Publications of the Intelligent Autonomous Systems Group

2005	Mark Moors, Timo Röhling and Dirk Schulz A Probabilistic Approach to Coordinated Multi-Robot Indoor Surveillance In: Proceedings of the IEEE International Conference on Intelligent Robots and Systems, 2005

2004	K. Konolige, D. Fox, C. Ortiz, A. Agno, M. Eriksen, B. Limketkai, J. Ko, B. Morisset, D. Schulz, B. Stewart, R. Vincent Centibots: Very large scale distributed robotic teams In: Proceedings of the International Symposium on Experimental Robotics (ISER-04), 2004

Frank E. Schneider, Mark Moors and Dennis Wildermuth Methods and Experiments for Hazardous Area Activities using a Multi-Robot System In: Proceedings of the International Conference on Robotics and Automation, 2004

D. Schulz and D. Fox Bayesian Color Estimation for Adaptive Vision-based Robot Localization In: Proceedings of the IEEE International Conference on Robots and Systems (IROS 2004), Sendai, Japan, 2004

2003	Thorsten Belker, Martin Hammel and Joachim Hertzberg Learning to Optimize Mobile Robot Navigation Based on HTN Plans In: Proceedings of the International Conference on Robotics and Automation, 2003

W. Burgard, P. Trahanias, D. Hähnel, M. Moors, D. Schulz, H. Baltzakis, A. Argyros Tele-Presence in Populated Exhibitions Through Web-Operated Mobile Robots In: Journal of Autonomous Robots, 15, pp. 299-316, 2003

D. Fox, J. Hightower, L. Liao, D. Schulz, and G. Borriello Bayesian Filtering for Location Estimation In: IEEE Pervasive Computing, 2003

D. Hähnel, D. Schulz, and W. Burgard Mobile Robot Mapping in Populated Environments In: Advanced Robotics, 17 (7), pp. 579-598, 2003

L. Liao, D. Fox, J. Hightower, H. Kautz, and D. Schulz Voronoi Tracking: Location Estimation Using Sparse and Noisy Sensor Data In: Proceedings of the IEEE International Conference on Robots and Systems (IROS 2003), Las Vegas, October 2003

M. Moors, F. E. Schneider and D. Wildermuth Relative Position Estimation in a Group of Robots In: Proceedings of the 6th International Conference on Climbing and Walking Robots (CLAWAR), pp. 983-990, 2003

D. Schulz, W. Burgard, D. Fox, and A.B. Cremers People Tracking with a Mobile Robot Using Sample-based Joint Probabilistic Data Association Filters In: International Journal of Robotics Research (IJRR), 22 (2), 2003

D. Schulz, D. Fox and J. Hightower People Tracking with Anonymous and ID-sensors Using Rao-Blackwellised Particle Filters In: Proceedings of the 18th International Joint Conference on Artificial Intelligence (IJCAI 2003), Acapulco, Mexico, August 2003

2002	Thorsten Belker, Michael Beetz and Armin B. Cremers Learning of Plan Execution Policies for Indoor Navigation In: AI Communications, 15(1), pp. 3-16, 2002

Thorsten Belker, Michael Beetz and Armin B. Cremers Learning Action Models for the Improved Execution of Navigation Plans In: Robotics and Autonomous Systems, 38 (3-4), pp. 137-148, 2002

Thorsten Belker, Dirk Schulz Local Action Planning for Mobile Robot Collision Avoidance In: Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September 30-October 4, 2002

D. Hähnel, D. Schulz and W. Burgard Map Building with Mobile Robots in Populated Environments In: Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2002

2001	Michael Beetz, T. Arbuckle, T. Belker, M. Bennewitz, W. Burgard, A. Cremers, D. Fox, H. Großkreutz, D. Hähnel, and D. Schulz Integrated Plan-based Control of Autonomous Service Robots in Human Environments In: IEEE Intelligent Systems, 16 (5), pp. 56-65, 2001

Michael Beetz, Thorsten Belker Learning Robot Action Plans for Controlling Continuous, Percept-driven Behavior In: Proceedings of the 6th European Conference on Planning, Toledo, Spain, September 12-14, 2001

