@inproceedings {INPROC-2010-97,
author = {Uwe-Philipp K{\"a}ppeler and Oliver Zweigle and Kai H{\"a}u{\ss}ermann and Hamid Rajaie and Andreas Tamke and Andreas Koch and Bernd Eckstein and Fabian Aichele and Daniel DiMarco and Adam Berthelot and Thomas Walter and Paul Levi},
title = {{1.RFC Stuttgart Team Description 2010}},
booktitle = {RoboCup Team Description Papers 2010},
editor = {RoboCup},
address = {Singapur},
publisher = {Online},
institution = {Universit{\"a}t Stuttgart, Fakult{\"a}t Informatik, Elektrotechnik und Informationstechnik, Germany},
pages = {1--10},
type = {Konferenz-Beitrag},
month = {Juni},
year = {2010},
keywords = {RoboCup; RFC; Stuttgart},
language = {Englisch},
cr-category = {I.2.9 Robotics},
ee = {ftp://ftp.informatik.uni-stuttgart.de/pub/library/ncstrl.ustuttgart_fi/INPROC-2010-97/INPROC-2010-97.pdf},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {The 1. RFC Stuttgart robot soccer team is used as a testbed for multi-agent
software architecture principles in dynamic real time domains. The current
research activities focus on a system for advanced data logging using augmented
reality and automated camera guidance. It includes approaches from the {\"\i}¬eld
of real-time robot message logging, situation based camera control and 3D video
visualisation. Another research focus is a genetic algorithm for optimizing the
motorcontrol which enables our robots to adapt to di{\"\i}¬erent {\"\i}¬oor and carpet
conditions.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2010-97&engl=0}
}
@inproceedings {INPROC-2010-44,
author = {Kai H{\"a}ussermann and Christoph Hubig and Paul Levi and Frank Leymann and Oliver Simoneit and Matthias Wieland and Oliver Zweigle},
title = {{Understanding and designing situation-aware mobile and ubiquitous computing systems - an interdisciplinary analysis on the recognition of situation with uncertain data using situation templates.}},
booktitle = {Proceedings of International Conference on Mobile, Ubiquitous and Pervasive Computing},
publisher = {WASET},
institution = {Universit{\"a}t Stuttgart : Sonderforschungsbereich SFB 627 (Nexus: Umgebungsmodelle f{\"u}r mobile kontextbezogene Systeme), Germany},
pages = {329--339},
type = {Konferenz-Beitrag},
month = {M{\"a}rz},
year = {2010},
issn = {2070-3724},
keywords = {context-awareness; ethics; facilitation of system use through workflows},
language = {Englisch},
cr-category = {H.1.0 Information Systems Models and Principles General,
H.1.1 Systems and Information Theory,
H.1.2 User/Machine Systems},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Philosophie, Abteilung f{\"u}r Wissenschaftstheorie und Technikphilosophie (IP/WTTP);
Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen;
Universit{\"a}t Stuttgart, Institut f{\"u}r Architektur von Anwendungssystemen},
abstract = {Using spatial models as a shared common basis of information about the
environment for different kinds of context- aware systems has been a heavily
researched topic in the last years. Thereby the research focused on how to
create, to update, and to merge spatial models so as to enable highly dynamic,
consistent and coherent spatial models at large scale. In this paper however,
we want to concentrate on how context-aware applications could use this
information so as to adapt their behavior according to the situation they are
in. The main idea is to provide the spatial model infrastructure with a
situation recognition component based on generic situation templates. A
situation template is - as part of a much larger situation template library -
an abstract, machine- readable description of a certain basic situation type,
which could be used by different applications to evaluate their situation. In
this paper, different theoretical and practical issues - technical, ethical and
philosophical ones - are discussed important for understanding and developing
situation dependent systems based on situation templates. A basic system design
is presented which allows for the reasoning with uncertain data using an
improved version of a learning algorithm for the automatic adaption of
situation templates. Finally, for supporting the development of adaptive
applications, we present a new situation-aware adaptation concept based on
workflows.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2010-44&engl=0}
}
@inproceedings {INPROC-2010-35,
author = {Julia M{\"o}hrmann and Gunter Heidemann and Oliver Siemoneit and Christoph Hubig and Uwe-Philipp K{\"a}ppeler and Paul Levi},
title = {{Context Generation with Image Based Sensors: An Interdisciplinary Enquiry on Technical and Social Issues and their Implications for System Design}},
booktitle = {Proceedings of World Academy of Science, Engineering and Technology},
address = {Capetown},
publisher = {WASET},
institution = {Universit{\"a}t Stuttgart : Sonderforschungsbereich SFB 627 (Nexus: Umgebungsmodelle f{\"u}r mobile kontextbezogene Systeme), Germany},
pages = {262--268},
type = {Konferenz-Beitrag},
month = {Januar},
year = {2010},
keywords = {Context-aware computing; ethical and social issues; image recognition; requirements in system design},
language = {Englisch},
cr-category = {I.4.1 Digitization and Image Capture,
I.4.8 Image Processing and Computer Vision Scene Analysis},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Philosophie, Abteilung f{\"u}r Wissenschaftstheorie und Technikphilosophie (IP/WTTP);
Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen;
Universit{\"a}t Stuttgart, Institut f{\"u}r Visualisierung und Interaktive Systeme, Visualisierung und Interaktive Systeme},
abstract = {Image data holds a large amount of different context information. However, as
of today, these resources remain largely untouched. It is thus the aim of this
paper to present a basic technical framework which allows for a quick and easy
exploitation of context information from image data especially by non-expert
users. Furthermore, the proposed framework is discussed in detail concerning
important social and ethical issues which demand special requirements in system
design. Finally, a first sensor prototype is presented which meets the
identified requirements. Additionally, necessary implications for the software
and hardware design of the system are discussed, rendering a sensor system
which could be regarded as a good, acceptable and justifiable technical and
thereby enabling the extraction of context information from image data.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2010-35&engl=0}
}
@inproceedings {INPROC-2010-33,
author = {Uwe-Philipp K{\"a}ppeler and Markus H{\"o}ferlin and Paul Levi},
title = {{3D Object Localization via Stereo Vision using an Omnidirectional and a Perspective Camera}},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation, Workshops and Tutorials},
address = {Anchorage, USA},
publisher = {IEEE Press},
institution = {Universit{\"a}t Stuttgart : Sonderforschungsbereich SFB 627 (Nexus: Umgebungsmodelle f{\"u}r mobile kontextbezogene Systeme), Germany},
pages = {1--6},
type = {Workshop-Beitrag},
month = {Mai},
year = {2010},
language = {Englisch},
cr-category = {I.2.9 Robotics,
I.2.10 Vision and Scene Understanding,
I.4.0 Image Processing and Computer Vision General},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {AbstractThis paper describes our stereo vision method which is combining an
omnidirectional and a perspective camera. It was developed for our robot soccer
team 1. RFC Stuttgart, which attends RoboCup competitions every year. The
common approach to stereovision leads to high deviations from the real
positions when it is not possible to synchronize the cameras for tracking
moving objects. Therefore we introduce an object localization in RoboCup
combining the most accurate position information from each camera system. Our
method for a reliable three-dimensional position estimation can be used to
track a flying ball after being kicked by a robot.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2010-33&engl=0}
}
@inproceedings {INPROC-2010-117,
author = {Oliver Zweigle and Uwe-Philipp K{\"a}ppeler and Kai H{\"a}u{\ss}ermann and Paul Levi},
title = {{Event Based Distributed Real-time Communication Architecture for Multi-Agent Systems}},
booktitle = {The ICCIT 2010 International Conference Proceedings},
address = {Seoul},
publisher = {IEEE},
institution = {Universit{\"a}t Stuttgart, Fakult{\"a}t Informatik, Elektrotechnik und Informationstechnik, Germany},
series = {Computer Sciences and Convergence Information Technology},
volume = {5},
pages = {503--510},
type = {Konferenz-Beitrag},
month = {November},
year = {2010},
isbn = {978-89-88678-29-9},
keywords = {communication; network; robotics; robot; udp; tcp; robocup},
language = {Englisch},
cr-category = {I.2.9 Robotics},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {In this paper an event-based distributed real-time communication architecture
for multi-agent systems is presented. The architecture was designed regarding
the needs of hardware-based multi-agent systems, especially robotic systems.
