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\n \n\n \n \n \n \n \n \n Probabilistic Multi-agent Only-believing.\n \n \n \n \n\n\n \n Feng, Q.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the 23nd International Conference on Autonomous Agents and Multiagent Systems, 2024, 2024. \n \n\n\n\n
\n\n\n\n \n \n $\"Probabilistic$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 7 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{fengAAMAS2024,\n  author          = {Feng, Qihui and Lakemeyer, Gerhard},\n  booktitle       = {Proceedings of the 23nd International Conference on Autonomous Agents and Multiagent Systems, 2024},\n  title           = {Probabilistic Multi-agent Only-believing},\n  year            = {2024},\n  abstract={\n    Levesque introduced the notion of only-knowing to precisely capture\n    the beliefs of a knowledge base. While numerous studies of\n    only-knowing have emerged, such as the representation of probabilistic\n    beliefs or reasoning about beliefs in an uncertain dynamical\n    system, most remain confined to single-agent contexts. This limitation\n    predominantly stems from an absence of a logical framework,\n    which faithfully extends Levesque’s intuition of only-knowing to\n    multi-agent, probabilistic scenarios.\n    In this paper, we introduce a first-order logical account with probabilistic\n    beliefs and only-believing of many agents. We demonstrate\n    that the categorical fragment of our account forms a 𝐾𝐷45𝑛 modal\n    system, and the notion of belief has behavior following the laws of\n    probability. We also show how an agent’s beliefs and non-beliefs\n    about the environment or other agents’ beliefs are precisely captured\n    through the modalities of only-believing, which paves the\n    way to generalize tools for interfacing with symbolic, probabilistic\n    knowledge bases. By way of example, we demonstrate how nonmonotonic\n    conclusions including default reasoning can be handled\n    by our account.\n  },\n  url = {https://kbsg.rwth-aachen.de/papers/feng_AAMAS24.pdf}\n}\n\n

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\n \n 2023\n \n \n (14)\n \n \n

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\n \n\n \n \n \n \n \n Safety of Human-Robot Collaboration within the Internet of Production.\n \n \n \n\n\n \n Trinh, M.; Dammers, H.; Behery, M.; Baier, R.; Henn, T.; Gossen, D.; Corves, B.; Kowalewski, S.; Nitsch, V.; Lakemeyer, G.; Gries, T.; and Brecher, C.\n\n\n \n\n\n\n Proceedings of HCII 2023. 2023.\n in press\n\n\n\n
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@article{trinh_safety_2023,\n\ttitle = {Safety of Human-Robot Collaboration within the Internet of Production},\n\tjournal = {Proceedings of HCII 2023},\n\tauthor = {Minh Trinh and  Hannah Dammers and Mohamed Behery and Ralph Baier and Thomas Henn and Daniel Gossen and Burkard Corves and Stefan Kowalewski and Verena Nitsch and Gerhard Lakemeyer and Thomas Gries and Christian Brecher},\n\tyear = {2023},\n  note = {in press}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Digital Shadows of Safety for Human Robot Collaboration in the World-Wide Lab.\n \n \n \n \n\n\n \n Behery, M.; and Lakemeyer, G.\n\n\n \n\n\n\n In AAAI Spring Symposium on “HRI in Academia and Industry: Bridging the Gap”, 2023. \n \n\n\n\n
\n\n\n\n \n \n $\"Digital$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{behery2023digital,\n\ttitle = {Digital Shadows of Safety for Human Robot Collaboration in the World-Wide Lab},\n\tbooktitle = {AAAI Spring Symposium on “HRI in Academia and Industry: Bridging the Gap”},\n\tauthor = {Mohamed Behery and Lakemeyer, Gerhard},\n\tyear = {2023},\n  url= {https://arxiv.org/pdf/2304.02126}\n}\n\n

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\n \n\n \n \n \n \n \n \n Assistive Robot Teleoperation Using Behavior Trees.\n \n \n \n \n\n\n \n Behery, M.; Trinh, M.; Brecher, C.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of Variable Autonomy for human-robot Teaming (V AT) workshop @ ACM/IEEE HRI 2023, 2023. \n \n\n\n\n
\n\n\n\n \n \n $\"Assistive$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{behery2023assistive,\n  title={Assistive Robot Teleoperation Using Behavior Trees},\n  author={Mohamed Behery and Minh Trinh and Christian Brecher and Gerhard Lakemeyer},\n  booktitle={Proceedings of Variable Autonomy for human-robot Teaming (V\nAT) workshop @ ACM/IEEE HRI 2023},\n  url={https://arxiv.org/abs/2303.05177},\n  year={2023}\n}\n\n\n

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\n \n\n \n \n \n \n \n Self-Optimizing Agents Using Mixed Initiative Behavior Trees.\n \n \n \n\n\n \n Behery, M.; Trinh, M.; Brecher, C.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the 18th international Symposium on Software Engineering and Self Managing Systems, 2023. \n in Press\n\n\n\n
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@inproceedings{behery2023self,\n  title={Self-Optimizing Agents Using Mixed Initiative Behavior Trees},\n  author={Mohamed Behery and Minh Trinh and Christian Brecher and Gerhard Lakemeyer},\n  booktitle={Proceedings of the 18th international Symposium on Software Engineering and Self Managing Systems},\n  year={2023},\n  note = {in Press},\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Behaviour Trees for Representing HumanRobot Collaboration Processes in the World Wide Lab.\n \n \n \n \n\n\n \n Behery, M.; Brauner, P.; Ziefle, M.; and Lakemeyer, G.\n\n\n \n\n\n\n ERCIM News, 132: 15–16. January 2023.\n \n\n\n\n
\n\n\n\n \n \n $\"Behaviour$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@article{behery2020behaviour,\n  title = {Behaviour Trees for Representing HumanRobot Collaboration Processes in the World Wide Lab},\n  volume = {132},\n  abstract = {Shorter product lifecycles, more product variants, individualised production, and the desire for sustainable production call for agile control frameworks that enable smarter robotic control and collaborating human-robot teams. We propose generalising and standardising “Behaviour Trees” that use human action nodes as a process model and taskexecution-monitoring approach for human-robot collaborative assembly processes to increase the agility of humanrobot teams while  ensuring a safe and trusted humanrobot interaction. Within the DFG (Deutsche Forschungsgemeinschaft) funded Cluster of Excellence\n“Internet of Production”, we take a cross-disciplinary approach to conceptualisation and validation to ensure algorithmic soundness, technical viability, and social acceptance by the workers of increasingly agile human-robot teams.},\n  language = {English},\n  journal = {ERCIM News},\n  author = {Mohamed Behery and Philipp Brauner and Martina Ziefle and Gerhard Lakemeyer},\n  month = jan,\n  year = {2023},\n  url = {https://ercim-news.ercim.eu/images/stories/EN132/EN132-web.pdf},\n  pages = {15--16}\n}\n\n

