Humanoid Robots Lab

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• Whole-Body Motion Planning for Manipulation of Articulated Objects (Video).
  F. Burget, A. Hornung, and M. Bennewitz.
  In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2013.
• Search-Based Footstep Planning.
  A. Hornung, D. Maier, and M. Bennewitz.
  In: Proceedings of the ICRA Workshop on Progress and Open Problems in Motion Planning and Navigation for Humanoids, 2013.
• Vision-based Humanoid Navigation Using Self-Supervised Obstacle Detection.
  D. Maier, C. Stachniss, and M. Bennewitz.
  In: International Journal of Humanoid Robotics, 2013, to appear.
• OctoMap: An Efficient Probabilistic 3D Mapping Framework Based on Octrees.
  A. Hornung, K.M. Wurm, M. Bennewitz, C. Stachniss, and W. Burgard.
  In: Autonomous Robots, DOI: 10.1007/s10514-012-9321-0, 2013.

• Real-Time Navigation in 3D Environments Based on Depth Camera Data (Video).
  D. Maier, A. Hornung, and M. Bennewitz.
  In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2012.
• Anytime Search-Based Footstep Planning with Suboptimality Bounds.
  A. Hornung, A. Dornbush, M. Likhachev, and M. Bennewitz.
  In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2012.
• Improved Proposals for Highly Accurate Localization Using Range and Vision Data (Video).
  S. Oßwald, A. Hornung, and M. Bennewitz.
  In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
• Appearance-Based Traversability Classification in Monocular Images Using Iterative Ground Plane Estimation (Video).
  D. Maier and M. Bennewitz.
  In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
• NAO Walking Down a Ramp Autonomously (Video).
  C. Lutz, F. Atmanspacher, A. Hornung, and M. Bennewitz.
  In: Video Abstract Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
• Navigation in Three-Dimensional Cluttered Environments.
  A. Hornung, M. Phillips, E. G. Jones, M. Bennewitz, M. Likhachev, and S. Chitta.
  In: Proceedings of the Workshop on Robots in Clutter: Manipulation, Perception and Navigation in Human Environments at Robotics: Science and Systems Conference (RSS), 2012.
• Accurate 6D Localization in Multi-Level Environments.
  S. Oßwald, A. Hornung, and M. Bennewitz.
  In: Extended Abstracts of Spatial Cognition (SC), 2012.
• Adaptive Level-of-Detail Planning for Efficient Humanoid Navigation.
  A. Hornung and M. Bennewitz.
  In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2012.
• Navigation in Three-Dimensional Cluttered Environments for Mobile Manipulation (Video).
  A. Hornung, M. Phillips, E. G. Jones, M. Bennewitz, M. Likhachev, and S. Chitta.
  In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2012.
• Whole-Body Imitation of Human Motions with a Nao Humanoid (Video).
  J. Koenemann and M. Bennewitz.
  In: Video Abstract Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2012, second place best video award.

• Integrated Perception and Navigation in Complex Indoor Environments.
  M. Bennewitz, D. Maier, A. Hornung, and C. Stachniss.
  In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2011. Invited presentation at the workshop on Humanoid service robot navigation in crowded and dynamic environments.
• From 3D Point Clouds to Climbing Stairs: A Comparison of Plane Segmentation Approaches for Humanoids (Video).
  S. Oßwald, J.-S. Gutmann, A. Hornung, and M. Bennewitz.
  In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2011.
• Autonomous Climbing of Spiral Staircases with Humanoids (Video).
  S. Oßwald, A. Görög, A. Hornung, and M. Bennewitz.
  In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.
• Towards Navigation in Three-Dimensional Cluttered Environments.
  A. Hornung, E. G. Jones, S. Chitta, M. Bennewitz, M. Phillips, and M. Likhachev.
  In: Proceedings of The PR2 Workshop: Results, Challenges and Lessons Learned in Advancing Robots with a Common Platform at the the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.
• Self-supervised Obstacle Detection for Humanoid Navigation Using Monocular Vision and Sparse Laser Data (Video).
  D. Maier, M. Bennewitz, and C. Stachniss.
  In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2011.
• Humanoid Navigation with Dynamic Footstep Plans (Video).
  J. Garimort, A. Hornung, and M. Bennewitz.
  In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2011.
• Gait Optimization of Humanoids Based on Human Data.
  S. Wehner and M. Bennewitz.
  In: AUTOMATIKA - Journal for Control, Measurement, Electronics, Computing and Communications, 2011.