This includes in particular fast and reliable transportation of messages in
unstable wireless networks. Furthermore the architecture is usable for
different agent-based software systems and allows communication between
different systems even if they have a complete different representation of
internal data. The architecture was evaluated in the RoboCup scenario with a
multi-agent system of 5 robots interacting in a highly dynamic environment.
Using this system, the RoboCup team of the University of Stuttgart won the
RoboCup German Open Championship and World Championship in 2009.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2010-117&engl=0}
}
@inproceedings {INPROC-2010-113,
author = {Paul Levi and Uwe-Philipp Kaeppeler},
title = {{Recognition of robot actions without human interaction}},
booktitle = {Proceedings of the IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, Workshops and Tutorials},
address = {Taipei, Taiwan},
publisher = {IEEE},
institution = {Universit{\"a}t Stuttgart, Fakult{\"a}t Informatik, Elektrotechnik und Informationstechnik, Germany},
pages = {23--38},
type = {Workshop-Beitrag},
month = {Oktober},
year = {2010},
keywords = {situation recognition, cognitive robotics},
language = {Englisch},
cr-category = {I.2.9 Robotics},
ee = {http://www.roboearth.org/irosworkshop2010},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {The autonomous robotics community is starting to tackle more and more complex
manipulation activities, such as doing household chores, in more and more
realistic operating environments such as human working and living environments.
One of the biggest challenges in such applications is the open-endedness of the
task domains and the enormous amount of knowledge needed to achieve reliable
task success. Luckily almost every robot has access to the World Wide Web, the
world's largest knowledge and information source. While up to now robots have
only made limited use of the web as an information and knowledge source the
opportunities are obvious and manifold. Robots can use search engines such as
Google images, video, or 3D warehouse. They can also ask for the help from
humans using tools such as the Amazon Mechanical Turk. Or, robots could perhaps
form communities to build up huge common knowledge bases, much in the same
spirit as people work on Wikipedia. Or, robots could reproduce the situations
they cannot handle in web games and observe how the players deal with the
situations and what the consequences might be. This workshop aims at bringing
robotics researchers together that investigate the ways that robots can make
good use of the Internet infrastructure. The workshop will provide a
state-of-the-art overview of the field and will offer ample room for discussion
to jointly identify new challenges and opportunities for future research.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2010-113&engl=0}
}
@inproceedings {INPROC-2009-78,
author = {Andreas Koch and Adam Berthelot and Bernd Eckstein and Oliver Zweigle and Kai H{\"a}ussermann and Uwe-Philipp K{\"a}ppeler and Andreas Tamke and Hamid Rajaie and Paul Levi},
title = {{Advanced data logging in RoboCup}},
booktitle = {Proceedings of the AMS 2009, Autonome Mobile Systeme, Karlsruhe, Germany, December 3-4, 2009},
editor = {Dillmann and Beyerer and Stiller and Z{\"o}llner},
address = {Karlsruhe, Germany},
publisher = {Springer Verlag},
institution = {Universit{\"a}t Stuttgart, Fakult{\"a}t Informatik, Elektrotechnik und Informationstechnik, Germany},
series = {Informatik Aktuell},
pages = {1--8},
type = {Konferenz-Beitrag},
month = {Dezember},
year = {2009},
isbn = {978-972-96895-3-6},
keywords = {overlay, augmented, camera, debugging, analysis, RoboCup, robot},
language = {Deutsch},
cr-category = {I.2.9 Robotics,
I.2.10 Vision and Scene Understanding},
ee = {http://www.ams2009.de},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {In this work an advanced data logging approach for the RoboCup domain using an
autonomous camera man is presented. It includes approaches from the field of
real-time robot message logging, situation based camera control and 3D video
visualisation. Based on the implementation of this work the RoboCup team of the
IPVS of the University of Stuttgart won the first price in the scientific
challenge of the RoboCup World Championship 2009 in Graz.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2009-78&engl=0}
}
@inproceedings {INPROC-2009-77,
author = {Oliver Zweigle and Kai H{\"a}ussermann and Uwe-Philipp K{\"a}ppeler and Paul Levi},
title = {{Extended TA Algorithm for adapting a Situation Ontology}},
booktitle = {Proceedings of the FIRA RoboWorld Congress 2009, Progress in Robotics},
address = {Incheon, Korea},
publisher = {Springer Verlag},
institution = {Universit{\"a}t Stuttgart : Sonderforschungsbereich SFB 627 (Nexus: Umgebungsmodelle f{\"u}r mobile kontextbezogene Systeme), Germany},
series = {Communications in Computer and Information Science},
volume = {44},
pages = {364--371},
type = {Konferenz-Beitrag},
month = {August},
year = {2009},
isbn = {978-3-642-03985-0},
keywords = {situation recognition, situation, bayes},
language = {Englisch},
cr-category = {I.2.6 Artificial Intelligence Learning},
ee = {http://www.springerlink.com/content/p4403084x0553717/},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {In this work we introduce an improved version of a learning algorithm for the
automatic adaption of a situation ontology (TAA) which extends the basic
principle of the learning algorithm. The approach bases on the assumption of
uncertain data and includes elements from the domain of Bayesian Networks and
Machine Learning. It is embedded into the cluster of excellence Nexus at the
University of Stuttgart which has the aim to build a distributed context aware
system for sharing context data.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2009-77&engl=0}
}
@inproceedings {INPROC-2009-64,
author = {Matthias Wieland and Uwe-Philipp K{\"a}ppeler and Paul Levi and Frank Leymann and Daniela Nicklas},
title = {{Towards Integration of Uncertain Sensor Data into Context-aware Workflows}},
booktitle = {Tagungsband INFORMATIK 2009 Im Focus das Leben, 39. Jahrestagung der Gesellschaft f{\"u}r Informatik e.V. (GI)},
editor = {GI-Edition Lecture Notes in Informatics (LNI)},
address = {L{\"u}beck},
publisher = {Lecture Notes in Informatics (LNI)},
institution = {Universit{\"a}t Stuttgart : Sonderforschungsbereich SFB 627 (Nexus: Umgebungsmodelle f{\"u}r mobile kontextbezogene Systeme), Germany},
type = {Workshop-Beitrag},
month = {September},
year = {2009},
language = {Englisch},
cr-category = {H.4 Information Systems Applications},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen;
Universit{\"a}t Stuttgart, Institut f{\"u}r Architektur von Anwendungssystemen},
abstract = {The integration and usage of uncertain sensor data in workflows is a difficult
problem. In this paper we describe these difficulties which result from the
combination of very distinct areas. On the one hand, applications from area of
measurement engineering manage sensors that capture data and annotate the data
with technical meta data. On the other hand, context-aware workflows from the
BPM area place high level requirements for the quality of context data that is
derived from the sensor data. Between those two areas exists a gap that has to
be closed by a context management and mediation system, supporting the handling
of Quality of Context (QoC). To achieve this the paper presents an QoC aware
architecture based on an extension of the existing Nexus Platform and a first
