Publikationen

Matthias Lutz, Christian Verbeek, Christian Schlegel. Towards a Robot Fleet for Intra-Logistic Tasks: Combining Free Robot Navigation with Multi-Robot Coordination at Bottlenecks. In IEEE 21st Int. Conf. on Emerging Technologies and Factory Automation (ETFA). IEEE http://dx.doi.org/10.1109/ETFA.2016.7733602, Berlin, 6-9 Sept, 2016.

Dennis Stampfer, Alex Lotz, Matthias Lutz, Christian Schlegel. The SmartMDSD Toolchain: An Integrated MDSD Workflow and Integrated Development Environment (IDE) for Robotics Software. Special Issue on Domain-Specific Languages and Models in Robotics, Journal of Software Engineering for Robotics (JOSER), 7:3-19, 2016.

Alex Lotz, Arne Hamann, Ingo L�tkebohle, Dennis Stampfer, Matthias Lutz, Christian Schlegel. Modeling Non-Functional Application Domain Constraints for Component-Based Robotics Software Systems. In 6th International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob-15), Hamburg, October, 2015.

Timo Blender, Christian Schlegel. Motion Control for Omni-Drive Servicerobots Under Kinematic Dynamic and Shape Constraints. In Proc. of the 20th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Luxembourg, September 8-11, 2015.

Christian Schlegel, Alex Lotz, Matthias Lutz, Dennis Stampfer, Juan F. Ingl�s-Romero, and Cristina Vicente-Chicote. Model-driven software systems engineering in robotics: Covering the complete life-cycle of a robot. Journal IT - Information Technology: Methods and Applications of Informatics and Information Technology, 57:85�98, March 2015.

Alex Lotz, Juan F. Ingles-Romero, Dennis Stampfer, Matthias Lutz, Cristina Vicente-Chicote, Christian Schlegel. Towards a Stepwise Variability Management Process for Complex Systems � A Robotics Perspective. Int. Journal of Information System Modeling and Design (IJISMD), DOI: 10.4018/ijismd.2014070103, 5(3):55-74, 2014.

Matthias Lutz, Dennis Stampfer, Alex Lotz, Christian Schlegel. Service Robot Control Architectures for Flexible and Robust Real-World Task Execution: Best Practices and Patterns. In Workshop Roboter-Kontrollarchitekturen, Informatik 2014, Springer LNI der GI, ISBN 978-3-88579-626-8, Stuttgart, 2014.

Siegfried Hochdorfer, Heiko Neumann, Christian Schlegel. Landmark Rating and Selection for SLAM in Dynamic Environments. In Proc. of the 13th International Conference on Intelligent Autonomous Systems (IAS13), Springer Series Advances in Intelligent Systems and Computing, ISBN 978-3-319-08337-7, Ausgabe 302, July 15-18, 2014, Padova, Italy., 2014.

Dennis Stampfer, Christian Schlegel. Dynamic State Charts: composition and coordination of complex robot behavior and reuse of action plots. Journal of Intelligent Service Robotics, 7(2):53�65, 2014.

Christian Schlegel, Alex Lotz, Matthias Lutz, Dennis Stampfer, Juan F. Ingl�s-Romero, Cristina Vicente-Chicote.. Model-Driven Software Systems Engineering in Robotics: Covering the Complete Life-Cycle of a Robot.. In Workshop Roboter-Kontrollarchitekturen, Informatik 2013, Springer LNI der GI, Koblenz, 2013.

Alex Lotz, Juan F. Ingl�s-Romero, Cristina Vicente-Chicote, Christian Schlegel. Managing run-time variability in robotics software by modeling functional and non-functional behavior. In Selmin Nurcan, Henderik A. Proper, Pnina Soffer, John Krogstie, Rainer Schmidt, Terry Halpin, Ilia Bider, editor, BPMDS and EMMSAD, volume 147 of Lecture Notes in BIP. Springer, ISBN 978-3-642-38483-7, 2013.

Matthias Lutz, Dennis Stampfer, Christian Schlegel. Probabilistic object recognition and pose estimation by fusing multiple algorithms. In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013.

Dennis Stampfer, Christian Schlegel. Dynamic State Charts: Composition and coordination of complex robot behavior and reuse of action plots. In Proc. IEEE Int. Conf. on Technologies for Practical Robot Applications (TePRA), Woburn, MA, USA, ISBN 978-1-4673-6224-5, 2013.