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\n \n\n \n \n \n \n \n Safe and Flexible Planning of Collaborative Assembly Processes Using Behavior Trees and Computer Vision.\n \n \n \n\n\n \n Trinh, M.; Kotter, D.; Chu, A.; Behery, M.; Lakemeyer, G.; Petrovic, O.; and Brecher, C.\n\n\n \n\n\n\n Intelligent Human Systems Integration (IHSI): Vol. 69, 2023. 2023.\n \n\n\n\n
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@article{trinh_safe_2023,\n\ttitle = {Safe and Flexible Planning of Collaborative Assembly Processes Using Behavior Trees and Computer Vision},\n\tjournal = {Intelligent Human Systems Integration (IHSI): Vol. 69, 2023},\n\tauthor = {Minh Trinh and  David Kotter and Ariane Chu and Mohamed Behery and Gerhard Lakemeyer and Oliver Petrovic and Christian Brecher},\n\tyear = {2023}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n On the progression of belief.\n \n \n \n \n\n\n \n Liu, D.; and Feng, Q.\n\n\n \n\n\n\n Artificial Intelligence, 322: 103947. 2023.\n \n\n\n\n
\n\n\n\n \n \n $\"On$ Paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n\n\n\n

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@article{key,\n  title = {On the progression of belief},\n  journal = {Artificial Intelligence},\n  volume = {322},\n  pages = {103947},\n  year = {2023},\n  issn = {0004-3702},\n  doi = {https://doi.org/10.1016/j.artint.2023.103947},\n  url = {https://www.sciencedirect.com/science/article/pii/S0004370223000930},\n  author = {Daxin Liu and Qihui Feng},\n  keywords = {Reasoning about action, Reasoning about belief, Progression of belief},\n  abstract = {Based on weighted possible-world semantics, Belle and Lakemeyer recently proposed the logic DS, a probabilistic extension of a modal variant of the situation calculus with a model of belief. The logic has many desirable properties like full introspection and it is able to precisely capture the beliefs of a probabilistic knowledge base in terms of the notion of only-believing. While the proposal is intuitively appealing, it is unclear how to do planning with such logic. The reason behind this is that the logic lacks projection reasoning mechanisms and projection lies at the heart of planning. Projection reasoning, in general, is to decide what holds after actions. Two main solutions to projection exist: regression and progression. Roughly, regression reduces a query about the future to a query about the initial state while progression, on the other hand, changes the initial state according to the effects of actions and then checks whether the formula holds in the updated state. In this paper, we study projection by progression in the logic DS. It is known that the progression of a categorical knowledge base wrt a noise-free action corresponds to what is only-known after that action. We show how to progress a type of probabilistic knowledge base wrt noisy actions by the notion of only-believing after actions. Our notion of only-believing is closely related to Lin and Reiter's notion of progression.}\n}\n

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\n \n\n \n \n \n \n \n \n Concerning measures in a first-order logic with actions and meta-beliefs.\n \n \n \n \n\n\n \n Liu, D.; Feng, Q.; Belle, V.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the 20th International Conference on Principles of Knowledge Representation and Reasoning, volume 19, pages 451–460, 2023. \n \n\n\n\n
\n\n\n\n \n \n $\"Concerning$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{liuKR2023,\n  title={Concerning measures in a first-order logic with actions and meta-beliefs},\n  author={Liu, Daxin and Feng, Qihui and Belle, Vaishak and Lakemeyer, Gerhard},\n  booktitle={Proceedings of the 20th International Conference on Principles of Knowledge Representation and Reasoning},\n  volume={19},\n  number={1},\n  pages={451--460},\n  year={2023},\n  abstract = {\n    The unification of logic and probability has been seen as a long-standing concern in philosophy and mathematical logic. \n    In this paper, we propose a new general probabilistic modal logic of belief and only-believing in the situation calculus. \n    Our logic can express both continuous and discrete degrees of belief. More importantly, expressing degrees of belief for \n    arbitrary first-order formulas in a dynamic setting is possible for the first time, going well beyond previous proposals \n    where fluents are assumed to be nullary or discrete. We show that our notion of belief retains many of the properties \n    known from the previous related work.\n  },\n  url = {https://kbsg.rwth-aachen.de/papers/liu_KR2023_PS.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n A logic of only-believing over arbitrary probability distributions.\n \n \n \n \n\n\n \n Feng, Q.; Liu, D.; Lakemeyer, G.; and Belle, V.\n\n\n \n\n\n\n In Proceedings of the 22nd International Conference on Autonomous Agents and Multiagent Systems, 2023, pages 355–363, 2023. \n \n\n\n\n
\n\n\n\n \n \n $\"A$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{fengAAMAS2023,\n  title={A logic of only-believing over arbitrary probability distributions},\n  author={Feng, Qihui and Liu, Daxin and Lakemeyer, Gerhard and Belle, Vaishak},\n  booktitle={Proceedings of the 22nd International Conference on Autonomous Agents and Multiagent Systems, 2023},\n  pages={355--363},\n  year={2023},\n  abstract = {\n    When it comes to robotic agents operating in an uncertain world,\n    a major concern in knowledge representation is to better relate\n    high-level logical accounts of beliefs and actions to the low-level\n    probabilistic sensorimotor data. Perhaps the most general formalism\n    for dealing with degrees of belief in formulas, and in particular, with\n    how that should evolve in the presence of noisy sensing and acting\n    is the first-order logical account by Bacchus, Halpern, and Levesque.\n    The main advantage of such a logical account is that it allows a\n    specification of beliefs that can be partial or incomplete, in keeping\n    with whatever information is available about the domain, making\n    it particularly attractive for general-purpose cognitive robotics.\n    Recently, this model was extended to handle continuous probability\n    distributions. However, it is limited to finitely many nullary fluents\n    and defines beliefs and integration axiomatically, the latter making\n    semantic proofs about beliefs and meta-beliefs difficult.\n    In this paper, we revisit the continuous model and cast it in a\n    modal language. We will go beyond nullary fluents and allow fluents\n    of arbitrary arity as is usual in the standard situation calculus. This\n    necessitates a new and general treatment of probabilities on possible\n    worlds, where we define measures on uncountably many worlds\n    that interpret infinitely many fluents. We then show how this leads\n    to a fairly simple definition of knowing, degrees of belief, and onlyknowing. Properties thereof will also be analyzed. In this paper,\n    we focus on the static setting and conclude with some thoughts\n    about extending this account to actions as the next step and what\n    challenges might arise.\n  },\n  url = {https://kbsg.rwth-aachen.de/papers/Feng_aamas2023_OBLm.pdf}\n}\n