approach for matching the workflow requirements with the sensor annotations.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2009-64&engl=0}
}
@inproceedings {INPROC-2009-61,
author = {Oliver Zweigle and Uwe-Philipp K{\"a}ppeler and Hamid Rajaie and Kai H{\"a}u{\ss}ermann and Andreas Tamke and Andreas Koch and Bernd Eckstein and Fabian Aichele and Paul Levi},
title = {{1. RFC Stuttgart Team Description 2009}},
booktitle = {RoboCup 2009 International Symposium},
editor = {TU Graz},
address = {Graz},
publisher = {TU Graz},
institution = {Universit{\"a}t Stuttgart, Fakult{\"a}t Informatik, Elektrotechnik und Informationstechnik, Germany},
pages = {1--8},
type = {Konferenz-Beitrag},
month = {Juni},
year = {2009},
keywords = {RoboCup; Robot; Soccer; RFC; Mid Size},
language = {Englisch},
cr-category = {I.2.9 Robotics,
I.2.10 Vision and Scene Understanding,
I.2.11 Distributed Artificial Intelligence},
ee = {http://www.robocup2009.org},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {The 1. RFC Stuttgart robot soccer team is used as a testbed for multi-agent
software architecture principles in dynamic real time domains. The current
research activities focus on a completely new design of a midsize robot, the
enhancement of machine learning algorithms for strategies, new vision methods
and a context-aware visualization.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2009-61&engl=0}
}
@inproceedings {INPROC-2009-137,
author = {Oliver Zweigle and Kai H{\"a}ussermann and Uwe-Philipp K{\"a}ppeler and Paul Levi},
title = {{Supervised learning algorithm for automatic adaption of situation templates using uncertain data}},
booktitle = {Proceedings of the 2nd International Conference on Interaction Sciences: Information Technology, Culture and Human},
address = {New York, NY, USA},
publisher = {ACM},
institution = {Universit{\"a}t Stuttgart : Sonderforschungsbereich SFB 627 (Nexus: Umgebungsmodelle f{\"u}r mobile kontextbezogene Systeme), Germany},
pages = {197--200},
type = {Konferenz-Beitrag},
month = {November},
year = {2009},
isbn = {978-1-60558-710-3},
language = {Englisch},
cr-category = {I.2.3 Deduction and Theorem Proving,
I.2.4 Knowledge Representation Formalisms and Methods,
I.2.5 Artificial Intelligence Programming Languages and Software,
I.2.6 Artificial Intelligence Learning,
I.2.8 Problem Solving, Control Methods, and Search},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {In this paper a learning algorithm for the automatic adaption of a situation
template is presented. The approach strongly relies on human-machine
interaction as user feedback is a substantial part to automatically adapt a
global knowledgebase in this case. The work bases on the assumption of
uncertain data and includes elements from the domain of Bayesian Networks and
Machine Learning. It is embedded into the cluster of excellence Nexus at the
University of Stuttgart which has the aim to build a distributed context aware
user-friendly system for sharing context data.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2009-137&engl=0}
}
@inproceedings {INPROC-2009-108,
author = {Paul Levi},
title = {{Development of Evolutionary and Self-Assembling Robot-Organisms}},
booktitle = {Proc. of 20th Anniversary MHS2009 \& Micro-Nano Global COE},
editor = {IEEE},
address = {Nagoya, Japan},
publisher = {-},
institution = {Universit{\"a}t Stuttgart, Fakult{\"a}t Informatik, Elektrotechnik und Informationstechnik, Germany},
pages = {1--6},
type = {Konferenz-Beitrag},
month = {November},
year = {2009},
isbn = {978-1-4244-5095-4},
keywords = {Collective robotics; symbiotic multicellular robots; artificial evolution; adaptability; synergetics; self-organization; swarm intelligence},
language = {Englisch},
cr-category = {I.2.9 Robotics,
I.2.10 Vision and Scene Understanding,
I.2.11 Distributed Artificial Intelligence},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {Symbiotic robotics is a discipline within collective robotics that is concerned
with artificial multi-cellular robot-organisms that define their morphological
structure by aggregation through self-assembling and they are also able to
disaggregate afterwards. This contribution is concerned to the description of
evolutionary and cognitive principles that governs such a symbiotic cycle to
build artificial organisms of different forms and operate with them. The
evolutionary approach starts with a artificial genome, will be continued by the
insertion of different types of regulative cycles, and ends up in an
embryogenetic formed body. Hereby there is differentiation between the genetic
based learning and the fitness based learning. Further there are dominant
differences between multi-cellular organism and structured cooperative
aggregations of swarm members. The cognitive approach is focused on cognitive
maps, on cognitive sensor data fusion and finally to the definition of
information that governs the the process of organism formation and body
survival in a given environment. This more engineering oriented approach is
used to build all HW-components and all kinds of embedded {\^a}operating systems{\^a}
to control and to operate symbiotic robot organisms.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2009-108&engl=0}
}
@inproceedings {INPROC-2009-102,
author = {Uwe-Philipp K{\"a}ppeler and Andreas Gerhardt and Christian Schieberle and Matthias Wiselka and Kai H{\"a}ussermann and Oliver Zweigle and Paul Levi},
title = {{Reliable Situation Recognition based on Noise Levels}},
booktitle = {Proceedings of the First International Conference on Disaster Management and Human Health Risk, New Forest, September 23-25, 2009},
editor = {K. Duncan and C. A. Brebbia},
address = {New Forest, UK},
publisher = {WIT Press},
institution = {Universit{\"a}t Stuttgart : Sonderforschungsbereich SFB 627 (Nexus: Umgebungsmodelle f{\"u}r mobile kontextbezogene Systeme), Germany},
series = {WIT Transactions on the Built Environment},
volume = {110},
pages = {127--137},
type = {Konferenz-Beitrag},
month = {September},
year = {2009},
isbn = {978-1-84564-202-0},
keywords = {sensor data; noise levels; situation; recognition; regression; neural network; perceptron},
language = {Englisch},
cr-category = {I.2.6 Artificial Intelligence Learning,
G.3 Probability and Statistics},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {Situation Recognition based on audio signals can be used to determine
situations in a meeting room while protecting the privacy by recording and
analyzing only the noise level instead of the complete audio signal.
A reliable situation recognition is normally obtained using Bayesian networks
which do not only rely on context information itself but additionally on
corresponding probabilities. Especially when the situation recognition itself
should output a quality rating to the determined situation it is necessary that
each analyzed information about all preconditions is rated with qualities or
probabilities. This leads to the need of a conversion from uncertainty to
probabilities when using sensor data to observe the environment to recognize
situations.
In this paper we compare different methods for situation recognition based on
noise level measurements. We implemented a Multilayer Perceptron Neural
Network, a simple empiric method and we describe the advantages of our method
based on multinomial logistic regression which we adapted to a reliable and
easily configurable situation recognition based on sensor data. To evaluate the
methods we distinguished between the situations {\^a}meeting{\^a}, {\^a}work{\^a} and
{\^a}silence{\^a} and recorded thousands of noise levels to calibrate and compare
the different methods against each other.
