Publications

2020

Anticipation as a mechanism for complex behavior in artificial agents
H. Mellmann, S. A. Schlotter, L. Musiolek, and V. V. Hafner
Artificial life conference proceedings , iss. 32 , pp. 157-159 , 2020 .
[BibTeX] [PDF]

@article {ALIFE-MellmannEtAl-20,
author = {Heinrich Mellmann and Stella Alice Schlotter and Lea Musiolek and Verena V. Hafner},
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},
doi = {10.1162/isal_a_00314}
}

Analyse von robocup spielen – erkennen und lokalisieren von nao robotern
S. A. Schlotter , Studienarbeit , Humboldt-Universität zu Berlin , 2020 .
[BibTeX] [PDF]

@MastersThesis{2020_studienarbeit_schlotter,
author = {Schlotter, Stella Alice},
title = {Analyse von RoboCup Spielen - Erkennen und Lokalisieren von Nao Robotern},
school = {Humboldt-Universit\"at zu Berlin},
year = {2020},
type = {Studienarbeit},
}

Zweibeiniges laufen für humanoide roboter im robocup
S. Kaden , Studienarbeit , Humboldt-Universität zu Berlin , 2020 .
[BibTeX] [PDF]

@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},
}

Realtime object detection on the nao robot
A. T. Nguyen , Studienarbeit , Humboldt-Universität zu Berlin , 2020 .
[BibTeX] [PDF]

@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},
}

Gretchen – a humanoid robot for research and education
A. Prisacaru , Bachelorarbeit , Humboldt-Universität zu Berlin , 2020 .
[BibTeX] [PDF]

@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},
}

Teamstrategie und -koordination im kontext des roboterfußballs
P. Strobel , Diplomarbeit , Humboldt-Universität zu Berlin , 2020 .
[BibTeX] [PDF]

@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

Neural Architecture Search zur Bildklassifikation
D. Nedic , Bachelorarbeit , Humboldt-Universität zu Berlin , 2019 .
[BibTeX] [PDF]

@MastersThesis{2019_bachlorarbeit_darko,
author = {Darko Nedic},
title = {{Neural Architecture Search zur Bildklassifikation}},
school = {Humboldt-Universit\"at zu Berlin},
year = {2019},
type = {Bachelorarbeit},
date = {42.42.2019},
}

Toward data driven development in robocup
H. Mellmann, S. A. Schlotter, and P. Strobel
Robocup 2019: robot soccer world cup xxiii , 2019 .
[BibTeX] [PDF]

@InProceedings{robocuptools_19,
author = {Heinrich Mellmann and Stella Alice Schlotter and Philipp Strobel},
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},
}

Robocup.tools – data driven research and development in robocup
H. Mellmann, S. A. Schlotter, and P. Strobel , , 2019.
[BibTeX] [PDF]

@Misc{2019-rcf20-project-game-evaluation,
author = {Heinrich Mellmann and Stella Alice Schlotter and Philipp Strobel},
title = {robocup.tools - Data Driven Research and Development in RoboCup},
year = {2019},
type = {Project Proposal},
url = {http://robocup.tools},
}

Visuelle positionsbestimmung für mobile roboter im robocup kontext
R. Martin , Bachelorarbeit , Humboldt-Universität zu Berlin , 2019 .
[BibTeX] [PDF]

@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},
}

2018

Methoden und werkzeuge zur analyse von teamverhalten und -strategie im roboterfußball
P. Strobel , Studienarbeit , Humboldt-Universität zu Berlin , 2018 .
[BibTeX] [PDF]

@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},
}

Visuelle Echtzeit Detektion humanoider Roboter im RoboCup Kontext
D. Ring , Bachelorarbeit , Humboldt-Universität zu Berlin , 2018 .
[BibTeX] [PDF]

@MastersThesis{2018_bachelor_ring,
author = {Denis Ring},
title = {{Visuelle Echtzeit Detektion humanoider Roboter im RoboCup Kontext}},
school = {Humboldt-Universit\"at zu Berlin},
year = {2018},
type = {Bachelorarbeit},
date = {42.42.2018},
}

Berlin united – nao team humboldt team report 2018
H. Mellmann, S. A. Schlotter, S. Kaden, P. Strobel, T. Krause, E. Couque-Castelnovo, C. Ritter, T. Hübner, and S. Tofangchi
Adaptive Systeme, Institut für Informatik, Humboldt-Universität zu Berlin, Unter den Linden 6, 10099 Berlin, Germany , techreport , , 2018 .
[BibTeX] [PDF]

