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Autonome mobile Serviceroboter
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To appear
Alex Lotz, Andreas Steck, Christian Schlegel. Analyzing Solution Quality of Anytime Bag of Words Object Classification for a Service Robot. Proc. IEEE Int. Conf. on Technologies for Practical Robot Applications (TePRA), Woburn, Massachusetts, USA, 2012 (to appear).
Matthias Lutz, Siegfried Hochdorfer, Christian Schlegel. Probabilistic Fusion of Multiple Algorithms for Object Recognition at Information Level. Proc. IEEE Int. Conf. on Technologies for Practical Robot Applications (TePRA), Woburn, Massachusetts, USA, 2012 (to appear).
Dennis Stampfer, Matthias Lutz, Christian Schlegel. Information Driven Sensor Placement for Robust Active Object Recognition based on Multiple Views. Proc. IEEE Int. Conf. on Technologies for Practical Robot Applications (TePRA), Woburn, Massachusetts, USA, 2012 (to appear).
Reviewed
Christian Schlegel, Andreas Steck, Alex Lotz.
Robotic Software Systems: From Code-Driven to Model-Driven Software Development
. In Ashish Dutta, editor,
Robotic Systems - Applications, Control and Programming
. Pages 473-502. InTech, ISBN 978-953-307-941-7, 2012.
Christian Schlegel, Andreas Steck, Alex Lotz.
Model-Driven Software Development in Robotics: Communication Patterns as Key for a Robotics Component Model
. In Daisuke Chugo and Sho Yokota, editors,
Introduction to Modern Robotics
. Pages 119-150. iConcept Press, 978-0980733068 (Hard Cover) / 978-1463789428 (Paperback), 2012
Dennis Stampfer, Christian Schlegel. Modellierung und Reuse komplexer Verhalten als Bausteine mit Dynamic State Charts am Beispiel der Servicerobotik. In Konferenz Embedded Software Engineering (ESE), Pages 511-515, Sindelfingen, December 5.-9., ISBN 978-3-8343-2405-4, 2011.
Andreas Steck, Alex Lotz, Christian Schlegel. Model-driven engineering and run-time model-usage in service robotics. In Proc. of the Tenth ACM Int. Conference on Generative Programming and Component Engineering (GPCE), Portland, Oregon, USA, October, 2011.
Andreas Steck, Christian Schlegel. Managing execution variants in task coordination by exploiting design-time models at run-time. In Proc. IEEE/RSJ Int. Conf. on Robotics and Intelligent Systems (IROS), San Francisco, USA, September, 2011.
Alex Lotz, Andreas Steck, Christian Schlegel. Runtime Monitoring of Robotics Software Components: Increasing Robustness of Service Robotic Systems. In Proc. 15th Int. Conf. on Advanced Robotics, Tallinn, Estland, 2011.
Matthias Lutz, Siegfried Hochdorfer, Christian Schlegel. Global Localization using Multiple Hypothesis Tracking: A real-world Approach. Proc. IEEE Int. Conf. on Technologies for Practical Robot Applications (TePRA), Pages 127-132, Woburn, Massachusetts, USA, ISBN 978-1-61284-480-0, 2011
Andreas Steck, Christian Schlegel. Resource Awareness und Quality of Service in der Servicerobotik durch Modellgetriebene Softwareentwicklung. Embedded Software Engineering Kongress (ESE), Pages 607-610, December 7-9, Sindelfingen, ISBN 978-3-8343-2404-7, 2010
Christian Schlegel, Andreas Steck, Davide Brugali, Alois Knoll. Design Abstraction and Processes in Robotics: From Code-Driven to Model-Driven Engineering. In 2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), Pages 324-335, Darmstadt, Springer LNAI 6472, ISBN-10 3-642-17318-7, 2010
Andreas Steck, Christian Schlegel. SmartTCL: An Execution Language for Conditional Reactive Task Execution in a Three Layer Architecture for Service Robots. In Proc. of SIMPAR 2010 Workshops (International Workshop on Dynamic languages for RObotic and Sensors systems (DYROS)), 2nd Intl. Conf. on Simulation, Modeling, and Programming for Autonomous Robots, Pages 274-277, Darmstadt, ISBN 978-3-00-032863-3, 2010.
