Joachim Hertzberg's Publications

1;2c Joachim Hertzberg's Publications

	Institute of Computer Science — Knowledge-Based Systems Research Group
	Joachim Hertzberg, Publications

Joachim Hertzberg

Publications

List of scientific publications, which should be pretty complete for 2001 and later. Papers with German titles are—unsurprisingly—in German. For the time until 2000, a more complete list, ordered by categories and including abstracts, is available under this link.
For those who prefer a view from the outside: Google Scholar (current h-index 41), DBLP.

Note about links to full versions of older papers (before 2004): Some or many of the links involving URLs containing "ais" or "fhg" or "gmd" no longer work. I may fix this some time. If you wish to obtain the respective paper, please write me an email.

Forthcoming

...
Till Grenzdörffer, Martin Günther, Joachim Hertzberg. YCB-M: A Multi-Camera RGB-D Dataset for Object Recognition and 6DoF Pose Estimation. in: Proc. IEEE International Conference on Robotics and Automation (ICRA-2020) Paris IEEE Press 2020

2020

2019

Jannik Redenius, Sven Belau, Daniel Irmer, Rene Middelberg, Sebastian Spiekermann, Christian Bußmann, Till Sellschopp, Arno Ruckelshausen, Joachim Hertzberg. 'Virtual Harvesting' as a Key Element in the Development of a novel LiDAR based Combine Harvester Steering System. in: 77th Int. Conference LAND.TECHNIK, November 2019, Hannover, vdi Bericht 2361, pp. 173-178, 2019 (link)
Juan Carlos Saborio, Joachim Hertzberg. Planning Under Uncertainty Through Goal-Driven Action Selection. in: J. v.d. Herik, A.P. Rocha (eds.): Agents and Artificial Intelligence, pp. 182-201. Springer, 2019 (link)
Sebastian Pütz, Thomas Wiemann, Joachim Hertzberg. Toos for Visualizing, Annotating, and Storing Triangle Meshes in ROS and RViz. in: Proc. 2019 Eur. Conf. on Mobile Robotics (ECMR), Prag, Sep 04-06, 2019, (DOI: 10.1109/ECMR.2019.8870953)
Thomas Wiemann, Felix Igelbrink, Sebastian Pütz, Malte Kleine Piening, Steffen Schupp, Steffen Hinderink, Juri Vana, Joachim Hertzberg. Compressing ROS Sensor and Geometry Messages with Draco. in: Proc. IEEE Intl. Symp. Safety, Security, and Rescue Robotics (SSRR), Würzburg, Sep 02-04, 2019, DOI: 10.1109/SSRR.2019.8848965
Juan Carlos Saborio, Joachim Hertzberg. Efficient planning under uncertainty with incremental refinement. in: Proc. UAI2019, Jul 22-25, 2019, Tel Aviv/Israel (AAAI Open Access)
Thomas Wiemann, Felix Igelbrink, Sebastian Pütz, Joachim Hertzberg. A File Structure and Reference Data Set for High Resolution Hyperspectral 3D Point Clouds. in: Proc. IAV-2019, Jul 3-5, 2019, Gdansk/Poland
Henning Deeken, Thomas Wiemann, Joachim Hertzberg. A spatio-semantic approach to reasoning about agricultural processes. J. Appl Intell, 2019. https://doi.org/10.1007/s10489-019-01451-2
Andreas Linz, Joachim Hertzberg, Jan Roters, Arno Ruckelshausen. "Digitale Zwillinge" als Werkzeug für die Entwicklung von Feldrobotern in landwirtschaftlichen Prozessen. in: Meyer-Aurich et al.: Digitalisierung in kleinstrukturierten Regionen -- Proc. GIL-2019, pp. 125-130, Lecture Notes in Informatics (LNI), Gesellschaft für Informatik, 2019

2018

Sebastian Pütz, Jorge Santos Simon, Joachim Hertzberg. Move Base Flex -- A Highly Flexible Navigation Framework for Mobile Robots. Proc. IROS 2018, Madrid, October 1-5, 2018.
Martin Günther, Jose-Raul Ruiz-Sarmiento, Cipriano Galindo, Javier Gonzalez-Jimenez, Joachim Hertzberg. Context-aware 3D object anchoring for mobile robots. J. Robotics and Autonomous Systems 110:12-32, 2018. DOI 10.1016/j.robot.2018.08.016.
Felix Igelbrink, Thomas Wiemann, Sebastian Pütz, Joachim Hertzberg. Markerless Ad-hoc Calibration of a Hyperspectral Camera and a 3D Laser Scanner. Proc. IAS-15, 2018, Baden-Baden, 11.-15.6.2018. Springer, 2018
Joachim Hertzberg. Robotik im Ackerbau. 27. Hülsenberger Gespräche 2018: Landwirtschaft und Digitalisierung. S. 44-48, 2018. Schriftenreihe der H. Wilhelm Schaumann Stiftung.
Henning Deeken, Thomas Wiemann, Joachim Hertzberg. A Spatio-Semantic Model for Agricultural Environments and Machines. Proc. 31st Intl. Conf. Industrial, Engineering & Other Applications of Applied Intelligent Systems (IEA-AIE 2018), Montreal, Jun 25-28, pp. 589-600, 2018.
Henning Deeken, Thomas Wiemann, Joachim Hertzberg. Grounding Semantic Maps in Spatial Databases. J. Robotics and Autonomous Systems 105:146-165 (2018). DOI 10.1016/j.robot.2018.03.011
Joachim Hertzberg. Künstliche Intelligenz -- Was Maschinen (derzeit) können und was nicht. in: Segensroboter. Geistliche Handlungen und Künstliche Intelligenz. Theologisch-ethischer Studientag an der Evangelischen Akademie Frankfurt, 4, November 2017. epd-Dokumentation 12/2018, 20.3.2018
Jannik Redenius, Matthias Dingwerth, Joachim Hertzberg, Arno Ruckelshausen. Simulation von Laserscannern in Pflanzenbeständen für die Entwicklung umfeldbasierter Funktionen. Proc. 38. Jahrestagung GIL (GIL 2018), Kiel, Feb 26-27, 2018, S. 195-198
Thomas Wiemann, Isaak Mitschke, Alexander Mock, Joachim Hertzberg. Surface Reconstruction from Arbitrarily Large Point Clouds (Short Paper). Proc. 2nd IEEE Intl. Conf. Robotic Computing (IRC 2018), Laguna Hills, CA, Jan 31-Feb 02, pp. 278-281, 2018
Thomas Wiemann, Christian Heiden, Rasmus Diederichsen, Sebastian Pütz, Joachim Hertzberg. Erzeugung von hyperspektralen Punktwolken auf einem mobilen Roboter. Proc. 17. Oldenburger 3D-Tage, Jan 31-Feb 01, 2018
Juan Carlos Saborío, Joachim Hertzberg. Towards domain-independent biases for action selection in robotic task-planning under uncertainty. Proc. 10th International Conference on Agents and Artificial Intelligence - (Volume 2) (ICAART 2018) Funchal/Madeira (Portugal, Jan 16-18, 2018), pp. 85-93. DOI:10.5220/0006578500850093

