "Mellmann, Heinrich and Cotugno, Giuseppe", title = "Dynamic Motion Control: Adaptive Bimanual Grasping for a Humanoid Robot", journal = "Fundamenta Informaticae", year = "2011", volume = "112", pages = "89-101", number = "1", abstract = "The ability to grasp objects of different size and shape is one of the most important skills of a humanoid robot. There are a lot of different approaches tackling this problem; however, there is no general solution. The complexity and the skill of a possible grasping motion depend hardly on a particular robot. In this paper we analyze the kinematic and sensory grasping abilities of the humanoid robot Nao. Its kinematic constraints and hand's mechanical structure represent an interesting case of study due to lack of actuators for fingers and the limited computation power. After describing the platform and studying its capabilities, we propose some simple controllers and we present a benchmark based on some experimental data.", owner = "mellmann", timestamp = "2011.06.13" }
  • Heinrich Mellmann and Marcus Scheunemann. Local goal model for a humanoid soccer robot. In Marcin Szczuka, Ludwik Czaja, Andrzej Skowron, and Magdalena Kacprzak, editors, Proceedings of the Workshop on Concurrency, Specification, and Programming CS&P 2011, 353–360. PuÅ‚tusk, Poland, September 2011. Białystok University of Technology.
    [BibTeX : | show dialog | copy]
    @INPROCEEDINGS{CSP-MellmannScheunemann-11, author = "Mellmann, Heinrich and Scheunemann, Marcus", editor = "Szczuka, Marcin and Czaja, Ludwik and Skowron, Andrzej and Kacprzak, Magdalena", title = "Local Goal Model for a Humanoid Soccer Robot", booktitle = "Proceedings of the Workshop on Concurrency, Specification, and Programming CS\\&P 2011", year = "2011", pages = "353-360", address = "Pułtusk, Poland", month = "September", publisher = "Bia{\l}ystok University of Technology", owner = "admin", timestamp = "2011.11.12" }

2010

  • Hans-Dieter Burkhard, Florian Holzhauer, Thomas Krause, Heinrich Mellmann, Claas Norman Ritter, Oliver Welter, and Yuan Xu. Nao-team humboldt 2010. Technical Report, Humboldt Universität zu Berlin, 2010. URL: http://www.naoteamhumboldt.de/wp-content/uploads/2010/02/NaoTH10Description.pdf.
    [BibTeX : | show dialog | copy]
    @TECHREPORT{tdp10, author = "Burkhard, Hans-Dieter and Holzhauer, Florian and Krause, Thomas and Mellmann, Heinrich and Ritter, Claas Norman and Welter, Oliver and Xu, Yuan", title = "NAO-Team Humboldt 2010", institution = "Humboldt Universität zu Berlin", year = "2010", owner = "Heinrich Mellmann", timestamp = "2010.02.03", url = "http://www.naoteamhumboldt.de/wp-content/uploads/2010/02/NaoTH10Description.pdf", tags = "2010" }
  • Giuseppe Cotugno and Heinrich Mellmann. Dynamic motion control: adaptive bimanual grasping for a humanoid robot. In Workshop on Concurrency, Specification, and Programming (CS&P), volume Volume 2. Börnicke (near Berlin), Germany, September 2010.
    [BibTeX : | show dialog | copy]
    @INPROCEEDINGS{CSP-CotugnoMellmann-10, author = "Cotugno, Giuseppe and Mellmann, Heinrich", title = "Dynamic Motion Control: Adaptive Bimanual Grasping for a Humanoid Robot", booktitle = "Workshop on Concurrency, Specification, and Programming (CS\\&P)", year = "2010", volume = "Volume 2", address = "Börnicke (near Berlin), Germany", month = "September", abstract = "In this paper we analyze the kinematic and sensory grasping abilities of the humanoid robot Nao. Its kinematic constraints and hand's mechanical structure represent an interesting case of study due to lack of actuators for fingers and the limited computation power. After describing the platform and studying its capabilities, we propose some simple controllers and we present a benchmark based on some experimental data.", owner = "gxy", timestamp = "2010.09.29", tags = "2010" }
  • Heinrich Mellmann. Ein anderes modell der welt: alternative methoden zur lokalisierung mobiler roboter. Master's thesis, Humboldt Universität zu Berlin, April 2010. (in German). URL: http://www.heinrich-mellmann.de/content/publications/data/2011-05-13-diplomarbeit-mellmann-very-final.pdf.
    [BibTeX : | show dialog | copy]
    @MASTERSTHESIS{DiplomaThesis-Mellmann-10, author = "Mellmann, Heinrich", title = "Ein anderes Modell der Welt: Alternative Methoden zur Lokalisierung Mobiler Roboter", school = "Humboldt Universität zu Berlin", year = "2010", type = "Diploma Thesis", month = "April", note = "(in German)", abstract = "Many tasks of a mobile robot, e.g., navigation, require the knowledge of the positions of the objects in the surrounding environment. This task is especially challenging for the robots which perception is based on a directed visual system, e.g., a camera with a limited view angle. The incomplete and noisy sensor information leads to the uncertainty in the robots belief of the world. An appropriate model of the world may enable the robot to make plans and to realize complex behavior. The state of the art modeling methods use often only a small part of the available information. In particular the redundant information remain unused. In this work we investigate methods to exploit effectively the redundant information in order to get a better model of the world. In the first part we discuss a number of possibilities to use of specific properties of the objects to estimate the parameters of the camera matrix. In the second part we present a constraint based approach for the world modeling.", owner = "Heinrich Mellmann", timestamp = "2010.07.27", url = "http://www.heinrich-mellmann.de/content/publications/data/2011-05-13-diplomarbeit-mellmann-very-final.pdf", tags = "2010, master" }
  • Heinrich Mellmann and Yuan Xu. Adaptive motion control with visual feedback for a humanoid robot. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010). 2010.
    [BibTeX : | show dialog | copy]
    @INPROCEEDINGS{IROS-MellmannXu-10, author = "Mellmann, Heinrich and Xu, Yuan", title = "Adaptive Motion Control with Visual Feedback for a Humanoid Robot", booktitle = "IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010)", year = "2010", abstract = "The performance of a soccer robot is highly dependent on its motion ability. The kicking motion is one of the most important motions in a soccer game. However, automatic, full body motion generation for humanoid robots presents a formidable computational challenge. At the current state the most common approaches of implementing this motion are based on key frame technique. Such solutions are inflexible, i.e., in order to adjust the aimed direction of the kick the robot has to walk around the ball. The adjustment costs a lot of time especially if some precise adjustments have to be done, e.g., for a penalty kick. In this paper we present an approach for adaptive control of the motions. We implemented our approach in order to solve the task of kicking the ball on a humanoid robot Nao. The approach was tested both in simulation and on a real robot.", owner = "gxy", timestamp = "2010.07.27" }
  • Heinrich Mellmann, Yuan Xu, Thomas Krause, and Florian Holzhauer. Naoth software architecture for an autonomous agent. In Proceedings of the International Workshop on Standards and Common Platforms for Robotics (SCPR 2010), 316–327. Darmstadt, November 2010.