@TechReport{naoth-report18,
author = {Heinrich Mellmann and Stella Alice Schlotter and Steffen Kaden and Philipp Strobel and Thomas Krause and Etienne Couque-Castelnovo and Claas-Norman Ritter and Tobias H\"ubner and Schahin Tofangchi},
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},
}

2017

Deep Learning Based Robot Detection in the Context of RoboCup
R. Papke , Bachelorarbeit , Humboldt-Universität zu Berlin , 2017 .
[BibTeX] [PDF]

@MastersThesis{papke2017,
author = {Robin Papke},
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},
}

Visuelle Detektion humanoider Roboter basierend auf Histogrammen orientierter Gradienten
D. Krienelke , Diplomarbeit , Humboldt-Universität zu Berlin , 2017 .
[BibTeX] [PDF]

@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/~naoth/docs/diplomarbeiten/2017-krienelke-diploma-thesis.pdf},
urldate = {14.09.2018},
}

Visuelle Verfolgung humanoider Roboter im RoboCup-Kontext
L. Schwaß , Diplomarbeit , Humboldt-Universität zu Berlin , 2017 .
[BibTeX]

@MastersThesis{schwass2018,
author = {Lucas Schwa{\ss}},
title = {{Visuelle Verfolgung humanoider Roboter im RoboCup-Kontext}},
school = {Humboldt-Universit\"at zu Berlin},
year = {2017},
type = {Diplomarbeit},
month = {Oktober},
date = {30.10.2017},
}

Berlin united – nao team humboldt team report 2017
H. Mellmann, S. A. Schlotter, S. Kaden, P. Strobel, T. Krause, C. Ritter, T. Hübner, and S. Tofangchi
Adaptive Systeme, Institut für Informatik, Humboldt-Universität zu Berlin, Unter den Linden 6, 10099 Berlin, Germany , techreport , , 2017 .
[BibTeX] [PDF]

@TechReport{naoth-report17,
author = {Heinrich Mellmann and Stella Alice Schlotter and Steffen Kaden and Philipp Strobel and Thomas Krause and Claas-Norman Ritter and Tobias H\"ubner and Schahin Tofangchi},
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},
}

Selection of Actions based on Forward Simulations
S. A. Schlotter , Bachelorarbeit , Humboldt-Universität zu Berlin , 2017 .
[BibTeX] [PDF]

@MastersThesis{schlotter2017,
author = {Schlotter, Stella Alice},
title = {{Selection of Actions based on Forward Simulations}},
school = {Humboldt-Universit\"at zu Berlin},
year = {2017},
type = {Bachelorarbeit},
}

Pfadplanung und schrittkoordination für humanoide roboter
Y. Can Akcay , Bachelorarbeit , Humboldt-Universität zu Berlin , 2017 .
[BibTeX] [PDF]

@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},
}

Advances on simulation based selection of actions for a humanoid soccer-robot
H. Mellmann and S. A. Schlotter
Proceedings of the 12th workshop on humanoid soccer robots, 17th ieee-ras international conference on humanoid robots (humanoids), birmingham, uk. , 2017 .
[BibTeX] [PDF]

@inproceedings {HSR-MellmannSchlotter-17,
author = {Heinrich Mellmann and Stella Alice Schlotter},
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), Birmingham, UK.},
year = {2017},
url = {http://lofarolabs.com/events/robocup/ws17/program.php}
}

2016

Simulation Based Selection of Actions for a Humanoid Soccer-Robot
H. Mellmann, S. A. Schlotter, and C. Blum
Robocup 2016: robot soccer world cup xx , 2016 .
[BibTeX] [Abstract] [PDF]

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.

@InProceedings{RC-MellmannSchlotterBlum-16,
author = {Heinrich Mellmann and Stella Alice Schlotter and Christian Blum},
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},
}

Berlin united – nao team humboldt team report 2016
H. Mellmann, S. A. Schlotter, S. Kaden, P. Strobel, T. Krause, C. Ritter, T. Hübner, and S. Tofangchi
Adaptive Systeme, Institut für Informatik, Humboldt-Universität zu Berlin, Unter den Linden 6, 10099 Berlin, Germany , techreport , , 2016 .
[BibTeX] [PDF]

@TechReport{naoth-report16,
author = {Heinrich Mellmann and Stella Alice Schlotter and Steffen Kaden and Philipp Strobel and Thomas Krause and Claas-Norman Ritter and Tobias H\"ubner and Schahin Tofangchi},
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},
}

2013

Adaptive grasping for a small humanoid robot utilizing force- and electric current sensors
H. Mellmann, M. Scheunemann, and O. Stadie
Cs&p , 2013 .
[BibTeX] [PDF]