2017

Jannik Redenius, Matthias Dingwerth, Arno Ruckelshausen, Joachim Hertzberg, Thilo Krause, Boris Kettelhoit. A multilevel simulation framework for highly automated harvest processes enabled by environmental sensor systems. Intl. Conf. Agricultural Engineering LAND.TECHNIK AgEng 2017, Hannover, Nov 10-11, 2017.
Martin Kanning, Sebastian Pütz, Joachim Hertzberg, Thomas Jarmer. 3D-Hyperspektralpunktwolken und semantische Karten für präzise Agraranwendungen (Abstract). Deutscher Kongress für Geographie 2017, Tübingen, 30.9.-5.10.2017
José Raúl Ruiz-Sarmiento, Martin Günther, Cipriano Galindo, Javier González-Jiménez, and Joachim Hertzberg. Online Context-based Object Recognition for Mobile Robots. 17th International Conference on Autonomous Robot Systems and Competitions (ICARSC 2017), Coimbra, April 26-30, 2017, [IEEE Xplore Link]
Martin Günther, Thomas Wiemann, Sven Albrecht, Joachim Hertzberg Model-Based Furniture Recognition for Building Semantic Object Maps. J. Artificial Intelligence 247:336-351, 2017 (appeared online in 2015). [DOI 10.1016/j.artint.2014.12.007] [Get Paper (PDF)]
Stefan Stiene, Stephan Scheuren, Martin Günther, Kai Lingemann, Andreas Lauer, Ansgar Bernardi, Joachim Hertzberg. Architektur einer offenen Software-Plattform für landwirtschaftliche Dienstleistungen. in: A. Ruckelshausen et al. (eds.): Informatik in der Land-, Forst- und Ernährungswirtschaft. Referate der 37. GIL-Jahrestagung (GIL 2017), Dresden, Mar 6-7, 2017, pp. 141-144.
Juan Carlos Saborío, Joachim Hertzberg. Practical assumptions for planning under uncertainty. Proc. ICAART 2017 -- 9th Intl. Conf. Agents and Artificial Intelligence, Porto (Portugal, Feb 24-26, 2017)
Thomas Wiemann, Sven Albrecht, Joachim Hertzberg. Konzeptentwicklung zur automationsgestützten 3D-Digitalisierung kulturhistorisch relevanter Bauten. 16. Oldenburger 3D-Tage, Feb 1-2, 2017.
Thomas Wiemann, Isaak Mitschke, Sven Albrecht, Joachim Hertzberg. Massiv parallelisierte Oberflächenrekonstruktion aus großvolumigen und hochaufgelösten 3D-Punktwolken. 16. Oldenburger3D-Tage, Feb 1-2, 2017.
Wolfram Strothmann, Arno Ruckelshausen, Joachim Hertzberg, Christian Scholz, Frederik Langsenkamp. Plant classification with in-field-labeling for crop/weed discrimination using spectral features and 3D surface features from a multi-wavelength laser line profile system. J. Computers and Electronics in Agriculture 134:79-93, 2017 [Open Access Link]

2016

Thomas Wiemann, Kai Lingemann, Joachim Hertzberg. Optimizing Triangle Mesh Reconstructions of Planar Environments. Proc. IAV 2016 -- 9th IFAC Symposium on Intelligent Autonomous Vehicles, Leipzig, June 29-July 1st, 2016.
Thorsten Gedicke, Martin Günther, Joachim Hertzberg. FLAP for CAOS: Forward-Looking Active Perception for Clutter-Aware Object Search. Proc. IAV 2016 -- 9th IFAC Symposium on Intelligent Autonomous Vehicles, Leipzig, June 29-July 1st, 2016.
Tristan Igelbrink, Thomas Wiemann, Joachim Hertzberg. Online Mesh Optimization for Large Scale KinectFusion Meshes. Proc. IAV 2016 -- 9th IFAC Symposium on Intelligent Autonomous Vehicles, Leipzig, June 29-July 1st, 2016.
Sebastian Pütz, Thomas Wiemann, Jochen Sprickerhof, Joachim Hertzberg. 3D Navigation Mesh Generation for Path Planning in Uneven Terrain. Proc. IAV 2016 -- 9th IFAC Symposium on Intelligent Autonomous Vehicles, Leipzig, June 29-July 1st, 2016.
Michael Beetz, Raja Chatila, Joachim Hertzberg, Federico Pecora. AI Reasoning Methods for Robotics. in: Bruno Siciliano, Oussama Khatib (eds.): Springer Handbook of Robotics, 2nd ed., Chapter 14, pp. 329-356. Springer, 2016 [Springer Link]
Alexander Mock, Thomas Wiemann, Dorit Borrmann, Tristan Igelbrink, Joachim Hertzberg. Real Time Texture Generation in Optimized Large-Scale Polygon Meshes with KinectFusion. 47th Symposium on Robotics -- ISR 2016, Munich, June 21-22, pp. 10-16, 2016.
Sebastian Stock, Kai Lingemann, Joachim Hertzberg. Towards a flexible hybrid planner for machine coordination in arable farming. in: A. Ruckelshausen et al. (eds.): Informatik in der Land-, Forst- und Ernährungswirtschaft. Referate der 36. GIL-Jahrestagung (GIL 2016), Osnabrück, Feb 22-23, pp. 205-208, 2016.
Nils Niemann, Kai Lingemann, Joachim Hertzberg. Methoden zur Bestimmung optimal ergänzender Scanposen in unvollständig erfassten 3D-Szenen. avn -- Allgemeine Vermessungs-Nachrichten, 123(1):11-20, 2016.
Thomas Wiemann, Alexander Mock, Tristan Igelbrink, Dorit Borrmann, Joachim Hertzberg. Online-Generierung großflächiger 3D-Meshes mit Texturen durch RGB-D Kameras. in: Luhmann&Müller (eds): Photogrammetrie, Laserscanning, Optische 3D-Messtechnik. Beiträge der Oldenburger 3D-Tage 2016. Wichmann Verlag 2016
Thomas Wiemann, Marcel Mrozinski, Dominik Feldschnieders, Kai Lingemann, Joachim Hertzberg. Data Handling in Large Scale Surface Reconstruction. In: E. Menegatti et al. (eds.): Intelligent Autonomous Systems 13. Springer, Advances in Intelligent Systems and Computing, vol. 302, pp. 499-511, 2016. [Springer Link]

2015

Sebastian Stock, Masoumeh Mansouri, Federico Pecora, Joachim Hertzberg. Online Task Merging with a Hierarchical Hybrid Task Planner for Mobile Service Robots. Proc. IEEE/RSJ Intl. Conf. Intelligen Robots and Systems (IROS 2015), Hamburg, Sep 28 - Oct 02, pp. 6459-6464, 2015
Sebastian Rockel, Stefan Konecny, Sebastian Stock, Joachim Hertzberg, Federico Pecora, Jianwei Zhang. Integrating Physics-Based Prediction with Semantic Plan Execution Monitoring. Proc. IEEE/RSJ Intl. Conf. Intelligen Robots and Systems (IROS 2015), Hamburg, Sep 28 - Oct 02, pp. 2883-2888, 2015
Sebastian Stock, Masoumeh Mansouri, Federico Pecora, Joachim Hertzberg. Hierarchical Hybrid Planning in a Mobile Service Robot. KI 2015: Advances in Artificial Intelligence. Dresden, Sep 21-25, pp. 309-315. Springer (LNCS vol. 9324), 2015. [Springer Link]
Ann-Katrin Becker, Jochen Sprickerhof, Martin Günther, Joachim Hertzberg. Abducing Hypotheses about Past Events from Observed Environment Changes. Proc. 38th German Conference onArtificial Intelligence KI 2015: Advances in Artificial Intelligence. Dresden, Sep 21-25, pp. 234-240. Springer (LNCS vol. 9324), 2015. [Springer Link]
Thomas Wiemann, Tristan Igelbrink, Joachim Hertzberg. Generating Topologically Consistent Triangle Meshes from Large Scale Kinect Fusion. Proc. 7th European Conference on Mobile Robotics (ECMR 2015), Lincoln, UK, Sept 2-4, 2015
Henning Deeken, Thomas Wiemann, Kai Lingemann, Joachim Hertzberg. SEMAP -- A Semantic Environment Mapping Framework. Proc. 7th European Conference on Mobile Robotics (ECMR 2015), Lincoln, UK, Sept 2-4, 2015
Iman Awaad, Gerhard Kraetzschmar, Joachim Hertzberg The Role of Functional Affordances in Socializing Robots. Int. J. of Social Robotics 7:421-438, 2015 [DOI 10.1007/s12369-015-0281-3]
Joachim Hertzberg. Technische Gestaltungsoptionen für autonom agierende Komponenten und Systeme. in: Das Recht vor den Herausforderungen der modernen Technik. Beiträge der 1. Würzburger Tagung zu Technikrecht im November 2013 (E. Hilgendorf, S. Hötitzsch, eds.). Baden-Baden (Nomos) 2015, p. 63-73
Nils Niemann, Kai Lingemann, Joachim Hertzberg. Planung von optimalen Scanposen zur Nach-Erfassung verschatteter Bereiche in 3D-Szenen. in: Tagungsband Oldenburger 3D-Tage, Oldenburg, VDE, Februar 2015.
Thomas Wiemann, Hendrik Annuth, Kai Lingemann, Joachim Hertzberg. An Extended Evaluation of Open Source Surface Reconstruction Software for Robotic Applications. J. Intelligent and Robotic Systems 77(1):149-170, 2015. [DOI 10.1007/s10846-014-0155-1]