    [BibTeX : | show dialog | copy]
    @INPROCEEDINGS{SCPR-MellmannXuEtAl-10, author = "Mellmann, Heinrich and Xu, Yuan and Krause, Thomas and Holzhauer, Florian", title = "NaoTH Software Architecture for an Autonomous Agent", booktitle = "Proceedings of the International Workshop on Standards and Common Platforms for Robotics (SCPR 2010)", year = "2010", pages = "316--327", address = "Darmstadt", month = "November", abstract = "An appropriate architecture (i.e., framework) is the base of each successful heterogeneous software project. It enables a group of developers to work at the same project and to organize their solutions. From this point of view, the artificial intelligence and/or robotics related research projects are usually more complicated, since the actual result of the project is often not clear. In particular, a strong organization of the software is necessary if the project is involved in education. Obviously, there is no perfect framework which could satisfy all the needs of the developers. In this paper we present a modular software architecture designed to implement an autonomous agent. In particular, it is used to develop software which is used simultaneously at several platforms (e.g., humanoid robot, simulated agent). One of the main aspects considered in our design is a strong code modularization which allows for re-usability, transparency and easily testing. Other important aspects are real-time applicability and simple usage. This paper presents the main concepts and the particular implementation of the important parts. We also provide a qualitative comparison with other existing robotics frameworks.", owner = "gxy", timestamp = "2010.11.21" }
  • Yuan Xu and Hans-Dieter Burkhard. Narrowing reality gap and validation: improving the simulator for humanoid soccer robot. In Concurrency, Specification and Programming CS&P'2010. Helenenau, Germany, September 2010.
    [BibTeX : | show dialog | copy]
    @INPROCEEDINGS{xucsp2010, author = "Xu, Yuan and Burkhard, Hans-Dieter", title = "Narrowing Reality Gap and Validation: Improving the Simulator for Humanoid Soccer Robot", booktitle = "Concurrency, Specification and Programming CS\\&P'2010", year = "2010", address = "Helenenau, Germany", month = "September", owner = "gxy", timestamp = "2014.01.27" }
  • Yuan Xu and Heinrich Mellmann. Adaptive motion control: dynamic kick for a humanoid robot. In Rüdiger Dillmann, Jürgen Beyerer, Uwe Hanebeck, and Tanja Schultz, editors, Proceedings of the 33rd Annual German Conference on Artificial Intelligence (KI 2010), volume 6359 of Lecture Notes in Computer Science, 392–399. Springer Berlin / Heidelberg, 2010. URL: http://dx.doi.org/10.1007/978-3-642-16111-7_45, doi:10.1007/978-3-642-16111-7_45.
    [BibTeX : | show dialog | copy]
    @INPROCEEDINGS{KI-XuMellmann-10, author = "Xu, Yuan and Mellmann, Heinrich", editor = "Dillmann, Rüdiger and Beyerer, Jürgen and Hanebeck, Uwe and Schultz, Tanja", title = "Adaptive Motion Control: Dynamic Kick for a Humanoid Robot", booktitle = "Proceedings of the 33rd Annual German Conference on Artificial Intelligence (KI 2010)", year = "2010", volume = "6359", series = "Lecture Notes in Computer Science", pages = "392--399", publisher = "Springer Berlin / Heidelberg", abstract = "Automatic, full body motion generation for humanoid robots presents a formidable computational challenge. The kicking motion is one of the most important motions in a soccer game. However, at the current state the most common approaches of implementing this motion are based on key frame technique. Such solutions are inflexible and cost a lot of time to adjust robot’s position. In this paper we present an approach for adaptive control of the motions. We implemented our approach in order to solve the task of kicking the ball on a humanoid robot Nao. The approach was tested both in simulation and on a real robot.", affiliation = "Institut für Informatik, LFG Künstliche Intelligenz, Humboldt-Universität zu Berlin, Germany", doi = "10.1007/978-3-642-16111-7\_45", owner = "gxy", timestamp = "2011.01.04", url = "http://dx.doi.org/10.1007/978-3-642-16111-7\_45" }
  • Yuan Xu, Heinrich Mellmann, and Hans-Dieter Burkhard. An approach to close the gap between simulation and real robots. In Noriaki Ando, Stephen Balakirsky, Thomas Hemker, Monica Reggiani, and Oskar von Stryk, editors, 2nd International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR), Lecture Notes in Computer Science, 533–544. Springer Berlin / Heidelberg, 2010. (german). URL: http://dx.doi.org/10.1007/978-3-642-17319-6_48, doi:10.1007/978-3-642-17319-6_48.
    [BibTeX : | show dialog | copy]
    @INPROCEEDINGS{SIMPAR-XuMellmannEtAl-10, author = "Xu, Yuan and Mellmann, Heinrich and Burkhard, Hans-Dieter", editor = "Ando, Noriaki and Balakirsky, Stephen and Hemker, Thomas and Reggiani, Monica and von Stryk, Oskar", title = "An Approach to Close the Gap between Simulation and Real Robots", booktitle = "2nd International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR)", year = "2010", series = "Lecture Notes in Computer Science", pages = "533--544", publisher = "Springer Berlin / Heidelberg", note = "(german)", abstract = "Numerous simulators have been developed over the years to assist robotics research in the development, testing, and evaluation. Nevertheless, there is still a big gap between the simulation and the reality. This makes it difficult to transfer methods and code. The 3D simulator | SimSpark is developed and used by a big community of AI researchers in RoboCup. But up to now there are only few applications to real robots. In this paper, we discuss the general possibilities how the SimSpark simulator can be used to support research in cognitive robotics and present applications on the humanoid robot Nao. As a result of our investigation we have developed a unified team playing both in Simulation League and Standard Platform League in RoboCup.", affiliation = "Institut für Informatik, LFG Künstliche Intelligenz, Humboldt-Universität zu Berlin, Rudower Chaussee 25, 12489 Berlin, Germany", doi = "10.1007/978-3-642-17319-6\_48", owner = "gxy", timestamp = "2011.01.04", url = "http://dx.doi.org/10.1007/978-3-642-17319-6\_48" }

2009

  • F.A. Bertsch. Visuelle Gestenerkennung zur Interaktion zwischen Mensch und Roboter (in German). In Proceedings of 15. Workshop Farbbildverarbeitung 2009. Berlin, 08.-09.10.2009 2009. GfaI.