@InProceedings{mellmannetal-csp2013,
author = {Heinrich Mellmann and Marcus Scheunemann and Oliver Stadie},
title = {Adaptive Grasping for a Small Humanoid Robot Utilizing Force- and Electric Current Sensors},
booktitle = {CS\&P},
year = {2013},
}

Voronoi based strategic positioning for robot soccer
S. Kaden, H. Mellmann, M. Scheunemann, and H. Burkhard
Proceedings of the 22nd international workshop on concurrency, specification and programming (cs&p) , 2013 , pp. 271-282.
[BibTeX] [PDF]

@InProceedings{CSP-KadenMellmannEtAl-13,
author = {Steffen Kaden and Heinrich Mellmann and Marcus Scheunemann and Hans-Dieter Burkhard},
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},
pages = {271-282},
publisher = {CEUR-WS.org},
}

Strategische positionierung von robotern im robocup
S. Kaden , Bachelorarbeit , Humboldt-Universität zu Berlin , 2013 .
[BibTeX] [PDF]

@MastersThesis{2013_kaden_bachelorarbeit,
author = {Kaden, Steffen},
title = {Strategische Positionierung von Robotern im RoboCup},
school = {Humboldt-Universit\"at zu Berlin},
year = {2013},
type = {Bachelorarbeit},
}

2011

Local goal model for a humanoid soccer robot
H. Mellmann and M. Scheunemann
Proceedings of the workshop on concurrency, specification, and programming cs&p 2011 , 2011 , pp. 353-360.
[BibTeX] [PDF]

@InProceedings{CSP-MellmannScheunemann-11-2,
author = {Heinrich Mellmann and Marcus Scheunemann},
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},
publisher = {Bia{l}ystok University of Technology},
}

Erfahrungsbasierte Lernmethoden zur visuellen Trajektorienvorhersage humanoider Roboter
T. Krause , Master Thesis , Humboldt-Universität zu Berlin , 2011 .
[BibTeX] [PDF]

@mastersthesis{krause_erfahrungsbasierte_2011,
title = {Erfahrungsbasierte {Lernmethoden} zur visuellen {Trajektorienvorhersage} humanoider {Roboter}},
copyright = {All rights reserved},
school = {Humboldt-Universit\"at zu Berlin},
author = {Krause, Thomas},
year = {2011},
}

2010

Nao-team humboldt 2010
H. Burkhard, F. Holzhauer, T. Krause, H. Mellmann, C. N. Ritter, O. Welter, and Yuan Xu
Humboldt UniversitÃ¤t zu Berlin , 2010 .
[BibTeX] [PDF]

@TECHREPORT{tdp10,
author = {Hans-Dieter Burkhard and Florian Holzhauer and Thomas Krause and
Heinrich Mellmann and Claas Norman Ritter and Oliver Welter and Yuan
Xu},
title = {NAO-Team Humboldt 2010},
institution = {Humboldt UniversitÃ¤t zu Berlin},
year = {2010},
owner = {Heinrich Mellmann},
timestamp = {2010.02.03},
url = {http://www.naoteamhumboldt.de/wp-content/uploads/2010/02/NaoTH10Description.pdf}
}

Ein anderes Modell der Welt. Alternative Methoden zur Lokalisierung mobiler Roboter.
H. Mellmann , Diploma Thesis , Humboldt-UniversitÃ¤t zu Berlin, Institut fÃ¼r Informatik , 2010 .
[BibTeX]

@MASTERSTHESIS{diplom-mellmann,
author = {Heinrich Mellmann},
title = {{E}in anderes {M}odell der {W}elt. {A}lternative {M}ethoden zur {L}okalisierung mobiler {R}oboter.},
school = {Humboldt-UniversitÃ¤t zu Berlin, Institut fÃ¼r Informatik},
year = {2010},
type = {Diploma Thesis}
}

An approach to close the gap between simulation and real robots
Y. Xu, H. Mellmann, and H. Burkhard
Simulation, modeling, and programming for autonomous robots , Berlin, Heidelberg , 2010 , p. 533–544.
[BibTeX] [Abstract] [PDF]

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.

@InProceedings{simpar-xumellmannetal-10,
author = {Xu, Yuan and Mellmann, Heinrich and Burkhard, Hans-Dieter},
title = {An Approach to Close the Gap between Simulation and Real Robots},
booktitle = {Simulation, Modeling, and Programming for Autonomous Robots},
year = {2010},
editor = {Ando, Noriaki and Balakirsky, Stephen and Hemker, Thomas and Reggiani, Monica and von Stryk, Oskar},
pages = {533--544},
address = {Berlin, Heidelberg},
publisher = {Springer Berlin Heidelberg},
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.},
isbn = {978-3-642-17319-6},
}

Adaptive motion control: dynamic kick for a humanoid robot
Y. Xu and H. Mellmann
Ki 2010: advances in artificial intelligence , Berlin, Heidelberg , 2010 , p. 392–399.
[BibTeX] [Abstract] [PDF]

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.