Our approach using logistic regression can be used as situation recognition
based on sensor data. It is not necessary that the input information contains
quality ratings but the system has to be calibrated with sensor data that can
be assigned to all the situations that have to be distinguished. Since the
result of this method contains probabilities to all situations it can also be
used to analyze sensor data related to single preconditions of complex
situation recognition algorithms based on Bayesian networks and different types
of context information.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2009-102&engl=0}
}
@inproceedings {INPROC-2008-53,
author = {Uwe-Philipp K{\"a}ppeler and Ruben Benkmann and Oliver Zweigle and Reinhard Lafrenz and Paul Levi},
title = {{Resolving Inconsistencies in Shared Context Models using Multiagent Systems}},
booktitle = {Proceedings of the 10th International Conference on Intelligent Autonomous Systems: IAS-10; Baden Baden, Germany, July 23-25, 2008},
editor = {R{\"u}diger Dillmann and Wolfram Burgard},
address = {Baden Baden},
publisher = {Springer-Verlag},
institution = {Universit{\"a}t Stuttgart : Sonderforschungsbereich SFB 627 (Nexus: Umgebungsmodelle f{\"u}r mobile kontextbezogene Systeme), Germany},
pages = {93--98},
type = {Konferenz-Beitrag},
month = {Juli},
year = {2008},
isbn = {978-972-96895-3-6},
keywords = {sensor; fusion; normalized weighted arithmetic mean; inconsistency},
language = {Deutsch},
cr-category = {I.2.9 Robotics,
H.3 Information Storage and Retrieval},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {The study reported in this paper evaluates procedures that combine a multitude
of measurements to a single result that can be integrated in the shared context
model. The statistically optimized procedure based on ratings of the
participating agents is enhanced using scaled weighted arithmetic means which
prevents the system from running into singularities caused by the feedback from
the ratings. The method is combined with an additional preprocessing based on
fuzzy clustering that detects aberrant measurements which can be excluded from
further processing.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2008-53&engl=0}
}
@inproceedings {INPROC-2008-23,
author = {Ruben Benkmann and Uwe-Philipp K{\"a}ppeler and Oliver Zweigle and Reinhard Lafrenz and Paul Levi},
title = {{Resolving Inconsistencies using Multi-agent Sensor Systems}},
booktitle = {Proceedings of the 8th Conference on Autonomous Robot Systems and Competition: Robotica 08; Aveiro, Portugal, April 2nd, 2008},
editor = {Luis Seabra Lopez and Filipe Silva and Vitor Santos},
address = {Aveiro},
publisher = {Universidade de Aveiro},
institution = {Universit{\"a}t Stuttgart : Sonderforschungsbereich SFB 627 (Nexus: Umgebungsmodelle f{\"u}r mobile kontextbezogene Systeme), Germany},
pages = {93--98},
type = {Konferenz-Beitrag},
month = {April},
year = {2008},
isbn = {978-972-96895-3-6},
keywords = {Sensor; Fusion; Normalized Weighted Arithmetic Mean},
language = {Deutsch},
cr-category = {I.2.9 Robotics,
H.3 Information Storage and Retrieval},
contact = {kaeppeler@ipvs.uni-stuttgart.de},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {Agents acting in physical space use perception in combination with their own
world models and shared context models to orient. The shared context models
have to be adapted permanently to the conditions of the real world. If a
measurement of an agent{\^a}s sensor does not fit to the corresponding data in
the shared context model the system contains an inconsistency. In this case it
is necessary to decide whether the reason for the discrepancy is a change in
the real world or a measurement error. If there is a change in the real world
the shared context model has to be corrected. A single agent can hardly answer
this question using its local world model. This work describes the scenario of
a context model that is shared with and updated by many agents that possess one
or more sensors. In occurrence of an inconsistency it is possible to call other
agents to validate a measurement. The functions to call the other agents are
provided by the Nexus platform, a federation of systems that manages users and
objects in shared dynamic context models. The study reported in this paper
evaluates procedures that combine a multitude of measurements to a single
result that can be integrated in the shared context model. The statistically
optimized procedure based on ratings of the participating agents is enhanced
using scaled weighted arithmetic means which prevents the system from running
into singularities caused by the feedback from the ratings. The method is
combined with an additional preprocessing based on fuzzy clustering that
detects aberrant measurements which can be excluded from further processing.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2008-23&engl=0}
}
@inproceedings {INPROC-2008-114,
author = {Oliver Zweigle and Uwe-Philipp K{\"a}ppeler and Hamid Rajaie and Kai H{\"a}u{\ss}ermann and Reinhard Lafrenz and Andreas Tamke and Frank Schreiber and Markus H{\"o}ferlin and Michael Schanz and Paul Levi},
title = {{CoPS Stuttgart Team Description 2008}},
booktitle = {Proceedings of the RoboCup International Symposium; Suzhou, China, July 14-20, 2008},
address = {Suzhou},
publisher = {RoboCup Organization},
institution = {Universit{\"a}t Stuttgart, Fakult{\"a}t Informatik, Elektrotechnik und Informationstechnik, Germany},
pages = {1--8},
type = {Konferenz-Beitrag},
month = {Juli},
year = {2008},
keywords = {Robot soccer},
language = {Englisch},
cr-category = {I.2.9 Robotics,
I.2.10 Vision and Scene Understanding,
I.2.11 Distributed Artificial Intelligence,
I.2 Artificial Intelligence},
ee = {http://robocup.informatik.uni-stuttgart.de/,
www.robocup.org},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {The CoPS robot soccer team is used as a testbed for multi-agent software
architecture principles in dynamic real time domains. The current research
activities focus on a new controlling architecture, rein- forcement learning
for robot behaviors, situation recognition and new vison methots.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2008-114&engl=0}
}
@inproceedings {INPROC-2008-104,
author = {Reinhard Lafrenz and Michael Schanz and Uwe-Philipp K{\"a}ppeler and Oliver Zweigle and Hamid Rajaie and Frank Schreiber and Paul Levi},
title = {{Evaluating Robustness of Coupled Selection Equations Using Sparse Communication}},
booktitle = {Intelligent Autonomous Systems 10 (IAS-10)},
editor = {Burgard et al.},
publisher = {IOS Press},
institution = {Universit{\"a}t Stuttgart, Fakult{\"a}t Informatik, Elektrotechnik und Informationstechnik, Germany},
pages = {272--277},
type = {Konferenz-Beitrag},
month = {Juli},
year = {2008},
language = {Englisch},
cr-category = {I.2.9 Robotics,
I.2.11 Distributed Artificial Intelligence,
G.1.10 Numerical Analysis Applications},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {In this paper we evaluate the robustness of a self-organized mechanism to
distribute roles among a team of cooperating robots. In previous work, we
showed the principal applicability of this approach for the RoboCup scenario.
Now we test the robustness in case of either intentionally sparse communication
or the behavior in situations, where the communication is massively disturbed.