    [BibTeX : | show dialog | copy]
    @INPROCEEDINGS{Bertsch2009, author = "Bertsch, F.A.", title = "Visuelle {G}estenerkennung zur {I}nteraktion zwischen {M}ensch und {R}oboter (in {G}erman)", booktitle = "Proceedings of 15. Workshop Farbbildverarbeitung 2009", year = "2009", address = "Berlin", month = "08.-09.10.2009", organization = "GfaI", owner = "mellmann", timestamp = "2009.12.06" }
  • F.A. Bertsch and V.V. Hafner. Gesture recognition as a prerequisite of imitation learning in human-humanoid experiments. In Christian Balkenius Lola Canamero, Pierre-Yves Oudeyer, editor, Proceedings of EpiRob09, Ninth International Conference on Epigenetic Robotics, pp. 197–198. Lund University Cognitive Studies, 146, 2009.
    [BibTeX : | show dialog | copy]
    @INPROCEEDINGS{BertschHafner09b, author = "Bertsch, F.A. and Hafner, V.V.", editor = "Lola Canamero, Pierre-Yves Oudeyer, Christian Balkenius", title = "Gesture recognition as a prerequisite of imitation learning in human-humanoid experiments", booktitle = "Proceedings of EpiRob09, Ninth International Conference on Epigenetic Robotics", year = "2009", pages = "pp. 197-198", organization = "Lund University Cognitive Studies, 146", owner = "gxy", timestamp = "2009.12.06" }
  • F.A. Bertsch and V.V. Hafner. Real-time dynamic visual gesture recognition in human-robot interaction. In Proceedings of Humanoids 2009, 9th IEEE-RAS International Conference on Humanoid Robots. 2009. to appear.
    [BibTeX : | show dialog | copy]
    @INPROCEEDINGS{BertschHafner09a, author = "Bertsch, F.A. and Hafner, V.V.", title = "Real-time dynamic visual gesture recognition in human-robot interaction", booktitle = "Proceedings of Humanoids 2009, 9th IEEE-RAS International Conference on Humanoid Robots", year = "2009", note = "to appear", owner = "gxy", timestamp = "2009.12.06" }
  • Hans-Dieter Burkhard, Florian Holzhauer, Thomas Krause, Heinrich Mellmann, Claas Norman Ritter, Oliver Welter, and Yuan Xu. Nao-team humboldt 2009. Technical Report, Humboldt Universität zu Berlin, 2009. URL: http://www.naoteamhumboldt.de/wp-content/uploads/2010/02/NaoTH09Report_final.pdf.
    [BibTeX : | show dialog | copy]
    @TECHREPORT{tdp09, author = "Burkhard, Hans-Dieter and Holzhauer, Florian and Krause, Thomas and Mellmann, Heinrich and Ritter, Claas Norman and Welter, Oliver and Xu, Yuan", title = "NAO-Team Humboldt 2009", institution = "Humboldt Universität zu Berlin", year = "2009", owner = "Heinrich Mellmann", timestamp = "2010.02.03", url = "http://www.naoteamhumboldt.de/wp-content/uploads/2010/02/NaoTH09Report\_final.pdf", tags = "2009" }
  • Daniel Göhring. Constraint based world modeling for multi agent systems in dynamic environments. PhD thesis, Humboldt-Universität zu Berlin, 2009. [Online: Stand 2010-05-23T15:08:02Z]. URL: \url{ http://edoc.hu-berlin.de/docviews/abstract.php?id=30348 }.
    [BibTeX : | show dialog | copy]
    @PhdThesis{Goehring10Dissertation, author = {G\"ohring, Daniel}, title = "Constraint based world modeling for multi agent systems in dynamic environments", year = "2009", school = {Humboldt-Universit\"at zu Berlin}, note = "[Online: Stand 2010-05-23T15:08:02Z]", abstract = "\% \selectlanguage{ngerman} Die mobile Robotik stellt ein sehr junges und komplexes Forschungsfelder unserer Zeit dar. Innerhalb der letzten Jahrzehnte wurde es Robotern möglich, sich innerhalb ihrer Umgebung zu bewegen, zu navigieren und mit ihrer Umwelt zu interagieren. Aufgrund der Tatsache, dass die Welt von Unsicherheit geprägt ist und ein Roboter immer nur partielle Information über sie erhalten kann, wurden probabilistische Navigationsverfahren entwickelt, mit denen sich Roboter lokalisieren und Objekte ihrer Umgebung modellieren können. Weiterhin wurden in letzter Zeit Verfahren untersucht, die die kooperative Exploration der Umgebung durch eine Gruppe von Robotern zum Ziel haben. In der vorliegenden Arbeit wird ein neuartiges Konzept, welches sich Perzeptrelationen für die kooperative Umweltmodellierung zu Nutze macht, vorgestellt und evaluiert. Einen zweiten Beitrag der Arbeit stellen constraintbasierte Lokalisierungstechniken dar, die es einem oder mehreren Robotern auf effiziente Art und Weise ermöglichen, sich zu lokalisieren und ihre Umwelt zu modellieren. \% \selectlanguage{english} Mobile autonomous robotics is a very young and complex field of research. Only in recent decades have robots become able to explore, to move, navigate and to interact with their environment. Since the world is uncertain and since robots can only gain partial information about it, probabilistic navigation algorithms have become very popular whenever a robot has to localize itself or surrounding objects. Furthermore, cooperative exploration and localization approaches have become very relevant lately, as robots begin to act not just alone but in groups. Within this thesis a new approach using the concept of spatial percept-relations for cooperative environment modeling is presented and evaluated. As a second contribution, constraint based localization techniques will be introduced for having a robot or a group of robots efficiently localized and to model their environment.", keywords = "\% \selectlanguage{ngerman}Künstliche Intelligenz, Robotik, Lokalisierungsverfahren, Constraints \% \selectlanguage{english}Robotics, Artificial Intelligence, Localization Approaches, Constraints", publisher = {Humboldt-Universit\"at zu Berlin, Mathematisch-Naturwissenschaftliche Fakult/"at II}, url = "\url{ http://edoc.hu-berlin.de/docviews/abstract.php?id=30348 }" }
  • Daniel Göhring, Heinrich Mellmann, and Hans-Dieter Burkhard. Constraint based world modeling in mobile robotics. In Proc. IEEE International Conference on Robotics and Automation ICRA 2009, 2538–2543. 2009. doi:10.1109/ROBOT.2009.5152208.