2014

Thomas Wiemann, Joachim Hertzberg. Creating a Polygonal Model of Osnabrück Castle -- Semi-Automatic Mesh Generation from High-Resolution 3D Point Clouds. 2nd Intl. Conf. Robotics: Innovation for Cultural Heritage (RICH 2014), Venice, Oct 6-7, 2014 [Proceeding publication seems to have got stuck. Write me an email to get the paper.]
Joachim Hertzberg, Jianwei Zhang, Liwei Zhang, Sebastian Rockel, Bernd Neumann, Jos Lehmann, Krishna S. R. Dubba, Anthony G. Cohn, Alessandro Saffiotti, Federico Pecora, Masoumeh Mansouri, Stefan Konecny, Martin Günther, Sebastian Stock, Luis Seabra Lopes, Miguel Oliveira, Gi Hyun Li, Hamidreza Kasaei, Vahid Mokhtari, Lothar Hotz, Wilfried Bohlken. The RACE Project -- Robustness by Autonomous Competence Enhancement. in: KI 28(4):297-304, 2014. DOI 10.1007/s13218-014-0327-y.
Thomas Wiemann, Marcel Mrozinski, Dominik Feldschnieders, Kai Lingemann, Joachim Hertzberg. Data Handling in Large Scale Surface Reconstruction. Proc. 13th International Conference on Intelligent Autonomous Systems (IAS-13), July 15-19, 2014, Padova, Italy (Paper proceedings in press, Springer)
Andreas Linz, Joachim Hertzberg, Arno Ruckelshausen, Erik Wunder. Autonomous service robots for orchards and vineyards: 3D simulation environment of multi sensor-based navigation and applications. 12th International Conference on Precision Agriculture, Indianapolis, July 15-18, 2014
Iman Awaad, Gerhard K. Kraetzschmar and Joachim Hertzberg. Finding Ways to Get the Job Done: An Affordance-based Approach. 24th Intl. Conf. Automated Planning and Scheduling (ICAPS 2014), June 21-26, Portsmouth, USA (Robotics Track)
Henning Deeken, Thomas Wiemann, Sebastian Pütz, Kai Lingemann, Joachim Hertzberg. Integrating Semantic Information in Navigational Planning. ISR/Robotik 2014, June 2-4, 2014, Munich
Sebastian Stock, Martin Günther, Joachim Hertzberg. Generating and executing hierarchical mobile manipulation plans. ISR/Robotik 2014, June 2-4, 2014, Munich [Get Paper (PDF)]
Wolfram Strothmann, Arno Ruckelshausen, Joachim Hertzberg. Multi-wavelength laser line profile sensing for agricultural crop characterization. Proc. SPIE 9141, Optical Sensing and Detection III, 91411K (May 15, 2014). [doi:10.1117/12.2052009]
Joachim Hertzberg. Autonome Systeme in der Landwirtschaft (Erweiterte Zusammenfassung). KTBL-Tage 2014, Potsdam, April 1-2, 2014. [Complete KTBL-2014 proceedings (in German)]
Astrid Ullrich, Stefan Stiene, Joachim Hertzberg. ROS-Based Path Planning and Machine Control for an Autonomous Sugar Beet Harvester. 4th Int. Conf. Machine Control & Guidance, March 19-20, 2014.
Thomas Wiemann, Johannes Heitmann, Marcel Mrozinski, Tristan Igelbrink, Kai Lingemann, Joachim Hertzberg. Repräsentation Geometrischer und Semantischer Informationen in einem Geoinformationssystem für Mobile Roboter. In: Luhmann/Müller (eds.): Photogrammetrie, Laserscanning, Optische 3D-Messtechnik. Beiträge der Oldenburger 3D-Tage 2014, Wichmann Verlag, 2014

2013

Thomas Wiemann, Hendrik Annuth, Kai Lingemann, Joachim Hertzberg. An Evaluation of Open Source Surface Reconstruction Software for Robotic Applications. 16th Intl. Conf. Advanced Robotics (ICAR 2013), Nov 25-29, 2013, Montevideo, Uruguay. Shortlisted for best paper award
Stephan Scheuren, Stefan Stiene, Ronny Hartanto, Joachim Hertzberg, Max Reinecke. Spatio-temporally Constrained Planning for Cooperative Vehicles in a Harvesting Scenario. KI – Künstliche Intelligenz, 27(4), 2013, pp. 341-346 DOI: 10.1007/s13218-013-0267-y
Iman Awaad, Gerhard K. Kraetzschmar, Joschim Hertzberg. Socializing Robots: The Role of Functional Affordances. Intl. Workshop Developmental Social Robotics (DevSoR 2013) at IROS 2013, Nov 7, 2013, Tokio.
Kim Oliver Rinnewitz, Thomas Wiemann, Kai Lingemann, Joachim Hertzberg. Automatic Creation and Application of Texture Patterns to 3D Polygon Maps. 2013 IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2013), Nov 3-7, 2013, Tokio, pp. 3691-3696.
Martin Günther, Thomas Wiemann, Sven Albrecht, Joachim Hertzberg. Building Semantic Object Maps from Sparse and Noisy 3D Data. 2013 IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2013), Nov 3-7, 2013, Tokio, pp. 2228-2233.
Joachim Hertzberg. Kognitive Robotik. in: A. Stephan, S. Walter (eds.): Handbuch Kognitionswissenschaft, Chap. II.B.2, pp. 47-51 Stuttgart (Metzler), 2013
Christoph Mies, Joachim Hertzberg. Encoding HTN Heuristics in PDDL Planning Instances (Extended Abstract). in: Ingo J. Timm, Matthias Thimm (Eds.): KI 2013: Advances in Artificial Intelligence - 36th Annual German Conference on AI, pp. 292-295. Heidelberg (Springer), 2013. DOI: 10.1007/978-3-642-40942-4_27
Iman Awaad, Gerhard K. Kraetzschmar, Joachim Hertzberg. Affordance-Based Reasoning in Robot Task Planning. Planning and Robotics (PlanRob) Workshop at 23rd Intl. Conf. Automated Planning and Scheduling (ICAPS), Rome, June 10-14, 2013
Thomas Wiemann, Kai Lingemann, Joachim Hertzberg. Automatic Map Creation for Environment Modelling in Robotic Simulators Proc. 27th European Conference on Modelling and Simulation (ECMS 2013), May 27-30, 2013
S. Rockel, B. Neumann, J. Zhang, K.S.R. Dubba, A.G. Cohn, S. Konecny, M. Mansouri, F. Pecora, A. Saffiotti, M. Günther, S. Stock, J. Hertzberg, A.M. Tome, A. Pinho, L. Seabra Lopes, S. von Riegen, L. Hotz. An Ontology-based Multi-level Robot Architecture for Learning from Experiences. AAAI Spring Symposium 2013 on Designing Intelligent Robots: Reintegrating AI II
Sven Albrecht, Thomas Wiemann, Joachim Hertzberg, Hans Werner Guesgen, Stephen R. Marsland. From Object Recognition to Activity Interpretation and Back, Based on Point Cloud Data KI – Künstliche Intelligenz, Special Issue Symbol Grounding, 27(2):161-167, 2013. DOI: 10.1007/s13218-013-0244-5
Susanne Biundo-Stephan, Hans Werner Guesgen, Joachim Hertzberg, Stephen R. Marsland (eds.). Interpreting Observed Actions (Dagstuhl Seminar 12491). Dagstul Report Online Publication Server [DROPS page, DOI 10.4230/DagRep.2.12.1].
Stephan Scheuren, Joachim Hertzberg, Stefan Stiene, Ronny Hartanto. Infield Path Planning for Autonomous Unloading Vehicles. Proc. 33. Jahrestagung Gesellschaft für Informatik in der Land-, Forst- und Ernährungswirtschaft (GIL 2013), Potsdam, Feb 20-21, 2013.