Juan F. Ingl�s-Romero, Alex Lotz, Cristina Vicente-Chicote, Christian Schlegel. Dealing with Run-Time Variability in Service-Robotics: Towards a DSL for Non-Functional Properties. In 3rd International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob-12), Proceedings of SIMPAR 2012 Workshop, Emanuele Menegatti (Ed.). http://www.doesnotunderstand.org/out/public/DSLRob2012.html, Tsukuba, Japan, ISBN 978-88-95872-01-0, 2012.

Dennis Stampfer, Matthias Lutz, Christian Schlegel. Informed Active Perception with an Eye-in-hand Camera for Multi Modal Object Recognition. In Active Semantic Perception (ASP'12), Workshop and Tutorials Proceedings, IROS 2012. http://www.activeperception.org/, Vilamoura, Algarve, Portugal, ISBN 978-972-8822-26-2, 2012.

Alex Lotz, Andreas Steck, Christian Schlegel. Analyzing Solution Quality of Anytime Bag of Words Object Classification for a Service Robot. In Proc. IEEE Int. Conf. on Technologies for Practical Robot Applications (TePRA), Seiten 1-6. http://www.ieeerobot-tepra.org/, Woburn, Massachusetts, USA, ISBN 978-1-4673-0854-0, 2012.

Matthias Lutz, Dennis Stampfer, Siegfried Hochdorfer, Christian Schlegel. Probabilistic Fusion of Multiple Algorithms for Object Recognition at Information Level. In Proc. IEEE Int. Conf. on Technologies for Practical Robot Applications (TePRA), Seiten 139-144. http://www.ieeerobot-tepra.org/, Woburn, Massachusetts, USA, ISBN 978-1-4673-0854-0, 2012.

Dennis Stampfer, Matthias Lutz, Christian Schlegel. Information Driven Sensor Placement for Robust Active Object Recognition based on Multiple Views. In Proc. IEEE Int. Conf. on Technologies for Practical Robot Applications (TePRA), Seiten 133-138. http://www.ieeerobot-tepra.org/, Woburn, Massachusetts, USA, ISBN 978-1-4673-0854-0, 2012.

Christian Schlegel, Andreas Steck, Alex Lotz. Robotic Software Systems: From Code-Driven to Model-Driven Software Development. In Ashish Dutta, editor, Robotic Systems - Applications, Control and Programming. InTech, ISBN 978-953-307-941-7, http://www.intechopen.com/articles/show/title/robotic-software-systems-from-code-driven-to-model-driven-software-development, 2012.

Christian Schlegel, Andreas Steck, Alex Lotz. Model-Driven Software Development in Robotics: Communication Patterns as Key for a Robotics Component Model. In Daisuke Chugo, Sho Yokota, editor, Introduction to Modern Robotics. iConcept Press, ISBN 978-0980733068 (Hard Cover) / 978-1463789428 (Paperback), http://www.iconceptpress.com/download/paper/101215045543.pdf, 2012.

Dennis Stampfer, Christian Schlegel. Modellierung und Reuse komplexer Verhalten als Bausteine mit Dynamic State Charts am Beispiel der Servicerobotik. In Konferenz Embedded Software Engineering (ESE), Seiten 511-515, Sindelfingen, December 5.-9., ISBN 978-3-8343-2405-4, 2011.

Andreas Steck, Alex Lotz, Christian Schlegel. Model-driven engineering and run-time model-usage in service robotics. In Proc. of the Tenth ACM Int. Conference on Generative Programming and Component Engineering (GPCE), Portland, Oregon, USA, October, 2011.

Andreas Steck, Christian Schlegel. Managing execution variants in task coordination by exploiting design-time models at run-time. In Proc. IEEE Int. Conf. on Robotics and Intelligent Systems (IROS), San Francisco, USA, September, 2011.

Alex Lotz, Andreas Steck, Christian Schlegel. Runtime Monitoring of Robotics Software Components: Increasing Robustness of Service Robotic Systems. In Proc. 15th Int. Conf. on Advanced Robotics, Tallinn, Estland, 2011.

Christian Schlegel, Alex Lotz, Andreas Steck. ACE/SmartSoft - The State Management of a Component. Technical Report 2011/01, ZAFH Servicerobotik, Hochschule Ulm, Germany, ISSN 1868-3452, 2011.