    [BibTeX : | show dialog | copy]
    @InProceedings{ICRA-GoehringMellmann-09, author = {G\"ohring, Daniel and Mellmann, Heinrich and Burkhard, Hans-Dieter}, title = "Constraint Based World Modeling in Mobile Robotics", booktitle = "Proc. IEEE International Conference on Robotics and Automation ICRA 2009", year = "2009", pages = "2538--2543", abstract = "In this paper we present a novel approach using constraint based techniques for world modeling, i.e. self localization and object modeling. Within the last years, we have seen a reduction of landmarks such as beacons or colored goals within the RoboCup domain. Using other features as line information becomes more important. Using such sensor data is tricky, especially when the resulting position belief is stretched over a larger area. Constraints can overcome this limitations, as they have several advantages: they can represent large distributions and are easy to store and to communicate to other robots. Propagation of several constraints can be computationally cheap. Even high dimensional belief functions can be used. We will describe a sample implementation and show experimental results.", doi = "10.1109/ROBOT.2009.5152208", keywords = "Autonomous Agents, Humanoid Robots, Localization", owner = "mellmann", timestamp = "2009.05.14" }
  • Daniel Göhring, Heinrich Mellmann, and Hans-Dieter Burkhard. Constraint based belief modeling. In Luca Iocchi, Hitoshi Matsubara, Alfredo Weitzenfeld, and Changjiu Zhou, editors, RoboCup 2008: Robot Soccer World Cup XII, 73–84. Berlin, Heidelberg, 2009. Springer Berlin Heidelberg.
    [BibTeX : | show dialog | copy]
    @InProceedings{rc-goehringmellmann-08-preprint, author = {G{\"o}hring, Daniel and Mellmann, Heinrich and Burkhard, Hans-Dieter}, editor = "Iocchi, Luca and Matsubara, Hitoshi and Weitzenfeld, Alfredo and Zhou, Changjiu", title = "Constraint Based Belief Modeling", booktitle = "RoboCup 2008: Robot Soccer World Cup XII", year = "2009", pages = "73--84", address = "Berlin, Heidelberg", publisher = "Springer Berlin Heidelberg", abstract = "In this paper we present a novel approach using constraint based techniques for world modeling, i.e. self localization and object modeling. Within the last years, we have seen a reduction of landmarks as beacons, colored goals, within the RoboCup domain. Using other features as line information becomes more important. Using such sensor data is tricky, especially when the resulting position belief is stretched over a larger area. Constraints can overcome this limitations, as they have several advantages: They can represent large distributions and are easy to store and to communicate to other robots. Propagation of a several constraints can be computationally cheap. Even high dimensional belief functions can be used. We will describe a sample implementation and show experimental results.", isbn = "978-3-642-02921-9" }
  • Heinrich Mellmann. Active landmark selection for vision-based self-localization. In Proceedings of the Workshop on Concurrency, Specification, and Programming CS&P 2009, volume Volume 2, 398–405. Kraków-Przegorzaly, Poland, September 2009. URL: http://csp2009.mimuw.edu.pl/proc.php.
    [BibTeX : | show dialog | copy]
    @INPROCEEDINGS{CSP-Mellmann-09, author = "Mellmann, Heinrich", title = "Active Landmark Selection for Vision-Based Self-Localization", booktitle = "Proceedings of the Workshop on Concurrency, Specification, and Programming CS\\&P 2009", year = "2009", volume = "Volume 2", pages = "398--405", address = "Kraków-Przegorzaly, Poland", month = "September", abstract = "The most of the vision based self-localization methods are using landmarks to estimate the position of the robot. The results of those methods depend highly on the precision of the perceptual information provided by the vision system. Depending on situation, some landmarks provide more certain measurements than others. We present a general criterion to predict the sensitivity of measurements concerning errors. In addition an algorithm is presented for automatic selection of optimal landmarks. This enables the robot to choose actively those landmarks that provide the highest certainty, which leads to better localization results. We demonstrate the performance and accuracy of the algorithm through a series of experiments.", keywords = "RoboCup, localization, landmark selection, active vision, humanoid robots, Aibo", owner = "admin", timestamp = "2009.10.04", url = "http://csp2009.mimuw.edu.pl/proc.php" }
  • Vìctor Uc-Cetina. Reinforcement Learning in Continuous State and Action Spaces. PhD thesis, Humboldt-Universität zu Berlin, 2009.
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    @PHDTHESIS{Uc-Cetina09thesis, author = "Uc-Cetina, Vìctor", title = "Reinforcement Learning in Continuous State and Action Spaces", school = "Humboldt-Universität zu Berlin", year = "2009", owner = "gxy", timestamp = "2014.01.27" }

2008

  • Daniel Göhring, Heinrich Mellmann, and Hans-Dieter Burkhard. Constraint based localization on a humanoid robot. In Proceedings of the Workshop on Concurrency, Specification, and Programming CS&P 2008. 2008.
    [BibTeX : | show dialog | copy]
    @InProceedings{CSP-GoehringMellmannEtAl-08, author = {G\"ohring, Daniel and Mellmann, Heinrich and Burkhard, Hans-Dieter}, booktitle = "Proceedings of the Workshop on Concurrency, Specification, and Programming CS\\&P 2008", title = "Constraint Based Localization on a Humanoid Robot", year = "2008", abstract = {In this paper we will present an application for constraint based methods to self localize within the RoboCup domain. During a robotic soccer game, robots of a team need to know where they and their team mates are on the Field, therefore they need to localize themselves. For self localization, constraint based methods can be an e?ective alternative to classic Bayesian approaches as Kalman ?lters or Monte-Carlo methods. In this paper we will present, how constraint based techniques can be applied to a humanoid robot. Therefore we will implement constraint based methods in a humanoid robot "NAO" and see how the constraint based approach works within the Standard Platform League.}, owner = "admin", timestamp = "2009.10.05" }
  • Daniel Göhring, Heinrich Mellmann, and Hans-Dieter Burkhard. Constraint based object state modeling. In Bruyninckx Herman, Preucil Libor, and Kulich Miroslav, editors, European Robotics Symposium 2008, volume Volume 44/2008 of Springer Tracts in Advanced Robotics, 63–72. Prague, Chech Republic, 2008. Springer Berlin / Heidelberg. This volume (EUROS 2008). URL: http://www.springerlink.com/content/th6218453434x817, doi:10.1007/978-3-540-78317-6_7.