To overcome the problems caused by this, each robot runs the equations
individually, synchronizing from time to time, or when the communication is
available.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2008-104&engl=0}
}
@inproceedings {INPROC-2007-75,
author = {Oliver Zweigle and Uwe-Philipp K{\"a}ppeler and Thomas R{\"u}hr and Kai H{\"a}u{\ss}ermann and Reinhard Lafrenz and Frank Schreiber and Andreas Tamke and Hamid Rajaie and Avinash Burla and Michael Schanz and Paul Levi},
title = {{CoPS Stuttgart Team Description 2007}},
booktitle = {Proceedings of the RoboCup International Symposium; Atlanta, Georgia, July 9-10, 2007},
address = {Atlanta},
publisher = {RoboCup Organization},
institution = {Universit{\"a}t Stuttgart, Fakult{\"a}t Informatik, Elektrotechnik und Informationstechnik, Germany},
pages = {1--8},
type = {Konferenz-Beitrag},
month = {Juli},
year = {2007},
keywords = {Robot soccer},
language = {Englisch},
cr-category = {I.2.9 Robotics,
I.2.10 Vision and Scene Understanding,
I.2.11 Distributed Artificial Intelligence,
I.2 Artificial Intelligence},
ee = {http://robocup.informatik.uni-stuttgart.de/,
www.robocup.org},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {The CoPS robot soccer team is used as a testbed for multiagent software
architecture principles in dynamic real time domains. The current research
activities focus on reliable fast communication, situation recognition,
communication and reliable ball detection.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2007-75&engl=0}
}
@inproceedings {INPROC-2007-56,
author = {Hamid Rajaie and Reinhard Lafrenz and Oliver Zweigle and Uwe-Philipp K{\"a}ppeler and Frank Schreiber and Thomas R{\"u}hr and Andreas Tamke and Paul Levi},
title = {{Physical Simulation of the Dynamical Behavior of Three-wheeled Omni-directional Robots}},
booktitle = {RoboCup International Symposium 2007, Atlanta, Georgia},
editor = {Ubbo Visser and Fernando Ribeiro and Frank Dellaert and Takashi Ohashi},
publisher = {CD-Proceedings},
institution = {Universit{\"a}t Stuttgart, Fakult{\"a}t Informatik, Elektrotechnik und Informationstechnik, Germany},
pages = {1--12},
type = {Konferenz-Beitrag},
month = {Juli},
year = {2007},
keywords = {RoboCup, Simulation},
language = {Englisch},
cr-category = {I.2.9 Robotics},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {Hardware simulation is a very e{\"\i}¬cient way for parameter tuning. We developed
a Simulink-based simulator for the navigation components of our robotic soccer
team. This physical simulation has interfaces to be interconnected with the
higher levels of the real control software and is therefore able to perform an
overall simulation of single robots.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2007-56&engl=0}
}
@inproceedings {INPROC-2007-47,
author = {Reinhard Lafrenz and Frank Schreiber and Oliver Zweigle and Michael Schanz and Hamid Rajaie and Uwe-Philipp K{\"a}ppeler and Paul Levi and Jens Starke},
title = {{Evaluating coupled selection equations for dynamic task assignment using a behavior framework}},
booktitle = {Autonome Mobile Systeme 2007},
editor = {K. Berns and T. Luksch},
address = {Berlin,Heidelberg},
publisher = {Springer-Verlag},
institution = {Universit{\"a}t Stuttgart, Fakult{\"a}t Informatik, Elektrotechnik und Informationstechnik, Germany},
series = {Informatik Aktuell},
pages = {118--125},
type = {Konferenz-Beitrag},
month = {Oktober},
year = {2007},
isbn = {978-3-540-74763-5},
issn = {1431-472-X},
language = {Englisch},
cr-category = {I.2.9 Robotics,
I.2.11 Distributed Artificial Intelligence},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {In this paper we focus on methods for a reliable and robust mechanism to
distribute roles among a team of cooperating robots. In previous work, we
showed the principal applicability of a novel approach based on self
organization using coupled selection equations. To show the applicability in
the robocup scenario we used a simple scenario to assign the roles attacker and
defender. In this paper we present the application of the novel approach to
more realistic and complex scenarios like kick-off or pass play. One of the
critical parts in this method is the parameterization of utility and activation
functions used to determine the additional parameters.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2007-47&engl=0}
}
@inproceedings {INPROC-2006-70,
author = {Pascal Montag and Steffen G{\"o}rzig and Paul Levi},
title = {{Challenges of Timing Verification Tools in the Automotive Domain}},
booktitle = {2nd IEEE International Symposium on Leveraging Applications of Formal Methods, Verification and Validation, Paphos (Cyprus), November 15-19, 2006},
publisher = {IEEE CS Press},
institution = {Universit{\"a}t Stuttgart, Fakult{\"a}t Informatik, Elektrotechnik und Informationstechnik, Germany},
pages = {1--6},
type = {Konferenz-Beitrag},
month = {November},
year = {2006},
keywords = {embedded real-time systems; automotive safety},
language = {Englisch},
cr-category = {I.2.9 Robotics,
I.2.10 Vision and Scene Understanding,
I.2.11 Distributed Artificial Intelligence},
contact = {Paul.Levi@ipvs.uni-stuttgart.de},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {Every embedded real-time system is inevitably time restricted. Therefore,
worst-case execution times (WCETs) have to be known. The static timing analysis
of embedded software promises the calculation of safe upper time bounds. We
present the results of a case study which reveal the special challenges of this
methodology in the automotive domain. For most of the encountered problems we
describe our solutions or propose possible methods for a solution.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2006-70&engl=0}
}
@inproceedings {INPROC-2006-69,
author = {Pascal Montag and Dirk Nowotka and Paul Levi},
title = {{Verification in the Design Process of Large Real-Time Systems: A Case Study}},
booktitle = {Automotive Safety and Security 2006, Stuttgart (Germany), October 12-13, 2006},
publisher = {Shaker Verlag},
institution = {Universit{\"a}t Stuttgart, Fakult{\"a}t Informatik, Elektrotechnik und Informationstechnik, Germany},
pages = {1--13},
type = {Konferenz-Beitrag},
month = {Oktober},
year = {2006},
keywords = {complex real-time systems; automotive safety},
language = {Englisch},
cr-category = {I.2.9 Robotics,
I.2.10 Vision and Scene Understanding,
I.2.11 Distributed Artificial Intelligence},
contact = {Paul.Levi@ipvs.uni-stuttgart.de},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {A verification case study of a complex real-time system from the automotive
area, an emergency brake assistant, is conducted. In particular the application
and usefulness of formal methods in the refinement process during the design of
a large system is investigated, where we mean by ``large system'' a system which
cannot be formally verified as a whole due to its complexity. We establish that
the application of formal methods in the early phase of a system design is
beneficial despite the limits of current tools. Useful directions of further
work to improve the verified design of safety-critical systems are also shown.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2006-69&engl=0}
}
@inproceedings {INPROC-2006-68,
author = {Pascal Montag and Steffen G{\"o}rzig and Paul Levi},
title = {{Applying Static Timing Analysis to Component Architectures}},
booktitle = {Proceedings of the 28th International Conference on Software Engineering, Shanghai (China), May 20-28, 2006},
address = {Shanghai},
publisher = {ICSE},
institution = {Universit{\"a}t Stuttgart, Fakult{\"a}t Informatik, Elektrotechnik und Informationstechnik, Germany},
pages = {1--7},
type = {Konferenz-Beitrag},
month = {Mai},
year = {2006},
keywords = {automotive applications},
language = {Englisch},
cr-category = {I.2.9 Robotics,
I.2.10 Vision and Scene Understanding,
I.2.11 Distributed Artificial Intelligence},
contact = {Paul.Levi@ipvs.uni-stuttgart.de},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {The increase in software functions and software complexity of automotive
applications requires appropriate software architectures. A promising approach
is the component architecture which also stands in the centre of the automotive
standardisation project AUTOSAR. As every embedded real-time system inevitably
has upper time bounds, we present an integrated method of timing estimation for
highly flexible and variant applications based on a prototype component
architecture. Therefore, we especially develop methods for parameterised timing
estimation which depend on the grade of complexity, variability and necessary
exactness. The feasibility of the introduced concept is shown in the prototype
architecture and a prototype application.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2006-68&engl=0}
}
@inproceedings {INPROC-2006-59,
author = {Oliver Zweigle and Uwe-Philipp K{\"a}ppeler and Reinhard Lafrenz and Paul Levi},
title = {{Situation recognition for reactive agent behavior}},
booktitle = {Artificial Intelligence and Soft Computing},
address = {Palma de Mallorca},
publisher = {IASTED},
institution = {Universit{\"a}t Stuttgart, Fakult{\"a}t Informatik, Elektrotechnik und Informationstechnik, Germany},
pages = {1--8},
type = {Konferenz-Beitrag},
month = {August},
year = {2006},
keywords = {situation recognition; cooperative robotics},
language = {Englisch},
cr-category = {I.2.9 Robotics},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {Situation recognition in RoboCup gets more and more important to enhance team
behavior strategies. In this paper we present an approach for a cooperative
situation recognition architecture which directly influences the game strategy
of the own team. The presented situation recognition architecture is derived
from the human archetype to recognize situations by a combination of learned
knowledge and observation of the environment. Humans only consider a limited
number of situation interpretations for certain environmental scenes. We
transfer that concept and introduce Situation Libraries as an analogous
approach for computer systems. Consequently for every recognized situation a
cooperative team behavior is defined. This will effectively enhance the team
play and the ability of a team to adapt its behavior to the strategies of an
opponent and to the current game state.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2006-59&engl=0}
}
@inproceedings {INPROC-2006-58,
author = {Ralf Regele and Paul Levi},
title = {{Cooperative Multi-Robot Path Planning by Heuristic Priority Adjustment}},
booktitle = {Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems},
address = {Peking},
publisher = {IEEE},
institution = {Universit{\"a}t Stuttgart, Fakult{\"a}t Informatik, Elektrotechnik und Informationstechnik, Germany},
pages = {5954--5959},
type = {Konferenz-Beitrag},
month = {Oktober},
year = {2006},
isbn = {1-4244-0259-X},
keywords = {cooperative path planning; multi-robot systems; conflict resolution},
language = {Englisch},
cr-category = {I.2.9 Robotics},
contact = {Ralf.Regele@informatik.uni-stuttgart.de},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {In this paper, a new algorithm for cooperative path planning in a multi-robot
system is introduced. The algorithm is specially designed for a distributed
system with a large number of robots, all of which should be able to reach
their respective goal positions without blocking each other, even if the
environment is heavily constricted by obstacles. The basic idea of the approach
is based on fully distributed path planning without any central instance, but
with the ability of communication and cooperation between the robots. Path
planning is done on local sections of the time-space configuration space.