@InProceedings{ki-xumellmann-10,
author = {Xu, Yuan and Mellmann, Heinrich},
title = {Adaptive Motion Control: Dynamic Kick for a Humanoid Robot},
booktitle = {KI 2010: Advances in Artificial Intelligence},
year = {2010},
editor = {Dillmann, R{\"u}diger and Beyerer, J{\"u}rgen and Hanebeck, Uwe D. and Schultz, Tanja},
pages = {392--399},
address = {Berlin, Heidelberg},
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.},
isbn = {978-3-642-16111-7},
}

Adaptive motion control with visual feedback for a humanoid robot
H. Mellmann and Y. Xu
2010 , pp. 3169-3174.
[BibTeX] [PDF]

@InProceedings{iros-mellmannxu-10,
author = {Mellmann, Heinrich and Xu, Yuan},
title = {Adaptive motion control with visual feedback for a humanoid robot},
year = {2010},
pages = {3169 - 3174},
month = {11},
doi = {10.1109/IROS.2010.5650226},
journal = {Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems},
}

NaoTH Software Architecture for an Autonomous Agent
H. Mellmann, Y. Xu, T. Krause, and F. Holzhauer
Proceedings of the International Workshop on Standards and Common Platforms for Robotics (SCPR 2010) , Darmstadt , 2010 , p. 316–327.
[BibTeX] [Abstract] [PDF]

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.

@inproceedings{mellmann_naoth_2010,
address = {Darmstadt},
title = {{NaoTH} {Software} {Architecture} for an {Autonomous} {Agent}},
url = {http://www.naoteamhumboldt.de/wp-content/papercite-data/pdf/scpr-mellmannxuetal-10.pdf},
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.},
booktitle = {Proceedings of the {International} {Workshop} on {Standards} and {Common} {Platforms} for {Robotics} ({SCPR} 2010)},
author = {Mellmann, Heinrich and Xu, Yuan and Krause, Thomas and Holzhauer, Florian},
month = nov,
year = {2010},
pages = {316--327},
}

2009

Visuelle Gestenerkennung zur Interaktion zwischen Mensch und Roboter (in German)
F. A. Bertsch
Proceedings of 15. workshop farbbildverarbeitung 2009 , Berlin , 2009 .
[BibTeX]

@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}
}

Gesture recognition as a prerequisite of imitation learning in human-humanoid experiments
F. A. Bertsch and V. V. Hafner
Proceedings of epirob09, ninth international conference on epigenetic robotics , 2009 , p. pp. 197-198.
[BibTeX]

@INPROCEEDINGS{BertschHafner09b,
author = {Bertsch, F.A. and Hafner, V.V.},
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},
editor = {Lola Canamero, Pierre-Yves Oudeyer, Christian Balkenius},
pages = {pp. 197-198},
organization = {Lund University Cognitive Studies, 146},
owner = {gxy},
timestamp = {2009.12.06}
}

Real-time dynamic visual gesture recognition in human-robot interaction
F. A. Bertsch and V. V. Hafner
Proceedings of humanoids 2009, 9th ieee-ras international conference on humanoid robots , 2009 .
[BibTeX]

@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}
}

Nao-team humboldt 2009
H. Burkhard, F. Holzhauer, T. Krause, H. Mellmann, C. N. Ritter, O. Welter, and Yuan Xu
Humboldt UniversitÃ¤t zu Berlin , 2009 .
[BibTeX] [PDF]

@TECHREPORT{tdp09,
author = {Hans-Dieter Burkhard and Florian Holzhauer and Thomas Krause and
Heinrich Mellmann and Claas Norman Ritter and Oliver Welter and Yuan
Xu},
title = {NAO-Team Humboldt 2009},
institution = {Humboldt UniversitÃ¤t zu Berlin},
year = {2009},
owner = {Heinrich Mellmann},
timestamp = {2010.02.03},
url = {http://www.naoteamhumboldt.de/wp-content/uploads/2010/02/NaoTH09Report_final.pdf}
}

Constraint based world modeling in mobile robotics
D. Göhring, H. Mellmann, and H. Burkhard
Proc. ieee international conference on robotics and automation icra 2009 , 2009 , p. 2538–2543.
[BibTeX] [Abstract] [PDF]

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.