Matthias Lutz, Siegfried Hochdorfer, Christian Schlegel. Global Localization using Multiple Hypothesis Tracking: A real-world Approach. In Proc. IEEE Int. Conf. on Technologies for Practical Robot Applications (TePRA), Seiten 127-132, Woburn, Massachusetts, USA, ISBN 978-1-61284-480-0, 2011.

Andreas Steck, Christian Schlegel. Resource Awareness und Quality of Service in der Servicerobotik durch Modellgetriebene Softwareentwicklung. In Embedded Software Engineering Kongress (ESE), Seiten 607 - 610, Sindelfingen, December 7.-9., ISBN 978-3-8343-2404-7, 2010.

Christian Schlegel, Alex Lotz. ACE/SmartSoft - Technical Details and Internals. Technical Report 2010/01, ZAFH Servicerobotik, Hochschule Ulm, Germany, ISSN 1868-3452, 2010.

Christian Schlegel, Andreas Steck, Davide Brugali, Alois Knoll. Design Abstraction and Processes in Robotics: From Code-Driven to Model-Driven Engineering. In 2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), Seiten 324-335, Darmstadt, Springer LNAI 6472, ISBN-10 3-642-17318-7, 2010.

Andreas Steck, Christian Schlegel. SmartTCL: An Execution Language for Conditional Reactive Task Execution in a Three Layer Architecture for Service Robots. In Proc. of SIMPAR 2010 Workshops, 2nd Intl. Conf. on Simulation, Modeling, and Programming for Autonomous Robots, Seiten 274-277, Darmstadt, ISBN 978-3-00-032863-3, 2010.

Matthias Lutz, Andreas Steck, Christian Schlegel. Person Following through Cluttered Environments using Probabilistic Methods and Fast Local Obstacle Avoidance. In The 3rd Israeli Conference on Robotics (ICR), Herzlia, Israel, 2010.

Andreas Steck, Christian Schlegel. Towards Quality of Service and Resource Aware Robotic Systems through Model-Driven Software Development. In 1st International Workshop on Domain-Specific Languages and models for ROBotic Systems (DSLRob'10), 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan, October 18.-22., 2010.

Siegfried Hochdorfer, Christian Schlegel. 6 DoF SLAM using a ToF Camera: The challenge of a continuously growing number of landmarks. In 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan, October 18.-22., 2010.

Siegfried Hochdorfer, Christian Schlegel. Landmark Rating and Selection: Considering the Observability Regions. In The 11th Int. Conf. on Intelligent Autonomous Systems (IAS-11), Ottawa, Canada, IOS Press, ISBN 978-1-60750-612-6, 2010.

Manuel Wopfner, Jonas Brich, Siegfried Hochdorfer, Christian Schlegel. Mobile Manipulation in Service Robotics: Scene and Object Recognition with Manipulator-Mounted Laser Ranger. In ISR / ROBOTIK 2010, Munich, 7.-9. June, 2010.

Siegfried Hochdorfer, Matthias Lutz, Christian Schlegel. Bearing-Only SLAM in everyday environments using Omnidirectional Vision. In Proc. IEEE ICRA 2010 Workshop on Omnidirectional Vision, Anchorage, AK, 2010.

Andreas Steck, Dennis Stampfer, Christian Schlegel. Software-Engineering in der Servicerobotik - Der Weg zum modellgetriebenen Softwareentwurf. In Embedded Software-Engineering Kongress (ESE), Sindelfingen, 2009.

Andreas Steck, Dennis Stampfer, Christian Schlegel. Modellgetriebene Softwareentwicklung f�r Robotiksysteme. In Fachgespr�ch Autonome Mobile Systeme (AMS), Karlsruhe, 2009.

Siegfried Hochdorfer, Matthias Lutz, Christian Schlegel. Lifelong Localization of a Mobile Service-robot in Everyday Indoor Environment Using Omnidirectional Vision. In Proc. IEEE Int. Conf. on Technologies for Practical Robot Applications (TePRA), Woburn, Massachusetts, USA, 2009.

Siegfried Hochdorfer, Christian Schlegel. Landmark rating and selection according to localization coverage: Addressing the challenge of lifelong operation of SLAM in service robots. In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), St. Louis, Missouri, USA, 2009.

