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Autonomous mobile Servicerobots
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Please scroll down to find the
slides
of the talks given at Meetings, Workshops and Conferences. You can also find selected bachelor- and master theses.
To appear
Christian Schlegel, Matthias Lutz, Alex Lotz, Dennis Stampfer, Juan F. Inglés-Romero, Cristina Vicente-Chicote. Model-Driven Software Systems Engineering in Robotics: Covering the Complete Life-Cycle of a Robot. Workshop Roboter-Kontrollarchitekturen, Informatik 2013, Springer LNI der GI, Koblenz, September 2013
Reviewed
Alex Lotz, Juan F. Inglés-Romero, Cristina Vicente-Chicote, Christian Schlegel. Managing run-time variability in robotics software by modeling functional and non-functional behavior. In Selmin Nurcan, Henderik A. Proper, Pnina Soffer, John Krogstie, Rainer Schmidt, Terry Halpin, and Ilia Bider, editors. BPMDS and EMMSAD, volume 147 of Lecture Notes in BIP, pages 441-455. Springer, 2013. ISBN 978-3-642-38483-7
Matthias Lutz, Dennis Stampfer, Christian Schlegel. Probabilistic object recognition and pose estimation by fusing multiple algorithms. In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), Karlsruhe, Germany, May, 2013.
Dennis Stampfer, Christian Schlegel. Dynamic state charts: Composition and coordination of complex robot behavior and reuse of action plots. In Proc. IEEE Int. Conf. on Technologies for Practical Robot Applications (TePRA). Woburn, MA, USA, April 2013. ISBN 978-1-4673-6224-5.
Juan F. Inglés-Romero, Alex Lotz, Cristina Vicente-Chicote, Christian Schlegel.
Dealing with Run-Time Variability in Service-Robotics: Towards a DSL for Non-Functional Properties.
3rd International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob-12), Proceedings of SIMPAR 2012 Workshop, Emanuele Menegatti (Ed.), Tsukuba, Japan, November 2012, ISBN 978-88-95872-01-0
Dennis Stampfer, Matthias Lutz, Christian Schlegel.
Informed Active Perception with an Eye-in-hand Camera for Multi Modal Object Recognition.
Proc. IEEE IROS 2012 Workshop on Active Semantic Perception (ASP'12)
, ISBN 978-972-8822-26-2, Vilamoura, Algarve (Portugal), 2012.
Video attachment
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), Pages 1-6, Woburn, Massachusetts, USA, ISBN 978-1-4673-0854-0, 2012.
Matthias Lutz, Dennis Stampfer, 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), Pages 139-144, Woburn, Massachusetts, USA, ISBN 978-1-4673-0854-0, 2012.
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), Pages 133-138, Woburn, Massachusetts, USA, ISBN 978-1-4673-0854-0, 2012.
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
International Workshop on Robot Modularity (Karlsruhe, May, 2013)
Slides (Software Modularity in Robotics - The SmartSoft Perspective)
Robotics MDE Workshop (Leuven, February, 2013)
Slides (Separation of Roles: Challenges for MDSD, SmartSoft MDSD and its Transformations: Meta-Model, PIM, PSM, PSI)
3rd International WS on Domain-Specific Languages and models for ROBotic Systems DSLRob-12 (Tsukuba, Japan, November 2012)
Slides
Workshop on Models and Languages for Robotics (Paris, October 2012)
Slides (Separation of Roles)
Willow Garage (California, USA, August 2012)
Slides
euRobotics Forum 2012: Workshop on Models and Languages in Robotics for Academia and Industry
Slides
5. Ulmer Robotertag 2012
Slides Scenario
Slides Object Recognition
Slides Task Coordination
Generative Programming and Component Engineering (GPCE'11)
Slides
2nd International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob’11)
Slides
