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2014


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Rough Terrain Mapping and Navigation using a Continuously Rotating 2D Laser Scanner

Schadler, M., Stueckler, J., Behnke, S.

Künstliche Intelligenz (KI), 28(2):93-99, Springer, 2014 (article)

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link (url) DOI [BibTex]

2014


link (url) DOI [BibTex]


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Adaptive Tool-Use Strategies for Anthropomorphic Service Robots

Stueckler, J., Behnke, S.

In Proc. of the 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2014 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Dense Real-Time Mapping of Object-Class Semantics from RGB-D Video

Stueckler, J., Waldvogel, B., Schulz, H., Behnke, S.

Journal of Real-Time Image Processing (JRTIP), 10(4):599-609, Springer, 2014 (article)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Local Multi-Resolution Surfel Grids for MAV Motion Estimation and 3D Mapping

Droeschel, D., Stueckler, J., Behnke, S.

In Proc. of the 13th International Conference on Intelligent Autonomous Systems (IAS), 2014 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Multi-Resolution Surfel Maps for Efficient Dense 3D Modeling and Tracking

Stueckler, J., Behnke, S.

Journal of Visual Communication and Image Representation (JVCI), 25(1):137-147, 2014 (article)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Active Recognition and Manipulation for Mobile Robot Bin Picking

Holz, D., Nieuwenhuisen, M., Droeschel, D., Stueckler, J., Berner, A., Li, J., Klein, R., Behnke, S.

In Gearing Up and Accelerating Cross-fertilization between Academic and Industrial Robotics Research in Europe: Technology Transfer Experiments from the ECHORD Project, pages: 133-153, Springer, 2014 (inbook)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Combining the Strengths of Sparse Interest Point and Dense Image Registration for RGB-D Odometry

Stueckler, J., Gutt, A., Behnke, S.

In Proc. of the Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK), 2014 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Increasing Flexibility of Mobile Manipulation and Intuitive Human-Robot Interaction in RoboCup@Home

Stueckler, J., Droeschel, D., Gräve, K., Holz, D., Schreiber, M., Topaldou-Kyniazopoulou, A., Schwarz, M., Behnke, S.

In RoboCup 2013, Robot Soccer World Cup XVII, pages: 135-146, Springer, 2014 (inbook)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Efficient Dense Registration, Segmentation, and Modeling Methods for RGB-D Environment Perception

Stueckler, J.

Faculty of Mathematics and Natural Sciences, University of Bonn, Germany, 2014 (phdthesis)

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link (url) [BibTex]

link (url) [BibTex]


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Mobile Teleoperation Interfaces with Adjustable Autonomy for Personal Service Robots

Schwarz, M., Stueckler, J., Behnke, S.

In Proceedings of the 2014 ACM/IEEE International Conference on Human-robot Interaction, pages: 288-289, HRI ’14, ACM, 2014 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Self-Exploration of the Stumpy Robot with Predictive Information Maximization

Martius, G., Jahn, L., Hauser, H., V. Hafner, V.

In Proc. From Animals to Animats, SAB 2014, 8575, pages: 32-42, LNCS, Springer, 2014 (inproceedings)

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[BibTex]

[BibTex]


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Robot Learning by Guided Self-Organization

Martius, G., Der, R., Herrmann, J. M.

In Guided Self-Organization: Inception, 9, pages: 223-260, Emergence, Complexity and Computation, Springer Berlin Heidelberg, 2014 (incollection)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Efficient deformable registration of multi-resolution surfel maps for object manipulation skill transfer

Stueckler, J., Behnke, S.

In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages: 994-1001, May 2014 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Local multi-resolution representation for 6D motion estimation and mapping with a continuously rotating 3D laser scanner

Droeschel, D., Stueckler, J., Behnke, S.

In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pages: 5221-5226, May 2014 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]

2009


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Integrating indoor mobility, object manipulation, and intuitive interaction for domestic service tasks

Stueckler, J., Behnke, S.