Michael Beetz, Thorsten Belker Learning Structured Reactive Navigation Plans from Excecuting MDP Navigation Policies In: Proceedings of the 5th International Conference on Autonomous Agents, Montreal, Canada, May 28 - June 1, 2001

Thorsten Belker, Michael Beetz Learning To Execute Navigation Plans In: KI-2001: Advances in Artificial Intelligence (Proceedings of the Joint German/Austrian Conference on AI), Vienna, Austria, September 19-21, 2001

D. Schulz and W. Burgard Probabilistic state estimation of dynamic objects with a moving mobile robot In: Robotics and Autonomous Systems, 34 (2-3), 2001

D. Schulz and W. Burgard Robust Visualization for Web-based Control of Mobile Robots In: K. Goldberg and R.Siegwart, editors, Beyond Webcams, MIT Press, 2001

D. Schulz, W. Burgard, D. Fox and A.B. Cremers Tracking Multiple Moving Objects with a Mobile Robot In: Proc. of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR 2001), Kauwai, Hawaii, 2001

D. Schulz, W. Burgard, D. Fox and A.B. Cremers Tracking Multiple Moving Targets with a Mobile Robot using Particle Filters and Statistical Data Association In: Proc. of the IEEE International Conference on Robotics & Automation (ICRA), Seoul, South Korea, 2001

2000	Michael Beetz, Tom Arbuckle, Thorsten Belker, Maren Bennewitz, Armin B. Cremers, Dirk Hähnel, Dirk Schulz Enabling Autonomous Robots to Perform Complex Tasks In: Künstliche Intelligenz 4/2000, pp. 5-10, 2000

Michael Beetz, Thorsten Belker Autonomous Environment and Task Adaptation for Robotic Agents In: ECAI 2000. Proceedings of the 14th European Conference on Artificial Intelligence, Berlin, Germany, August 20-25, 2000

Michael Beetz, Thorsten Belker Learning Structured Reactive Navigation Plans from Excecuting MDP Navigation Policies In: Proceedings of the Second International Cognitive Robotics Workshop, Berlin, Germany, August 21-22, 2000

Michael Beetz, Thorsten Belker XFRMLearn - A System for Learning Sructured Reactive Navigation Plans In: Proceedings of the 8th International Symposium on Intelligent Robotic Systems, Reading, UK, July 18-20, 2000

Michael Beetz and Henrik Grosskreutz Probabilistic Hybrid Action Models for Predicting Concurrent Percept-driven Robot Behavior In: Fifth International Conference on AI Planning Systems, 2000

Thorsten Belker, Dirk Schulz Robot Soccer - A Second Year Practical Course on Mobile Robotics In: Proceedings of the first Workshop on Edutainment Robotics, Sankt Augustin, Germany, January 16, 2000

D. Schulz, W. Burgard, and A.B. Cremers State estimation techniques for 3d-visualizations of web-based tele-operated mobile robots In: Künstliche Intelligenz, 4, 2000

D. Schulz, W. Burgard, A.B. Cremers, D. Fox, and S. Thrun Web interfaces for mobile robots in public places In: IEEE Robotics & Automation Magazine, 7(1), 2000

S. Thrun, M. Beetz, M. Bennewitz, W. Burgard, A.B. Cremers, F. Dellaert, D. Fox, D. Hähnel, C. Rosenberg, N. Roy, J.Schulte, and D. Schulz Probabilistic algorithms and the interactive museum tour-guide robot Minerva In: Journal of Robotics Research, 19(11), 2000

1999	T. Arbuckle, M. Beetz Controlling Image Processing: Providing Extensible, Run-time Configurable Functionality on Autonomous Robots In: Proceedings of IROS '99, Kyongju, Korea, Oct. 1999. pp. 787-792, 1999

Michael Beetz Structured Reactive Controllers --- A computational Model of Everyday Activity In: Proceedings of the Third International Conference on Autonomous Agents, 1999

Michael Beetz Structured Reactive Controllers In: Autonomous Agents and Multi-agent Systems, 1999

Michael Beetz, Thorsten Belker Experience- and Model-based Transformational Learning of Symbolic Behavior Specifications - Preliminary Report In: Technical Report IAI-TR-99-3, University of Bonn, 1999

