2015 |
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Dietrich, Andr’e; Zug, Sebastian; Nardi, Luigi; Kaiser, J"org Reasoning in complex environments with the SelectScript declarative language (Konferenzbeitrag) IROS Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob-15), Hamburg, Germany, 2015. (Abstract | Links | BibTeX | Schlagwörter: Reasoning, Robotic, Simulation) @inproceedings{dslRobSelectScript,
title = {Reasoning in complex environments with the SelectScript declarative language}, author = {Andr\’e Dietrich and Sebastian Zug and Luigi Nardi and J\”org Kaiser}, url = {http://arxiv.org/abs/1508.04159 http://nbviewer.ipython.org/url/gitlab.com/OvGU-ESS/SelectScript_demos/raw/master/DSLRob-15/presentation.ipynb}, SelectScript is an extendable, adaptable, and declarative domain-specific language aimed at information retrieval from simulation environments and robotic world models in an SQL-like manner. In this work we have extended the language in two directions. First, we have implemented hierarchical queries; second, we improve efficiency enabling manual design space exploration on different "search" strategies. We demonstrate the applicability of such extensions in two application problems; the basic language concepts are explained by solving the classical problem of the Towers of Hanoi and then a common path planning problem in a complex 3D environment is implemented.
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Dietrich, André; Zug, Sebastian; Kaiser, Jörg SelectScript: A Query Language for Robotic World Models and Simulations (Konferenzbeitrag) Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, 2015. (Abstract | Links | BibTeX | Schlagwörter: Environement Representation, Programming Abstractions, Robotic) @inproceedings{dietrich2015icra,
title = {SelectScript: A Query Language for Robotic World Models and Simulations}, author = {André Dietrich and Sebastian Zug and Jörg Kaiser}, url = {http://eos.cs.ovgu.de/wp-content/uploads/2015/06/SelectScript-A-Query-Language-for-Robotic-World-Models-and-Simulations.pdf http://eos.cs.ovgu.de/wp-content/uploads/2015/06/ICRA2015-presentation-slides.pdf}, year = {2015}, date = {2015-05-26}, booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)}, publisher = {Seattle, Washington}, abstract = {We introduce a new declarative language called SelectScript. As its name suggests, it is a scripting language inspired primarily by SQL and its relational algebra. It is intended to be used for complex queries on different kinds of world models. Scripts can be dynamically generated and executed, or embedded into the code of foreign programming languages. A first interpreter was therefore developed for Python. Adapting the ideas of language-oriented programming, which enables developers to create their own domain-specific language, we developed a language stub that can be easily adapted and extended to comply with any (discrete) robotic world model or robotic simulator. We will further show how simple SELECT-statements can be used to extract any kind of valuable information in various return formats, thereby going beyond traditional SQL capabilities.}, keywords = {Environement Representation, Programming Abstractions, Robotic} } We introduce a new declarative language called SelectScript. As its name suggests, it is a scripting language inspired primarily by SQL and its relational algebra. It is intended to be used for complex queries on different kinds of world models. Scripts can be dynamically generated and executed, or embedded into the code of foreign programming languages. A first interpreter was therefore developed for Python. Adapting the ideas of language-oriented programming, which enables developers to create their own domain-specific language, we developed a language stub that can be easily adapted and extended to comply with any (discrete) robotic world model or robotic simulator. We will further show how simple SELECT-statements can be used to extract any kind of valuable information in various return formats, thereby going beyond traditional SQL capabilities.