• Efficient Vision-based Navigation - Learning about the Influence of Motion Blur.
  A. Hornung, M. Bennewitz, and H. Strasdat.
  In: Autonomous Robots, Vol. 29, Number 2, 2010.
• Humanoid Robot Localization in Complex Indoor Environments.
  A. Hornung, Kai M. Wurm, and M. Bennewitz.
  In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010.
• Modeling the World Around Us :: An Efficient 3D Representation for Personal Robotics Publication Type.
  W. Burgard, K. Wurm, M. Bennewitz, C. Stachniss, A. Hornung, R.B. Rusu, and K. Konolige.
  In: Proceedings of the Workshop on Defining and Solving Realistic Perception Problems in Personal Robotics at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010.
• Learning Reliable and Efficient Navigation with a Humanoid.
  S. Oßwald, A. Hornung, and M. Bennewitz.
  In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2010.
• Learning Efficient Vision-based Navigation.
  A. Hornung, M. Bennewitz, and W. Burgard.
  In: Extended Abstract Proceedings of the International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2010.
• Learning Adaptive Navigation Strategies for Resource-Constrained Systems.
  A. Hornung, M. Bennewitz, C. Stachniss, H. Strasdat, S.Oßwald, and W. Burgard
  In: Proceedings of the 3rd International Workshop on Evolutionary and Reinforcement Learning for Autonomous Robot Systems (ERLARS), 2010.
• Robust and Adaptive Navigation with Humanoid Robots.
  A. Hornung and M. Bennewitz.
  In: Extended Abstract Proceedings of the Workshop on Motion Planning: From Theory to Practice at Robotics: Science and Systems Conference (RSS), 2010.
• Octomap: A probabilistic, flexible, and compact 3D map representation for robotic systems.
  K.M. Wurm, A. Hornung, M. Bennewitz, C. Stachniss, and W. Burgard.
  In: Proceedings of the ICRA Workshop on Best Practice in 3D Perception and Modeling for Mobile Manipulation, 2010.

• Learning Efficient Policies for Vision-based Navigation.
  A. Hornung, H. Strasdat, M. Bennewitz, and W. Burgard.
  In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009.
• Optimizing the Gait of a Humanoid Robot Towards Human-like Walking.
  S. Wehner and M. Bennewitz.
  In: Proceedings of the European Conference on Mobile Robots (ECMR), 2009.
• The Humanoid Museum Tour Guide Robotinho.
  F. Faber, M. Bennewitz, C. Eppner, A. Görög, C. Gonsior, D. Joho, M. Schreiber, and S. Behnke.
  In: Proceedings of the 18th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2009.
• Utilizing Reflection Properties of Surfaces to Improve Mobile Robot Localization.
  M. Bennewitz, C. Stachniss, S. Behnke, and W. Burgard.
  In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2009.
• A Visual Odometry Framework Robust to Motion Blur.
  A. Pretto, E. Menegatti, M. Bennewitz, W. Burgard, and E. Pagello.
  In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2009.
• Imitation Learning with Generalized Task Descriptions.
  C. Eppner, J. Sturm, M. Bennewitz, C. Stachniss, and W. Burgard.
  In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2009.

