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Titelbild Forschungsgebiet Servicerobotics
Servicerobotics

Servicerobotics

Serviceroboter erbringen für oder zusammen mit dem Menschen Dienstleistungen in industriellen und gewerblichen Anwendungsfeldern ebenso wie im privaten Umfeld. Serviceroboter erhöhen die Flexibilität und Wandlungsfähigkeit und es entstehen neue Klassen sozio-technischer Systeme. Immer stärker in den Fokus rückt die Verknüpfung von Servicerobotertechnologie mit Anwendungsfeldern wie Intralogistik, Landwirtschaft oder industrielle Produktion.

Die Forschungsgruppe Servicerobotik fokussiert sich auf Methoden, Algorithmen und modellgetriebene Softwarewerkzeuge zur flexiblen und arbeitsteiligen Realisierung alltagstauglicher Servicerobotik-Systeme. Im Vordergrund steht stets die nutzbringende Einbettung von Servicerobotern in größere Anwendungskontexte (bspw. Industrie 4.0, Intralogistik, Landwirtschaft). Die Ansätze werden in Realwelt-Szenarien evaluiert. 

Institut für Informatik


Aktuelle Projekte

LogiRob - Multi-Robot-Transportsystem im mit Menschen geteilten Arbeitsraum

Projektleiter: Prof. Dr. Christian Schlegel
Projektlaufzeit: 01.06.2016 - 31.05.2019

Projektbeschreibung:
Fast re-organization of a production facility and ist production flows enables the auotmated and efficient production of individualized products up to a lot size of one single
instance in large-scale. Flexible service robots replacing hard wired transportation belts are one of the enablers of the Industry 4.0 idea. LogiRob develops a distributed approach for autonomous robots forming a fleet capable of performing transportation tasks within industrial production systems. The robotics fleet is working in a human robot shared environment, collaborating with human workers in an intuitive and predictable way. The system is able to adapt to changes in the production flow by changing the software configuration only. The quality-of-service (QoS) the robotics fleet provides will be made measurable and visible to the operators.


RobMoSys - Composable Models and Software for Robotics Systems

Projektleiter: Prof. Dr. Christian Schlegel
Projektlaufzeit:  01.01.2017 - 31.12.2020

Projektbeschreibung: 
Model-driven engineering techniques are well suited to manage system-of-system integration, as has been proven in many engineering domains. Robotics can benefit from these advantages. RobMoSys proposes an integrative approach with respect to existing technologies for further use and improvement. It aims at establishing a composition-oriented approach that manages, maintains and assures system-level properties on model-level, while preserving modularity and independence of existing robotics frameworks and code. RobMosys will turn community involvement into active support for an open and sustainable European robotics software ecosystem of professional quality and scope. Two Open Calls for broad involvement will provide important concretizations for many of the common robot functionalities.


ZAFH Intralogistik - Kollaborative Systeme zur Flexibilisierung der Intralogistik

Projektleiter: Prof. Dr. Christian Schlegel
Projektlaufzeit: 01.03.2017 - 28.02.2020

Projektbeschreibung: 
Das neue Forschungsprojekt und Verbundvorhaben „Intralogistik“ wird als sogenanntes ZAFH mit 1,45 Millionen Euro durch das Land Baden-Württemberg und Strukturfondsmittel der Europäischen Union (EFRE) gefördert. ZAFH, Zentren für angewandte Forschung an Hochschulen für angewandte Wissenschaften, sind interdisziplinäre und hochschul- sowie fakultätsübergreifende Forschungsverbünde. Sie werden vom baden-württembergischen Wissenschaftsministerium über einen Zeitraum von drei Jahren finanziert. Eine einmalige Verlängerung von zwei Jahren ist möglich. Dafür werden weitere Mittel in Höhe von bis zu 1 Million Euro bereitgestellt.


SeRoNet - Eine Plattform zur arbeitsteiligen Entwicklung von Serviceroboter-Lösungen

Projektleiter: Prof. Dr. Christian Schlegel
Projektlaufzeit: 01.03.2017 - 28.02.2021

Projektbeschreibung: 
Die Hochschule Ulm (HSU) ist Partner im Gesamtvorhaben "SeRoNet - Plattform zur arbeitsteiligen Entwicklung von Serviceroboter-Lösungen". Der Forschungsschwerpunkt der HSU liegt auf Methoden zur modellgetriebenen Softwareentwicklung. Eine besondere Rolle spielen Industrie-4.0 Technologien wie bspw. OPC-UA.