2012

Stephan Scheuren, Stefan Stiene, Ronny Hartanto, Joachim Hertzberg. Approximating Reference Trajectories for Autonomous Vehicles using Motion Primitives. Proc. 22nd Conf. Autonomous Mobile Systems (AMS 2012), September 26-28 2012, Stuttgart, pp. 109-117
Martin Günther, Joachim Hertzberg, Masoumeh Mansouri, Federico Pecora, Alessandro Saffiotti. Hybrid Reasoning in Perception: A Case Study. 10th Intl. IFAC Symp. Robot Control (SYROCO 2012), Sep 5-7, 2012, Dubrovnik. [DOI: 10.3182/20120905-3-HR-2030.00180]
Jens Poppenborg, Sigrid Knust, and Joachim Hertzberg. Online scheduling of flexible job-shops with blocking and transportation. European J. of Industrial Engineering 6(4):497-518, 2012. [Publisher Link]
Thomas Wiemann, Kai Lingemann, Andreas Nüchter, and Joachim Hertzberg. A Toolkit for Automatic Generation of Polygonal Maps -- Las Vegas Reconstruction. In: Proc. 7th German Conf. on Robotics (ROBOTIK 2012), München, VDE Verlag, 2012, pp. 446-451
Joachim Hertzberg, Kai Lingemann, Andreas Nüchter. Mobile Roboter. Eine Einführung aus Sicht der Informatik.
Springer, 2012. [Web page] [Springer page]
Kim Oliver Rinnewitz, Sven Karl Schalk, Thomas Wiemann, Kai Lingemann, and Joachim Hertzberg Das Las Vegas Reconstruction Toolkit. In: Luhmann/Müller (eds.): Photogrammetrie, Laserscanning, Optische 3D-Messtechnik. Beiträge der Oldenburger 3D-Tage, 2012.

2011

Jochen Sprickerhof, Kai Lingemann, Andreas Nüchter, Joachim Hertzberg. A Heuristic Loop Closing Technique for Large-Scale 6D SLAM. Automatika 52(3):199-222, 2011, Special Issue Selected papers from the 4th European Conference on Mobile Robotics, [Get Paper][Get Videos]
Joachim Hertzberg. Unter Modulbuchhaltern und Sprintstudierenden – Wer studiert heute KI? Und warum? in. Künstl. Intell. 25(4):321-323, 2011, DOI 10.1007/s13218-011-0124-9 [Springer Link]
Markus Quirin, Joachim Hertzberg, Julius Kuhl, and Achim Stephan. Could Positive Affect Help Engineer Robot Control Systems? J. Cognitive Processing 12(4):375-378, 2011. DOI: 10.1007/s10339-011-0401-4 [online (Springer Verlag)]
Martin Günther, Thomas Wiemann, Sven Albrecht, and Joachim Hertzberg. Model-based object recognition from 3D laser data. In: KI 2011: Advances in Artificial Intelligence. 34th Annual German Conference on AI, October 2011, Berlin. Springer (LNAI 7006), pp. 99-110, 2011
Stephan Scheuren, Stefan Stiene, Ronny Hartanto, Joachim Hertzberg, and Max Reinicke. The Problem of Spatio-temporally Constrained Motion Planning for Cooperative Vehicles. In: Proc. 26. Workshop Planen, Scheduling und Konfigurieren, Entwerfen (PuK-2011), October 2011, Berlin.
Sven Albrecht, Thomas Wiemann, Martin Günther, Joachim Hertzberg. Matching CAD Object Models in Semantic Mapping Proc. ICRA 2011 Workshop Semantic Perception, Mapping and Exploration, Shanghai, China, May 2011
Florian Otte, Johannes Zimmermann, Jochen Sprickerhof, Kai Lingemann, Thomas Wiemann, and Joachim Hertzberg. Automatisiertes Auffinden und Auffüllen von Scanschatten in 3D-Laserscans. Proc. Oldenburger 3D-Tage 2011, Feb 2011.

2010

Joachim Hertzberg, Sven Albrecht, Martin Günther, Kai Lingemann, Jochen Sprickerhof, Thomas Wiemann. From Semantic Mapping to Anchored Knowledge Bases (Abstract). Proc. 10th Biannual Meeting German Soc. Cognitive Science (KogWis 2010), Symposium Adaptivity of Hybrid Cognitive Systems, Oct 3-6, Potsdam, Germany
Thomas Wiemann, Andreas Nüchter, Kai Lingemann, Stefan Stiene, Joachim Hertzberg. Automatic Construction of Polygonal Maps from Point Cloud Data. Proc. 8th IEEE Intl. Workshop on Safety, Security, and Rescue Robotics (SSRR-2010), Jul 26-30, 2010, Bremen, Germany
Jan Wülfing, Joachim Hertzberg, Kai Lingemann, Andreas Nüchter, Stefan Stiene, Thomas Wiemann. Towards Real Time Robot 6D Localization in a Polygonal Indoor Map Based on 3D ToF Camera Data. Proc. 7th IFAC Symposium on Intelligent Autonomous Vehicles (IAV 2010), Sep 6-8, 2010, Lecce, Italy. [Online Version (DOI 10.3182/20100906-3-IT-2019.00018) from IFAC-PapersOnLine site]
Joachim Hertzberg, Kai Lingemann, Christopher Lörken, Andreas Nüchter, Stefan Stiene, Thomas Wiemann. 3D-Roboterkartenbau in Osnabrück. KI – Künstliche Intelligenz, 24(3):245-248, Special Issue Simultaneous Localization and Mapping, 2010. DOI: 10.1007/s13218-010-0032-4. [Springer Link]
Erik Schulenburg, Norbert Elkmann, Markus Fritzsche, Joachim Hertzberg, Stefan Stiene. LISA: Auf dem Weg zur sicheren Assistenzrobotik. KI – Künstliche Intelligenz 24(1):69-73, 2010. DOI: 10.1007/s13218-010-0013-7. [Springer Link]

2009

Simone Frintrop, Andreas Nüchter, Kai Pervölz, Hartmut Surmann, Sara Mitri, and Joachim Hertzberg. Attentive Classification. Intl. J. Applied Artificial Intelligence in Engineering Systems 1(1):47-66, 2009 [Journal Issue]
Stefan May, David Droeschel, Dirk Holz, Stefan Fuchs, Ezio Malis, Andreas Nüchter, and Joachim Hertzberg. 3D Mapping with Time-of-Flight Cameras. J. Field Robotics 26(11-12):934-965, 2009. [Get Paper (JFR site)]
Jochen Sprickerhof, Andreas Nüchter, Kai Lingemann, Joachim Hertzberg. An Explicit Loop Closing Technique for 6D SLAM. in Proc. 4th European Conf. Mobile Robots (ECMR-09), Mlini/Dubrovnik, Croatia, September 2009, pp.229-234.
Ronny Hartanto and Joachim Hertzberg. On the Benefit of Fusing DL Reasoning with HTN Planning. KI 2009. (32nd Annl. German Conf. on AI, Paderborn, Germany, September 2009, Proceedings), Springer (LNAI 5803), pp.41-48, 2009. [Get Paper]
Stefan Stiene and Joachim Hertzberg. Virtual Range Scan for Avoiding 3D Obstacles Using 2D Tools. Proc. 14th Intl. Conf. Advanced Robotics (ICAR-2009), Munich, June 2009. [Get Paper]
Martin Magnusson, Andreas Nüchter, Christopher Lörken, Achim, J. Lilienthal, and Joachim Hertzberg. Evaluation of 3D registration reliability and speed -- A comparison of ICP and NDT. Proc. 2009 IEEE Intl. Conf. Robotics and Automation (ICRA'09), Kobe, Japan, May 2009, pp 3907-3912.