• Recognizing Complex, Parameterized Gestures from Monocular Image Sequences.
  T. Axenbeck, M. Bennewitz, S. Behnke, and W. Burgard.
  In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2008.
• Robust Recognition of Complex Gestures for Natural Human-Robot Interaction.
  M. Bennewitz, T. Axenbeck, S. Behnke, and W. Burgard.
  In: Proceedings of the Workshop on Interactive Robot Learning at Robotics: Science and Systems Conference (RSS), 2008.
• Controlling the Gaze Direction of a Humanoid Robot with Redundant Joints.
  F. Faber, M. Bennewitz, and S. Behnke.
  In: Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2008.
• How to Learn Accurate Grid Maps with a Humanoid.
  C. Stachniss, M. Bennewitz, W. Burgard, and S. Behnke.
  In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2008.

• Feature-based Head Pose Estimation from Images.
  T. Vatahska, M. Bennewitz, and S. Behnke.
  In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2007.
• Fritz - A Humanoid Communication Robot.
  M. Bennewitz, F. Faber, D. Joho, and S. Behnke.
  In: Proceedings of the 16th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2007.
• Visual Bearing-Only Simultaneous Localization and Mapping with Improved Feature Matching.
  H Strasdat, C. Stachniss, M. Bennewitz, and W. Burgard.
  In: Proceedings of the Fachgespräche Autonome Mobile Systeme (AMS), 2007.
• Intuitive Multimodal Interaction with Communication Robot Fritz.
  M. Bennewitz, F. Faber, D. Joho, and S. Behnke.
  In: M. Hackel, editor, Humanoid Robots, Human-like Machines, pp. 613-624, I-Tech Education and Publishing, 2007.
• Pitch Estimation using Models of Voiced Speech on Three Levels.
  D. Joho, M. Bennewitz, and S. Behnke.
  In: Proceedings of the IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), 2007.
• Fundamental frequency estimation based on pitch-scaled harmonic filtering.
  S. Roa, M. Bennewitz, and S. Behnke.
  In: Proceedings of the IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), 2007.

• Metric Localization with Scale-Invariant Visual Features using a Single Perspective Camera.
  M. Bennewitz, C. Stachniss, W. Burgard, and S. Behnke.
  In: In H.I. Christensen, editor, European Robotics Symposium 2006 (EUROS), Volume 22 of STAR Springer tracts in advanced robotics.
• Imitative Reinforcement Learning for Soccer Playing Robots.
  T. Latzke, S. Behnke and M. Bennewitz.
  In: Proceedings of the 10th RoboCup International Symposium, 2006.
• Multi-Cue Localization for Soccer Playing Humanoid Robots.
  H. Strasdat, M. Bennewitz, and S. Behnke.
  In: Proceedings of the 10th RoboCup International Symposium, 2006.
• Designing a Team of Soccer-Playing Humanoid Robots.
  S. Behnke, M. Schreiber, M. Bennewitz, J. Stückler, H. Strasdat, and J. Schwenk.
  In: Proceedings of the 37th International Symposium on Robotics (ISR) and 4th German Conference on Robotics (ROBOTIK), 2006.
• NimbRo KidSize 2006 Team Description.
  S. Behnke, M. Schreiber, J. Stückler, H. Strasdat, and M. Bennewitz.
  In: RoboCup 2006 Humanoid League Team Descriptions (RoboCup 2006), 2006.
• NimbRo TeenSize 2006 Team Description.
  S. Behnke, M. Schreiber, J. Stückler, H. Strasdat, and M. Bennewitz.
  In: RoboCup 2006 Humanoid League Team Descriptions (RoboCup 2006), 2006.