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2013 |
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Dietrich, André; Zug, Sebastian; Kaiser, Jörg The R in Robotics – rosR: A new Language Extension for the Robot Operating System (Artikel) The R Journal, 5 (2), S. 117–128, 2013, ISSN: 2073-4859. (Abstract | Links | BibTeX | Schlagwörter: R, Robotic, ROS, rosR, Sensor Systems) @article{rosR,
title = {The R in Robotics – rosR: A new Language Extension for the Robot Operating System}, author = {André Dietrich and Sebastian Zug and Jörg Kaiser}, url = {http://journal.r-project.org/archive/2013-2/dietrich-zug-kaiser.pdf}, issn = {2073-4859}, year = {2013}, date = {2013-12-05}, journal = {The R Journal}, volume = {5}, number = {2}, pages = {117–128}, abstract = {The aim of this contribution is to connect two previously separated worlds: robotic application development with the Robot Operating System (ROS) and statistical programming with R. This fruitful combination becomes apparent especially in the analysis and visualization of sensory data. We therefore introduce a new language extension for ROS that allows to implement nodes in pure R. All relevant aspects are described in a step-by-step development of a common sensor data transformation node. This includes the reception of raw sensory data via the ROS network, message interpretation, bag-file analysis, transformation and visualization, as well as the transmission of newly generated messages back into the ROS network. }, keywords = {R, Robotic, ROS, rosR, Sensor Systems} } The aim of this contribution is to connect two previously separated worlds: robotic application development with the Robot Operating System (ROS) and statistical programming with R. This fruitful combination becomes apparent especially in the analysis and visualization of sensory data. We therefore introduce a new language extension for ROS that allows to implement nodes in pure R. All relevant aspects are described in a step-by-step development of a common sensor data transformation node. This includes the reception of raw sensory data via the ROS network, message interpretation, bag-file analysis, transformation and visualization, as well as the transmission of newly generated messages back into the ROS network.
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Dietrich, André; Kaiser, Jörg; Zug, Sebastian; Potluri, Sasanka Application Driven Environment Representation (Konferenzbeitrag) The Seventh International Conference on Mobile Ubiquitous Computing, Systems, Services and Technologies, 2013. (Abstract | BibTeX | Schlagwörter: Environement Representation, Robotic, Smart Sensing) @inproceedings{UBICOMM2,
title = {Application Driven Environment Representation}, author = {André Dietrich and Jörg Kaiser and Sebastian Zug and Sasanka Potluri}, year = {2013}, date = {2013-10-03}, booktitle = {The Seventh International Conference on Mobile Ubiquitous Computing, Systems, Services and Technologies}, abstract = {Autonomous systems have to sustain in environments of growing complexity and under dynamically changing conditions, whereby also the number and the complexity of tasks increases that these systems have to fulfill. To cope with these emerging problems, we present a general concept of constructing environment models. From these models we can derive any kind of information in an application specific abstraction, which we call views. Furthermore, we describe the main problem in the generation of views as well as a possible solution to this.}, keywords = {Environement Representation, Robotic, Smart Sensing} } Autonomous systems have to sustain in environments of growing complexity and under dynamically changing conditions, whereby also the number and the complexity of tasks increases that these systems have to fulfill. To cope with these emerging problems, we present a general concept of constructing environment models. From these models we can derive any kind of information in an application specific abstraction, which we call views. Furthermore, we describe the main problem in the generation of views as well as a possible solution to this.