2008

Joachim Hertzberg and Alessandro Saffiotti (eds.). Special Issue 56(11):857-1014 Semantic Knowledge in Robotics of J. Robotics and Autonomous Systems, November 2008
Joachim Hertzberg and Alessandro Saffiotti. Editorial: Using Semantic Knowledge in Robotics. J. Robotics and Autonomous Systems, Special Issue Semantic Knowledge in Robotics 56(11):875-877, 2008. [ScienceDirect Link]
Andreas Nüchter and Joachim Hertzberg. Towards Semantic Maps for Mobile Robots. J. Robotics and Autonomous Systems, Special Issue on Semantic Knowledge in Robotics 56(11):915-926, 2008. [ScienceDirect Link]
Joachim Hertzberg, Karsten Morisse, and Thomas Schüler. Robotik-Schulstunden als Mittel der Informatik-Hochschulausbildung: Eine Fallstudie. In: B. Schwarze et al. (eds.): Gender und Diversity in den Ingenieurwissenschaften und Informatik. Bielefeld (Universitätsverlag Webler) 2008, pp.86-100 [Get Draft Version (PDF)] [Book link]
Thomas Schüler, Joachim Hertzberg, and Karsten Morisse. Organisation von Robotik-Schulstunden im Informatikstudium. In: Tagungsband logOS 2008. Lernen Organisation Gesellschaft. Das eCampus-Symposium der Osnabrücker Hochschulen. Osnabrück, Oktober 2008, pp.97-101
Martin Magnusson, Andreas Nüchter, Christopher Lörken, Achim, J. Lilienthal, and Joachim Hertzberg. 3D Mapping the Kvarntorp Mine -- A Field Experiment for Evaluation of 3D Scan Matching Algorithms. Proc. Workshop "3D-Mapping" at IEEE Intl. Conf. Intelligent Robots and Systems (IROS '08) Nice, France, September 2008.
Ronny Hartanto and Joachim Hertzberg. Fusing DL Reasoning with HTN Planning. In: KI 2008: Advances in Artificial Intelligence. 31st Annual German Conference on AI, Proceedings, Kaiserslautern, September 2008. Springer Verlag (LNAI 5243), 2008, pp.62-69 [Get Paper (PDF)]
Andreas Nüchter, Kai Lingemann, and Joachim Hertzberg. Evaluating a 3D Camera for RoboCup Rescue. in Proc. SICE Annual Conf. 2008: Intl. Conf. Instrumentation, Control and Information Technology (SICE2008), Tokyo, Japan, August, 2008.
Dorit Bormann, Jan Elseberg, Kai Lingemann, Andreas Nüchter, and Joachim Hertzberg. The Efficient Extension of Globally Consistent Scan Matching to 6 DoF. in Proc. 4th Internatl. Symp. 3D Data Processing, Visualization and Transmission (3DPVT), June 18-20, 2008, Georgia Tech., pp.29-36. [Get Paper] [Get Video]
Joachim Hertzberg and Raja Chatila: AI Reasoning Methods for Robotics. in: B. Siciliano and O. Khatib (eds.): Springer Handbook of Robotics, Ch.9, pp.207-223. Springer 2008
(The Handbook received the PROSE Award for Excellence in Physics & Mathematical Sciences 2008 by the Association of American Publishers)
Christopher Lörken and Joachim Hertzberg. Grounding Planning Operators by Affordances. in: Proc. Intl. Conf. Cognitive Systems (CogSys 2008), April 2-4 2008, Karlsruhe, p. 79-84 (CD Proceedings) [Get Paper]
Oliver Wulf, Andreas Nüchter, Joachim Hertzberg, and Bernardo Wagner. Benchmarking Urban Six-Degree-of-Freedom Simultaneous Localization and Mapping. Journal of Field Robotics (JFR) 25(3):148-163, 2008. [Get Videos] [Get Paper]
Dorit Borrmann, Jan Elseberg, Kai Lingemann, Andreas Nüchter and Joachim Hertzberg. Globally consistent 3D mapping with scan matching. Journal of Robotics and Autonomous Systems, 56(2):130-142, 2008. [ScienceDirect Link]
Erich Rome, Lucas Paletta, Erol Sahin, Georg Dorffner, Joachim Hertzberg, Ralph Breithaupt, Gerald Fritz, Jörg Irran, Florian Kintzler, Christopher Lörken, Stefan May, and Emre Ugur. The MACS project: An Approach to Affordance-inspired Robot Control. In Towards Affordance-Based Robot Control. Proceedings of Dagstuhl Seminar 06231, Dagstuhl Castle, Germany, June 5-9, 2006, Springer (LNAI vol. 4760), pp. 173-210, 2008. [Springer Link]
Joachim Hertzberg, Kai Lingemann, Christopher Lörken, Andreas Nüchter, and Stefan Stiene. Does it help a robot navigate to call navigability an affordance?. In Towards Affordance-Based Robot Control. Proceedings of Dagstuhl Seminar 06231, Dagstuhl Castle, Germany, June 5-9, 2006, Springer (LNAI vol. 4760), pp. 16-26, 2008. [Get Paper Draft] [Springer Link]

Erich Rome, Joachim Hertzberg, Georg Dorffner (Eds.):
Towards Affordance-based Robot Control. Proceedings of Dagstuhl Seminar 06231, Dagstuhl Castle, Germany, June 5-9, 2006.
Springer (LNAI vol. 4760), 2008. [Springer link]

2007

Oliver Wulf, Andreas Nüchter, Joachim Hertzberg, and Bernardo Wagner. Ground Truth Evaluation of Large Urban 6D SLAM. In Proc. 2007 IEEE/RSJ Intl. Conf Intelligent Robots and Systems (IROS '07), San Diego, CA, USA, October 2007, p.650-657.
Stefan Stiene and Joachim Hertzberg, Sicheres Navigieren in dynamischen Umgebungen mit 3D-Kollisionsvermeidung. In K. Berns, T. Luksch (eds.): Autonome Mobile Systeme 2007. 20. Fachgespräch, Kaiserslautern, 18./19. Oktober 2007 Berlin (Springer) 2007, p. 68-74
Andreas Nüchter, Kai Lingemann, Joachim Hertzberg, and Hartmut Surmann, 6D SLAM -- 3D Mapping Outdoor Environments. Journal of Field Robotics (JFR), Special Issue on Quantitative Performance Evaluation of Robotic and Intelligent Systems, 24(8-9):699-722, 2007. [Get Paper]

Joachim Hertzberg, Michael Beetz, Roman Englert (Eds.):
KI 2007: Advances in Artificial Intelligence. 30th Annual German Conference on AI, KI 2007. Osnabrück, Germany, September 2007. Proceedings.
Springer (LNAI vol. 4667), 2007.
[online information, Springer link]

Andreas Bartel, Frank Meyer, Christopher Sinke, Thomas Wiemann, Andreas Nüchter, Kai Lingemann, and Joachim Hertzberg. Real-Time Outdoor Trail Detection on a Mobile Robot. In Proc. 13th IASTED Intl. Conf. Robotics and Applications, p.477-482, Würzburg, Germany, August 2007. [Get Paper and Videos]
Andreas Nüchter, Kai Lingemann, and Joachim Hertzberg. 6D SLAM with Cached k-d tree Search. In Proc. 13th IASTED Intl. Conf. Robotics and Applications, p.181-186, Würzburg, Germany, August 2007.
Andreas Nüchter, Kai Lingemann, and Joachim Hertzberg. Cached k-d tree search for ICP algorithms. In Proc. 6th IEEE Intl. Conf. Recent Advances in 3D Digital Imaging and Modeling (3DIM '07), IEEE Computer Society Press, p.419-426, Montreal, Canada, August 2007. [Get Paper (PDF)] [HTML Version]
Stefan Stiene, Andreas Nüchter, Kai Lingemann, and Joachim Hertzberg. An Experiment in Semantic Correction of Sensor Data, (Poster) in Proc. Workshop on Semantic Information in Robotics at the IEEE International Conference Robotics and Automation (ICRA '07), Rome, Italy, April 2007. [Get Paper (PDF)]
Andreas Nüchter, Kai Lingemann and Joachim Hertzberg. 6D SLAM with Kurt3D, Robotics Today, Society of Manufacturing Engineers, First Quarter, Vol. 20, No. 1, April, 2007. [Get Paper (PDF)]
Johannes Steger, Robert Märtin, Kai Lingemann, Andreas Nüchter, Joachim Hertzberg, and Peter König. Laser range scans of natural scenes for the evaluation of stereo- matching algorithms. Poster at ICVS Workshop From Computational Cognitive Neuroscience to Computer Vision (CCNCV '07) Bielefeld, Germany, March 2007.
Johannes Steger, Robert Märtin, Kai Lingemann, Andreas Nüchter, Joachim Hertzberg, and Peter König. Assessing stereo matching algorithms using ground-truth disparity maps of natural scenes, (Poster), in Proceedings of the 7th Meeting of the German Neuroscience Society / 31th Göttingen Neurobiology Conference, Neuroforum 2007, Göttingen, Germany, 2007.
Lars Kunze, Kai Lingemann, Andreas Nüchter, and Joachim Hertzberg. Salient Visual Features to Help Close the Loop in 6D SLAM, in Proceedings of the ICVS Workshop on Computational Attention & Applications (WCAA '07), Bielefeld, Germany, March 2007. [Get Paper (PDF)]
Joachim Hertzberg. Embodying AI -- GOFAI Goes Robotics, in Proc. Interdisciplinary College 2007 (IK-2007), Günne, Germany, March 2007; pages 369-384