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\n \n\n \n \n \n \n \n Extracting Rules from Event Data for Study Planning.\n \n \n \n\n\n \n Rafiei, M.; Bayrak, D.; Pourbafrani, M.; Park, G.; Helal, H.; Lakemeyer, G.; and van der Aalst, W. M.\n\n\n \n\n\n\n arXiv preprint arXiv:2310.02735. 2023.\n \n\n\n\n
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@article{rafiei2023extracting,\n  title={Extracting Rules from Event Data for Study Planning},\n  author={Rafiei, Majid and Bayrak, Duygu and Pourbafrani, Mahsa and Park, Gyunam and Helal, Hayyan and Lakemeyer, Gerhard and van der Aalst, Wil MP},\n  journal={arXiv preprint arXiv:2310.02735},\n  year={2023}\n}\n

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\n \n\n \n \n \n \n \n \n Towards Bridging the Gap between High-Level Reasoning and Execution on Robots.\n \n \n \n \n\n\n \n Hofmann, T.\n\n\n \n\n\n\n Ph.D. Thesis, RWTH Aachen University, Aachen, Germany, 2023.\n \n\n\n\n
\n\n\n\n \n \n $\"Towards$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 6 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

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@phdthesis{hofmannBridgingGapHighlevel2023,\n title = {Towards Bridging the Gap between High-Level Reasoning and Execution on Robots},\n author = {Hofmann, Till},\n year = {2023},\n address = {{Aachen, Germany}},\n url = {https://doi.org/10.18154/RWTH-2023-10508},\n abstract = {When reasoning about actions, e.g., by means of task planning or agent programming with Golog, the robot's actions are typically modeled on an abstract level, where complex actions such as picking up an object are treated as atomic primitives with deterministic effects and preconditions that only depend on the current state. However, when executing such an action on a robot it can no longer be seen as a primitive. Instead, action execution is a complex task involving multiple steps with additional temporal preconditions and timing constraints. Furthermore, the action may be noisy, e.g., producing erroneous sensing results and not always having the desired effects. While these aspects are typically ignored in reasoning tasks, they need to be dealt with during execution. In this thesis, we propose several approaches towards closing this gap. Based on a logic that combines the situation calculus with metric time and metric temporal logic, we model the robot platform with timed automata and temporal constraints to describe the connection between the high-level actions and the robot platform. We then describe two approaches towards transforming the high-level program. First, we view the transformation as a synthesis problem, where the task is to synthesize a controller that executes the program while satisfying the specification, independent of the environment's choices. We show that the synthesis problem is decidable, describe an algorithm to construct a controller, and evaluate the approach in two robotics scenarios. While this approach supports controlling arbitrary Golog programs against any specification with timing constraints, it does not scale well. For this reason, we describe a second approach based on some simplifying assumptions which allow us to view the transformation problem as a reachability problem on timed automata, which can be solved with state-of-the-art tools. We demonstrate the effectiveness and scalability of the approach in a number of scenarios. Finally, we turn towards noisy sensors and effectors. Based on DS, a probabilistic variant of the situation calculus that allows modeling the agent's degree of belief, we describe an abstraction framework for Golog programs with noisy actions. In this framework, a high-level and non-stochastic program is mapped to a more detailed and stochastic low-level program. As the high-level program is non-stochastic, we may use non-probabilistic reasoning methods such as task planning or classical Golog program execution. At the same time, by mapping the abstract actions to low-level programs, we may still deal with uncertainty during execution. We define a suitable notion of bisimulation that guarantees the equivalence between the high-level and low-level programs and demonstrate the approach with an example.},\n school = {RWTH Aachen University},\n keywords = {artificial intelligence,belief-based programs,cognitive robotics,Golog,knowledge representation,metric temporal logic,situation calculus,stochastic actions,synthesis,timed systems,verification}\n}\n\n