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2012 |
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Zug, Sebastian; Penzlin, Felix; Dietrich, André; Nguyen, Tran Tuan; Albert, Sven Are laser scanners replaceable by Kinect sensors in robotic applications? (Konferenzbeitrag) 2012 IEEE International Symposium on Robotic and Sensors Environments (ROSE 2012), S. 144-149, IEEE Magdeburg, Germany, 2012. (Abstract | Links | BibTeX | Schlagwörter: Kinect, Robotic, Sensor Systems) @inproceedings{ROSE2012,
title = {Are laser scanners replaceable by Kinect sensors in robotic applications?}, author = {Sebastian Zug and Felix Penzlin and André Dietrich and Tran Tuan Nguyen and Sven Albert}, url = {http://eos.cs.ovgu.de/wp-content/uploads/2013/11/Kinect_vs_Hokuyo_Web2.pdf}, year = {2012}, date = {2012-11-16}, booktitle = {2012 IEEE International Symposium on Robotic and Sensors Environments (ROSE 2012)}, pages = {144-149}, address = {Magdeburg, Germany}, organization = {IEEE}, abstract = {Laser scanners are omnipresent in robotic applications. Their measurements are used in many scenarios for robust map building, localization, collision avoidance, etc. But regarding the required precise measurement and mechanic system a laser scanner is quite expensive. Hence the robotic community is looking for alternative sensors. Since 2009 a new 3D sensor system — Microsoft Kinect — developed for computer games is available and applied in robotic applications. With an appropriate filter tool-chain its output can be mapped to a 2D laser scanner measurement. The reduced data set is ready to be processed by the established algorithms and methods developed for laser scanners. But will the Kinect sensor replace laser scanners in robotic applications? This paper compares the technical parameters of the new sensor with established laser scanners. Afterwards we investigate the possibilities and limits of a Kinect for three common robotic applications — map building, localization and obstacle avoidance.}, Laser scanners are omnipresent in robotic applications. Their measurements are used in many scenarios for robust map building, localization, collision avoidance, etc. But regarding the required precise measurement and mechanic system a laser scanner is quite expensive. Hence the robotic community is looking for alternative sensors. Since 2009 a new 3D sensor system — Microsoft Kinect — developed for computer games is available and applied in robotic applications. With an appropriate filter tool-chain its output can be mapped to a 2D laser scanner measurement. The reduced data set is ready to be processed by the established algorithms and methods developed for laser scanners. But will the Kinect sensor replace laser scanners in robotic applications?
This paper compares the technical parameters of the new sensor with established laser scanners. Afterwards we investigate the possibilities and limits of a Kinect for three common robotic applications — map building, localization and obstacle avoidance. |
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Dietrich, André; Zug, Sebastian; Kaiser, Jörg Towards Artificial Perception (Konferenzbeitrag) Berlin, Springer-Verlag (Hrsg.): Proceddings of the SAFECOMP 2012, Third International Workshop on Digital Engineering (IWDE), S. 466-476, 2012. (Links | BibTeX | Schlagwörter: Environement Representation, Robotic, Sensor-Aktor-Systems, Smart Sensors) @inproceedings{IWDE2012,
title = {Towards Artificial Perception}, author = {André Dietrich and Sebastian Zug and Jörg Kaiser}, editor = {Springer-Verlag Berlin}, url = {http://link.springer.com/chapter/10.1007%2F978-3-642-33675-1_44}, year = {2012}, date = {2012-09-26}, booktitle = {Proceddings of the SAFECOMP 2012, Third International Workshop on Digital Engineering (IWDE)}, pages = {466-476}, keywords = {Environement Representation, Robotic, Sensor-Aktor-Systems, Smart Sensors} } |
2010 |
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Dietrich, André; Schulze, Michael; Zug, Sebastian; Kaiser, Jörg Visualization of Robot’s Awareness and Perception (Konferenzbeitrag) First International Workshop on Digital Engineering (IWDE), ACM Press New York, NY, USA, Magdeburg, Germany, 2010. (Abstract | BibTeX | Schlagwörter: Awareness, Perception, Robotic, Visualization) @inproceedings{EOS-2010.000-DSZK,
title = {Visualization of Robot’s Awareness and Perception}, author = {André Dietrich and Michael Schulze and Sebastian Zug and Jörg Kaiser}, year = {2010}, date = {2010-06-14}, booktitle = {First International Workshop on Digital Engineering (IWDE)}, publisher = {ACM Press New York, NY, USA}, address = {Magdeburg, Germany}, abstract = {Today, direct interaction between humans and robots is limited, although the combination of human flexibility and robots power enables a growing productivity. The problem for humans lies in the nearly unpredictable behavior and motion of the robot itself. However, we can enhance human\’s view with more information to get knowledge about robot\’s perception and awareness. We use Augmented Reality methods for providing the information in an adaptable visualization for different user types. We show that our approach leads to shorter development cycles as well as to safer human-robot interaction.}, keywords = {Awareness, Perception, Robotic, Visualization} } Today, direct interaction between humans and robots is limited, although the combination of human flexibility and robots power enables a growing productivity. The problem for humans lies in the nearly unpredictable behavior and motion of the robot itself. However, we can enhance human’s view with more information to get knowledge about robot’s perception and awareness. We use Augmented Reality methods for providing the information in an adaptable visualization for different user types. We show that our approach leads to shorter development cycles as well as to safer human-robot interaction.