    [BibTeX : | show dialog | copy]
    @InProceedings{EUROS-GoehringMellmann-08, author = {G\"ohring, Daniel and Mellmann, Heinrich and Burkhard, Hans-Dieter}, editor = "Herman, Bruyninckx and Libor, Preucil and Miroslav, Kulich", title = "Constraint Based Object State Modeling", booktitle = "European Robotics Symposium 2008", year = "2008", volume = "Volume 44/2008", series = "Springer Tracts in Advanced Robotics", pages = "63-72", address = "Prague, Chech Republic", publisher = "Springer Berlin / Heidelberg", note = "This volume (EUROS 2008)", abstract = "Modeling the environment is crucial for a mobile robot. Common approaches use Bayesian filters like particle filters, Kalman filters and their extended forms. We present an alternative and supplementing approach using constraint techniques based on spatial constraints between object positions. This yields several advantages: a) the agent can choose from a variety of belief functions, b) the computational complexity is decreased by efficient algorithms. The focus of the paper are constraint propagation techniques under the special requirements of navigation tasks.", doi = "10.1007/978-3-540-78317-6\_7", owner = "mellmann", timestamp = "Dienstag, 12. Februar 2008", url = "http://www.springerlink.com/content/th6218453434x817" }
  • Daniel Göhring, Heinrich Mellmann, Kataryna Gerasymova, and Hans-Dieter Burkhard. Constraint based world modeling. Fundamenta Informaticae, 85(Number 1-4):123–137, 2008. URL: http://iospress.metapress.com/content/2051310891588554/.
    [BibTeX : | show dialog | copy]
    @Article{FI-GoehringMellmannGerasimova-08, author = {G\"ohring, Daniel and Mellmann, Heinrich and Gerasymova, Kataryna and Burkhard, Hans-Dieter}, title = "Constraint Based World Modeling", journal = "Fundamenta Informaticae", year = "2008", volume = "85", number = "Number 1-4", pages = "123-137", abstract = "Common approaches for robot navigation use Bayesian filters like particle filters, Kalman filters and their extended forms. We present an alternative and supplementing approach using constraint techniques based on spatial constraints between object positions. This yields several advantages. The robot can choose from a variety of belief functions, and the computational complexity is decreased by efficient algorithms. The paper investigates constraint propagation techniques under the special requirements of navigation tasks. Sensor data are noisy, but a lot of redundancies can be exploited to improve the quality of the result. We introduce two quality measures: The ambiguity measure for constraint sets defines the precision, while inconsistencies are measured by the inconsistency measure. The measures can be used for evaluating the available data and for computing best fitting hypothesis. A constraint propagation algorithm is presented.", owner = "mellmann", timestamp = "2008.08.05", url = "http://iospress.metapress.com/content/2051310891588554/" }
  • Daniel Göhring, Heinrich Mellmann, and Hans-Dieter Burkhard. Constraint based belief modeling. In Luca Iocchi, Hitoshi Matsubara, Alfredo Weitzenfeld, and Changjiu Zhou, editors, RoboCup 2008: Robot Soccer World Cup XII, Lecture Notes in Artificial Intelligence. Springer, 2008.
    [BibTeX : | show dialog | copy]
    @INPROCEEDINGS{RC-GoehringMellmann-08, author = "Göhring, Daniel and Mellmann, Heinrich and Burkhard, Hans-Dieter", editor = "Iocchi, Luca and Matsubara, Hitoshi and Weitzenfeld, Alfredo and Zhou, Changjiu", title = "Constraint Based Belief Modeling", booktitle = "RoboCup 2008: Robot Soccer World Cup XII", year = "2008", series = "Lecture Notes in Artificial Intelligence", publisher = "Springer", abstract = "In this paper we present a novel approach using constraint based techniques for world modeling, i.e. self localization and object modeling. Within the last years, we have seen a reduction of landmarks as beacons, colored goals, within the RoboCup domain. Using other fea- tures as line information becomes more important. Using such sensor data is tricky, especially when the resulting position belief is stretched over a larger area. Constraints can overcome this limitations, as they have several advantages: They can represent large distributions and are easy to store and to communicate to other robots. Propagation of a several constraints can be computationally cheap. Even high dimensional belief functions can be used. We will describe a sample implementation and show experimental results.", owner = "mellmann", timestamp = "2008.08.05" }
  • Matthias Jüngel and Heinrich Mellmann. Memory-based state-estimation. Fundamenta Informaticae, 85(Number 1-4):297–311, 2008. URL: http://iospress.metapress.com/content/2051310891588554/.
    [BibTeX : | show dialog | copy]
    @Article{FI-JuengelMellmann-08, author = {J\"ungel, Matthias and Mellmann, Heinrich}, title = "Memory-Based State-Estimation", journal = "Fundamenta Informaticae", year = "2008", volume = "85", number = "Number 1-4", pages = "297--311", abstract = "In this paper we introduce a state-estimation method that uses a short-term memory to calculate the current state. A common way to solve state estimation problems is to use implementations of the Bayesian algorithm like Kalman filters or particle filters. When implementing a Bayesian filter several problems can arise. One difficulty is to obtain error models for the sensors and for the state transitions. The other difficulty is to find an adequate compromise between the accuracy of the belief probability distribution and the computational costs that are needed to update it. In this paper we show how a short-term memory of perceptions and actions can be used to calculate the state. In contrast to the Bayesian filter, this method does not need an internal representation of the state which is updated by the sensor and motion information. It is shown that this is especially useful when information of sparse sensors (sensors with non-unique measurements with respect of the state) has to be integrated.", owner = "mellmann", timestamp = "2008.08.05", url = "http://iospress.metapress.com/content/2051310891588554/" }
  • Heinrich Mellmann, Matthias Jüngel, and Michael Spranger. Using reference objects to improve vision-based bearing measurements. In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems IROS 2008, 3939–3945. Acropolis Convention Center, Nice, France, 22–26 Sept. 2008. IEEE. doi:10.1109/IROS.2008.4651128.