In Proc. of the IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), pages: 506-513, December 2009 (inproceedings)

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link (url) DOI [BibTex]

2009


link (url) DOI [BibTex]


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Dynamaid, an Anthropomorphic Robot for Research on Domestic Service Applications

Stueckler, J., Schreiber, M., Behnke, S.

In Proc. of the European Conference on Mobile Robots (ECMR), pages: 87-92, 2009 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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A Sensor-Based Learning Algorithm for the Self-Organization of Robot Behavior

Hesse, F., Martius, G., Der, R., Herrmann, J. M.

Algorithms, 2(1):398-409, 2009 (article)

Abstract
Ideally, sensory information forms the only source of information to a robot. We consider an algorithm for the self-organization of a controller. At short timescales the controller is merely reactive but the parameter dynamics and the acquisition of knowledge by an internal model lead to seemingly purposeful behavior on longer timescales. As a paradigmatic example, we study the simulation of an underactuated snake-like robot. By interacting with the real physical system formed by the robotic hardware and the environment, the controller achieves a sensitive and body-specific actuation of the robot.

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link (url) [BibTex]

link (url) [BibTex]

2006


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Let It Roll – Emerging Sensorimotor Coordination in a Spherical Robot

Der, R., Martius, G., Hesse, F.

In Proc, Artificial Life X, pages: 192-198, Intl. Society for Artificial Life, MIT Press, August 2006 (inproceedings)

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[BibTex]

2006


[BibTex]


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From Motor Babbling to Purposive Actions: Emerging Self-exploration in a Dynamical Systems Approach to Early Robot Development

Der, R., Martius, G.

In Proc. From Animals to Animats 9, SAB 2006, 4095, pages: 406-421, LNCS, Springer, 2006 (inproceedings)

Abstract
Self-organization and the phenomenon of emergence play an essential role in living systems and form a challenge to artificial life systems. This is not only because systems become more lifelike, but also since self-organization may help in reducing the design efforts in creating complex behavior systems. The present paper studies self-exploration based on a general approach to the self-organization of behavior, which has been developed and tested in various examples in recent years. This is a step towards autonomous early robot development. We consider agents under the close sensorimotor coupling paradigm with a certain cognitive ability realized by an internal forward model. Starting from tabula rasa initial conditions we overcome the bootstrapping problem and show emerging self-exploration. Apart from that, we analyze the effect of limited actions, which lead to deprivation of the world model. We show that our paradigm explicitly avoids this by producing purposive actions in a natural way. Examples are given using a simulated simple wheeled robot and a spherical robot driven by shifting internal masses.

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[BibTex]

[BibTex]


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See, walk, and kick: Humanoid robots start to play soccer

Behnke, S., Schreiber, M., Stueckler, J., Renner, R., Strasdat, H.

In Proc. of the IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), pages: 497-503, December 2006 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Rocking Stamper and Jumping Snake from a Dynamical System Approach to Artificial Life

Der, R., Hesse, F., Martius, G.

Adaptive Behavior, 14(2):105-115, 2006 (article)

Abstract
Dynamical systems offer intriguing possibilities as a substrate for the generation of behavior because of their rich behavioral complexity. However this complexity together with the largely covert relation between the parameters and the behavior of the agent is also the main hindrance in the goal-oriented design of a behavior system. This paper presents a general approach to the self-regulation of dynamical systems so that the design problem is circumvented. We consider the controller (a neural net work) as the mediator for changes in the sensor values over time and define a dynamics for the parameters of the controller by maximizing the dynamical complexity of the sensorimotor loop under the condition that the consequences of the actions taken are still predictable. This very general principle is given a concrete mathematical formulation and is implemented in an extremely robust and versatile algorithm for the parameter dynamics of the controller. We consider two different applications, a mechanical device called the rocking stamper and the ODE simulations of a "snake" with five degrees of freedom. In these and many other examples studied we observed various behavior modes of high dynamical complexity.

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DOI [BibTex]

DOI [BibTex]