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2009 |
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Lindhorst, Timo; Herms, André; Schulze, Michael Einsatz einer Echtzeit-Publish/Subscribe-Kommunikation für die Teleoperation mobiler Roboter (Konferenzbeitrag) GI Workshop Echtzeit 2008, PEARL’08, S. 51-60, Springer, 2009. (Abstract | Links | BibTeX | Schlagwörter: Mobility, Publish-Subscribe, Real-Time, Robotic) @inproceedings{ EOS-2008.000-LHS,
title = {Einsatz einer Echtzeit-Publish/Subscribe-Kommunikation für die Teleoperation mobiler Roboter}, author = {Timo Lindhorst and André Herms and Michael Schulze}, url = {http://ivs.cs.uni-magdeburg.de/EuK/forschung/publikationen/pdf/2008/psawds-boppard.pdf}, year = {2009}, date = {2009-11-27}, booktitle = {GI Workshop Echtzeit 2008, PEARL’08}, pages = {51-60}, publisher = {Springer}, abstract = {In der Telerobotik werden mobile Roboter über ein Kommunikationsnetz durch einen Operator ferngesteuert. Um interaktiv zu operieren, müssen Daten in beide Richtungen in Echtzeit kommuniziert werden. Zusätzlich ist eine hohe Ausfallsicherheit des Systems zu gewährleisten. Diese Arbeit beschreibt die Umsetzung eines solchen Szenarios unter Verwendung einer Echtzeit-Publish/Subscribe-Kommunikation. Ein drahtloses Mesh-Netzwerk erfüllt durch redundante Verbindungen die Anforderungen an die Kommunikation. Eine Publish/Subscribe-Middleware ermöglicht eine inhaltsbasierte Kommunikation und erlaubt dadurch eine hohe Flexibilität der Teilnehmer. Durch die modulare Software-Architektur der Applikationen entsteht ein verteiltes System, in dem mobile Roboter durch netzwerktransparente Kommunikation gesteuert werden.}, keywords = {Mobility, Publish-Subscribe, Real-Time, Robotic} } In der Telerobotik werden mobile Roboter über ein Kommunikationsnetz durch einen Operator ferngesteuert. Um interaktiv zu operieren, müssen Daten in beide Richtungen in Echtzeit kommuniziert werden. Zusätzlich ist eine hohe Ausfallsicherheit des Systems zu gewährleisten. Diese Arbeit beschreibt die Umsetzung eines solchen Szenarios unter Verwendung einer Echtzeit-Publish/Subscribe-Kommunikation. Ein drahtloses Mesh-Netzwerk erfüllt durch redundante Verbindungen die Anforderungen an die Kommunikation. Eine Publish/Subscribe-Middleware ermöglicht eine inhaltsbasierte Kommunikation und erlaubt dadurch eine hohe Flexibilität der Teilnehmer. Durch die modulare Software-Architektur der Applikationen entsteht ein verteiltes System, in dem mobile Roboter durch netzwerktransparente Kommunikation gesteuert werden.