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\n When reasoning about actions, e.g., by means of task planning or agent programming with Golog, the robot's actions are typically modeled on an abstract level, where complex actions such as picking up an object are treated as atomic primitives with deterministic effects and preconditions that only depend on the current state. However, when executing such an action on a robot it can no longer be seen as a primitive. Instead, action execution is a complex task involving multiple steps with additional temporal preconditions and timing constraints. Furthermore, the action may be noisy, e.g., producing erroneous sensing results and not always having the desired effects. While these aspects are typically ignored in reasoning tasks, they need to be dealt with during execution. In this thesis, we propose several approaches towards closing this gap. Based on a logic that combines the situation calculus with metric time and metric temporal logic, we model the robot platform with timed automata and temporal constraints to describe the connection between the high-level actions and the robot platform. We then describe two approaches towards transforming the high-level program. First, we view the transformation as a synthesis problem, where the task is to synthesize a controller that executes the program while satisfying the specification, independent of the environment's choices. We show that the synthesis problem is decidable, describe an algorithm to construct a controller, and evaluate the approach in two robotics scenarios. While this approach supports controlling arbitrary Golog programs against any specification with timing constraints, it does not scale well. For this reason, we describe a second approach based on some simplifying assumptions which allow us to view the transformation problem as a reachability problem on timed automata, which can be solved with state-of-the-art tools. We demonstrate the effectiveness and scalability of the approach in a number of scenarios. Finally, we turn towards noisy sensors and effectors. Based on DS, a probabilistic variant of the situation calculus that allows modeling the agent's degree of belief, we describe an abstraction framework for Golog programs with noisy actions. In this framework, a high-level and non-stochastic program is mapped to a more detailed and stochastic low-level program. As the high-level program is non-stochastic, we may use non-probabilistic reasoning methods such as task planning or classical Golog program execution. At the same time, by mapping the abstract actions to low-level programs, we may still deal with uncertainty during execution. We define a suitable notion of bisimulation that guarantees the equivalence between the high-level and low-level programs and demonstrate the approach with an example.\n

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\n \n\n \n \n \n \n \n \n Abstracting Noisy Robot Programs.\n \n \n \n \n\n\n \n Hofmann, T.; and Belle, V.\n\n\n \n\n\n\n In Proceedings of the 22nd International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2023. \n \n\n\n\n
\n\n\n\n \n \n $\"Abstracting$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 23 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{hofmannAbstractingNoisyRobot2023,\n  title = {Abstracting Noisy Robot Programs},\n  author = {Hofmann, Till and Belle, Vaishak},\n  booktitle = {Proceedings of the 22nd International Conference on Autonomous Agents and Multiagent Systems (AAMAS)},\n  year = {2023},\n  abstract = {\n    Abstraction is a commonly used process to represent some low-level\n    system by a more coarse specification with the goal to omit unnecessary\n    details while preserving important aspects. While recent work on\n    abstraction in the situation calculus has focused on non-probabilistic\n    domains, we describe an approach to abstraction of probabilistic and\n    dynamic systems. Based on a variant of the situation calculus with\n    probabilistic belief, we define a notion of bisimulation that allows to\n    abstract a detailed probabilistic basic action theory with noisy\n    actuators and sensors by a possibly non-stochastic basic action theory.\n    By doing so, we obtain abstract Golog programs that omit unnecessary\n    details and which can be translated to detailed programs for\n    execution. This simplifies the implementation of noisy robot\n    programs, opens up the possibility of using non-stochastic reasoning\n    methods (e.g., planning) on probabilistic problems, and provides domain\n    descriptions that are more easily interpretable.\n  },\n  url = {https://kbsg.rwth-aachen.de/papers/aamas2023-abstraction.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Controlling Timed Automata against MTL Specifications with TACoS.\n \n \n \n \n\n\n \n Hofmann, T.; and Schupp, S.\n\n\n \n\n\n\n Science of Computer Programming, 225: 102898. January 2023.\n \n\n\n\n
\n\n\n\n \n \n $\"Controlling$ Paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n\n\n\n

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@article{hofmannControllingTimedAutomata2023,\n  title = {Controlling Timed Automata against {{MTL}} Specifications with {{TACoS}}},\n  author = {Hofmann, Till and Schupp, Stefan},\n  year = {2023},\n  month = jan,\n  journal = {Science of Computer Programming},\n  volume = {225},\n  pages = {102898},\n  issn = {0167-6423},\n  url = {https://kbsg.rwth-aachen.de/papers/scico2023-tacos.pdf},\n  doi = {https://doi.org/10.1016/j.scico.2022.102898},\n  abstract = {TACoS is a tool for synthesizing controllers against specifications of undesired behavior with timing constraints. Given a timed automaton and an MTL specification, the tool synthesizes a controller that guarantees that every possible execution of the system satisfies the given specification. TACoS comes with a C++ library with a simple-to-use API and can read from and write to human-readable text input and output. In this paper, we outline the approach of the tool and present two examples in further detail.},\n  langid = {english},\n  keywords = {Controller synthesis,Metric temporal logic,Timed automata}\n}\n\n

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\n \n\n \n \n \n \n \n \n Verifying Belief-Based Programs via Symbolic Dynamic Programming.\n \n \n \n \n\n\n \n Liu, D.; Huang, Q.; Belle, V.; and Lakemeyer, G.\n\n\n \n\n\n\n In ECAI 2023, pages 1497–1504. IOS Press, 2023.\n \n\n\n\n
\n\n\n\n \n \n $\"Verifying$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@incollection{liu2023verifying,\n  title={Verifying Belief-Based Programs via Symbolic Dynamic Programming},\n  author={Liu, Daxin and Huang, Qinfei and Belle, Vaishak and Lakemeyer, Gerhard},\n  booktitle={ECAI 2023},\n  pages={1497--1504},\n  year={2023},\n  publisher={IOS Press},\n  abstract ={\n    Belief-based programming is a probabilistic extension of the Golog programming language family, where every action and sensing could be noisy and every test refers to the subjective beliefs of the agent. Such characteristics make it rather suitable for robot control in a partial-observable uncertain environment. Recently, efforts have been made in providing formal semantics for belief programs and investigating the hardness of verifying belief programs. Nevertheless, a general algorithm that actually conducts the verification is missing. In this paper, we propose an algorithm based on symbolic dynamic programming to verify belief programs, an approach that generalizes the dynamic programming technique for solving (partially observable) Markov decision processes, i.e. (PO)MDP, by exploiting the symbolic structure in the solution of first-order (PO)MDPs induced by belief program execution.\n  },\n  url = {https://kbsg.rwth-aachen.de/papers/liu_ECAI23.pdf}\n}\n\n

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\n \n 2022\n \n \n (10)\n \n \n