Serviceroboter (SR) sind heute in der Regel hochangepasste Systeme mit exakter Abstimmung auf spezifische Umgebungen, zu handhabende Objekte, auszuführende Prozesse und erforderliche Nutzerinteraktionen. Obwohl die Einsatzpotenziale der SR seit Jahren günstig bewertet werden, verbleiben Marktentwicklung und Etablierung einer Ausrüsterindustrie unter den Erwartungen. In zahlreichen Anwendungsfällen kann bestehendes Automatisierungspotenzial nicht ausgeschöpft werden, da nur einstellige Absätze pro spezifischer Lösung erzielt werden. SR-Anbieter sind daher auf schnelle, einfache und kostengünstige Anpassungen durch effizienten Austausch einzelner Subsysteme angewiesen, um wirtschaftliche Lösungen auch für kleine Stückzahlen anbieten zu können. Insbesondere wurde der enorme Kostenanteil durch die spezifische Software-Entwicklung vielfach belegt, der durch eine klein- und mittelständische Ausrüsterstruktur vielmals weder durch die verfügbaren Ressourcen noch durch das notwendige Expertenwissen leistbar ist.

Das Ziel des Verbundprojektes SeRoNet ist es, eine auf Wachstum angelegte Plattform zu entwickeln, die dynamische Wertschöpfungsnetze für die effiziente Entwicklung von kundenspezifischen Lösungen über die wesentlichen Entstehungsphasen eines Service Roboter-Systems (SR) unterstützt. Die Plattform soll Ausrüster und Betreiber/Anwender einer SR-Lösung zueinander bringen und den SR-Entwicklungsprozess ab einem System bzgl. Wirtschaftlichkeit und Realisierungsqualität „first time right“ sicherstellen. Die klassische lineare Wertschöpfungskette wird durch ein Wertschöpfungsnetz ersetzt, in dem Hersteller, Systemintegratoren und Endanwender als Akteure in der Entwicklung und dem Betrieb von Service- und Assistenzroboter-Systemen dynamisch in lösungsspezifischen Teilnetzen variierender Zusammensetzung kooperieren. Die SeRoNet Plattform trägt diese Netze, indem sie Zugang zu Ontologie-basiertem Domänenwissen und einen Verzeichnisdienst für standardisierte (OPC UA) Services bereit stellt und wissensbasiert individuelle Akteure zu arbeitsteiligen Teilnetzen vermittelt. In der finalen Ausbaustufe ist der eigenständige Betrieb der Plattform geplant.


Cognitive Computing in Socio-Technical Systems

Projektleiter: Prof. Dr. Christian Schlegel
Projektlaufzeit: 01.01.2017 - frühstens 2020

Projektbeschreibung: 
Das Promotionskolleg dient der Entwicklung innovativer Konzepte für Kognitive Maschinen und die aufkommende Ära des Cognitive Computing. Diese bilden die methodischtechnologische Grundlage für die Realisierung komplexer Infrastrukturen, in denen Menschen und künstliche Systeme miteinander interagieren und kooperieren, und ermöglichen somit die Schaffung neuartiger sozio-technischer Systeme. Sie erlauben zudem die Realisierung intelligenter Service-Robotik- und Companion-Systeme, ermöglichen ressourceneffektive Logistik- und Produktionssteuerungen und sind für die Umsetzung von Industrie 4.0 Prozessen von entscheidender Bedeutung.


 

Abgeschlossene Projekte

FIONA – Framework for Indoor and Outdoor

Projektleiter: Prof. Dr. Christian Schlegel
Projektlaufzeit: 01.07.2013 - 29.02.2016

Projektbeschreibung: 
Accurate navigation and localisation information is already seen to be providing great added value for emerging mobile services. The commercial importance of location-based services (LBS) can already be seen, and is forecast to grow substantially over the coming years. The wide coverage and low cost of GPS systems have been critical to this. However, where GPS systems are unavailable (e.g. indoors or urban canyons) or provide insufficient accuracy, the potential for LBS remains relatively untapped. FIONA aims to address some of these issues by developing a modular, accessible framework to support the core functions of localisation and navigation in indoor and outdoor areas as well as facilitate the development of applications and services to be built upon it.


iserveU – Intelligente modulare Serviceroboter-Funktionalitäten im menschlichen Umfeld am Beispiel von Krankenhäusern, BMBF

Projektleiter: Prof. Dr. Christian Schlegel
Projektlaufzeit: 01.03.2013 - 29.02.2016

Projektbeschreibung: 
The University of Applied Sciences Ulm (HSU) is project partner within the BMBF collaborative research project iserveU. HSU is extensively involved in the design and development of the modular service-oriented software architecture as well as the according model-driven software development toolchain.