2006

Andreas Nüchter, Kai Lingemann and Joachim Hertzberg. 6D SLAM with Kurt3D, in Robotic 3D Environment Cognition, Workshop at the International Conference Spatial Cognition, Bremen, Germany 2006. [Get Paper (PDF)]
Andreas Nüchter, Kai Lingemann, Joachim Hertzberg, and Hartmut Surmann. 6D SLAM -- Mapping Outdoor Environments, in Proc.s Intl. Workshop on Safety, Security and Rescue Robotics (SSRR '06), (CDROM Proceedings), Gaithersburg, Maryland, USA, August 2006,
Kai Lingemann, Andreas Nüchter, Joachim Hertzberg, Oliver Wulf, Bernardo Wagner, Kai Pervölz, Hartmut Surmann, and T. Christaller. RoboCupRescue2006 -- Robot League, Deutschland1 (Germany), in Team Description Papers, Rescue Robot League Competition, (CDROM Proceedings), Bremen, Germany, June 2006. [Get Paper (PDF)]
Sven Albrecht, Joachim Hertzberg, Kai Lingemann, Andreas Nüchter, Jochen Sprickerhof, Stefan Stiene. Device Level Simulation of Kurt3D Rescue Robots, in Third Intl. Workshop on Synthetic Simulation and Robotics to Mitigate Earthquake Disaster (SRMED 2006). CDROM Proceedings, June 2006. [Get Paper, PDF] [Paper, HTML]
Stefan Stiene, Kai Lingemann, Andreas Nüchter, and Joachim Hertzberg. Contour-based Object Detection in Range Images, in Proc. Third Intl. Symposium on 3D Data Processing, Visualization and Transmission (3DPVT'06), June 2006. [Get Paper]
Andreas Nüchter, Kai Lingemann, and Joachim Hertzberg. Extracting Drivable Surfaces in Outdoor 6D SLAM, in Proc. 37nd Intl. Symposium on Robotics (ISR'06) and 4th German Conf. Robotik 2006, Munich, Germany, 2006. [Get Paper (PDF)] [Get Paper (HTML)] [Get Surface Animation (DivX)] [Get Marching Cubes Representation (DivX)]
Andreas Nüchter, Kai Lingemann, Joachim Hertzberg, Oliver Wulf, Bernardo Wagner, Kai Pervölz, Hartmut Surmann, Thomas Christaller. The RoboCup Rescue Team Deutschland1, KI – Künstliche Intelligenz vol. 2006(2):24-29, May 2006. [Get Paper (PDF)]

2005

Hartmut Surmann, Kai Pervölz, Andreas Nüchter, Kai Lingemann, Joachim Hertzberg, and Matthias Hennig. Simultaneous Mapping and Localization of Rescue Environments in it - Information Technology 47(5):282-291 (2005), Oldenbourg press, October 2005. (Note: The paper is an extended version of the SSRR 2005 best paper awarded paper "Mapping of Rescue Environments with Kurt3D")
Kai Lingemann, Hartmut Surmann, Andreas Nüchter, and Joachim Hertzberg. Verfahren zur Ermittlung der Position und Orientierung eines navigierenden Systems. Offenlegungsschrift DE 10 2004 015 111 A1 2005.10.20, Deutsches Patentamt. Offenlegungstag 20.10.2005
Kai Lingemann, Andreas Nüchter, Joachim Hertzberg, and Hartmut Surmann. About the Control of High Speed Mobile Indoor Robots, in Proceedings of the Second European Conference on Mobile Robotics (ECMR '05), Ancona, Italy, September 2005, p.218-223. [Get Paper and Video]
Ronny Hartanto and Joachim Hertzberg. Offering Existing AI Planners as Web Services, in GI Workshop Planen und Konfigurieren (PuK 2005), Koblenz, Germany, September 2005[Get Paper (PDF)].
Joachim Hertzberg, Kai Lingemann, and Andreas Nüchter. USARSIM -- Game-Engines in der Robotik-Lehre, in A. B. Cremers et al. (eds.): Informatik 2005 -- Informatik LIVE, vol.1 (Beiträge der 35. Jahrestagung der Gesellschaft für Informatik, Bonn, Germany, September 2005). Gesellschaft für Informatik, Bonn 2005, pp.158-162. [Get Paper (PDF)].
Andreas Nüchter, Kai Lingemann, Joachim Hertzberg, and Hartmut Surmann. Heuristic-Based Laser Scan Matching for Outdoor 6D SLAM, in KI 2005: Advances in Artificial Intelligence. 28th Annual German Conference on AI, Proceedings. Springer (Berlin) LNAI vol. 3698, pp.304-319. Koblenz, Germany, September 2005. [Get Paper and Video]
Andreas Nüchter, Kai Lingemann, Joachim Hertzberg, and Hartmut Surmann. Accurate Object Localization in 3D Laser Range Scans, in Proc. 12th Intl. Conf Advanced Robotics (ICAR '05), pp.665-672, Seattle, USA, July 2005, [Get Paper (PDF)] [Get Paper (HTML)].
Andreas Nüchter, Kai Lingemann, Joachim Hertzberg, and Hartmut Surmann. 6D SLAM with Approximate Data Association, in Proc. 12th Intl. Conf. Advanced Robotics (ICAR '05), pp.242-249, Seattle, USA, July 2005, [Get Paper (PDF)] [Get Paper (HTML)].
Andreas Nüchter, Oliver Wulf, Kai Lingemann, Joachim Hertzberg, Bernardo Wagner, and Hartmut Surmann, 3D Mapping with Semantic Knowledge, in Proc. RoboCup International Symposium 2005, Osaka, Japan, July 2005, [Get Paper (PDF)] [Get Paper (HTML)].
Hartmut Surmann, Kai Lingemann, Andreas Nüchter, Matthias Hennig, Kai Pervölz, Oliver Wulf, Joachim Hertzberg, Bernardo Wagner, and Thomas Christaller. RoboCupRescue - Robot League Team, Team Deutschland1 (Germany) Team Description Paper, Rescue Robot League Competition, (CDROM Proceedings) (RoboCup 2005), Osaka, Japan, July 2005, (6th place), [Get Paper (PDF)].
Andreas Nüchter, Kai Lingemann, Joachim Hertzberg, Hartmut Surmann, Kai Pervölz, Matthias Hennig, K. R. Tiruchinapalli, Rainer Worst, and Thomas Christaller, Mapping of Rescue Environments with Kurt3D, in Proc. Intl. Workshop on Safety, Security and Rescue Robotics (SSRR '05), pp.158-163, Kobe, Japan, June 2005, (best paper award) [Get Paper (PDF)].
Kai Lingemann, Andreas Nüchter, Joachim Hertzberg, and Hartmut Surmann. High-Speed Laser Localization for Mobile Robots, Journal Robotics and Autonomous Systems, 51(4):275-296, 2005. [ScienceDirect link] [Get Paper (PDF)]