• Towards a Humanoid Museum Guide Robot that Interacts with Multiple Persons.
  M. Bennewitz, F. Faber, D. Joho, M. Schreiber, and S. Behnke.
  In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2005.
• Integrating Vision and Speech for Conversations with Multiple Persons.
  M. Bennewitz, F. Faber, D. Joho, M. Schreiber, and S. Behnke.
  In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2005.
• Multimodal Conversation between a Humanoid Robot and Multiple Persons.
  M. Bennewitz, F. Faber, D. Joho, M. Schreiber, and S. Behnke.
  In: Proceedings of the Workshop on Modular Construction of Humanlike Intelligence at the Twentieth National Conferences on Artificial Intelligence (AAAI), 2005.
• Enabling a Humanoid Robot to Interact with Multiple Persons.
  M. Bennewitz, F. Faber, D. Joho, M. Schreiber, and S. Behnke.
  In: Proceedings of the 1st International Conference on Dextrous Autonomouns Robots and Humanoids (DARH), 2005.
• Learning Motion Patterns of People for Compliant Robot Motion.
  M. Bennewitz, W. Burgard, G. Cielniak, and S. Thrun.
  In: The International Journal of Robotics Research (IJRR), Vol. 24, Number 1, 2005.
• Serviceroboter für den Pflegebereich.
  M. Bennewitz and W. Burgard.
  In: A. M. Raem, H. Fenger, G. F. Kolb, T. Nikolaus, L. Pientka, R. Rychlik, and T. Vömel, editors, Handbuch Geriatrie. Lehrbuch für Praxis und Klinik, Deutsche Krankenhaus Verlagsgesellschaft mbH, 2005, in German.
• Learning to Play Soccer using Imitative Reinforcement.
  S. Behnke and M. Bennewitz.
  In: Proceedings of the Workshop on Social Aspects of Robot Programming through Demonstration at the IEEE International Conference on Robotics and Automation (ICRA), 2005.
• NimbRo 2005 Team Description.
  S. Behnke, M. Bennewitz, J. Müller, and M. Schreiber.
  In: RoboCup 2005 Humanoid League Team Descriptions (RoboCup 2005), 2005.

• Mobile Robot Navigation in Dynamic Environments (PhD Thesis).
  M. Bennewitz.
  University of Freiburg, 2004. Webpage with detailed information.
• Active Localization of People with a Mobile Robot Based on Learned Motion Behaviors.
  M. Bennewitz, J. Pastrana, and W. Burgard.
  In: Proceedings of the Third Workshop on Selforganization of Adaptive Behavior (SOAVE), 2004.

• Utilizing Learned Motion Patterns to Robustly Track Persons.
  M. Bennewitz, G. Cielniak, and W. Burgard.
  In: Proceedings of the Joint IEEE International Workshop on Visual Surveillance and Performance Evaluation of Tracking and Surveillance (VS-PETS), 2003.
• Robust Localization of Persons Based on Learned Motion Patterns.
  G. Cielniak, M. Bennewitz, and W. Burgard.
  In: Proceedings of the European Conference on Mobile Robots (ECMR), 2003.
• Where is ...? Learning and Utilizing Motion Patterns of Persons with Mobile Robots.
  G. Cielniak, M. Bennewitz, and W. Burgard.
  In: Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), 2003.
• Adapting Navigation Strategies Using Motions Patterns of People.
  M. Bennewitz, W. Burgard, and S. Thrun.
  In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2003.

• Finding and Optimizing Solvable Priority Schemes for Decoupled Path Planning Techniques for Teams of Mobile Robots.
  M. Bennewitz, W. Burgard, and S. Thrun.
  In: Robotics and Autonomous Systems, Vol. 41, 2002.
• Learning Motion Patterns of Persons for Mobile Service Robots.
  M. Bennewitz, W. Burgard, and S. Thrun.
  In: Proceedings of the VDI-Conference Robotik 2002 (Robotik), 2002.
• Using EM to Learn Motion Behaviors of Persons with Mobile Robots
  M. Bennewitz, W. Burgard, and S. Thrun.
  In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2002.
• Learning Motion Patterns of Persons for Mobile Service Robots.
  M. Bennewitz, W. Burgard, and S. Thrun.
  In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2002.