ECHORD++ MARS: Mobile Agricultural Robot Swarms


Projektleiter: Prof. Dr. Christian Schlegel
Projektlaufzeit: 01.05.2015 - 31.10.2016

Projektbeschreibung: 
The MARS experiment aims at the development of small and stream-lined mobile agricultural robot units to fuel a paradigm shift in farming practices. The concept addresses looming challenges of today’s large and constantly growing tractor-implement combinations with mainly three aspects. First: to optimize plant specific precision farming, leading to reduced input of seeds, fertilizer and pesticides and to increased yields. Second: to reduce the massive soil compaction as well as energy consumption of heavy machinery. Third: to meet the increasing demand for flexible to use, highly automated and simple to operate systems, anticipating challenges arising from climate change as well as shortage of skilled labour. 

The robots will cooperate as a group, similar to swarm principles. MARS will focus on the seeding process for corn performed by two robots as an example. The key strategy of this approach is on the one hand the radical reduction of weight and size compared to conventional farming equipment, which also allows for a fundamental simplification of safety tasks. On the other hand it is the essential simplification compared to known agricultural robot prototypes, especially by minimized use of on-board sensors. This will be realized by transferring control algorithms, process optimizing and supervising intelligence to cloud services and utilizing precise GPS-Real Time Kinematic technology. All these measures are intended to lead to a significant cost reduction of the overall system.


Robotino XT Research Cooperation

Projektleiter: Prof. Dr. Christian Schlegel
Projektlaufzeit: 

Projektbeschreibung: 
We are partner in the Robotino XT Research Cooperation.

Our research focus is on Model-Driven Software Development for Service Robotic Applications. We use the Robotino XT platform as show case for service robotic applications which are build by using SmartMDSD and SmartSoft.

Festo & Festo Didactic started an international research cooperation with a limited number of partners at universities, research institutes and companies regarding Robotino XT.

Robotino XT combines mobile and service robotics with compliant manipulation and adaptive gripping. The robotino platform is extended with a compact version of the Bionic Handling Assistant.


SmartSoft for Robotino

Projektleiter: Prof. Dr. Christian Schlegel
Projektlaufzeit: 01.07.2013 - 29.02.2016

Projektbeschreibung: 
SmartSoft is a component approach for robotics software based on communication patterns as core of a robotics component model.
This page describes how one can use SmartSoft together with Robotino.