Christian Schlegel, Thomas Ha�ler, Alex Lotz, Andreas Steck. Robotic Software Systems: From Code-Driven to Model-Driven Designs. In Proc. 14th Int. Conf. on Advanced Robotics (ICAR), Munich, 2009.

Siegfried Hochdorfer, Christian Schlegel. Towards a robust Visual SLAM Approach: Addressing the Challenge of life-long Operation. In Proc. 14th Int. Conf. on Advanced Robotics (ICAR), Munich, 2009.

Christian Schlegel. Servicerobotik 2: Das Problem Software-Komplexit�t ist l�sbar. In Forschungswerk. Hochschule Ulm, 2009.

Christian Schlegel. Servicerobotik 1: Dienstleistung setzt Ortskenntnis voraus. In Forschungswerk. Hochschule Ulm, 2009.

Christian Schlegel, Siegfried Hochdorfer. Localization and Mapping for Service Robots: Bearing-Only SLAM with an Omnicam. In Advances in Service Robotics. IN-TECH, 2008 (see http://www.intechopen.com/articles/show/title/localization_and_mapping_for_service_robots__bearing-only_slam_with_an_omnicam).

Christian Schlegel. The Challenge of Real-Time Robotics Behavior: An Applied Research Perspective. In Proc. SDIR-III, IEEE ICRA 2008, Pasadena, 2008.

Siegfried Hochdorfer, Christian Schlegel. Bearing-Only SLAM with an Omnicam: Robust Selection of SIFT Features for Service Robots. In 20. Fachgespr�ch Autonome Mobile Systeme (AMS), Seiten 8-14. Informatik aktuell, Springer, Kaiserslautern, Oktober 2007.

Christian Schlegel. Software Engineering for Experimental Robotics. In Davide Brugali, editor, Communication Patterns as Key Towards Component Interoperability, Ausgabe 30. Springer, STAR series, 2007.

Christian Schlegel. Mobile Robots in Complex Environments. In D. S�ffker, W. Luther, E. Ahle, editor, DAAD Summer School Guidance and Control of Autonomous Systems, Readings of the Summer Academy, Duisburg, 2005. Logos Verlag Berlin, 2006.

Christian Schlegel. Communication Patterns as Key Towards Component-Based Robotics. International Journal on Advanced Robotics Systems, Special Issue on Software Development and Integration in Robotics, 3(1):49-54,  03 2006.

Markus Fluhr, Thomas Mahr, Christian Schlegel. Developing Real-Time Java Code on a Standard Virtual Machine. In Proceedings of the Embedded World Conference, Ausgabe 2, Seiten 743-752, N�rnberg, 2006.

Christian Schlegel, T. Vogel. Roboter auf dem rechten Weg. In Wissen schafft Zukunft � 20 Jahre Wissenschaftsstadt Ulm. Stadt Ulm, 2006.

Christian Schlegel. Algorithmen in der Servicerobotik: Das Problem mit der r�umlichen Orientierung. FHU Life, Magazin der Hochschule Ulm, 2005.

Christian Schlegel, Siegfried Hochdorfer. Bearing-Only SLAM with an Omnicam - An Experimental Evaluation for Service Robotics Applications. In 19. Fachgespr�ch Autonome Mobile Systeme (AMS), Seiten 99-106. Springer, Stuttgart, 2005.

Christian Schlegel. Navigation and Execution for Mobile Robots in Dynamic Environments: An Integrated Approach. Dissertation, Fakult�t f�r Informatik, Universit�t Ulm, 2004.

Christian Schlegel. A Component Approach for Robotics Software: Communication Patterns in the OROCOS Context. In 18. Fachtagung Autonome Mobile Systeme (AMS), Seiten 253-263. Informatik aktuell, Springer, Karlsruhe, 12 2003.

Christian Schlegel, Thomas K�mpke. Filter Design for Simultaneous Localization and Mapping (SLAM). In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seiten 2737-2742, Washington D.C., USA,  05 2002.

Christian Schlegel, Thomas K�mpke. Bestimmung eines k�rzesten Weges unter Ber�cksichtigung der Benutzerintention. In 17. Fachgespr�ch Autonome Mobile Systeme (AMS), Seiten 186-192. Informatik aktuell, Springer, Stuttgart, 2001.