@InProceedings{ICRA-GoehringMellmann-09,
author = {Daniel G\"ohring and Heinrich Mellmann and Hans-Dieter Burkhard},
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},
}

Active landmark selection for vision-based self-localization
H. Mellmann
Proceedings of the workshop on concurrency, specification, and programming cs&p 2009 , KrakÃ³w-Przegorzaly, Poland , 2009 , p. 398–405.
[BibTeX] [Abstract] [PDF]

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.

@INPROCEEDINGS{Mellmann2009,
author = {Heinrich Mellmann},
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 = {KrakÃ³w-Przegorzaly, Poland},
month = {28--30 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}
}

Reinforcement learning in continuous state and action spaces
V. Uc-Cetina , PhD Thesis , Humboldt-Universität zu Berlin , 2009 .
[BibTeX] [PDF]

@PHDTHESIS{uccetina09thesis,
author = {Victor Uc-Cetina},
title = {Reinforcement Learning in Continuous State and Action Spaces},
school = {Humboldt-Universit\"at zu Berlin},
year = {2009}
}

Constraint based world modeling for multi agent systems in dynamic environments
D. Göhring , PhD Thesis , 2009 , [Online: Stand 2010-05-23T15:08:02Z].
[BibTeX] [Abstract] [PDF]

% \selectlanguage{ngerman} Die mobile Robotik stellt ein sehr junges und komplexes Forschungsfelder unserer Zeit dar. Innerhalb der letzten Jahrzehnte wurde es Robotern mÃ¶glich, sich innerhalb ihrer Umgebung zu bewegen, zu navigieren und mit ihrer Umwelt zu interagieren. Aufgrund der Tatsache, dass die Welt von Unsicherheit geprÃ¤gt ist und ein Roboter immer nur partielle Information Ã¼ber sie erhalten kann, wurden probabilistische Navigationsverfahren entwickelt, mit denen sich Roboter lokalisieren und Objekte ihrer Umgebung modellieren kÃ¶nnen. 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 fÃ¼r 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 ermÃ¶glichen, 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.

@PhdThesis{Goehring10Dissertation,
author = {Daniel G\"ohring},
title = {Constraint based world modeling for multi agent systems in dynamic environments},
year = {2009},
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 mÃ¶glich, sich innerhalb ihrer Umgebung zu bewegen, zu navigieren und mit ihrer Umwelt zu interagieren. Aufgrund der Tatsache, dass die Welt von Unsicherheit geprÃ¤gt ist und ein Roboter immer nur partielle Information Ã¼ber sie erhalten kann, wurden probabilistische Navigationsverfahren entwickelt, mit denen sich Roboter lokalisieren und Objekte ihrer Umgebung modellieren kÃ¶nnen. 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 fÃ¼r 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 ermÃ¶glichen, 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}KÃ¼nstliche Intelligenz, Robotik, Lokalisierungsverfahren, Constraints % \selectlanguage{english}Robotics, Artificial Intelligence, Localization Approaches, Constraints },
publisher = {Humboldt-Universit\"at zu Berlin, Mathematisch-Naturwissenschaftliche FakultÃ¤t II},
url = { \url{ http://edoc.hu-berlin.de/docviews/abstract.php?id=30348 } },
}

Constraint based belief modeling
D. Göhring, H. Mellmann, and H. Burkhard
Robocup 2008: robot soccer world cup xii , Berlin, Heidelberg , 2009 , p. 73–84.
[BibTeX] [Abstract] [PDF]

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.

@InProceedings{rc-goehringmellmann-08-preprint,
author = {G{\"o}hring, Daniel and Mellmann, Heinrich and Burkhard, Hans-Dieter},
title = {Constraint Based Belief Modeling},
booktitle = {RoboCup 2008: Robot Soccer World Cup XII},
year = {2009},
editor = {Iocchi, Luca and Matsubara, Hitoshi and Weitzenfeld, Alfredo and Zhou, Changjiu},
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},
}

2008

Constraint based object state modeling
D. Göhring, H. Mellmann, and H. Burkhard
European robotics symposium 2008 , Prague, Chech Republic , 2008 , pp. 63-72.
[BibTeX] [Abstract] [PDF]

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.

@InProceedings{EUROS-GoehringMellmann-08,
author = {Daniel G\"ohring and Heinrich Mellmann and Hans-Dieter Burkhard},
title = {Constraint Based Object State Modeling},
booktitle = {European Robotics Symposium 2008},
year = {2008},
editor = {Bruyninckx Herman and Preucil Libor and Kulich Miroslav},
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},
}

Constraint based belief modeling
D. Göhring, H. Mellmann, and H. Burkhard
Robocup 2008: robot soccer world cup xii , 2008 .
[BibTeX] [Abstract] [PDF]

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.