For further information:SmartSoft for Robotino


Veröffentlichungen

  • Lotz, A., Hamann, A., Lange, R., Heinzemann, C., Staschulat, J., Kesel, V., Stampfer, D., Lutz, M., and Schlegel, C. Combining Robotics Component-Based Model-Driven Development with a Model-Based Performance Analysis. In IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2016, San Francisco, CA, USA.
  • Timo Blender, Thiemo Buchner, Benjamin Fernandez, Benno Pichlmaier and Christian Schlegel," Managing a Mobile Agricultural Robot Swarm for a Seeding Task," In Proc. Industrial Electronics Society, IECON 2016 - 42nd Annual Conference of the IEEE, Florence, Italy, October 24-27, 2016.
  • Matthias Lutz, Christian Verbeek and Christian Schlegel. "Towards a Robot Fleet for Intra-Logistic Tasks: Combining Free Robot Navigation with Multi-Robot Coordination at Bottlenecks". In Proc. of the 21th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Berlin, September 6-9, 2016. Electronic ISBN: 978-1-5090-1314-2, DOI: 10.1109/ETFA.2016.7733602
  • Dennis Stampfer, Alex Lotz, Matthias Lutz and Christian Schlegel. "The SmartMDSD Toolchain: An Integrated MDSD Workflow and Integrated Development Environment (IDE) for Robotics Software". Special Issue on Domain-Specific Languages and Models in Robotics, Journal of Software Engineering for Robotics (JOSER), 7(1), 3-19 ISSN: 2035-3928, July 2016.
  • Alex Lotz, Arne Hamann, Ingo Lütkebohle, Dennis Stampfer, Matthias Lutz, Christian Schlegel. Modeling Non-Functional Application Domain Constraints for Component-Based Robotics Software Systems. In 6th International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob-15), Hamburg, October, 2015.
  • Timo Blender and Christian Schlegel. Motion Control for Omni-Drive Servicerobots Under Kinematic Dynamic and Shape Constraints. In Proc. of the 20th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Luxembourg, September 8-11, 2015.
  • Christian Schlegel, Alex Lotz, Matthias Lutz, Dennis Stampfer, Juan F. Inglés-Romero, and Cristina Vicente-Chicote. "Model-driven software systems engineering in robotics: Covering the complete life-cycle of a robot", in Journal IT - Information Technology: Methods and Applications of Informatics and Information Technology, Volume 57, Issue 2, Pages 85–98, ISSN (Online) 2196-7032, ISSN (Print) 1611-2776, DOI: 10.1515/itit-2014-1069, DE GRUYTER, March 2015.
  • Matthias Lutz, Dennis Stampfer, Alex Lotz, Christian Schlegel. Service Robot Control Architectures for Flexible and Robust Real-World Task Execution: Best Practices and Patterns. Workshop Roboter-Kontrollarchitekturen, Informatik 2014, Springer LNI der GI, ISBN 978-3-88579-626-8, Stuttgart, September 2014.
  • Siegfried Hochdorfer, Heiko Neumann and Christian Schlegel. Landmark Rating and Selection for SLAM in Dynamic Environments. In Proc. International Conference on Intelligent Autonomous Systems (IAS13), July 15-18, 2014, Padova, Italy.
  • Alex Lotz, Juan F. Ingles-Romero, Dennis Stampfer, Matthias Lutz, Cristina Vicente-Chicote and Christian Schlegel. "Towards a Stepwise Variability Management Process for Complex Systems – A Robotics Perspective", in International Journal of Information System Modeling and Design (IJISMD 2014), DOI: 10.4018/ijismd.2014070103, 5(3):55-74, 2014.
  • Dennis Stampfer, Christian Schlegel. "Dynamic State Charts: composition and coordination of complex robot behavior and reuse of action plots", in Journal of Intelligent Service Robotics, 7(2), pp. 53–65, Springer Berlin Heidelberg, ISSN 1861-2776, 2014.
  • Christian Schlegel, Alex Lotz, Matthias Lutz, Dennis Stampfer, Juan F. Inglés-Romero, Cristina Vicente-Chicote. Model-Driven Software Systems Engineering in Robotics: Covering the Complete Life-Cycle of a Robot. Workshop Roboter-Kontrollarchitekturen, Informatik 2013, Springer LNI der GI, Koblenz, September 2013
  • Alex Lotz, Juan F. Inglés-Romero, Cristina Vicente-Chicote, Christian Schlegel. Managing run-time variability in robotics software by modeling functional and non-functional behavior. In Selmin Nurcan, Henderik A. Proper, Pnina Soffer, John Krogstie, Rainer Schmidt, Terry Halpin, and Ilia Bider, editors. BPMDS and EMMSAD, volume 147 of Lecture Notes in BIP, pages 441-455. Springer, 2013. ISBN 978-3-642-38483-7
  • Matthias Lutz, Dennis Stampfer, Christian Schlegel. Probabilistic object recognition and pose estimation by fusing multiple algorithms. In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), Karlsruhe, Germany, May, 2013.