• Exploiting Constraints During Prioritized Path Planning for Teams of Mobile Robots.
  M. Bennewitz, W. Burgard, and S. Thrun.
  In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2001.
• Constraint-based Optimization of Priority Schemes for Decoupled Path Planning Techniques.
  M. Bennewitz, W. Burgard, and S. Thrun.
  In: Proceedings of the 24th German / 9th Austrian Conference on Artificial Intelligence (KI), 2001.
• Finding Solvable Priority Schemes for Decoupled Path Planning Techniques for Teams of Mobile Robots.
  M. Bennewitz and W. Burgard.
  In: Proceedings of the 9th International Symposium on Intelligent Robotic Systems (SIRS), 2001.
• Optimizing Schedules for Prioritized Path Planning of Multi-Robot Systems.
  M. Bennewitz, W. Burgard, and S. Thrun.
  In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2001.
• Integrated Plan-based Control of Autonomous Service Robots in Human Environments.
  M. Beetz, T. Arbuckle, T. Belker, M. Bennewitz, W. Burgard, A. B. Cremers, D. Fox, H. Grosskreutz, D. Hähnel, and D. Schulz.
  In: IEEE Intelligent Systems, Vol. 16, 2001.

• Probabilistic Algorithms and the Interactive Museum Tour-Guide Robot Minerva.
  S. Thrun, M. Beetz, M. Bennewitz, W. Burgard, A. B. Cremers, F. Dellaert, D. Fox, D. Hähnel, C. Rosenberg, N. Roy, J. Schulte, and D.
  Schulz.
  In: International Journal of Robotics Research (IJRR), Vol. 19, Number 11, 2000.
• A Probabilistic Method for Planning Collision-free Trajectories of Multiple Mobile Robots.
  M. Bennewitz and W. Burgard.
  In: Proceedings of the workshop Service Robotics - Applications and Safety Issues in an Emerging Market at the 14th European Conference on Artificial Intelligence (ECAI), 2000.
• An Experimental Comparison of Path Planning Techniques for Teams of Mobile Robots.
  M. Bennewitz and W. Burgard.
  In: Proceedings of the Fachgespräche Autonome Mobile Systeme (AMS), 2000.
• Coordinating the Motions of Multiple Mobile Robots Using a Probabilistic Model.
  M. Bennewitz and W. Burgard.
  In: Proceedings of the 8th International Symposium on Intelligent Robotic Systems (SIRS), 2000.
• Enabling Autonomous Robots to Perform Complex Tasks.
  M. Beetz, T. Arbuckle, T. Belker, M. Bennewitz, A. B. Cremers, D.Hähnel, and D. Schulz.
  In: Zeitschrift KI mit Schwerpunkt Autonome Mobile Systeme, 2000.

• MINERVA: A Tour-Guide Robot that Learns.
  S. Thrun, M. Bennewitz, W. Burgard, A. B. Cremers, F. Dellaert, D. Fox, D. Hähnel, C. Rosenberg, N. Roy, J. Schulte, and D. Schulz.
  In: Proceedings of the 23rd German Conference on Artificial Intelligence (KI), 1999.
• Probabilistic, Prediction-based Schedule Debugging for Autonomous Robot Office Couriers.
  M. Beetz, M. Bennewitz, and H. Grosskreutz.
  In: Proceedings of the 23rd German Conference on Artificial Intelligence (KI), 1999.
• MINERVA: A Second-Generation Museum Tour-Guide Robot.
  S. Thrun, M. Bennewitz, W. Burgard, F. Dellaert, D. Fox, D. Hähnel, C. Rosenberg, N. Roy, J. Schulte, and D. Schulz.
  In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 1999.
• Experiences with two Deployed Interactive Tour-guide Robots.
  S. Thrun, M. Bennewitz, W. Burgard, A.B. Cremers, F. Dellaert, D. Fox, D. Hähnel, C. Rosenberg, N. Roy, J. Schulte, and D. Schulz.
  In: Proceedings of the International Conference on Field and Service Robotics (FSR), 1999.

• Planning, Scheduling, and Plan Execution for Autonomous Robot Office Couriers.
  M. Beetz and M. Bennewitz.
  In: Proceedings of the workshop "Integrating Planning, Scheduling and Execution in Dynamic and Uncertain Environments" at the Fourth International Conference on AI in Planning Systems (AIPS), 1998.
• Generating, Executing and Revising Schedules for Autonomous Robot Office Couriers.
  M. Bennewitz and M. Beetz.
  In: Proceedings of the Twelfth Workshop on Planning and Configuring (PuK), 1998.