@InProceedings{RC-GoehringMellmann-08,
author = {Daniel G\"ohring and Heinrich Mellmann and Hans-Dieter Burkhard},
title = {Constraint Based Belief Modeling},
booktitle = {RoboCup 2008: Robot Soccer World Cup XII},
year = {2008},
editor = {Luca Iocchi and Hitoshi Matsubara and Alfredo Weitzenfeld and Changjiu Zhou},
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},
}

Constraint based localization on a humanoid robot
D. Göhring, H. Mellmann, and H. Burkhard
Proceedings of the workshop on concurrency, specification, and programming cs&p 2008 , 2008 .
[BibTeX] [Abstract] [PDF]

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.

@InProceedings{Goehring2008,
author = {Daniel G\"ohring and Heinrich Mellmann and Hans-Dieter Burkhard},
title = {Constraint Based Localization on a Humanoid Robot},
booktitle = {Proceedings of the Workshop on Concurrency, Specification, and Programming CS\&P 2008},
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},
}

Constraint based world modeling
D. Göhring, H. Mellmann, K. Gerasymova, and H. Burkhard
Fundamenta informaticae , vol. 85 , iss. Number 1-4 , pp. 123-137 , 2008 .
[BibTeX] [Abstract] [PDF]

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.

@Article{FI-GoehringMellmannGerasimova-08,
author = {Daniel G\"ohring and Heinrich Mellmann and Kataryna Gerasymova and Hans-Dieter Burkhard},
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/},
}

Memory-based state-estimation
M. Jüngel and H. Mellmann
Fundamenta informaticae , vol. 85 , iss. Number 1-4 , p. 297–311 , 2008 .
[BibTeX] [Abstract] [PDF]

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.

@Article{FI-JuengelMellmann-08,
author = {Matthias J\"ungel and Heinrich Mellmann},
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/},
}

Using reference objects to improve vision-based bearing measurements
H. Mellmann, M. JÃ¼ngel, and M. Spranger
Proc. ieee/rsj international conference on intelligent robots and systems iros 2008 , Acropolis Convention Center, Nice, France , 2008 , p. 3939–3945.
[BibTeX] [Abstract] [PDF]

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.

@INPROCEEDINGS{IROS-MellmannJuengelSpranger-08,
author = {Heinrich Mellmann and Matthias JÃ¼ngel and Michael Spranger},
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}
}

Improving vision-based distance measurements using reference objects
M. Jüngel, H. Mellmann, and M. Spranger
Robocup 2007: robot soccer world cup xi , Berlin, Heidelberg , 2008 , p. 89–100.
[BibTeX] [Abstract] [PDF]

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.

@InProceedings{rc-juengelmellmannspranger-07-preprint,
author = {J{\"u}ngel, Matthias and Mellmann, Heinrich and Spranger, Michael},
title = {Improving Vision-Based Distance Measurements Using Reference Objects},
booktitle = {RoboCup 2007: Robot Soccer World Cup XI},
year = {2008},
editor = {Visser, Ubbo and Ribeiro, Fernando and Ohashi, Takeshi and Dellaert, Frank},
pages = {89--100},
address = {Berlin, Heidelberg},
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.},
isbn = {978-3-540-68847-1},
}

2007

Exploiting Past Experience. Case-Based Decision Support for Soccer Agents
R. Berger and G. Lämmel
Proceedings of the 30th annual german conference on artificial intelligence (ki’07) , 2007 .
[BibTeX] [PDF]

@InProceedings{berger2007,
author = {Ralf Berger and Gregor L\"ammel},
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},
}

Cases in robotic soccer.
H. Burkhard and R. Berger
Case-based reasoning research and development, proc. 7th international conference on case-based reasoning, iccbr 2007 , 2007 , p. 1–15.
[BibTeX] [PDF]

@InProceedings{burkhard2007,
author = {Hans-Dieter Burkhard and Ralf Berger},
title = {Cases in Robotic Soccer.},
booktitle = {Case-Based Reasoning Research and Development, Proc. 7th International Conference on Case-Based Reasoning, ICCBR 2007},
year = {2007},
editor = {Rosina O. Weber, Michael M. Richter},
series = {Lecture Notes in Artificial Intelligence},
pages = {1--15},
publisher = {Springer},
}

Cooperative object localization using line-based percept communication
D. Göhring
Robocup 2007: robot soccer world cup xi , 2007 .
[BibTeX]