  • Dennis Stampfer, Christian Schlegel. Dynamic state charts: Composition and coordination of complex robot behavior and reuse of action plots. In Proc. IEEE Int. Conf. on Technologies for Practical Robot Applications (TePRA). Woburn, MA, USA, April 2013. ISBN 978-1-4673-6224-5.
  • Juan F. Inglés-Romero, Alex Lotz, Cristina Vicente-Chicote, Christian Schlegel. Dealing with Run-Time Variability in Service-Robotics: Towards a DSL for Non-Functional Properties. 3rd International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob-12), Proceedings of SIMPAR 2012 Workshop, Emanuele Menegatti (Ed.), Tsukuba, Japan, November 2012, ISBN 978-88-95872-01-0
  • Dennis Stampfer, Matthias Lutz, Christian Schlegel. Informed Active Perception with an Eye-in-hand Camera for Multi Modal Object Recognition. Proc. IEEE IROS 2012 Workshop on Active Semantic Perception (ASP'12), ISBN 978-972-8822-26-2, Vilamoura, Algarve (Portugal), 2012.
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  • Alex Lotz, Andreas Steck, Christian Schlegel. Analyzing Solution Quality of Anytime Bag of Words Object Classification for a Service Robot. Proc. IEEE Int. Conf. on Technologies for Practical Robot Applications (TePRA), Pages 1-6, Woburn, Massachusetts, USA, ISBN 978-1-4673-0854-0, 2012.
  • Matthias Lutz, Dennis Stampfer, Siegfried Hochdorfer, Christian Schlegel. Probabilistic Fusion of Multiple Algorithms for Object Recognition at Information Level. Proc. IEEE Int. Conf. on Technologies for Practical Robot Applications (TePRA), Pages 139-144, Woburn, Massachusetts, USA, ISBN 978-1-4673-0854-0, 2012.
  • Dennis Stampfer, Matthias Lutz, Christian Schlegel. Information Driven Sensor Placement for Robust Active Object Recognition based on Multiple Views. Proc. IEEE Int. Conf. on Technologies for Practical Robot Applications (TePRA), Pages 133-138, Woburn, Massachusetts, USA, ISBN 978-1-4673-0854-0, 2012.
  • Christian Schlegel, Andreas Steck, Alex Lotz.Robotic Software Systems: From Code-Driven to Model-Driven Software Development. In Ashish Dutta, editor, Robotic Systems - Applications, Control and Programming. Pages 473-502. InTech, ISBN 978-953-307-941-7, 2012.
  • Christian Schlegel, Andreas Steck, Alex Lotz.Model-Driven Software Development in Robotics: Communication Patterns as Key for a Robotics Component Model. In Daisuke Chugo and Sho Yokota, editors, Introduction to Modern Robotics. Pages 119-150. iConcept Press, 978-0980733068 (Hard Cover) / 978-1463789428 (Paperback), 2012
  • Dennis Stampfer, Christian Schlegel. Modellierung und Reuse komplexer Verhalten als Bausteine mit Dynamic State Charts am Beispiel der Servicerobotik. In Konferenz Embedded Software Engineering (ESE), Pages 511-515, Sindelfingen, December 5.-9., ISBN 978-3-8343-2405-4, 2011.
  • Andreas Steck, Alex Lotz, Christian Schlegel. Model-driven engineering and run-time model-usage in service robotics. In Proc. of the Tenth ACM Int. Conference on Generative Programming and Component Engineering (GPCE), Portland, Oregon, USA, October, 2011.
  • Andreas Steck, Christian Schlegel. Managing execution variants in task coordination by exploiting design-time models at run-time. In Proc. IEEE/RSJ Int. Conf. on Robotics and Intelligent Systems (IROS), San Francisco, USA, September, 2011.
  • Alex Lotz, Andreas Steck, Christian Schlegel. Runtime Monitoring of Robotics Software Components: Increasing Robustness of Service Robotic Systems. In Proc. 15th Int. Conf. on Advanced Robotics, Tallinn, Estland, 2011.
  • Matthias Lutz, Siegfried Hochdorfer, Christian Schlegel. Global Localization using Multiple Hypothesis Tracking: A real-world Approach. Proc. IEEE Int. Conf. on Technologies for Practical Robot Applications (TePRA), Pages 127-132, Woburn, Massachusetts, USA, ISBN 978-1-61284-480-0, 2011
  • Andreas Steck, Christian Schlegel. Resource Awareness und Quality of Service in der Servicerobotik durch Modellgetriebene Softwareentwicklung. Embedded Software Engineering Kongress (ESE), Pages 607-610, December 7-9, Sindelfingen, ISBN 978-3-8343-2404-7, 2010
  • Christian Schlegel, Andreas Steck, Davide Brugali, Alois Knoll. Design Abstraction and Processes in Robotics: From Code-Driven to Model-Driven Engineering. In 2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), Pages 324-335, Darmstadt, Springer LNAI 6472, ISBN-10 3-642-17318-7, 2010