    [BibTeX : | show dialog | copy]
    @INPROCEEDINGS{IROS-MellmannJuengelSpranger-08, author = "Mellmann, Heinrich and Jüngel, Matthias and Spranger, Michael", title = "Using Reference Objects to Improve Vision-Based Bearing Measurements", booktitle = "Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems IROS 2008", year = "2008", pages = "3939--3945", address = "Acropolis Convention Center, Nice, France", month = "22--26 Sept.", publisher = "IEEE", abstract = "Robots perceiving its environment using cameras usually need a good representation of how the camera is aligned to the body and how the camera is rotated relative to the ground. This is especially important for bearing-based distance measurement. In this paper we show how to use reference objects to improve vision-based distance measurements to objects of unknown size. Several methods for different kinds of reference objects are introduced. These are objects of known size (like a ball), objects extending over the horizon (like goals and beacons), and objects with known shape on the ground (like field lines). We give a detailed description how to determine the rotation of the robot's camera relative to the ground, provide an error-estimation for all methods and describe the experiments we performed on an Aibo robot.", doi = "10.1109/IROS.2008.4651128", keywords = "Localization, Computer Vision, Recognition", owner = "mellmann", timestamp = "2008.08.05" }

2007

  • Ralf Berger and Gregor Lämmel. Exploiting Past Experience. Case-Based Decision Support for Soccer Agents. In Proceedings of the 30th Annual German Conference on Artificial Intelligence (KI'07). Springer, 2007.
    [BibTeX : | show dialog | copy]
    @INPROCEEDINGS{berger-laemmel-wall-pass, author = {Berger, Ralf and L\"ammel, Gregor}, title = "Exploiting {Past} {E}xperience. {C}ase-{B}ased {D}ecision {S}upport for {S}occer {A}gents", booktitle = "Proceedings of the 30th Annual German Conference on Artificial Intelligence (KI'07)", year = "2007", publisher = "Springer", owner = "gxy", timestamp = "2014.01.27", tags = "2007" }
  • Hans-Dieter Burkhard and Ralf Berger. Cases in robotic soccer. In Michael M. Richter Rosina O. Weber, editor, Case-Based Reasoning Research and Development, Proc. 7th International Conference on Case-Based Reasoning, ICCBR 2007, Lecture Notes in Artificial Intelligence, 1–15. Springer, 2007.
    [BibTeX : | show dialog | copy]
    @INPROCEEDINGS{BurkhardBerger07Cases, author = "Burkhard, Hans-Dieter and Berger, Ralf", editor = "Rosina O. Weber, Michael M. Richter", title = "Cases in Robotic Soccer.", booktitle = "Case-Based Reasoning Research and Development, Proc. 7th International Conference on Case-Based Reasoning, ICCBR 2007", year = "2007", series = "Lecture Notes in Artificial Intelligence", pages = "1--15", publisher = "Springer", owner = "gxy", timestamp = "2014.01.27", tags = "2007" }
  • Daniel Göhring. Cooperative object localization using line-based percept communication. In U. Visser, F. Ribeiro, T. Ohashi, and F. Dellaert, editors, RoboCup 2007: Robot Soccer World Cup XI, Lecture Notes in Artificial Intelligence. Springer, 2007.
    [BibTeX : | show dialog | copy]
    @INPROCEEDINGS{goehring07linerelation, author = {G\"ohring, Daniel}, editor = "Visser, U. and Ribeiro, F. and Ohashi, T. and Dellaert, F.", title = "Cooperative Object Localization Using Line-Based Percept Communication", booktitle = "RoboCup 2007: Robot Soccer World Cup XI", year = "2007", series = "Lecture Notes in Artificial Intelligence", publisher = "Springer" }
  • Daniel Göhring and Hans-Dieter Burkhard. Cooperative world modeling in dynamic multi-robot environments. Fundamenta Informaticae, 75(1–4):281–294, 2007.
    [BibTeX : | show dialog | copy]
    @Article{goehring07relation-funamenta, author = {G\"ohring, Daniel and Burkhard, Hans-Dieter}, title = "Cooperative World Modeling in Dynamic Multi-Robot Environments", journal = "Fundamenta Informaticae", year = "2007", volume = "75", number = "1--4", pages = "281--294", owner = "goehring", publisher = "IOS Press", timestamp = "2007.05.04" }
  • Daniel Göhring and Jan Hoffmann. Sensor Modeling Using Visual-Object Relation in Multi Robot Object Tracking. In RoboCup 2006: Robot Soccer World Cup X, Lecture Notes in Artificial Intelligence. Springer, 2007.
    [BibTeX : | show dialog | copy]
    @InProceedings{rc-06-objectrelation, author = {G\"ohring, Daniel and Hoffmann, Jan}, booktitle = "RoboCup 2006: Robot Soccer World Cup X", title = "{S}ensor {M}odeling {U}sing {V}isual-{O}bject {R}elation in {M}ulti {R}obot {O}bject {T}racking", year = "2007", publisher = "Springer", series = "Lecture Notes in Artificial Intelligence", owner = "gxy", timestamp = "2014.01.27" }
  • Daniel Hein. Simloid – evolution of biped walking using physical simulation. Master's thesis, Humboldt-Universität zu Berlin, Institut für Informatik, 2007.
    [BibTeX : | show dialog | copy]
    @MASTERSTHESIS{diplom-hein, author = "Hein, Daniel", title = "Simloid -- Evolution of Biped Walking Using Physical Simulation", school = {Humboldt-Universit\"at zu Berlin, Institut f\"ur Informatik}, year = "2007", type = "Diploma Thesis" }
  • Daniel Hein, Manfred Hild, and Ralf Berger. Evolution of biped walking using neural oscillators and physical simulation. In RoboCup 2007: Robot Soccer World Cup XI, Lecture Notes in Artificial Intelligence. Springer, 2007.
    [BibTeX : | show dialog | copy]
    @INPROCEEDINGS{rc-07-hein_et_al, author = "Hein, Daniel and Hild, Manfred and Berger, Ralf", title = "Evolution of Biped Walking Using Neural Oscillators and Physical Simulation", booktitle = "RoboCup 2007: Robot Soccer World Cup XI", year = "2007", series = "Lecture Notes in Artificial Intelligence", publisher = "Springer" }
  • Manfred Hild. Neurodynamische Module zur Bewegungssteuerung autonomer mobiler Roboter (in German). PhD thesis, Humboldt-Universität zu Berlin, 2007.
    [BibTeX : | show dialog | copy]
    @PHDTHESIS{hild07thesis, author = "Hild, Manfred", title = "Neurodynamische Module zur Bewegungssteuerung autonomer mobiler Roboter (in German)", school = {Humboldt-Universit\"at zu Berlin}, year = "2007" }
  • Jan Hoffmann. Proprioceptive Motion Modeling for Monte Carlo Localization. In RoboCup 2006: Robot Soccer World Cup X, Lecture Notes in Artificial Intelligence. Springer, 2007.