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\n \n\n \n \n \n \n \n Dynamics Modeling of Industrial Robots Using Transformer Networks.\n \n \n \n\n\n \n Trinh, M.; Behery, M.; Emara, M.; Lakemeyer, G.; Storms, S.; and Brecher, C.\n\n\n \n\n\n\n In 2022 Sixth IEEE International Conference on Robotic Computing (IRC), pages 164–171, 2022. IEEE\n \n\n\n\n
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@inproceedings{trinh2022dynamics,\n  title={Dynamics Modeling of Industrial Robots Using Transformer Networks},\n  author={Minh Trinh and Mohamed Behery and Mahmoud Emara and Gerhard Lakemeyer and Simon Storms and Christian Brecher},\n  booktitle={2022 Sixth IEEE International Conference on Robotic Computing (IRC)},\n  pages={164--171},\n  year={2022},\n  organization={IEEE}\n}\n\n

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\n \n\n \n \n \n \n \n \n Kollaborative Montageprozesse mit Behavior Trees/Collaborative Assembly Processes using Behavior Trees.\n \n \n \n \n\n\n \n Trinh, M.; Behery, M.; Petrovic, O.; Brecher, C.; and Lakemeyer, G.\n\n\n \n\n\n\n wt Werkstattstechnik online, 112: 565–568. sept 2022.\n \n\n\n\n
\n\n\n\n \n \n $\"Kollaborative$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@article{trinh2020kollaborative,\n  title = {Kollaborative Montageprozesse mit Behavior Trees/Collaborative Assembly Processes using Behavior Trees},\n  volume = {112},\n  url = {https://elibrary.vdi-verlag.de/10.37544/1436-4980-2022-09/wt-werkstattstechnik-online-jahrgang-112-2022-heft-09?page=1},\n  language = {German},\n  journal = {wt Werkstattstechnik online},\n  author = {Minh Trinh and Mohamed Behery and Oliver Petrovic and Christian Brecher and Gerhard Lakemeyer},\n  month = sept,\n  year = {2022},\n  pages = {565–568},\n  publisher = {VDI fachmedien, Düsseldorf}\n}\n\n

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\n \n\n \n \n \n \n \n Motion Descriptors for Intention Recognition in Robot Teleoperation Tasks.\n \n \n \n\n\n \n Behery, M.; and Lakemeyer, G.\n\n\n \n\n\n\n In Workshop on Prediction and Anticipation Reasoning in Human-Robot Interaction (PAR-HRI) at ICRA'22, 2022. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{behery2022motion,\n  title={Motion Descriptors for Intention Recognition in Robot Teleoperation Tasks},\n  author={Mohamed Behery and Gerhard Lakemeyer},\n  booktitle = {Workshop on Prediction and Anticipation Reasoning in Human-Robot Interaction (PAR-HRI) at ICRA'22},\n  year={2022}\n}\n\n

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\n \n\n \n \n \n \n \n A Framework for the Classification of Human-Robot Interactions within the Internet of Production.\n \n \n \n\n\n \n Baier, R.; Dammers, H.; Mertens, A.; Behery, M.; Nouduri, S.; Pelzer, L.; Shahidi, A.; Trinh, M.; Corves, B.; Gries, T.; Hopmann, C.; Hüsing, M.; Lakemeyer, G.; and Nitsch, V.\n\n\n \n\n\n\n In International Conference on Human-Computer Interaction, volume 2, pages 427–454, 2022. Springer\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{baier2022framwork,\n  booktitle={International Conference on Human-Computer Interaction},\n  title = {A {Framework} for the {Classification} of {Human}-{Robot} {Interactions} within the {Internet} of {Production}},\n  volume = {2},\n  abstract = {An important goal of the Industry 4.0 agenda is increased flexibility in production, which could be achieved, for example, through the use of robot systems that interact with humans. New methods of data acquisition, processing and modeling, such as those developed for the Internet of Production (IoP), open up new possibilities for human-robot interaction (HRI) and in particular human-robot collaboration (HRC). Aiming to support future research in this area and human-oriented work system design in next generation production plants, this paper presents a framework for the classification, analysis and planning of HRI use cases such as those envisioned for the IoP. It uses the dimensions (1) overlap of human and robot workspaces divided into five levels, (2) preconditions and implications in the technical, legal and social domains, and (3) data sources. Using a graphical representation, different variants can be compared and problem areas as well as potentials can be identified easily through color-coded notation.},\n  author = {Ralph Baier and Hannah Dammers and Alexander Mertens and Mohamed Behery and Srikanth Nouduri and Lukas Pelzer and Amir Shahidi and Minh Trinh and Burkard Corves and Thomas Gries and Christian Hopmann and Mathias Hüsing and Gerhard Lakemeyer and Verena Nitsch},\n  language = {en},  \n  pages={427--454},\n  organization={Springer},\n  year = {2022}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n Zero-One Laws and Almost Sure Valuations of First-Order Logic in Semiring Semantics.\n \n \n \n\n\n \n Grädel, E.; Helal, H.; Naaf, M.; and Wilke, R.\n\n\n \n\n\n\n In Proceedings of the 37th Annual ACM/IEEE Symposium on Logic in Computer Science, pages 1–12, 2022. \n \n\n\n\n
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@inproceedings{gradel2022zero,\n  title={Zero-One Laws and Almost Sure Valuations of First-Order Logic in Semiring Semantics},\n  author={Gr{\\"a}del, Erich and Helal, Hayyan and Naaf, Matthias and Wilke, Richard},\n  booktitle={Proceedings of the 37th Annual ACM/IEEE Symposium on Logic in Computer Science},\n  pages={1--12},\n  year={2022}\n}\n

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\n \n\n \n \n \n \n \n A Combined Approach of Process Mining and Rule-based AI for Study Planning and Monitoring in Higher Education.\n \n \n \n\n\n \n Wagner, M.; Helal, H.; Roepke, R.; Judel, S.; Doveren, J.; Goerzen, S.; Soudmand, P.; Lakemeyer, G.; Schroeder, U.; and van der Aalst, W. M.\n\n\n \n\n\n\n In International Conference on Process Mining, pages 513–525, 2022. Springer\n \n\n\n\n
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@inproceedings{wagner2022combined,\n  title={A Combined Approach of Process Mining and Rule-based AI for Study Planning and Monitoring in Higher Education},\n  author={Wagner, Miriam and Helal, Hayyan and Roepke, Rene and Judel, Sven and Doveren, Jens and Goerzen, Sergej and Soudmand, Pouya and Lakemeyer, Gerhard and Schroeder, Ulrik and van der Aalst, Wil MP},\n  booktitle={International Conference on Process Mining},\n  pages={513--525},\n  year={2022},\n  organization={Springer}\n}\n