@INPROCEEDINGS{goehring07linerelation,
author = {Daniel G\"ohring},
title = {Cooperative Object Localization Using Line-Based Percept Communication},
booktitle = {RoboCup 2007: Robot Soccer World Cup XI},
year = {2007},
editor = {U. Visser and F. Ribeiro and T. Ohashi and F. Dellaert},
series = {Lecture Notes in Artificial Intelligence},
publisher = {Springer}
}

Cooperative world modeling in dynamic multi-robot environments
D. Göhring and H. Burkhard
Fundamenta informaticae , vol. 75 , iss. 1–4 , p. 281–294 , 2007 .
[BibTeX] [PDF]

@Article{goehring07relation-funamenta,
author = {Daniel G\"ohring and Hans-Dieter Burkhard},
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},
}

Sensor Modeling Using Visual-Object Relation in Multi Robot Object Tracking
D. Göhring and J. Hoffmann
Robocup 2006: robot soccer world cup x , 2007 .
[BibTeX] [PDF]

@InProceedings{goehring2007,
author = {Daniel G\"ohring and Jan Hoffmann},
title = {{S}ensor {M}odeling {U}sing {V}isual-{O}bject {R}elation in {M}ulti {R}obot {O}bject {T}racking},
booktitle = {RoboCup 2006: Robot Soccer World Cup X},
year = {2007},
series = {Lecture Notes in Artificial Intelligence},
publisher = {Springer},
}

Simloid – evolution of biped walking using physical simulation
D. Hein , Diploma Thesis , Humboldt-UniversitÃ¤t zu Berlin, Institut fÃ¼r Informatik , 2007 .
[BibTeX]

@MASTERSTHESIS{diplom-hein,
author = {Daniel Hein},
title = {Simloid -- Evolution of Biped Walking Using Physical Simulation},
school = {Humboldt-UniversitÃ¤t zu Berlin, Institut fÃ¼r Informatik},
year = {2007},
type = {Diploma Thesis}
}

Evolution of biped walking using neural oscillators and physical simulation
D. Hein, M. Hild, and R. Berger
Robocup 2007: robot soccer world cup xi , 2007 .
[BibTeX]

@INPROCEEDINGS{rc-07-hein_et_al,
author = {Daniel Hein and Manfred Hild and Ralf Berger},
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}
}

Neurodynamische module zur bewegungssteuerung autonomer mobiler roboter (in german)
M. Hild , PhD Thesis , Humboldt-UniversitÃ¤t zu Berlin , 2007 .
[BibTeX]

@PHDTHESIS{hild07thesis,
author = {Manfred Hild},
title = {Neurodynamische Module zur Bewegungssteuerung autonomer mobiler Roboter
(in German)},
school = {Humboldt-UniversitÃ¤t zu Berlin},
year = {2007}
}

Proprioceptive Motion Modeling for Monte Carlo Localization
J. Hoffmann
Robocup 2006: robot soccer world cup x , 2007 .
[BibTeX] [PDF]

@InProceedings{hoffmann2007,
author = {Jan Hoffmann},
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},
}

Self-localization using odometry and horizontal bearings to landmarks
M. Jüngel and M. Risler
Robocup 2007: robot soccer world cup xi , 2007 .
[BibTeX] [PDF]

@InProceedings{juengel2008,
author = {Matthias J{\"u}ngel and Max Risler},
title = {Self-Localization Using Odometry and Horizontal Bearings to Landmarks},
booktitle = {RoboCup 2007: Robot Soccer World Cup XI},
year = {2007},
editor = {U. Visser and F. Ribeiro and T. Ohashi and F. Dellaert},
series = {Lecture Notes in Artificial Intelligence},
publisher = {Springer},
}

Bearing-only localization for mobile robots
M. Jüngel
Proceedings of the 2007 international conference on advanced robotics (icar 2007), jeju, korea, , 2007 .
[BibTeX] [PDF]

@InProceedings{juengel-bearingonlyocalizationformobilerobots,
author = {Matthias J\"ungel},
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},
}

Self-localization based on a short-term memory of bearings and odometry
M. Jüngel
Proceedings of the ieee/rsj international conference on intelligent robots and systems (iros 2007) , San Diego , 2007 .
[BibTeX] [PDF]

@InProceedings{2007-10-iros07-Juengel-SelfLocalizationBasedOnAShortTermMemoryOfBearingsAndOdometry,
author = {Matthias Jüngel},
title = {Self-Localization Based on a Short-Term Memory of Bearings and Odometry},
booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007)},
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},
}

Improving vision-based distance measurements using reference objects
M. Jüngel, H. Mellmann, and M. Spranger
Robocup 2007: robot soccer world cup xi , 2007 , pp. 89-100.
[BibTeX] [Abstract] [PDF]

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.