2004

S. Frintrop, A. Nüchter, H. Surmann, and J. Hertzberg:
Saliency-based Object Recognition in 3D Data.
In: Proc. IEEE/RSJ Intl. Conf. Intelligent Robots and Systems (IROS'04), Sendai, Japan, Sept. 2004, pp.2167-2172.
Full paper in PDF.
K. Lingemann, H. Surmann, A. Nüchter, and J. Hertzberg:
Indoor and Outdoor Localization for Fast Mobile Robots.
In: Proc. IEEE/RSJ Intl. Conf. Intelligent Robots and Systems (IROS'04), Sendai, Japan, Sept. 2004, pp.2185-2190.
[Full paper in PDF
A. Nüchter, H. Surmann, K. Lingemann, and J. Hertzberg:
6D SLAM -- Preliminary Report on closing the loop in Six Dimensions.
In: M. I. Ribeiro and J. Santos-Victor (eds.): Proc. 5th IFAC Symposium on Intelligent Autonomous Vehicles (IAV2004), Lissabon, Portugal, July 2004
Full paper in PDF
E. Solda, R. Worst, and J. Hertzberg:
Poor Man's Gyro-based Location.
In: M. I. Ribeiro and J. Santos-Victor (eds.): Proc. 5th IFAC Symposium on Intelligent Autonomous Vehicles (IAV2004), Lisbon, Portugal, July 2004
Full paper in PDF
K. Pervölz, A. Nüchter, H. Surmann, and J. Hertzberg:
Automatic Reconstruction of Textured 3D Maps.
In: Proc. Robotik 2004, VDI-Berichte 1841, pp. 215--222, Munich, Germany, June 2004
Full paper in PDF
R. Worst, B. Klaassen, H. Surmann, and J. Hertzberg:
Robots out of Office.
In: Proc. IEEE Intl. Workshop Safety, Security, and Rescuce Robotics, SSRR2004, Bonn, Germany, May 24-26, 2004
R. Hartanto, F. Schönherr, M. Mock, J. Hertzberg:
Target-oriented mobile robot behaviors for office navigation tasks.
In: Proc. 2nd IEEE Workshop Software Technologies for Future Embedded and Ubiquitous computing Systems (WSTFEUS 2004), pp.104--108, May 2004
Full paper in PDF
A. Nüchter, H. Surmann, K. Lingemann, J. Hertzberg, and S. Thrun:
6D SLAM with an Application in Autonomous Mine Mapping.
In: IEEE 2004 Intl. Conf. Robotics and Automation (ICRA-2004), pp.1998--2003, April 2004
Full paper in PDF
D. Giel, S. Frey, A. Thelen, J. Bongartz, P. Hering, A. Nüchter, H. Surmann, K. Lingemann, and J. Hertzberg:
Ultra-fast holographic recording and automatic 3D scan matching of living human faces.
In: Workshop Medical Robotics, Navigation, and Visualization (MRNV 2004), April 2004
A. Nüchter, H. Surmann, J. Hertzberg:
Automatic Classification of Objects in 3D Laser Range Scans.
In: Proc. 8th Conf. Intelligent Autonomous Systems (IAS-8), Amsterdam, The Netherlands, IOS Press, pp.963--970, 2004
Full paper in PDF
Th. Belker, M. Hammel, and J. Hertzberg:
Plan Projection under the APPEAL Robot Control Architecture.
In: Proc. 8th Conf. Intelligent Autonomous Systems (IAS-8), Amsterdam, The Netherlands, IOS Press, pp.809-817, 2004
Full paper in PDF

2003

H. Surmann, A. Nüchter, J. Hertzberg:
An Autonomous Mobile Robot with a 3D Laser Range Finder for 3D Exploration and Digitalization of Indoor Environments.
J. Robotics and Autonomous Systems 45 (2003) pp. 181-198
Full paper in PDF
J. Hertzberg, A. Ritter, A. Bredenfeld, J. Mayer, P. Schöll, F. Schönherr, H. Staab, R. Worst:
Agententechnologie zur Integration heterogener Systeme am Beispiel eines Prototypen für ein Kommissioniersystem
In: SPS/IPC/DRIVES 2003 (R.D. Schraft, G. Brandenburg, K. Bender, eds)
VDE-Verlag, 2003, pp.423--431.
Full paper in PDF
A. Nüchter, H. Surmann, K. Lingemann, and J. Hertzberg:
Semantic Scene Analysis of Scanned 3D Indoor Environments
In: Proc. 8th Intl. Fall Workshop Vision, Modelling, and Visualization 2003 (VMV '03), Munich, Germany, November 2003
IOS Press 2003, pp.215--222.
Full paper in PDF
A. Nüchter, H. Surmann, J. Hertzberg:
Automatic Model Refinement for 3D Reconstruction with Mobile Robots
In: Proc. 4th IEEE Intl. Conf. Recent Advances in 3D Digital Imaging and Modeling (3DIM '03), Banff, Canada, October 2003.
IEEE Computer Society Press, 2003, pp.394-401.
Full paper in PDF
A. Nüchter, H. Surmann, K. Lingemann, J. Hertzberg:
Consistent 3D Model Construction with Autonomous Mobile Robots
in: A. Günter et al. (eds.): KI 2003: Advances in Artificial Intelligence. 26th Annual German Conference on AI, Hamburg, Germany, September 2003, Proceedings
Springer LNAI vol. 2821, 2003, pp.550-564
Full paper in PDF
H.W. Guesgen, J. Hertzberg, R. Lobb, A. Mantler:
Buffering Fuzzy Maps in GIS
In J. Spatial Cognition and Computation, (Special Issue on Spatial Vagueness, Uncertainty and Granularity) 3(2&3):207-222, 2003
Full paper in PDF
T. Belker, M. Hammel, J. Hertzberg:
Learning to Optimize Mobile Robot Navigation Based on HTN Plans
in: Proc. IEEE International Conference on Robotics and Automation (ICRA 2003)
IEEE, 2003, pp.4136-4141
Full paper in PDF
A. Nüchter, H. Surmann, J. Hertzberg:
Planning Robot Motion for 3D Digitalization of Indoor Environments.
In: Proc. 11th Int. Conf. on Advanced Robotics (ICAR-03), Coimbra, Portugal, June 2003, pp.222-227
Full paper in PDF

2002

M. Beetz, J. Hertzberg, M. Ghallab, M. Pollack (eds.):
Advances in Plan-Based Control of Robotic Agents. International Seminar, Dagstuhl Castle, October 2001. Revised Papers.
Springer (LNAI 2466), 2002.

F. Schönherr, J. Hertzberg:
The DD&P Robot Control Architecture: A Preliminary Report.
in: M. Beetz et al. (eds.): Advances in Plan-Based Control of Robotic Agents.
Springer (LNAI 2466), pp.249-269, 2002.
Full paper in PDF
M. Ghallab, J. Hertzberg, P. Traverso (eds.):
Proc. 6th Intl. Conf. Artificial Intelligence Planning and Scheduling (AIPS 2002).
AAAI Press, 2002.
R. Breithaupt, J. Dahnke, K. Zahedi, J. Hertzberg, F. Pasemann:
Robo-Salamander – An approach for the benefit of both robotics and biology.
in: Ph. Bedaud (ed.): 5th international Conference on Climbing and Walking Robots (CLAWAR-2002) pp. 55-62
Full paper in PDF
J. Hertzberg, H. Jaeger, F. Schönherr:
Learning to Ground Fact Symbols in Behavior-Based Robots
In: F. van Harmelen (ed.): ECAI 2002. Proceeedings of the 15th European Conference on Artificial Intelligence IOS Press, Amsterdam, 2002, pp. 708-712
Full paper in PDF
W. Baum, A. Bredenfeld, M. Hans, J. Hertzberg, A. Ritter, F. Schönherr, T. Christaller, R. Schraft:
Integrating Heterogeneous Robot and Software Components by Agent Technology
In: Robotik 2002: Leistungsstand -- Anwendungen -- Visionen --Trends. Tagung Ludwigsburg, 19./20. Juni 2002.. Düsseldorf (VDI-Verlag, VDI-Berichte vol. 1679) 2002, pp.655-660.
Full paper in PDF
J. Fischer, R. Breithaupt, M. Bode, J. Hertzberg:
Diva: A self-organizing world model
In: S. Nahavandi (ed.): Proc. Autonomous Intelligent Systems (ICAIS 2002).
Full paper in PDF

2001

F. Schönherr, M. Cistelecan, J. Hertzberg, Th. Christaller:
Using Behavior Activation Value Histories for Updating Symbolic Facts. In: Anchoring Symbols to Sensor Data in Single and Multiple Robot Systems: Papers from the 2001 AAAI Fall Symposium, (S. Coradeschi and A. Saffiotti, eds.), AAAI Press, pp. 9-16, North Falmouth, MA, USA, November 2001.
Full paper in PDF
F. Schönherr, M. Cistelecan, J. Hertzberg, Th. Christaller:
Extracting Situation Facts from Activation Value Histories in Behavior-Based Robots.
In: KI-2001: Advances in Artificial Intelligence (Joint German/Austrian Conference on AI, Proceedings) Springer (LNAI Vol.2174) (F. Baader, G. Brewka, and T. Eiter eds.), pp. 305-319, Vienna, Austria, September 2001.
Full paper in PDF (129 kB)
A. Arghir, J. Hertzberg:
Keep It Simple, Hybrid! -- A Case Study in Autonomous Office Courier Robot Control.
In: M. Devy (ed.): Proc. 9th International Symposium on Intelligent Robotic Systems (SIRS 2001), 18-20 July 2001, Toulouse, France, pp. 25-33.
Full paper in PDF
M. Hassel, J. Hertzberg:
Sensor Fusion for Localizing a Mobile Robot Outside of Buildings.
In: M. Devy (ed.): Proc. 9th International Symposium on Intelligent Robotic Systems (SIRS 2001), 18-20 July 2001, Toulouse, France, pp. 477-484.
Full paper in PDF
L. Paletta, S. Frintrop, J. Hertzberg:
Robust localization using context in omnidirectional imaging.
In: 2001 IEEE Intl. Conf. on Robotics and Automation (ICRA2001) (May 21-26, 2001, Seoul, Korea), pp. 2072-2077
Full paper in PDF (555 kB)
H. W. Guesgen, J. Hertzberg:
Algorithms for buffering fuzzy raster maps.
In: Proc. 14th Intl. FLAIRS Conference (FLAIRS-2001) (May 21-23, 2001, Key West, Florida), pp. 542-546, 2001
Full paper in PDF (149 kB)
H. Surmann, K. Lingemann, A. Nüchter, J. Hertzberg:
A 3D laser range finder for autonomous mobile robots.
In: Proc. 32nd Intl. Symp. on Robotics (ISR2001) (19-21 April 2001, Seoul, Korea), S. 153-158.
Full paper, PDF version (2.9 MB)
J. Hertzberg and F. Schönherr:
Concurrency in the DD&P Robot Control Architecture.
In: Proc. Int. NAISO Cong. Information Science Innovations (ISI'2001), March 17-21, 2001, Dubai,pp. 1079-1085
Full paper in PDF