Dynamic conflicts between the robots are solved by the heuristic adjustment of
priority values. By a continuous enhancement of all plans the algorithm is very
robust against dynamic changes and erroneous robot behavior.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2006-58&engl=0}
}
@inproceedings {INPROC-2006-37,
author = {Oliver Zweigle and Reinhard Lafrenz and Thorsten Buchheim and Uwe-Philipp K{\"a}ppeler and Hamid Rajaie and Frank Schreiber and Paul Levi},
title = {{Cooperative Agent Behavior Based on Special Interaction Nets}},
booktitle = {Proceedings of the 9th International Conference on Intelligent Autonomous Systems 2006, IAS-9, Tokio},
address = {Tokio},
publisher = {IOS Press},
institution = {Universit{\"a}t Stuttgart : Sonderforschungsbereich SFB 627 (Nexus: Umgebungsmodelle f{\"u}r mobile kontextbezogene Systeme), Germany},
pages = {651--659},
type = {Konferenz-Beitrag},
month = {M{\"a}rz},
year = {2006},
isbn = {1-58603-595-9},
keywords = {robotic; Robotik; cooperation; autonomous; autonom; Kooperation},
language = {Deutsch},
cr-category = {I.2.9 Robotics},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {An important aim of the current research e ort in artificial intelligence and
robotics is to achieve cooperative agent behavior for teams of robots in
real-world scenarios. Especially in the RoboCup scenario, but also in other
projects like Nexus, agents have to cooperate eficiently to reach certain
goals. In the RoboCup project, cooperative team-play and team strategies
similar to real world soccer are intended. This article describes an approach
that combines cooperative aspects, role assignment algorithms and the
implementation of robot behavior with Interaction Nets. Based on these single
methods, a complete framework for team strategies was developed that is used in
the RoboCup environment for the middle-size team CoPs Stuttgart and in the
Nexus project, where a team of robots guides persons through a building.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2006-37&engl=0}
}
@inproceedings {INPROC-2005-80,
author = {Mohamed Oubbati and Michael Schanz and Paul Levi},
title = {{Mobile Robot Motion using Neural Networks: An Overview}},
booktitle = {Autonome Mobile Systeme 2005 (AMS)},
editor = {P. Levi and Schanz M. and et. al},
address = {Berlin, Heidelberg, New York},
publisher = {Springer-Verlag},
institution = {Universit{\"a}t Stuttgart, Fakult{\"a}t Informatik, Elektrotechnik und Informationstechnik, Germany},
series = {Informatik Aktuell},
pages = {303--309},
type = {Konferenz-Beitrag},
month = {Dezember},
year = {2005},
isbn = {978-3-540-30291-9},
keywords = {neural network, mobile robot control},
language = {Englisch},
cr-category = {I.2.8 Problem Solving, Control Methods, and Search},
contact = {Mohamed.Oubbati@informatik.uni-stuttgart.de Michael.Schanz@informatik.uni-stuttgart.de},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {In this paper, we provide a summary of our recent results in motion control of
mobile robots using recurrent neural networks. The most important asociated
problems are discussed.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2005-80&engl=0}
}
@inproceedings {INPROC-2005-35,
author = {Mohamed Oubbati and Schanz Michael and Paul Levi},
title = {{Kinematic and dynamic adaptive control of a nonholonomic mobile robot using a RNN}},
booktitle = {Proceedings of the 6th IEEE Symposium on Computational Intelligence in Robtics and Automation (CIRA05)},
address = {Helsinki, Finland},
publisher = {IEEE},
institution = {Universit{\"a}t Stuttgart, Fakult{\"a}t Informatik, Elektrotechnik und Informationstechnik, Germany},
pages = {27--33},
type = {Konferenz-Beitrag},
month = {Juni},
year = {2005},
keywords = {Nonholonomic mobile robots; adaptive control; recurrent neural networks; meta-learning},
language = {Englisch},
cr-category = {I.2.9 Robotics,
I.2 Artificial Intelligence},
contact = {Mohamed.Oubbati@informatik.uni-stuttgart.de},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {In this paper, an adaptive neurocontrol system with two levels is proposed for
the motion control of a nonholonomic mobile robot. In the first level, a
recurrent network improves the robustness of a kinematic controller and
generates linear and angular velocities, necessary to track a reference
trajectory. In the second level, another network converts the desired
velocities, provided by the first level, into a torque control. The advantage
of the control approach is that, no knowledge about the dynamic model is
required, and no synaptic weight changing is needed in presence of parameters
variation. This capability is acquired through prior meta-learning. Simulation
results are demonstrated to validate the robustness of the proposed approach.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2005-35&engl=0}
}
@inproceedings {INPROC-2005-34,
author = {Mohamed Oubbati and Paul Levi and Michael Schanz},
title = {{Meta-learning for Adaptive Identification of Non-linear Dynamical Systems.}},
booktitle = {Proceedings of the Joint 20th IEEE International Symposium on Intelligent Control \& 13th Mediterranean Conference on Control and Automation (2005 ISIC-MED).},
address = {Limassol, Cyprus},
publisher = {IEEE},
institution = {Universit{\"a}t Stuttgart, Fakult{\"a}t Informatik, Elektrotechnik und Informationstechnik, Germany},
pages = {473--478},
type = {Konferenz-Beitrag},
month = {Juni},
year = {2005},
keywords = {Adaptive Identification; RNNs; Non-linear Dynamical Systems; Meta-learning.},
language = {Englisch},
cr-category = {I.2.8 Problem Solving, Control Methods, and Search},
contact = {Mohamed.Oubbati@informatik.uni-stuttgart.de},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {Adaptive Identification of Non-linear Dynamical Systems via Recurrent Neural
Networks (RNNs) is presented in this paper. We explore the notion that a
fixed-weight RNN needs to change only its internal state to change its behavior
policy. This ability is acquired through prior training procedure that enable
the learning of adaptive behaviors. Some simulation results are presented.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2005-34&engl=0}
}
@inproceedings {INPROC-2005-20,
author = {Mohamed Oubbati and Paul Levi and Michael Schanz},
title = {{A Fixed-Weight RNN Dynamic Controller for Multiple Mobile Robots}},
booktitle = {Proceedings of the 24th IASTED International Conference on MODELLING, IDENTIFICATION, AND CONTROL: MIC 2005; Innsbruck, Austria, February 16-18, 2005.},
address = {Austria},
publisher = {ACTA Press},
institution = {Universit{\"a}t Stuttgart, Fakult{\"a}t Informatik, Elektrotechnik und Informationstechnik, Germany},
pages = {277--282},
type = {Konferenz-Beitrag},
month = {Februar},
year = {2005},
keywords = {Mobile Robot; Recurrent Neural Networks, Meta-Learning; Adaptive Control},
language = {Englisch},
cr-category = {I.2.9 Robotics},
contact = {Mohamed.Oubbati@informatik.uni-stuttgart.de},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {In this paper, we demonstrate the ability of a single fixed-weight RNN to act
