@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 = {University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Germany},
pages = {1--10},
type = {Conference Paper},
month = {June},
year = {2010},
keywords = {RoboCup; RFC; Stuttgart},
language = {English},
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 = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
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=1}
}
@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 = {University of Stuttgart : Collaborative Research Center SFB 627 (Nexus: World Models for Mobile Context-Based Systems), Germany},
pages = {329--339},
type = {Conference Paper},
month = {March},
year = {2010},
issn = {2070-3724},
keywords = {context-awareness; ethics; facilitation of system use through workflows},
language = {English},
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);
University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding;
University of Stuttgart, Institute of Architecture of Application Systems},
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=1}
}
@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 = {University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Germany},
series = {Computer Sciences and Convergence Information Technology},
volume = {5},
pages = {503--510},
type = {Conference Paper},
month = {November},
year = {2010},
isbn = {978-89-88678-29-9},
keywords = {communication; network; robotics; robot; udp; tcp; robocup},
language = {English},
cr-category = {I.2.9 Robotics},
department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
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=1}
}
@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 = {University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Germany},
series = {Informatik Aktuell},
pages = {1--8},
type = {Conference Paper},
month = {December},
year = {2009},
isbn = {978-972-96895-3-6},
keywords = {overlay, augmented, camera, debugging, analysis, RoboCup, robot},
language = {German},
cr-category = {I.2.9 Robotics,
I.2.10 Vision and Scene Understanding},
ee = {http://www.ams2009.de},
department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
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=1}
}
@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 = {University of Stuttgart : Collaborative Research Center SFB 627 (Nexus: World Models for Mobile Context-Based Systems), Germany},
series = {Communications in Computer and Information Science},
volume = {44},
pages = {364--371},
type = {Conference Paper},
month = {August},
year = {2009},
isbn = {978-3-642-03985-0},
keywords = {situation recognition, situation, bayes},
language = {English},
cr-category = {I.2.6 Artificial Intelligence Learning},
ee = {http://www.springerlink.com/content/p4403084x0553717/},
department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
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=1}
}
@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 = {University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Germany},
pages = {1--8},
type = {Conference Paper},
month = {June},
year = {2009},
keywords = {RoboCup; Robot; Soccer; RFC; Mid Size},
language = {English},
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 = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
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=1}
}
@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 = {University of Stuttgart : Collaborative Research Center SFB 627 (Nexus: World Models for Mobile Context-Based Systems), Germany},
pages = {197--200},
type = {Conference Paper},
month = {November},
year = {2009},
isbn = {978-1-60558-710-3},
language = {English},
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 = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
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=1}
}
@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 = {University of Stuttgart : Collaborative Research Center SFB 627 (Nexus: World Models for Mobile Context-Based Systems), Germany},
series = {WIT Transactions on the Built Environment},
volume = {110},
pages = {127--137},
type = {Conference Paper},
month = {September},
year = {2009},
isbn = {978-1-84564-202-0},
keywords = {sensor data; noise levels; situation; recognition; regression; neural network; perceptron},
language = {English},
cr-category = {I.2.6 Artificial Intelligence Learning,
G.3 Probability and Statistics},
department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
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=1}
}
@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 = {University of Stuttgart : Collaborative Research Center SFB 627 (Nexus: World Models for Mobile Context-Based Systems), Germany},
pages = {93--98},
type = {Conference Paper},
month = {July},
year = {2008},
isbn = {978-972-96895-3-6},
keywords = {sensor; fusion; normalized weighted arithmetic mean; inconsistency},
language = {German},
cr-category = {I.2.9 Robotics,
H.3 Information Storage and Retrieval},
department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
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=1}
}
@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 = {University of Stuttgart : Collaborative Research Center SFB 627 (Nexus: World Models for Mobile Context-Based Systems), Germany},
pages = {93--98},
type = {Conference Paper},
month = {April},
year = {2008},
isbn = {978-972-96895-3-6},
keywords = {Sensor; Fusion; Normalized Weighted Arithmetic Mean},
language = {German},
cr-category = {I.2.9 Robotics,
H.3 Information Storage and Retrieval},
contact = {kaeppeler@ipvs.uni-stuttgart.de},
department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
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=1}
}
@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 = {University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Germany},
pages = {1--8},
type = {Conference Paper},
month = {July},
year = {2008},
keywords = {Robot soccer},
language = {English},
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 = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
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=1}
}
@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 = {University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Germany},
pages = {272--277},
type = {Conference Paper},
month = {July},
year = {2008},
language = {English},
cr-category = {I.2.9 Robotics,
I.2.11 Distributed Artificial Intelligence,
G.1.10 Numerical Analysis Applications},
department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
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=1}
}
@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 = {University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Germany},
pages = {1--8},
type = {Conference Paper},
month = {July},
year = {2007},
keywords = {Robot soccer},
language = {English},
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 = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
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=1}
}
@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 = {University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Germany},
pages = {1--12},
type = {Conference Paper},
month = {July},
year = {2007},
keywords = {RoboCup, Simulation},
language = {English},
cr-category = {I.2.9 Robotics},
department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
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=1}
}
@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 = {University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Germany},
series = {Informatik Aktuell},
pages = {118--125},
type = {Conference Paper},
month = {October},
year = {2007},
isbn = {978-3-540-74763-5},
issn = {1431-472-X},
language = {English},
cr-category = {I.2.9 Robotics,
I.2.11 Distributed Artificial Intelligence},
department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
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=1}
}
@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 = {University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Germany},
pages = {1--8},
type = {Conference Paper},
month = {August},
year = {2006},
keywords = {situation recognition; cooperative robotics},
language = {English},
cr-category = {I.2.9 Robotics},
department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
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=1}
}
@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 = {University of Stuttgart : Collaborative Research Center SFB 627 (Nexus: World Models for Mobile Context-Based Systems), Germany},
pages = {651--659},
type = {Conference Paper},
month = {March},
year = {2006},
isbn = {1-58603-595-9},
keywords = {robotic; Robotik; cooperation; autonomous; autonom; Kooperation},
language = {German},
cr-category = {I.2.9 Robotics},
department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
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=1}
}
@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 = {Article in Journal},
month = {November},
year = {2009},
issn = {0874-9019},
keywords = {weighted arithmetic mean; clustering; data fusion; sensor},
language = {English},
cr-category = {I.2.9 Robotics},
ee = {http://www.robotica.pt},
department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
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=1}
}