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)
Slides
Slides
Slides
3. Ulmer Robotertag 2010
Slides
Slides
Joint 41th International Symposium on Robotics and 6th German Conference on Robotics (ISR / ROBOTIK), Munich, 2010
Slides
IEEE ICRA 2010 Workshop "European Effort to Strengthen Academia-Industry Collaboration"
Slides
IEEE ICRA 2010 Workshop Omnidirectional Robot Vision
Slides
2010 EURON/EUROP Annual Meeting: Workshop "Robot Application Development Process", San Sebastian, 2010
Slides
IEEE Int. Conference on Technologies for Practical Robot Applications (TePRA 2009)
Slides
IEEE ICRA 2009 Fourth International Workshop on Software Development and Integration in Robotics (SDIR IV)
Slides
Slides
2. Ulmer Robotertag 2009
Slides
Slides
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2010)
Slides
The 14th International Conference on Advanced Robotics, Munich, 2009
Slides
Slides
Embedded Software Engineering Kongress, Sindelfingen, 2009
Slides
ECHORD (European Clearing House for Open Robotics Development), Opening Event, Munich, 2009
Slides
BRICS Workshop on Model-Driven Engineering, Leuven, 2009
Slides
Slides
Autonome Mobile Systeme, Karlsruhe, 2009
Slides
IEEE ICRA 2010 Third International Workshop on Software Development and Integration in Robotics (SDIR III)
Slides
Slides
Informationsveranstaltung „Europäische Strukturfonds - Förderung von Innovation, Wissenschaft und Forschung in Hochschulen und Unternehmen in Baden-Württemberg, Haus der Wirtschaft, 2008
Slides
Other
Poster Bearing-Only SLAM deutsch
Poster Bearing-Only SLAM englisch
Master Theses / Bachelor Theses
Teleoperation des humanoiden Roboters NAO per Kinect-Kamera. Bachelor Thesis Simon Päusch
Modeling and Simulation of a Tractor in GAZEBO. Bachelor Thesis Mahmoud Hossameldin
Flächendeckende Pfadplanung eines Serviceroboters. Bachelor Thesis Benjamin Edelmann
Dynamic State Charts for Task Sequencing for Service Robots. Master Thesis Dennis Stampfer
Global Localization using Multiple Hypothesis Tracking. Master Thesis Matthias Lutz
Conditional Reactive Task Execution in a Three Layer Architecture for Service Robots. Master Thesis Andreas Steck
Monitoring in Robotic Systems. Master Thesis Alex Lotz
Visionbasierte kontinuierliche Bewegungsführung für den Humanoiden NAO. Bachelor Thesis Oleg Hein
Bildbasiertes kollisionsfreies Laufen für den Humanoiden NAO. Bachelor Thesis Veronika Ritter
Evaluierung und Implementierung eines Verfahrens zur Lösung des Skalierungsproblems bei Visual Odometry. Bachelor Thesis Konstantin Balabin
3D Kollisionsvermeidung in Alltagsumgebungen unter Verwendung eines PMD-Sensors. Bachelor Thesis Markus Stowasser
Erkennen und Greifen von Alltagsgegenständen mittels Katana Manipulatorarm: Umgebungserkennung mittels 3D-Entfernungsdaten. Bachelor Thesis Manuel Wopfner
Erkennen und Greifen von Alltagsgegenständen mittels Katana Manipulatorarm: Bahnplanung und -ausführung. Bachelor Thesis Jonas Brich
Echtzeitfähige Anbindung eines SICK-Laserscanners an eine FPGA-Plattform. Bachelor Thesis Andreas Kochner
Realisierung und Evaluation von OpenPowerlink auf einer FPGA-Echtzeitplattform. Bachelor Thesis Daniel Benz
Design und Implementierung eines Manipulators für die Pioneer-Plattform. Bachelor Thesis Matthias Lutz
Kommunikationspattern auf dem CAN-Bus. Diploma Thesis Philipp Mack
Modellierung eines Traktors in einer Robotersimulation zum Test von Field Robotic Algorithmen. Bachelor Thesis Daniel Kirchner
Investition in Ihre Zukunft
gefördert durch die
Europäische Union
Europäischer Fonds
für regionale Entwicklung
und das
Land
Baden-Württemberg
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