as a dynamic controller for several (here 3) distinct wheeled mobile robots,
without exact knowledge about their dynamics parameters. The controller is
properly trained to exhibit adaptive behaviour after its weights have been
fixed. This capability is a natural consequence of prior meta-learning used
recently in the area of RNNs.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2005-20&engl=0}
}
@inproceedings {INPROC-2004-23,
author = {Uwe-Philipp K{\"a}ppeler and Michael Smuda von Trzebiatowski and Axel Gern and Uwe Franke and Paul Levi},
title = {{Detecting Reflection Posts - Lane Recognition on Country Roads}},
booktitle = {Proceedings of the 2004 IEEE Intelligent Vehiclees Symposium},
address = {Parma},
publisher = {Consiglio Nazionale delle Ricerche},
institution = {Universit{\"a}t Stuttgart : Sonderforschungsbereich SFB 627 (Nexus: Umgebungsmodelle f{\"u}r mobile kontextbezogene Systeme), Germany},
pages = {304--309},
type = {Konferenz-Beitrag},
month = {Juni},
year = {2004},
isbn = {0-7803-8311-7},
keywords = {Leitpfosten; reflection posts; lane recognition},
language = {Englisch},
cr-category = {I.2.9 Robotics,
I.2.10 Vision and Scene Understanding,
I.4.8 Image Processing and Computer Vision Scene Analysis},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {This paper presents a new approach to the challenging task of lane recognition
on general roads. Lane recognition is the basis for many driver assistance
systems, including Lane Departure Warning and the assignment of vehicles to
speci c lanes. Most systems of the past are designed for the well de ned
highway scenario. They rely on white lane markings with known geometric
appearance. Our method is an extension which also works when lane markings are
in bad conditions or are missing completely. We use re- ection posts as a means
of estimating the course of the road. In addition we are furthermore able to
measure the horizontal and vertical slope of the road surface.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2004-23&engl=0}
}
@inproceedings {INPROC-2003-37,
author = {Thorsten Buchheim and Georg Kindermann and Reinhard Lafrenz and Paul Levi},
title = {{A Dynamic Environment Modelling Framework for Selective Attention}},
booktitle = {Proceedings of the IJCAI-03 Workshop on Issues in Designing Physical Agents for Dynamic Real-Time Environments: World Modeling, Plannig, Learing, and Communicating},
editor = {Ubbo Visser and Patrick Doherty and Gerhard Lakenmeyer and Veloso Manuela and (editors)},
address = {Mexico},
publisher = {WWW},
institution = {Universit{\"a}t Stuttgart : Sonderforschungsbereich SFB 627 (Nexus: Umgebungsmodelle f{\"u}r mobile kontextbezogene Systeme), Germany},
pages = {91--98},
type = {Konferenz-Beitrag},
month = {August},
year = {2003},
keywords = {Selective Attention, World Modeling, Communication, Multi-Agent-Systems},
language = {Deutsch},
cr-category = {J.7 Computers in Other Systems,
C.3 Special-Purpose and Application-Based Systems},
ee = {ftp://ftp.informatik.uni-stuttgart.de/pub/library/ncstrl.ustuttgart_fi/INPROC-2003-37/INPROC-2003-37.ps,
http://csgrad74.math.uwaterloo.ca/~cdmicacc/ijcai03/presentations.html},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {Sensor data evaluation and environment modeling represent a central part in the
design of robotic systems. The environment modeling process usually is done by
several data processing modules by means of sensor data fusion, combination of
a priori knowledge with currently sensed data, etc. Depending on the
application scenario there is usually a trade-off between accuracy and time
consumption of the environment modeling process. Some domains require a quite
accurate environment model and processing time plays a secondary role. More
reactive domains, however, demand for rather short cycle times, even if this
results in a less accurate model. For some applications the required degree of
accuracy may vary depending on the current situation or task to perform and
some parts of the sensed information may be more important than others. Several
architectures were proposed to address this problem by special mechanisms which
schedule the available resources according to the needs of the current tasks
which is usually denominated by the term ``selective'' or ``focused''
attention. In our work we will show how these concepts can be put into practice
by a flexible and open software design which is applied for our CoPs RoboCup
midsize team.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2003-37&engl=0}
}
@inproceedings {INPROC-1999-15,
author = {Michael Becht and J{\"u}rgen Klarmann and Ottokar Kulendik and Paul Levi and Matthias Muscholl},
title = {{A Platform for Supporting Integrated Human and Agent Based Cooperation}},
booktitle = {Proceedings of the 15th GI/ITG-Fachtagung Architektur von Rechensystemen (ARCS'99)},
address = {Jena, Germany},
publisher = {VDE-Verlag},
institution = {Universit{\"a}t Stuttgart, Fakult{\"a}t Informatik, Germany},
pages = {221--224},
type = {Konferenz-Beitrag},
month = {Oktober},
year = {1999},
isbn = {3-8007-2482-0},
language = {Englisch},
cr-category = {H.1.0 Information Systems Models and Principles General},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte H{\"o}chstleistungsrechner, Verteilte Systeme},
abstract = {Cooperation between humans is supported by means of workflow management systems
and groupware tools, whereas support for agents mainly consists in
standardising agent communication languages and developing co-operation
protocols. Most of these mechanisms are designed for special situations. Thus,
they do not take into account that characteristics of environment, work,
persons and agents can change and that relations between dif-ferent
cooperations exist. In the following, an innovative cooperation model and
platform is introduced. An ex-tended concept of roles and structured
communication cares for integration of humans and agents and increases
flexibility. Our approach enables to change the organisational structure
without the need to restructure the coop-eration protocols and vice versa.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-1999-15&engl=0}
}
@article {ART-2009-21,
author = {Ruben Benkmann and Uwe-Philipp K{\"a}ppeler and Oliver Zweigle and Reinhard Lafrenz and Paul Levi},
title = {{Resolving Inconsistencies Using Multi-Agent Sensor Systems}},
journal = {Robotica},
editor = {J. Noberto Pires},
address = {Coimbra},
publisher = {Engebook},
volume = {03/09},
number = {76},
pages = {22--27},
type = {Artikel in Zeitschrift},
month = {November},
year = {2009},
issn = {0874-9019},
keywords = {weighted arithmetic mean; clustering; data fusion; sensor},
language = {Englisch},
cr-category = {I.2.9 Robotics},
ee = {http://www.robotica.pt},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {Agents acting in physical space use perception in combination with their own
world models and shared context models to orient. The shared context models
have to be adapted permanently to the conditions of the real world in dynamic