Michael Beetz, Thorsten Belker Experience- and Model-based Transformational Learning of Symbolic Behavior Specifications - Preliminary Report In: Proceedings of the IJCAI Workshop on Robot Action Planning, Stockholm, Sweden, July 31, 1999

Michael Beetz, Maren Bennewitz, and Henrik Grosskreutz Probabilistic, Prediction-based Schedule Debugging for Autonomous Robot Office Couriers In: Proceedings of the 23rd German Conference on Artificial Intelligence (KI 99), 1999

W. Burgard, A.B. Cremers, D. Fox, D. Hähnel, G. Lakemeyer, D. Schulz, W. Steiner, and S. Thrun Experiences with an Interactive Museum Tour-Guide Robot In: Artificial Intelligence (AI), 114 (1-2), 1999

Dirk Schulz Template-Based State Estimation of Dynamic Objects In: Proceedings of the 3rd European Workshop on Advanced Mobile Robots, 1999

S. Thrun, M. Bennewitz, W. Burgard, A.B. Cremers, F. Dellaert, D. Fox, D. Hähnel, G. Lakemeyer, C. Rosenberg, N. Roy, J. Schulte, D. Schulz, and W. Steiner Experiences with two deployed interactive tour-guide robots In: Proc. of the International Conference on Field and Service Robotics (FSR), Pittsburgh, PA, 1999

S. Thrun, M. Bennewitz, W. Burgard, A. B. Cremers, F. Dellaert, D. Fox, D. Hähnel, C. Rosenberg, N. Roy, J. Schulte, and D. Schulz MINERVA: A Tour-Guide Robot that learns In: Proceedings of the 23rd German Conference on Artificial Intelligence (KI 99), Germany, Springer Verlag, 1999

S. Thrun, M. Bennewitz, W. Burgard, F. Dellaert, D. Fox, D. Hähnel, C. Rosenberg, N. Roy, J. Schulte, and D. Schulz MINERVA: A Second-Generation Museum Tour-Guide Robot In: Proceedings of the International Conference on Robotics and Automation ICRA, 1999

1998	T. Arbuckle, M. Beetz RECIPE - A System for Building Extensible, Run-time Configurable, Image Processing Systems In: Proc. CVMR Workshop, San Torini, Sept. 1998

T. Arbuckle, M. Beetz, B. Trouvain A Reconfigurable Image Capture and Image Processing System for Autonomous Robots - A Proposal In: Technical Report IAI-TR-98-2, 1998

M. Beetz, T. Arbuckle, Armin B. Cremers, M. Mann Transparent, Flexible and Resource-adaptive Image Processing for Autonomous Service Robots In: Proceedings ECAI'98, pp 632-636, 1998

Michael Beetz, Wolfram Burgard, Dieter Fox, and Armin B. Cremers Integrating active localization into high-level control systems In: Robotics and Autonomous Systems, 1998

Michael Beetz and Hanno Peters Structured reactive communication plans --- integrating conversational actions into high-level robot control systems In: Proceedings of the 22nd German Conference on Artificial Intelligence (KI 98), 1998

W. Burgard, A.B. Cremers, D. Fox, D. Hähnel, G. Lakemeyer, D. Schulz, W. Steiner, and S. Thrun The Interactive Museum Tour-Guide Robot In: Proceedings of the Fifteenth National Conference on Artificial Intelligence

W. Burgard, D. Fox, D. Hähnel, G. Lakemeyer, D. Schulz, W. Steiner, S. Thrun and A.B. Cremers Real Robots for the Real World -- The RHINO Museum Tour-Guide Project In: Proc. of the AAAI 1998 Spring Symposium on Integrating Robotics Research, Taking the Next Leap, Stanford, CA, 1998

D. Fox, W. Burgard, S. Thrun, and A.B. Cremers A Hybrid Collision Avoidance Method For Mobile Robots In: Proceedings of the IEEE 1998 International Conference on Robotics and Automation (ICRA'98), Leuven, Belgium, 1998

D. Fox, W. Burgard, S. Thrun, and A.B. Cremers Position Estimation for Mobile Robots in Dynamic Environments In: Proceedings of the Fifteenth National Conference on Artificial Intelligence (AAAI'98), Madison, Wisconsin, 1998