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\n \n\n \n \n \n \n \n \n Using Abstraction for Interpretable Robot Programs in Stochastic Domains.\n \n \n \n \n\n\n \n Hofmann, T.; and Belle, V.\n\n\n \n\n\n\n In Proceedings of the 3rd Workshop on Explainable Logic-Based Knowledge Representation (XLoKR), 2022. \n \n\n\n\n
\n\n\n\n \n \n $\"Using$ Paper\n \n \n \n $\"Using$ slides\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 37 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{AbstractionXLoKR22,\n  title = {Using Abstraction for Interpretable Robot Programs in Stochastic Domains},\n  author = {Till Hofmann and Vaishak Belle},\n  booktitle = {Proceedings of the 3rd Workshop on Explainable Logic-Based Knowledge Representation (XLoKR)},\n  year = {2022},\n  abstract = {\n    A robot's actions are inherently stochastic, as its sensors are noisy\n    and its actions do not always have the intended effects. For this\n    reason, the agent language Golog has been extended to models with\n    degrees of belief and stochastic actions. While this allows more precise\n    robot models, the resulting programs are much harder to comprehend,\n    because they need to deal with the noise, e.g., by looping until some\n    desired state has been reached with certainty, and because the resulting\n    action traces consist of a large number of actions cluttered with sensor\n    noise. To alleviate these issues, we propose to use abstraction. We\n    define a high-level and nonstochastic model of the robot and then map\n    the high-level model into the lower-level stochastic model. The\n    resulting programs are much easier to understand, often do not require\n    belief operators or loops, and produce much shorter action traces.\n  },\n  url = {https://kbsg.rwth-aachen.de/papers/xlokr22-abstraction.pdf},\n  url_Slides = {https://kbsg.rwth-aachen.de/papers/xlokr22-abstraction-slides.pdf},\n  doi = {10.48550/arXiv.2207.12763}\n}\n\n

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\n \n\n \n \n \n \n \n \n Towards Using Promises for Multi-Agent Cooperation in Goal Reasoning.\n \n \n \n \n\n\n \n Swoboda, D.; Hofmann, T.; Viehmann, T.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the 10th ICAPS Workshop on Planning and Robotics (ICAPS PlanRob), 2022. \n \n\n\n\n
\n\n\n\n \n \n $\"Towards$ Paper\n \n \n \n $\"Towards$ code\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{PromisesPlanRob22,\n  title = {Towards Using Promises for Multi-Agent Cooperation in Goal Reasoning},\n  author = {Daniel Swoboda and Till Hofmann and Tarik Viehmann and Gerhard Lakemeyer},\n  booktitle = {Proceedings of the 10th ICAPS Workshop on Planning and Robotics (ICAPS PlanRob)},\n  year = {2022},\n  abstract = {\n    Reasoning and planning for mobile robots is a challenging problem, as the\n    world evolves over time and thus the robot's goals may change. One\n    technique to tackle this problem is goal reasoning, where the agent not\n    only reasons about its actions, but also about which goals to pursue. While\n    goal reasoning for single agents has been researched extensively,\n    distributed, multi-agent goal reasoning comes with additional challenges,\n    especially in a distributed setting.  In such a context, some form of\n    coordination is necessary to allow for cooperative behavior. Previous goal\n    reasoning approaches share the agent's world model with the other agents,\n    which already enables basic cooperation.  However, the agent's goals, and\n    thus its intentions, are typically not shared.\n\n    In this paper, we present a method to tackle this limitation. Extending an\n    existing goal reasoning framework, we propose enabling cooperative behavior\n    between multiple agents through promises, where an agent may promise that\n    certain facts will be true at some point in the future. Sharing these\n    promises allows other agents to not only consider the current state of the\n    world, but also the intentions of other agents when deciding on which goal\n    to pursue next.  We describe how promises can be incorporated into the goal\n    life cycle, a commonly used goal refinement mechanism. We then show how\n    promises can be used when planning for a particular goal by connecting them\n    to timed initial literals (TILs) from PDDL planning.  Finally, we evaluate\n    our prototypical implementation in a simplified logistics scenario.\n  },\n  url = {https://kbsg.rwth-aachen.de/papers/planrob22-promises.pdf},\n  doi = {10.48550/arXiv.2206.09864},\n  url_Code = {https://doi.org/10.5281/zenodo.6610426}\n}\n\n

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\n \n\n \n \n \n \n \n \n Controlling Golog Programs against MTL Constraints.\n \n \n \n \n\n\n \n Hofmann, T.; and Schupp, S.\n\n\n \n\n\n\n 2022.\n \n\n\n\n
\n\n\n\n \n \n $\"Controlling$ Paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@misc{hofmannControllingGologPrograms2022,\n  title = {Controlling Golog Programs against MTL Constraints},\n  author = {Hofmann, Till and Schupp, Stefan},\n  year = {2022},\n  eprint = {2204.03596},\n  archivePrefix = {arXiv},\n  primaryClass = {cs.AI},\n  doi = {10.48550/ARXIV.2204.03596},\n  url = {https://arxiv.org/abs/2204.03596},\n  abstract = {\n    While Golog is an expressive programming language to control the\n    high-level behavior of a robot, it is often tedious to use on a real\n    robotic system. On an actual robot, the user needs to consider low-level\n    details, such as enabling and disabling hardware components, e.g., a\n    camera to detect objects for grasping.  In other words, high-level actions\n    usually pose implicit temporal constraints on the low-level platform,\n    which are typically independent of the concrete program to be executed.\n    In this paper, we propose to make these constraints explicit by\n    modeling them as MTL formulas, which enforce the execution of certain\n    low-level platform operations in addition to the main program.  Based on\n    results from timed automata controller synthesis, we describe a method\n    to synthesize a controller that executes both the high-level program and\n    the low-level platform operations concurrently in order to satisfy the\n    MTL specification.  This allows the user to focus on the high-level\n    behavior without the need to consider low-level operations. We present\n    an extension to Golog by clocks together with the required theoretical\n    foundations as well as decidability results.\n  }\n}\n\n