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2008 |
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Schulze, Michael; Zug, Sebastian Exploiting the FAMOUSO Middleware in Multi-Robot Application Development with Matlab/Simulink (Konferenzbeitrag) ACM/IFIP/USENIX, 9th Int. Middleware Conference (Middleware’08), S. 74-77, Leuven, Belgien, 2008. (BibTeX | Schlagwörter: Development, FAMOUSO, Middleware, Robotic) @inproceedings{ EOS-2008.001-SZ,
title = {Exploiting the FAMOUSO Middleware in Multi-Robot Application Development with Matlab/Simulink}, author = {Michael Schulze and Sebastian Zug}, year = {2008}, date = {2008-12-01}, booktitle = {ACM/IFIP/USENIX, 9th Int. Middleware Conference (Middleware’08)}, pages = {74-77}, address = {Leuven, Belgien}, keywords = {Development, FAMOUSO, Middleware, Robotic} } |
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Lindhorst, Timo; Herms, André; Schulze, Michael Einsatz einer Echtzeit-Publish/Sub-scribe-Kommunikation für die Teleoperation mobiler Roboter (Konferenzbeitrag) PEARL’08, S. 51-60, 2008. (BibTeX | Schlagwörter: Publish-Subscribe, Real-Time, Robotic) @inproceedings{ EOS-2008.000-LHS,
title = {Einsatz einer Echtzeit-Publish/Sub-scribe-Kommunikation für die Teleoperation mobiler Roboter}, author = {Timo Lindhorst and André Herms and Michael Schulze}, year = {2008}, date = {2008-11-27}, booktitle = {PEARL’08}, pages = {51-60}, keywords = {Publish-Subscribe, Real-Time, Robotic} } |
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Schulze, Michael; Zug, Sebastian A Middleware based Framework for Multi-Robot Application Development (Konferenzbeitrag) 3rd IEEE European Conference on Smart Sensing and Context (EuroSSC’08), S. 37-39, Zürich, Schweiz, 2008. (BibTeX | Schlagwörter: Development, Framework, Middleware, Robotic) @inproceedings{ EOS-2008.000-SZ,
title = {A Middleware based Framework for Multi-Robot Application Development}, author = {Michael Schulze and Sebastian Zug}, year = {2008}, date = {2008-10-29}, booktitle = {3rd IEEE European Conference on Smart Sensing and Context (EuroSSC’08)}, pages = {37-39}, address = {Zürich, Schweiz}, keywords = {Development, Framework, Middleware, Robotic} } |
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Kaiser, Jörg; Schulze, Michael; Zug, Sebastian; Cardeira,; Carreira, Sentient Objects for Designing and Controlling Service Robots (Konferenzbeitrag) 17th International Federation of Automatic Control World Congress (IFAC’08), S. 8315-8320, Seoul, Korea, 2008. (Abstract | BibTeX | Schlagwörter: Robotic, Sentient) @inproceedings{ EOS-2008.000-KCSZ,
title = {Sentient Objects for Designing and Controlling Service Robots}, author = {Jörg Kaiser and Michael Schulze and Sebastian Zug and C. Cardeira and F. Carreira}, year = {2008}, date = {2008-07-21}, booktitle = {17th International Federation of Automatic Control World Congress (IFAC’08)}, pages = {8315-8320}, address = {Seoul, Korea}, abstract = {Services related to healthcare and the support for elderly people become more and more important. Autonomous or semi-autonomous robots may play an important role in this area. From a control system point of view these robots are networks of distributed smart components to perceive their environment and react on it in real time. The problem of developing or extending such a robot often is that the designer has to start from scratch struggling with low level issues, where reusability of already designed components would be highly desirable. The paper describes a robot application in the area of a meals distribution service that combines two design worlds. One is the conventional world of modelling the functional properties without any structural considerations, the other is the world of cooperating sentient objects. We explain how the notion of sentient objects will assist the design, simulation and also later extensions and adaptations of the robot.}, keywords = {Robotic, Sentient} } Services related to healthcare and the support for elderly people become more and more important. Autonomous or semi-autonomous robots may play an important role in this area. From a control system point of view these robots are networks of distributed smart components to perceive their environment and react on it in real time. The problem of developing or extending such a robot often is that the designer has to start from scratch struggling with low level issues, where reusability of already designed components would be highly desirable. The paper describes a robot application in the area of a meals distribution service that combines two design worlds. One is the conventional world of modelling the functional properties without any structural considerations, the other is the world of cooperating sentient objects. We explain how the notion of sentient objects will assist the design, simulation and also later extensions and adaptations of the robot.
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