environments. If a measurement of an agent's sensor does not fit to the
corresponding data in the shared context model we get an inconsistency. In this
case it is necessary to decide whether the reason for the discrepancy is a
change in the real world or a measurement error. If there is a change in the
real world the shared context model has to be corrected. If the measurement is
erroneous it could be necessary to check the sensor. A single agent can hardly
answer this question using it's local world model. Extensive knowledge about
the represented world and the utilized sensors would be necessary. In this work
we examine the scenario of a context model that is shared with and updated by
many agents. In occurrence of an inconsistency it is possible to call other
agents to validate a measurement. The functions to call the other agents are
provided by the Nexus platform, a federation of systems that manages users and
objects in shared dynamic context models, integrates web technologies and
interfaces to the world wide web. We describe and evaluate procedures that
combine a multitude of measurements to a single result that can be integrated
in the shared context model. We enhanced the statistically optimized procedure
based on ratings of the participating agents. The procedure is altered so that
the system can recover from running into singularities caused by the feedback
from the ratings. In addition we describe a preprocessing based on fuzzy
clustering that detects aberrant measurements which are excluded from further
processing.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=ART-2009-21&engl=0}
}
@proceedings {PROC-2005-01,
editor = {Paul Levi and Michael Schanz},
title = {{Autonome Mobile Systeme 2005}},
address = {Berlin, Heidelberg, New York},
publisher = {Springer-Verlag},
institution = {Universit{\"a}t Stuttgart, Fakult{\"a}t Informatik, Elektrotechnik und Informationstechnik, Germany},
series = {Informatik Aktuell},
pages = {332},
type = {Tagungsband},
month = {Dezember},
year = {2005},
isbn = {978-3-540-30291-9},
keywords = {Autonome Mobile Systeme},
language = {Deutsch},
cr-category = {I.2.9 Robotics,
I.2.10 Vision and Scene Understanding,
I.2.11 Distributed Artificial Intelligence,
I.4.7 Image Processing and Computer Vision Feature Measurement,
I.4.8 Image Processing and Computer Vision Scene Analysis,
I.5.4 Pattern Recognition Applications,
J.7 Computers in Other Systems},
contact = {Michael.Schanz@informatik.uni-stuttgart.de},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte Systeme, Bildverstehen},
abstract = {Die Fachgespr{\"a}che Autonome Mobile Systeme (AMS) repr{\"a}sentieren ein Forum, in
dem die neuesten Entwicklungen auf dem Gebiet wissenschaftlicher und
industrieller autonomer Robotersysteme, sowie verwandter Gebiete vorgestellt
werden.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=PROC-2005-01&engl=0}
}
@proceedings {PROC-2001-01,
editor = {Paul Levi and Michael Schanz},
title = {{Autonome Mobile Systeme 2001}},
address = {Berlin, Heidelberg, New York},
publisher = {Springer-Verlag},
institution = {Universit{\"a}t Stuttgart, Fakult{\"a}t Informatik, Germany},
series = {Informatik Aktuell},
pages = {193},
type = {Tagungsband},
month = {September},
year = {2001},
isbn = {3-540-42552-7},
keywords = {Autonome Mobile Systeme},
language = {Deutsch},
cr-category = {I.2.9 Robotics,
I.2.10 Vision and Scene Understanding,
I.2.11 Distributed Artificial Intelligence,
I.4.8 Image Processing and Computer Vision Scene Analysis,
I.4.9 Image Processing and Computer Vision Applications,
I.5.4 Pattern Recognition Applications},
contact = {Michael.Schanz@informatik.uni-stuttgart.de},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte H{\"o}chstleistungsrechner, Bildverstehen},
abstract = {Die Fachgespr{\"a}che Autonome Mobile Systeme (AMS) repr{\"a}sentieren ein Forum, in
dem die neuesten Entwicklungen auf dem Gebiet wissenschaftlicher und
industrieller autonomer Robotersysteme, sowie verwandter Gebiete vorgestellt
werden.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=PROC-2001-01&engl=0}
}
@proceedings {PROC-1998-01,
editor = {Paul Levi and Michael Schanz},
title = {{Mustererkennung 1998}},
address = {Berlin, Heidelberg, New York},
publisher = {Springer-Verlag},
institution = {Universit{\"a}t Stuttgart, Fakult{\"a}t Informatik, Germany},
series = {Informatik Aktuell},
pages = {590},
type = {Tagungsband},
month = {September},
year = {1998},
isbn = {3-540-64935-2},
keywords = {Mustererkennung},
language = {Deutsch},
cr-category = {A.0 General Literature, General,
I.2 Artificial Intelligence,
I.2.7 Natural Language Processing,
I.2.10 Vision and Scene Understanding,
I.2.11 Distributed Artificial Intelligence,
I.3 Computer Graphics,
I.4 Image Processing and Computer Vision,
J.3 Life and Medical Sciences},
contact = {Michael.Schanz@informatik.uni-stuttgart.de},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte H{\"o}chstleistungsrechner, Bildverstehen},
abstract = {Die Deutsche Arbeitsgemeinschaft f{\"u}r Mustererkennung (DAGM) veranstaltet seit
1978 j{\"a}hrlich ein wissenschaftliches Symposium mit dem Ziel,
Aufgabenstellungen, Denkweisen und Forschungsergebnisse aus den Gebieten der
Mustererkennung vorzustellen, den Erfahrungs- und Ideenaustausch zwischen
Fachleuten anzuregen und den Nachwuchs zu f{\"o}rdern.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=PROC-1998-01&engl=0}
}
@book {BOOK-2002-03,
author = {P. Levi and U. Rembold},
title = {{Einf{\"u}hrung in die Informatik f{\"u}r Ingenieure und Naturwissenschaftler}},
address = {M{\"u}nchen, Germany},
publisher = {Hanser Fachbuch},
series = {4. Auflage},
pages = {610},
type = {Buch},
month = {November},
year = {2002},
isbn = {3446181571},
language = {Deutsch},
cr-category = {G.1.10 Numerical Analysis Applications},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte H{\"o}chstleistungsrechner, Bildverstehen},
abstract = {n. n.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=BOOK-2002-03&engl=0}
}
@book {BOOK-1999-02,
author = {U. Rembold and P. Levi},
title = {{Einf{\"u}hrung in die Informatik f{\"u}r Ingenieure und Naturwissenschaftler}},
address = {M{\"u}nchen, Germany},
publisher = {Hanser Verlag},
series = {3. Auflage},
pages = {1},
type = {Buch},
month = {Januar},
year = {1999},
language = {Deutsch},
cr-category = {G.1.10 Numerical Analysis Applications},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte H{\"o}chstleistungsrechner, Bildverstehen},
abstract = {n. n.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=BOOK-1999-02&engl=0}
}
@book {BOOK-1994-02,
author = {P. Levi and U. Rembold},
title = {{Realzeitsysteme zur Proze{\ss}automatisierung}},
address = {M{\"u}nchen, Germany},
publisher = {Hanser-Verlag},
pages = {1},
type = {Buch},
month = {Januar},
year = {1994},
language = {Deutsch},
cr-category = {G.1.10 Numerical Analysis Applications},
department = {Universit{\"a}t Stuttgart, Institut f{\"u}r Parallele und Verteilte H{\"o}chstleistungsrechner, Bildverstehen},
abstract = {n. a.},
url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=BOOK-1994-02&engl=0}
}