Christian Schlegel, Thomas K�mpke. Recognizing User Intentions for Trajectory Specification. In Proc. Eurobot, Seiten 231-238, Lund, Sweden, 2001.

Dirk Bank, J�rg Illmann, Heiko Jaberg, Erwin Prassler, Christian Schlegel. Autonome Systeme und Servicerobotik am FAW Ulm. KI - K�nstliche Intelligenz, 2000. ISSN 0933-1875.

Christian Schlegel, J�rg Illmann, Heiko Jaberg, Matthias Schuster, Robert W�rz. Integrating Vision-Based Behaviors with an Autonomous Robot. VIDERE - Journal of Computer Vision Research, 4:32-60, 2000.

Christian Schlegel, Robert W�rz. The software framework SMARTSOFT for implementing sensorimotor systems. In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Seiten 1610-1616, Kyongju, Korea, 1999.

Christian Schlegel, Robert W�rz. Interfacing different layers of a multilayer architecture for sensorimotor systems using the object-oriented framework SmartSoft. In Eurobot, Z�rich, Schweiz,  09 1999.

Christian Schlegel, J�rg Illmann, Heiko Jaberg, Matthias Schuster, Robert W�rz. Integrating vision based behaviors with an autonomous robot. In H. I. Christensen, editor, Computer Vision Systems - International Conference on Vision Systems (ICVS), Ausgabe 1542 of LNCS, Seiten 1-20. Springer, Las Palmas de Gran Canaria, Spain, 1999.

Christian Schlegel. Fast local obstacle avoidance under kinematic and dynamic constraints for a mobile robot. In Proc. Int. Conf. on Intelligent Robots and Systems (IROS), Seiten 594-599, Victoria, Canada, 1998.

Christian Schlegel, J�rg Illmann, Heiko Jaberg, Matthias Schuster, Robert W�rz. Vision based person tracking with a mobile robot. In Ninth British Machine Vision Conference (BMVC), Seiten 418-427, Southampton, UK, 1998.

Christian Schlegel, Robert W�rz. Der Softwarerahmen SmartSoft zur Implementierung sensomotorischer Systeme. In 14. Fachtagung Autonome Mobile Systeme (AMS), Seiten 208-217. Informatik aktuell, Springer, Karlsruhe, 1998.

Jens-Steffen Gutmann, Christian Schlegel. AMOS: Comparison of Scan Matching Approaches for Self-Localization in Indoor Environments. In 1. Euromicro Workshop on Advanced Mobile Robots, Eurobot, Seiten 61-67. IEEE Computer Society Press, Kaiserslautern, 1996.

Christian Schlegel, J�rg Illmann. AMOS: Beherrschung vielf�ltiger Anforderungen durch dynamische Kombination und Konfiguration einfacher Mechanismen. In Fachtagung Autonome Mobile Systeme (AMS), Seiten 240-249. Informatik aktuell, Springer, 1995.

Christian Schlegel. AMOS: Modular Approach to Integrate Symbolic and Subsymbolic Mechanisms for Mobile Systems. In 19th Annual German Conference on AI, Seiten 176-178, 1995.

Manfred Knick, Christian Schlegel. AMOS: Active Perception of an Autonomous System. In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Seiten 281-289, M�nchen, 1994.

Manfred Knick, Christian Schlegel, J�rg Illmann. AMOS: Selbst�ndige Generierung bedeutsamer Wahrnehmungsklassen durch ein autonomes System. In Fachgespr�ch Autonome Mobile Systeme (AMS), Seiten 77-88. Informatik aktuell, Springer, 1994.

Christian Schlegel, Manfred Knick. Die Roboterarchitektur im Projekt AMOS. In Fachgespr�ch Autonome Mobile Systeme (AMS), Seiten 95-100, M�nchen, 1993.

Christian Schlegel, Manfred Knick. AMOS: Basic Autonomy via Integrating Symbolic and Subsymbolic Mechanisms. In NATO ASI Series F: Computer and System Sciences, The Biology and Technology of Intelligent Autonomous Agents, Ausgabe 144, 1993.





Zurück

Hochschule Ulm
Prof. Dr. C.  Schlegel
Prittwitzstraße 10
89075 Ulm
Raum: A 307b
Fon: +49 (0731) 50-28242
schlegelhs-ulm.de





Zurück zum Seitenanfang





Walter
© November 2017