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\n \n\n \n \n \n \n \n On the Verification of Belief Programs.\n \n \n \n\n\n \n Liu, D.; and Lakemeyer, G.\n\n\n \n\n\n\n 2022.\n \n\n\n\n
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@misc{liuverication,\nauthor = {Daxin Liu and Gerhard Lakemeyer},\ntitle = {On the Verification of Belief Programs},\nyear = {2022},\nEprint = {arXiv:2204.12562},\nabstract={\nIn a recent paper, Belle and Levesque proposed a framework for a type of program called belief programs, a probabilistic extension of GOLOG programs where every action and sensing result could be noisy and every test condition refers to the agent's subjective beliefs. Inherited from GOLOG programs, the action-centered feature makes belief programs fairly suitable for high-level robot control under uncertainty. An important step before deploying such a program is to verify whether it satisfies properties as desired. At least two problems exist in doing verification: how to formally specify properties of a program and what is the complexity of verification. In this paper, we propose a formalism for belief programs based on a modal logic of actions and beliefs. Among other things, this allows us to express PCTL-like temporal properties smoothly. Besides, we investigate the decidability and undecidability for the verification problem of belief programs.\n}\n}\n\n

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\n \n\n \n \n \n \n \n Human Action Nodes for Behavior Trees.\n \n \n \n\n\n \n Behery, M.; Trinh, M.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the Workshop Robotics for People (R4P): Perspectives on Interaction, Learning and Safety, pages 13–14, 2021. \n \n\n\n\n
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@inproceedings{behery2021human,\n  title={Human Action Nodes for Behavior Trees},\n  author={Mohamed Behery and Minh Trinh and Gerhard Lakemeyer},\n  booktitle = {Proceedings of the Workshop Robotics for People (R4P): Perspectives on Interaction, Learning and Safety},\n  pages={13--14},\n  year={2021}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n TACoS: A Tool for MTL Controller Synthesis.\n \n \n \n \n\n\n \n Hofmann, T.; and Schupp, S.\n\n\n \n\n\n\n In Proceedings of the 19th International Conference on Software Engineering and Formal Methods, 2021. \n Best Tool Paper Award\n\n\n\n
\n\n\n\n \n \n $\"TACoS:$ Paper\n \n \n \n $\"TACoS:$ slides\n \n \n \n $\"TACoS:$ code\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{hofmannTACoSToolMTL2021,\n  title = {{{TACoS}}: A Tool for {{MTL}} Controller Synthesis},\n  booktitle = {Proceedings of the 19th {{International Conference}} on {{Software Engineering}} and {{Formal Methods}}},\n  author = {Hofmann, Till and Schupp, Stefan},\n  year = {2021},\n  abstract = {We introduce TACoS, a tool for synthesizing controllers\n              satisfying MTL specifications of undesired behavior with timing\n              constraints.  Our contribution extends an existing theoretical\n              approach towards practical applications.  The most notable\n              features include: Online labeling to terminate early if a\n              solution has been found, heuristic search to expand the most\n              promising nodes first, search graph pruning to reduce the problem\n              size by pruning irrelevant parts of the search graph, and\n              re-using previously explored search nodes to further reduce the\n              search graph.  Finally, multi-threading support allows to make\n              use of modern CPUs with many parallel threads.  TACoS comes with\n              a C++ library with minimal external dependencies and\n              simple-to-use API.  We evaluate our approach on a number of\n              scenarios and investigate how each of the enhancements improves\n              the performance. The tool is publicly available at\n              https://github.com/morxa/tacos.},\n  url = {https://kbsg.rwth-aachen.de/papers/sefm21-tacos.pdf},\n  url_slides = {https://kbsg.rwth-aachen.de/papers/sefm21-tacos-slides.pdf},\n  doi = {10.1007/978-3-030-92124-8_21},\n  note = {Best Tool Paper Award},\n  url_Code = {https://github.com/morxa/tacos}\n}\n\n

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\n \n\n \n \n \n \n \n \n Transforming Robotic Plans with Timed Automata to Solve Temporal Platform Constraints.\n \n \n \n \n\n\n \n Viehmann, T.; Hofmann, T.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the 30th International Joint Conference on Artificial Intelligence (IJCAI), 2021. \n \n\n\n\n
\n\n\n\n \n \n $\"Transforming$ Paper\n \n \n \n $\"Transforming$ poster\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 9 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{viehmannTransformingRoboticPlans2021,\n  title = {Transforming Robotic Plans with Timed Automata to Solve Temporal Platform Constraints},\n  booktitle = {Proceedings of the 30th {{International Joint Conference}} on {{Artificial Intelligence}} ({{IJCAI}})},\n  author = {Viehmann, Tarik and Hofmann, Till and Lakemeyer, Gerhard},\n  year = {2021},\n  url = {https://kbsg.rwth-aachen.de/papers/ijcai21-ta-transformation.pdf},\n  doi = {10.24963/ijcai.2021/287},\n  url_Poster = {https://kbsg.rwth-aachen.de/papers/ijcai21-ta-transformation_poster.pdf},\n  abstract = {\n    Task planning for mobile robots typically uses an abstract planning domain\n    that ignores the low-level details of the specific robot platform.\n    Therefore, executing a plan on an actual robot often requires\n    additional steps to deal with the specifics of the robot platform. Such\n    a platform can be modeled with timed automata and a set of temporal\n    constraints that need to be satisfied during execution.\n\n    In this paper, we describe how to transform an abstract plan into a\n    platform-specific action sequence that satisfies all platform\n    constraints. The transformation procedure first transforms the plan into\n    a timed automaton, which is then combined with the platform automata\n    while removing all transitions that violate any constraint. We then\n    apply reachability analysis on the resulting automaton.  From any\n    solution trace one can obtain the abstract plan extended by additional\n    platform actions such that all platform constraints are satisfied.  We\n    describe the transformation procedure in detail and provide an\n    evaluation in two real-world robotics scenarios.\n  }\n}\n\n