    [BibTeX : | show dialog | copy]
    @INPROCEEDINGS{rc-06-prop-motion-modelling, author = "Hoffmann, Jan", title = "{P}roprioceptive {M}otion {M}odeling for {M}onte {C}arlo {L}ocalization", booktitle = "RoboCup 2006: Robot Soccer World Cup X", year = "2007", series = "Lecture Notes in Artificial Intelligence", publisher = "Springer", owner = "gxy", timestamp = "2014.01.27" }
  • Matthias Jüngel. Bearing-only localization for mobile robots. In Proceedings of the 2007 International Conference on Advanced Robotics (ICAR 2007), Jeju, Korea,. August 2007.
    [BibTeX : | show dialog | copy]
    @InProceedings{juengel-bearingonlyocalizationformobilerobots, author = {J\"ungel, Matthias}, title = "Bearing-Only Localization for Mobile Robots", booktitle = "Proceedings of the 2007 International Conference on Advanced Robotics (ICAR 2007), Jeju, Korea,", year = "2007", month = "August", file = "2007-08-icar07-Juengel-BearingOnlyLocalizationForMobileRobots.pdf:ATH-papers-pdf\\2007-08-icar07-Juengel-BearingOnlyLocalizationForMobileRobots.pdf:PDF", owner = "juengel", timestamp = "2007.08.02" }
  • Matthias Jüngel. Self-localization based on a short-term memory of bearings and odometry. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007). San Diego, October 2007. URL: http://www.robocup.de/aiboteamhumboldt/papers/2007-10-iros07-Juengel-SelfLocalizationBasedOnAShortTermMemoryOfBearingsAndOdometry.pdf.
    [BibTeX : | show dialog | copy]
    @InProceedings{2007-10-iros07-Juengel-SelfLocalizationBasedOnAShortTermMemoryOfBearingsAndOdometry, author = {J\"ungel, Matthias}, booktitle = "Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007)", title = "Self-Localization Based on a Short-Term Memory of Bearings and Odometry", year = "2007", address = "San Diego", month = "October", file = "2007-10-iros07-Juengel-SelfLocalizationBasedOnAShortTermMemoryOfBearingsAndOdometry.pdf:ATH-papers-pdf\\2007-10-iros07-Juengel-SelfLocalizationBasedOnAShortTermMemoryOfBearingsAndOdometry.pdf:PDF", owner = "juengel", timestamp = "2007.08.02", url = "http://www.robocup.de/aiboteamhumboldt/papers/2007-10-iros07-Juengel-SelfLocalizationBasedOnAShortTermMemoryOfBearingsAndOdometry.pdf" }
  • Matthias Jüngel, Heinrich Mellmann, and Michael Spranger. Improving vision-based distance measurements using reference objects. In Ubbo Visser, Fernando Ribeiro, Takeshi Ohashi, and Frank Dellaert, editors, RoboCup 2007: Robot Soccer World Cup XI, volume Volume 5001/2008 of Lecture Notes in Computer Science, 89–100. Springer Berlin / Heidelberg, 2007. URL: http://www.springerlink.com/content/y4730241r836k4l5, doi:10.1007/978-3-540-68847-1.
    [BibTeX : | show dialog | copy]
    @InProceedings{RC-JuengelMellmannSpranger-07, author = {J\"ungel, Matthias and Mellmann, Heinrich and Spranger, Michael}, editor = "Visser, Ubbo and Ribeiro, Fernando and Ohashi, Takeshi and Dellaert, Frank", title = "Improving Vision-Based Distance Measurements using Reference Objects", booktitle = "RoboCup 2007: Robot Soccer World Cup XI", year = "2007", volume = "Volume 5001/2008", series = "Lecture Notes in Computer Science", pages = "89-100", publisher = "Springer Berlin / Heidelberg", abstract = "Robots perceiving their environment using cameras usually need a good representation of how the camera is aligned to the body and how the camera is rotated relative to the ground. This is especially important for bearing-based distance measurements. In this paper we show how to use reference objects to improve vision-based distance measurements to objects of unknown size. Several methods for different kinds of reference objects are introduced. These are objects of known size (like a ball), objects extending over the horizon (like goals and beacons), and objects with known shape on the ground (like field lines). We give a detailed description how to determine the rotation of the robot's camera relative to the ground, provide an error-estimation for all methods and describe the experiments we performed on an Aibo robot.", doi = "10.1007/978-3-540-68847-1", keywords = "RoboCup, humanoid robots, Aibo, camera matrix, reference objects", owner = "mellmann", timestamp = "Freitag, 18. Juli 2008", url = "http://www.springerlink.com/content/y4730241r836k4l5" }
  • Matthias Jüngel and Max Risler. Self-localization using odometry and horizontal bearings to landmarks. In U. Visser, F. Ribeiro, T. Ohashi, and F. Dellaert, editors, RoboCup 2007: Robot Soccer World Cup XI, Lecture Notes in Artificial Intelligence. Springer, 2007.
    [BibTeX : | show dialog | copy]
    @INPROCEEDINGS{RC-JuengelRisler-08, author = {J{\"u}ngel, Matthias and Risler, Max}, editor = "Visser, U. and Ribeiro, F. and Ohashi, T. and Dellaert, F.", title = "Self-Localization Using Odometry and Horizontal Bearings to Landmarks", booktitle = "RoboCup 2007: Robot Soccer World Cup XI", year = "2007", series = "Lecture Notes in Artificial Intelligence", publisher = "Springer", owner = "gxy", timestamp = "2014.01.27" }
  • Matthias Jüngel. Bearing-only localization for mobile robots. In Proceedings of the 2007 International Conference on Advanced Robotics (ICAR 2007), Jeju, Korea,. August 2007. URL: http://www.robocup.de/aiboteamhumboldt/papers/2007-08-icar07-Juengel-BearingOnlyLocalizationForMobileRobots.pdf.
    [BibTeX : | show dialog | copy]
    @INPROCEEDINGS{2007-08-icar07-Juengel-BearingOnlyLocalizationForMobileRobots, author = "Jüngel, Matthias", title = "Bearing-Only Localization for Mobile Robots", booktitle = "Proceedings of the 2007 International Conference on Advanced Robotics (ICAR 2007), Jeju, Korea,", year = "2007", month = "August", file = "2007-08-icar07-Juengel-BearingOnlyLocalizationForMobileRobots.pdf:ATH-papers-pdf\\2007-08-icar07-Juengel-BearingOnlyLocalizationForMobileRobots.pdf:PDF", owner = "juengel", timestamp = "2007.08.02", url = "http://www.robocup.de/aiboteamhumboldt/papers/2007-08-icar07-Juengel-BearingOnlyLocalizationForMobileRobots.pdf" }
  • T. Röfer, J. Brose, D. Göhring, M. Jüngel, T. Laue, and M. Risler. GermanTeam 2007 - The German national RoboCup team. In RoboCup 2007: Robot Soccer World Cup XI Preproceedings. RoboCup Federation, 2007.