Matthias Lutz, Andreas Steck, Christian Schlegel. Person Following through Cluttered Environments using Probabilistic Methods and Fast Local Obstacle Avoidance. The 3rd Israeli Conference on Robotics (ICR 2010), November 10-11, 2010, Herzlia, Israel
Andreas Steck, Christian Schlegel. Towards Quality of Service and Resource Aware Robotic Systems through Model-Driven Software Development. In 1st International Workshop on Domain-Specific Languages and models for ROBotic Systems (DSLRob'10), 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), October 18-22, 2010, Taipei, Taiwan
Siegfried Hochdorfer, Christian Schlegel. 6 DoF SLAM using a ToF Camera: The challenge of a continuously growing number of landmarks. The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), October 18-22, 2010, Taipei, Taiwan
Siegfried Hochdorfer, Christian Schlegel. Landmark Rating and Selection: Considering the Observability Regions. The 11th Int. Conf. on Intelligent Autonomous Systems (IAS-11), Ottawa, Canada, IOS Press, ISBN 978-1-60750-612-6, 2010
Manuel Wopfner, Jonas Brich, Siegfried Hochdorfer, Christian Schlegel. Mobile Manipulation in Service Robotics: Scene and Object Recognition with Manipulator-Mounted Laser Ranger. ISR / ROBOTIK 7.-9. June 2010, Munich
Siegfried Hochdorfer, Matthias Lutz, Christian Schlegel. Bearing-Only SLAM in everyday environments using Omnidirectional Vision. IEEE ICRA 2010 Workshop on Omnidirectional Vision, Anchorage, AK, 2010.
Andreas Steck, Dennis Stampfer, Christian Schlegel. Software-Engineering in der Servicerobotik - Der Weg zum modellgetriebenen Softwareentwurf. Embedded Software-Engineering Kongress (ESE), Sindelfingen, 2009
Andreas Steck, Dennis Stampfer, Christian Schlegel. Modellgetriebene Softwareentwicklung für Robotiksysteme. Fachgespräch Autonome Mobile Systeme (AMS), Karlsruhe, 2009
Siegfried Hochdorfer, Matthias Lutz, Christian Schlegel. Lifelong Localization of a Mobile Service-robot in Everyday Indoor Environment Using Omnidirectional Vision. Proc. IEEE Int. Conf. on Technologies for Practical Robot Applications (TePRA), Woburn, Massachusetts, USA, 2009
Siegfried Hochdorfer, Christian Schlegel. Landmark rating and selection according to localization coverage: Addressing the challenge of lifelong operation of SLAM in service robots. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), St. Louis, Missouri, USA, 2009
Siegfried Hochdorfer, Christian Schlegel. Towards a robust Visual SLAM Approach: Addressing the Challenge of life-long Operation. Proc. 14th Int. Conf. on Advanced Robotics (ICAR), Munich, 2009
Christian Schlegel, Thomas Haßler, Alex Lotz, Andreas Steck. Robotic Software Systems: From Code-Driven to Model-Driven Designs. Proc. 14th Int. Conf. on Advanced Robotics (ICAR), Munich, 2009
Christian Schlegel, Siegfried Hochdorfer. Localization and Mapping for Service Robots: Bearing-Only SLAM with an Omnicam. In Advances in Service Robotics. IN-TECH, ISBN 978-953-7619-02-2, 2008.
Christian Schlegel. The Challenge of Real-Time Robotics Behavior: An Applied Research Perspective. In Proc. SDIR-III, IEEE ICRA 2008, Pasadena, 2008.