2000 (Some)

H. Streich, A. Schmitz, J. Hertzberg, and F. Kirchner:
Implementierung der höheren Steuerung einer mehrsegmentigen autonomen Kanalroboterplattform.
Robotik 2000: Leistungsstand -- Anwendungen -- Visionen --Trends. Tagung Berlin, 29./30. Juni 2000. Düsseldorf (VDI-Verlag) 2000, pp.209-214.
Full paper in PDF

1999 (Some)

F. Schönherr, J. Hertzberg, and W. Burgard:
Probabilistic Mapping of Unexpected Objects by a Mobile Robot.
In: Proc. IEEE/RSJ Int. Conf. Intell. Robots and Systems (IROS'99), IEEE Press 1999, vol.1, pp. 474-481.
Full paper in PDF
J. Hertzberg, F. Kirchner, U. Licht, E. Rome F. Schönherr, and T. Christaller:
MAKRO -- Bau einer mehrsegmentigen autonomen Kanalroboterplattform.
in: Pipeline Integrity -- Uneingeschränkte Verfügbarkeit und unbegrenzte Nutzungsdauer von Rohrleitungen und Rohrnetzen? (J. Lenz, ed.) Vulkan-Verlag, 1999, pp.504-513
Full paper in PDF
E. Rome, J. Hertzberg, Th. Christaller, F. Kirchner, and U. Licht:
Towards Autonomous Sewer Robots: The MAKRO Project.
in: J. Urban Water 1:57-70, 1999
J. Hertzberg:
Planning.
in: J.G. Webster (ed.): Wiley Encyclopedia of Electrical and Electronics Engineering. Wiley, 1999, vol. 16, pp. 493-504
Full paper in electronic format available from the publisher. Consult the Encyclopedia of Electrical and Electronics Engineering home page.

1998 (Some)

J. Hertzberg, H. Jaeger, Ph. Morignot, U.R. Zimmer:
A Framework for Plan Execution in Behavior-Based Robots.
in: Proc. of the 1998 IEEE Int. Symp. on Intell. Control (ISIC-98); Gaithersburg, MD, Sept. 1998, pp.8-13
Full Paper in PDF
J. Hertzberg, Th. Christaller, F. Kirchner, U. Licht and E. Rome:
Sewer Robotics.
in: From Animals to Animats 5 -- Proc. 5th Intl. Conf. on Simulation of Adaptive Behavior (SAB-98) (R. Pfeifer, B. Blumberg, J.-A. Meyer, and S.W. Wilson, eds.), MIT Press 1998, pp.427-436
Full paper in PDF
J. Hertzberg, Th. Christaller, F. Kirchner, U. Licht and E. Rome:
MAKRO -- Serviceroboter im Kanalbetrieb.
in: J. Lenz (ed.): Globalisierung der Märkte und internationale Arbeitsteilung - auch im Rohrleitungsbau? Vulkan-Verlag, 1998, pp. 643-652
Full paper in PDF

1997 (Some)

F. Kirchner and J. Hertzberg:
A Prototype Study of an Autonomous Robot Platform for Sewerage System Maintenance.
in: J. Autonomous Robots 4(4):319-331, 1997
Postscript Source (ps.gz, 1700 KB)
K. Berns, Th. Christaller, R. Dillmann, J. Hertzberg, W. Ilg, M. Kemmann, E. Rome, and H. Stapelfeldt:
LAOKOON -- Lernfähige autonome kooperierende Kanalroboter.
in: KI 11(2):28-32, 1997
Postscript Source (ps.gz)

1996 (Some)

J. Hertzberg and F. Kirchner:
Landmark-Based Autonomous Navigation in Sewerage Pipes.
in: Proceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT `96), IEEE Press, 1996, pp. 68-73.
Postscript Source (ps.gz, 1150 KB)
R. Weißschnur, J. Hertzberg, and H.W. Guesgen:
In Search of a Perfect Boltzmann Machine for CSPs.
In: Proc. FLAIRS-96, Key West, Florida, 1996, pp. 35-39.
H.W. Güsgen and J. Hertzberg:
Spatial Persistence.
J. Appl. Intell. (Special Issue on Spatial and Temporal Reasoning) 6(1):11-28, 1996
Postscript Source (ps.gz, 227 KB)
J. Sauer, A. Günter, and J. Hertzberg (eds.):
Beiträge zum 10. Workshop ``Planen und Konfigurieren''.
infix-Verlag (Proceedings in AI vol. 3), Sankt Augustin, 1996
J. Hertzberg:
On Building a Planning Tool Box.
In: M. Ghallab and A. Milani (eds.): New Directions in in AI Planning. (Proc. EWSP'95). IOS Press, 1996, pp. 3-18
Postscript Source (ps.gz, 66 KB)

Before 1996 (Some)

J. Hertzberg:
How to Plan under Uncertainty, and Use a Logical Action Model, too.
In: H. Bunke, T. Kanade, and H. Noltemeyer (eds.): Modelling and Planning for Sensor Based Intelligent Robot Systems. Singapore (World Scientific, Machine Perception and Artificial Intelligence vol. 21) 1995, pp. 160-175
Postscript Source (ps.gz, 62 KB)
J. Hertzberg and S. Thiébaux:
Turning an Action Formalism into a Planner---A Case Study.
J. Logic and Computation 4(5):617-654, 1994.
S. Thiébaux, J. Hertzberg, W. Shoaff, and M. Schneider:
A Stochastic Model of Actions and Plans for Anytime Planning under Uncertainty.
Int. J. of Intelligent Systems 9, 1994.
G. Brewka and J. Hertzberg:
How to Do Things with Worlds: On Formalizing Actions and Plans.
J. Logic and Computation 3(5):517-532, 1993
H.W. Guesgen and J. Hertzberg:
A Constraint-Based Approach to Spatiotemporal Resoning.
J. Appl. Intell. 3:71-90, 1993
E. Rutten and J. Hertzberg:
Temporal Planner = Nonlinear Planner + Time Map Manager.
AI Communications 6(1):18-26, 1993
S. Thiébaux and J. Hertzberg:
A Semi-Reactive Planner Based on a Possible Models Action Formalization.
In: J. Hendler (ed.): Artificial Intelligence Planning Systems: Proceedings of the First International Conference (AIPS92). Morgan Kaufmann, 1992, pp. 228-235
H.W. Güsgen and J. Hertzberg:
A Perspective of Constraint Based Reasoning.
Berlin (Springer, LNAI vol. 597) 1992
J. Hertzberg (ed.):
European Workshop on Planning. EWSP '91, Sankt Augustin, FRG, March 1991, Proceedings.
Springer Verlag (Lecture Notes in AI vol. 522), 1991
J. Hertzberg and A. Horz:
Towards a Theory of Conflict Detection and Resolution in Nonlinear Plans.
In: Proc. IJCAI-89, 1989, pp. 937-942.
J. Hertzberg:
Planen. Einführung in die Planerstellungsmethoden der Künstlichen Intelligenz.
Mannheim (BI Wissenschaftsverlag), 1989
H.W. Güsgen and J. Hertzberg:
Some Fundamental Properties of Local Constraint Propagation.
Artif. Intell. 36:237-247, 1988