    [BibTeX : | show dialog | copy]
    @InProceedings{2007:RoboCup-TDP-GermanTeam, author = {R\"ofer, T. and Brose, J. and G\"ohring, D. and J\"ungel, M. and Laue, T. and Risler, M.}, booktitle = "RoboCup 2007: Robot Soccer World Cup XI Preproceedings", title = "German{T}eam 2007 - {T}he {G}erman National {R}obo{C}up Team", year = "2007", publisher = "RoboCup Federation", owner = "gxy", timestamp = "2014.01.27" }

2006

  • Ralf Berger. Die Doppelpass-Architektur. Verhaltenssteuerung autonomer Agenten in dynamischen Umgebungen. Master's thesis, Humboldt-Universität zu Berlin, Institut für Informatik, 2006. (in German).
    [BibTeX : | show dialog | copy]
    @MASTERSTHESIS{diplom-berger, author = "Berger, Ralf", title = "Die {D}oppelpass-{A}rchitektur. {V}erhaltenssteuerung autonomer {A}genten in dynamischen {U}mgebungen", school = {Humboldt-Universit\"at zu Berlin, Institut f\"ur Informatik}, year = "2006", type = "Diploma Thesis", note = "(in German)", owner = "gxy", timestamp = "2014.01.27", tags = "2006" }
  • Daniel Göhring. Distributed object modeling using object relations in dynamic environments. In Proceedings of Concurrency, Specification and Programming (CS&P 2006). 2006.
    [BibTeX : | show dialog | copy]
    @InProceedings{goehring06csp, author = {G\"ohring, Daniel}, title = "Distributed Object Modeling Using Object Relations in Dynamic Environments", booktitle = "Proceedings of Concurrency, Specification and Programming (CS\\&P 2006)", year = "2006", owner = "goehring", timestamp = "2007.05.04" }
  • Daniel Göhring and Hans-Dieter Burkhard. Multi robot object tracking and self localization using visual percept relations. In Proceedings of IEEE/RSJ International Conference of Intelligent Robots and Systems (IROS), pages 31–36. IEEE, 2006.
    [BibTeX : | show dialog | copy]
    @InProceedings{goehring2006, author = {G\"ohring, Daniel and Burkhard, Hans-Dieter}, title = "Multi Robot Object Tracking and Self Localization Using Visual Percept Relations", booktitle = "Proceedings of IEEE/RSJ International Conference of Intelligent Robots and Systems (IROS), pages 31--36", year = "2006", publisher = "IEEE", owner = "goehring", timestamp = "2007.01.11" }
  • Daniel Göhring and Hans-Dieter Burkhard. Multi robot object tracking and self localization using visual percept relations. In Proceedings of IEEE/RSJ International Conference of Intelligent Robots and Systems (IROS), pages 31–36. IEEE, 2006.
    [BibTeX : | show dialog | copy]
    @INPROCEEDINGS{goehring06irosrelation, author = "Göhring, Daniel and Burkhard, Hans-Dieter", title = "Multi Robot Object Tracking and Self Localization Using Visual Percept Relations", booktitle = "Proceedings of IEEE/RSJ International Conference of Intelligent Robots and Systems (IROS), pages 31--36", year = "2006", publisher = "IEEE", owner = "goehring", timestamp = "2007.01.11" }
  • Jan Hoffmann, Michael Spranger, Daniel Göhring, Matthias Jüngel, and Hans-Dieter Burkhard. Further studies on the use of negative information. In Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA) IEEE. 2006.
    [BibTeX : | show dialog | copy]
    @InProceedings{hoffmann2006, author = {Hoffmann, Jan and Spranger, Michael and G\"ohring, Daniel and J\"ungel, Matthias and Burkhard, Hans-Dieter}, title = "Further Studies On The Use Of Negative Information", booktitle = "Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA) IEEE", year = "2006" }
  • Jan Hoffmann, Michael Spranger, Daniel Göhring, Matthias Jüngel, and Hans-Dieter Burkhard. Further studies on the use of negative information. In Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA) IEEE. 2006.
    [BibTeX : | show dialog | copy]
    @INPROCEEDINGS{hoffmann_et_al_ICRA2006, author = "Hoffmann, Jan and Spranger, Michael and Göhring, Daniel and Jüngel, Matthias and Burkhard, Hans-Dieter", title = "Further Studies On The Use Of Negative Information", booktitle = "Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA) IEEE", year = "2006", owner = "gxy", timestamp = "2014.01.27" }
  • M. Lötzsch, M. Risler, and M. Jüngel. Xabsl - a pragmatic approach to behavior engineering. In Proceedings of IEEE/RSJ International Conference of Intelligent Robots and Systems (IROS), 5124–5129. Beijing, China, October 9-15 2006.
    [BibTeX : | show dialog | copy]
    @InProceedings{2006:IROSLoetzschRislerJuengel, author = {L\"otzsch, M. and Risler, M. and J\"ungel, M.}, title = "XABSL - A Pragmatic Approach to Behavior Engineering", booktitle = "Proceedings of IEEE/RSJ International Conference of Intelligent Robots and Systems (IROS)", year = "2006", pages = "5124-5129", address = "Beijing, China", month = "October 9-15" }

2005

  • Hans Dieter Burkhard. Programming Bounded Rationality. In Proceedings of the International Workshop on Monitoring, Security, and Rescue Techniques in Multiagent Systems (MSRAS 2004), 347–362. Springer, 2005.
    [BibTeX : | show dialog | copy]
    @INPROCEEDINGS{hdb-bound-rat, author = "Burkhard, Hans Dieter", title = "Programming {B}ounded {R}ationality", booktitle = "Proceedings of the International Workshop on Monitoring, Security, and Rescue Techniques in Multiagent Systems (MSRAS 2004)", year = "2005", pages = "347--362", publisher = "Springer", owner = "gxy", timestamp = "2014.01.27", tags = "2005" }

2004

  • Uwe Düffert. Vierbeiniges Laufen: Modellierung und Optimierung von Roboterbewegungen. Master's thesis, Humboldt-Universität zu Berlin, 2004. (in German).
    [BibTeX : | show dialog | copy]
    @MastersThesis{DiplomaThesis-Dueffert-04, author = {D\"uffert, Uwe}, school = "Humboldt-Universität zu Berlin", title = "{V}ierbeiniges {L}aufen: {M}odellierung und {O}ptimierung von {R}oboterbewegungen", year = "2004", note = "(in German)", type = "Diploma Thesis", owner = "gxy", timestamp = "2014.01.27" }