A. Hopp, D. Schulz, W. Burgard, A. B. Cremers, D. Fellner Virtual reality visualization of distributed tele-experiments In: Proc. of the 24th Annual Conference of the IEEE Industrial Electronics Society (IECON'98), 1998. Aachen, Germany 1998

S. Thrun, W. Burgard, and D. Fox A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots In: Machine Learning and Autonomous Robots (joint issue), 1998

S. Thrun, A. Bücken, W. Burgard, D. Fox, T. Fröhlinghaus, D. Hennig, T. Hofmann, M. Krell, and T. Schmidt Map Learning and High-Speed Navigation in RHINO In: AI-based Mobile Robots: Case studies of successful robot systems, Kortenkamp, D. and Bonasso, R.P. and Murphy, R. (eds.), MIT Press, 1998

1997	W. Burgard, D. Fox, and D. Hennig Fast Grid-based Position Tracking for Mobile Robots In: Proceedings of the 21st German Conference on Artificial Intelligence (KI 97), Freiburg, Germany, 1997

W. Burgard, D. Fox, and S. Thrun Active Mobile Robot Localization In: Proceedings of the Fifteenth International Joint Conference on Artificial Intelligence (IJCAI'97), Nagoya, Japan, 1997

A.B. Cremers, W. Burgard and D. Schulz Architecture of the Robotic Tele Lab In: Proc. of the 1997 HFESEC Annual Conference on Advances in Multimedia and Simulation, 1997

D. Fox, W. Burgard, and S. Thrun The Dynamic Window Approach to Collision Avoidance In: IEEE Robotics and Automation Magazine 4:1, 1997

1996	W. Burgard, D. Fox, D. Hennig, and T. Schmidt Estimating the Absolute Position of a Mobile Robot Using Position Probability Grids In: Proceedings of the Thirteenth National Conference on Artificial Intelligence (AAAI-96), 1996

D. Fox, W. Burgard, and S. Thrun Controlling Synchro-drive Robots with the Dynamic Window Approach to Collision Avoidance In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'96), Japan, 1996

T. Fröhlinghaus and J. Buhmann Regularizing Phase-Based Stereo In: Proc. of International Conference on Pattern Recognition (ICPR '96), Vienna, 1996

T. Fröhlinghaus and J. Buhmann Real-Time Phase-Based Stereo for a Mobile Robot In: Proceedings of the First Euromicro Workshop on Advanced Mobile robots. pp. 178-185, 1996

Thomas Hofmann, Jan Puzicha and Joachim M. Buhmann Unsupervised Segmentation of Textured Images by Pairwise Data Clustering In: Proceedings of the International Conference on Image Processing, Lausanne, 1996. Vol. III, pp. 137-140, 1996

G. Lakemeyer Only Knowing in the Situation Calculus In: Proc. of the 5th International Conference on Principles of Knowledge Representation and Reasoning, 1996

S. Thrun A Bayesian Approach to Landmark Discovery and Active Perception in Mobile Robot Navigation In: Technical Report CMU-CS-96-122, Carnegie Mellon University, Pittsburgh, PA, 1996

S. Thrun and A. Bücken Integrating Grid-Based and Topological Maps for Mobile Robot Navigation In: National Conference on Artificial Intelligence, (AAAI-96), 1996

S. Thrun and J. O'Sullivan Discovering Structure in Multiple Learning Tasks: The TC Algorithm In: Proceedings of the International Conference on Machine Learning, 1996

1995	J. Buhmann, W. Burgard, A.B. Cremers, D. Fox, T. Hofmann, F. Schneider, J. Strikos and S. Thrun The Mobile Robot Rhino In: AI Magazin, 16:1, 1995

S. Thrun An Approach to Learning Mobile Robot Navigation In: Robotics and Autonomous Systems, 15: 301-319, 1995

1994	S. Thrun A Lifelong Learning Perspective for Mobile Robot Navigation In: Proceedings of the IEEE/RSJ/GI Conference on Intelligent Robots and Systems, 1994 Also appeared in a book with selected papers from this conference.