@InProceedings{RC-JuengelMellmannSpranger-07,
author = {Matthias J\"ungel and Heinrich Mellmann and Michael Spranger},
title = {Improving Vision-Based Distance Measurements using Reference Objects},
booktitle = {RoboCup 2007: Robot Soccer World Cup XI},
year = {2007},
editor = {Ubbo Visser and Fernando Ribeiro and Takeshi Ohashi and Frank Dellaert},
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},
}

GermanTeam 2007 – The German national RoboCup team
T. Röfer, J. Brose, D. Göhring, M. Jüngel, T. Laue, and M. Risler
Robocup 2007: robot soccer world cup xi preproceedings , 2007 .
[BibTeX]

@INPROCEEDINGS{2007:RoboCup-TDP-GermanTeam,
author = {T. R\"ofer and J. Brose and D. G\"ohring and M. J\"ungel and T. Laue
and M. Risler},
title = {German{T}eam 2007 - {T}he {G}erman National {R}obo{C}up Team},
booktitle = { RoboCup 2007: Robot Soccer World Cup XI Preproceedings },
year = {2007},
publisher = { RoboCup Federation }
}

2006

Die Doppelpass-Architektur. Verhaltenssteuerung autonomer Agenten in dynamischen Umgebungen (in German)
R. Berger , Diploma Thesis , Humboldt-Universität zu Berlin, Institut fÃ¼r Informatik , 2006 .
[BibTeX]

@MASTERSTHESIS{diplom-berger,
author = {Ralf Berger},
title = {Die {D}oppelpass-{A}rchitektur. {V}erhaltenssteuerung autonomer {A}genten
in dynamischen {U}mgebungen (in {G}erman)},
school = {Humboldt-Universit\"at zu Berlin, Institut fÃ¼r Informatik},
year = {2006},
type = {Diploma Thesis}
}

Distributed object modeling using object relations in dynamic environments
D. Göhring
Proceedings of concurrency, specification and programming (cs&p 2006) , 2006 .
[BibTeX] [PDF]

@InProceedings{goehring06csp,
author = {Daniel G\"ohring},
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},
}

Multi robot object tracking and self localization using visual percept relations
D. Göhring and H. Burkhard
Proceedings of ieee/rsj international conference of intelligent robots and systems (iros), pages 31–36 , 2006 .
[BibTeX] [PDF]

@InProceedings{goehring2006,
author = {Daniel G\"ohring and Hans-Dieter Burkhard},
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},
}

Further studies on the use of negative information
J. Hoffmann, M. Spranger, D. GÃ¶hring, M. JÃ¼ngel, and H. Burkhard
Proceedings of the 2006 ieee international conference on robotics and automation (icra) ieee , 2006 .
[BibTeX] [PDF]

@InProceedings{hoffmann2006,
author = {Jan Hoffmann and Michael Spranger and Daniel GÃ¶hring and Matthias JÃ¼ngel and Hans-Dieter Burkhard},
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},
}

XABSL web site
M. Lötzsch, M. Jüngel, M. Risler, and T. Krause
, 2006 .
[BibTeX]

@Article{xabsl_web,
author = {Martin L\"otzsch and Matthias J\"ungel and Max Risler and Thomas Krause},
title = {{XABSL web site}},
year = {2006},
note = {http://www.ki.informatik.hu-berlin.de/XABSL},
}

Xabsl – a pragmatic approach to behavior engineering
M. Lötzsch, M. Risler, and M. Jüngel
Proceedings of ieee/rsj international conference of intelligent robots and systems (iros) , Beijing, China , 2006 , pp. 5124-5129.
[BibTeX] [PDF]

@InProceedings{2006:IROSLoetzschRislerJuengel,
author = {M. L\"otzsch and M. Risler and M. J\"ungel},
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

Programming Bounded Rationality
H. D. Burkhard
Proceedings of the international workshop on monitoring, security, and rescue techniques in multiagent systems (msras 2004) , 2005 , p. 347–362.
[BibTeX] [PDF]

@InProceedings{burkhard2005,
author = {Hans Dieter Burkhard},
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},
}

2004

Vierbeiniges Laufen: Modellierung und Optimierung von Roboterbewegungen (in German)
U. Düffert , Diploma thesis , Humboldt-Universität zu Berlin , 2004 .
[BibTeX]

@MastersThesis{dueffert07Diplom,
author = {Uwe D\"uffert},
title = {{V}ierbeiniges {L}aufen: {M}odellierung und {O}ptimierung von {R}oboterbewegungen (in {G}erman)},
school = {Humboldt-Universit\"at zu Berlin},
year = {2004},
type = {Diploma thesis},
}

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