  • Andreas Steck, Christian Schlegel. SmartTCL: An Execution Language for Conditional Reactive Task Execution in a Three Layer Architecture for Service Robots. In Proc. of SIMPAR 2010 Workshops (International Workshop on Dynamic languages for RObotic and Sensors systems (DYROS)), 2nd Intl. Conf. on Simulation, Modeling, and Programming for Autonomous Robots, Pages 274-277, Darmstadt, ISBN 978-3-00-032863-3, 2010.
  • Matthias Lutz, Andreas Steck, Christian Schlegel. Person Following through Cluttered Environments using Probabilistic Methods and Fast Local Obstacle Avoidance. The 3rd Israeli Conference on Robotics (ICR 2010), November 10-11, 2010, Herzlia, Israel
  • Andreas Steck, Christian Schlegel. Towards Quality of Service and Resource Aware Robotic Systems through Model-Driven Software Development. In 1st International Workshop on Domain-Specific Languages and models for ROBotic Systems (DSLRob'10), 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), October 18-22, 2010, Taipei, Taiwan
  • Siegfried Hochdorfer, Christian Schlegel. 6 DoF SLAM using a ToF Camera: The challenge of a continuously growing number of landmarks. The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), October 18-22, 2010, Taipei, Taiwan
  • Siegfried Hochdorfer, Christian Schlegel. Landmark Rating and Selection: Considering the Observability Regions. The 11th Int. Conf. on Intelligent Autonomous Systems (IAS-11), Ottawa, Canada, IOS Press, ISBN 978-1-60750-612-6, 2010
  • Manuel Wopfner, Jonas Brich, Siegfried Hochdorfer, Christian Schlegel. Mobile Manipulation in Service Robotics: Scene and Object Recognition with Manipulator-Mounted Laser Ranger. ISR / ROBOTIK 7.-9. June 2010, Munich
  • Siegfried Hochdorfer, Matthias Lutz, Christian Schlegel. Bearing-Only SLAM in everyday environments using Omnidirectional Vision. IEEE ICRA 2010 Workshop on Omnidirectional Vision, Anchorage, AK, 2010.
  • Andreas Steck, Dennis Stampfer, Christian Schlegel. Software-Engineering in der Servicerobotik - Der Weg zum modellgetriebenen Softwareentwurf. Embedded Software-Engineering Kongress (ESE), Sindelfingen, 2009
  • Andreas Steck, Dennis Stampfer, Christian Schlegel. Modellgetriebene Softwareentwicklung für Robotiksysteme. Fachgespräch Autonome Mobile Systeme (AMS), Karlsruhe, 2009
  • Siegfried Hochdorfer, Matthias Lutz, Christian Schlegel. Lifelong Localization of a Mobile Service-robot in Everyday Indoor Environment Using Omnidirectional Vision. Proc. IEEE Int. Conf. on Technologies for Practical Robot Applications (TePRA), Woburn, Massachusetts, USA, 2009
  • Siegfried Hochdorfer, Christian Schlegel. Landmark rating and selection according to localization coverage: Addressing the challenge of lifelong operation of SLAM in service robots. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), St. Louis, Missouri, USA, 2009
  • Siegfried Hochdorfer, Christian Schlegel. Towards a robust Visual SLAM Approach: Addressing the Challenge of life-long Operation. Proc. 14th Int. Conf. on Advanced Robotics (ICAR), Munich, 2009
  • Christian Schlegel, Thomas Haßler, Alex Lotz, Andreas Steck. Robotic Software Systems: From Code-Driven to Model-Driven Designs. Proc. 14th Int. Conf. on Advanced Robotics (ICAR), Munich, 2009
  • Christian Schlegel, Siegfried Hochdorfer. Localization and Mapping for Service Robots: Bearing-Only SLAM with an Omnicam. In Advances in Service Robotics. IN-TECH, ISBN 978-953-7619-02-2, 2008.
  • Christian Schlegel. The Challenge of Real-Time Robotics Behavior: An Applied Research Perspective. In Proc. SDIR-III, IEEE ICRA 2008, Pasadena, 2008.
  • Siegfried Hochdorfer, Christian Schlegel. "Towards a robust Visual SLAM Approach: Addressing the Challenge of life-long Operation". ''In Proc. 14th Int. Conf. on Advanced Robotics (ICAR)'', Munich, 2009.
  • Siegfried Hochdorfer, Christian Schlegel. "Bearing-Only SLAM with an Omnicam: Robust Selection of SIFT Features for Service Robots". ''In 20. Fachgespräch Autonome Mobile Systeme (AMS)'', Seiten 8-14. Informatik aktuell, Springer, Kaiserslautern, Oktober 2007.
  • Christian Schlegel, Siegfried Hochdorfer. "Bearing-Only SLAM with an Omnicam - An Experimental Evaluation for Service Robotics Applications". ''In 19. Fachgespräch Autonome Mobile Systeme (AMS)'', Seiten 99-106. Springer, Stuttgart, 2005.

Other

  • Christian Schlegel. Servicerobotik 1: Dienstleistung setzt Ortskenntnis voraus. In Forschungswerk, Seiten 40-43, ISBN 978-3-9810998-2-9, Hochschule Ulm, 2009
  • Christian Schlegel. Servicerobotik 2: Das Problem Softwarekomplexität ist lösbar, In Forschungswerk, Seiten 44-47, ISBN 978-3-9810998-2-9, Hochschule Ulm, 2009






















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