Talks
Tutorial 1: Model-Driven Software Development in Robotics, 2nd International Conference on SIMULATION, MODELING, and PROGRAMMING for AUTONOMOUS ROBOTS (SIMPAR 2010)
IEEE ICRA 2010 Fifth International Workshop on Software Development and Integration in Robotics (SDIR V)
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3. Ulmer Robotertag 2010
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Joint 41th International Symposium on Robotics and 6th German Conference on Robotics (ISR / ROBOTIK), Munich, 2010
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IEEE ICRA 2010 Workshop "European Effort to Strengthen Academia-Industry Collaboration"
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IEEE ICRA 2010 Workshop Omnidirectional Robot Vision
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2010 EURON/EUROP Annual Meeting: Workshop "Robot Application Development Process", San Sebastian, 2010
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IEEE Int. Conference on Technologies for Practical Robot Applications (TePRA 2009)
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IEEE ICRA 2009 Fourth International Workshop on Software Development and Integration in Robotics (SDIR IV)
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2. Ulmer Robotertag 2009
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IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2010)
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The 14th International Conference on Advanced Robotics, Munich, 2009
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Embedded Software Engineering Kongress, Sindelfingen, 2009
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ECHORD (European Clearing House for Open Robotics Development), Opening Event, Munich, 2009
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BRICS Workshop on Model-Driven Engineering, Leuven, 2009
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Autonome Mobile Systeme, Karlsruhe, 2009
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IEEE ICRA 2010 Third International Workshop on Software Development and Integration in Robotics (SDIR III)
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Informationsveranstaltung „Europäische Strukturfonds - Förderung von Innovation, Wissenschaft und Forschung in Hochschulen und Unternehmen in Baden-Württemberg, Haus der Wirtschaft, 2008
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Sonstiges
Christian Schlegel. Servicerobotik 1: Dienstleistung setzt Ortskenntnis voraus. In Forschungswerk, Seiten 40-43, ISBN 978-3-9810998-2-9, Hochschule Ulm, 2009
Christian Schlegel. Servicerobotik 2: Das Problem Softwarekomplexität ist lösbar, In Forschungswerk, Seiten 44-47, ISBN 978-3-9810998-2-9, Hochschule Ulm, 2009
Poster Bearing-Only SLAM deutsch
Poster Bearing-Only SLAM englisch
Studentische Arbeiten
Teleoperation des humanoiden Roboters NAO per Kinect-Kamera. Bachelorarbeit Simon Päusch
Modeling and Simulation of a Tractor in GAZEBO. Bachelorarbeit Mahmoud Hossameldin
Flächendeckende Pfadplanung eines Serviceroboters. Bachelorarbeit Benjamin Edelmann
Dynamic State Charts for Task Sequencing for Service Robots. Masterarbeit Dennis Stampfer
Global Localization using Multiple Hypothesis Tracking. Masterarbeit Matthias Lutz
Conditional Reactive Task Execution in a Three Layer Architecture for Service Robots. Masterarbeit Andreas Steck
Monitoring in Robotic Systems. Masterarbeit Alex Lotz
Visionbasierte kontinuierliche Bewegungsführung für den Humanoiden NAO. Bachelorarbeit Oleg Hein
Bildbasiertes kollisionsfreies Laufen für den Humanoiden NAO. Bachelorarbeit Veronika Ritter
Evaluierung und Implementierung eines Verfahrens zur Lösung des Skalierungsproblems bei Visual Odometry. Bachelorarbeit Konstantin Balabin
3D Kollisionsvermeidung in Alltagsumgebungen unter Verwendung eines PMD-Sensors. Bachelorarbeit Markus Stowasser
Erkennen und Greifen von Alltagsgegenständen mittels Katana Manipulatorarm: Umgebungserkennung mittels 3D-Entfernungsdaten. Bachelorarbeit Manuel Wopfner
Erkennen und Greifen von Alltagsgegenständen mittels Katana Manipulatorarm: Bahnplanung und -ausführung. Bachelorarbeit Jonas Brich
Echtzeitfähige Anbindung eines SICK-Laserscanners an eine FPGA-Plattform. Bachelorarbeit Andreas Kochner
Realisierung und Evaluation von OpenPowerlink auf einer FPGA-Echtzeitplattform. Bachelorarbeit Daniel Benz
Design und Implementierung eines Manipulators für die Pioneer-Plattform. Bachelorarbeit Matthias Lutz
Kommunikationspattern auf dem CAN-Bus. Diplomarbeit Philipp Mack
Modellierung eines Traktors in einer Robotersimulation zum Test von Field Robotic Algorithmen. Bachelorarbeit Daniel Kirchner
Investition in Ihre Zukunft
gefördert durch die
Europäische Union
Europäischer Fonds
für regionale Entwicklung
und das
Land
Baden-Württemberg