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\n \n\n \n \n \n \n \n \n Using Platform Models for a Guided Explanatory Diagnosis Generation for Mobile Robots.\n \n \n \n \n\n\n \n Habering, D.; Hofmann, T.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the 30th International Joint Conference on Artificial Intelligence (IJCAI), 2021. \n \n\n\n\n
\n\n\n\n \n \n $\"Using$ Paper\n \n \n \n $\"Using$ slides\n \n \n \n $\"Using$ poster\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 20 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{haberingUsingPlatformModels2021,\n  title = {Using Platform Models for a Guided Explanatory Diagnosis Generation for Mobile Robots},\n  booktitle = {Proceedings of the 30th {{International Joint Conference}} on {{Artificial Intelligence}} ({{IJCAI}})},\n  author = {Habering, Daniel and Hofmann, Till and Lakemeyer, Gerhard},\n  year = {2021},\n  url = {https://kbsg.rwth-aachen.de/papers/ijcai21-diagnosis.pdf},\n  doi = {10.24963/ijcai.2021/263},\n  url_Slides = {https://kbsg.rwth-aachen.de/papers/ijcai21-diagnosis_slides.pdf},\n  url_Poster = {https://kbsg.rwth-aachen.de/papers/ijcai21-diagnosis_poster.pdf},\n  abstract = {\n    Plan execution on a mobile robot is inherently error-prone, as the robot\n    needs to act in a physical world which can never be completely\n    controlled by the robot. If an error occurs during execution, the true\n    world state is unknown, as a failure may have unobservable consequences.\n    One approach to deal with such failures is diagnosis, where the true\n    world state is determined by identifying a set of faults based on sensed\n    observations. In this paper, we present a novel approach to explanatory\n    diagnosis, based on the assumption that most failures occur due to some\n    robot hardware failure. We model the robot platform components with\n    state machines and formulate action variants for the robots' actions,\n    modelling different fault modes. We apply diagnosis as\n    planning with a top-k planning approach to determine possible diagnosis\n    candidates and then use active diagnosis to find out which of those\n    candidates is the true diagnosis.  Finally, based on the platform model,\n    we recover from the occurred failure such that the robot can continue to\n    operate. We evaluate our approach in a logistics robots scenario by\n    comparing it to having no diagnosis and diagnosis without platform\n    models, showing a significant improvement to both alternatives.\n  }\n}\n\n

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\n \n\n \n \n \n \n \n \n Portable High-Level Agent Programming with Golog++.\n \n \n \n \n\n\n \n Mataré, V.; Viehmann, T.; Hofmann, T.; Lakemeyer, G.; Ferrein, A.; and Schiffer, S.\n\n\n \n\n\n\n In Proceedings of the 13th International Conference on Agents and Artifical Intelligence (ICAART), 2021. \n \n\n\n\n
\n\n\n\n \n \n $\"Portable$ Paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{matarePortableHighlevelAgent2021,\n  title = {Portable High-Level Agent Programming with Golog++},\n  booktitle = {Proceedings of the 13th {{International Conference}} on {{Agents}} and {{Artifical Intelligence}} ({{ICAART}})},\n  author = {Matar{\\'e}, Victor and Viehmann, Tarik and Hofmann, Till and Lakemeyer, Gerhard and Ferrein, Alexander and Schiffer, Stefan},\n  year = {2021},\n  url = {https://kbsg.rwth-aachen.de/~hofmann/papers/icaart21-gologpp.pdf},\n  doi={10.5220/0010253902180227},\n  abstract = {We present golog++, a high-level agent programming and interfacing framework that offers a temporal constraint language to explicitly model layer-penetrating contingencies in low-level platform behavior. It can be used to maintain a clear separation between an agent's domain model and certain quirks of its execution platform that affect problem solving behavior. Our system reasons about the execution of an abstract (i.e. exclusively domain-bound) plan on a particular execution platform. This way, we avoid compounding the complexity of the planning problem while improving the modularity of both golog and the user code. On a run-through example from the well-known blocksworld domain, we demonstrate the entire process from domain modeling and platform modeling to plan transformation and platform-specific plan execution.}\n}\n\n

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\n \n\n \n \n \n \n \n \n Multi-Agent Goal Reasoning with the CLIPS Executive in the Robocup Logistics League.\n \n \n \n \n\n\n \n Hofmann, T.; Viehmann, T.; Gomaa, M.; Habering, D.; Niemueller, T.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the 13th International Conference on Agents and Artifical Intelligence (ICAART), 2021. \n \n\n\n\n
\n\n\n\n \n \n $\"Multi-Agent$ Paper\n \n \n \n $\"Multi-Agent$ slides\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{hofmannMultiagentGoalReasoning2021,\n  title = {Multi-Agent Goal Reasoning with the {{CLIPS Executive}} in the {{Robocup Logistics League}}},\n  booktitle = {Proceedings of the 13th {{International Conference}} on {{Agents}} and {{Artifical Intelligence}} ({{ICAART}})},\n  author = {Hofmann, Till and Viehmann, Tarik and Gomaa, Mostafa and Habering, Daniel and Niemueller, Tim and Lakemeyer, Gerhard},\n  year = {2021},\n  url = {https://kbsg.rwth-aachen.de/~hofmann/papers/icaart21-goal-reasoning-rcll.pdf},\n  url_Slides = {https://kbsg.rwth-aachen.de/~hofmann/papers/icaart21-goal-reasoning-rcll-slides.pdf},\n  doi={10.5220/0010252600800091},\n  abstract = {Production processes in smart factories moved away from a process-centered paradigm into a modular production paradigm, facing the variations in demanded product configurations and deadlines with a flexible production.  The RoboCup Logistics League (RCLL) is a robotics competition in the context of in-factory logistics, in which a team of three autonomous mobile robots manufacture dynamically ordered products. The main challenges include task reasoning, multi-agent coordination, and robust execution in a dynamic environment. We present a multi-agent goal reasoning approach where agents continuously reason about which objectives to pursue rather than only planning for a fixed objective.  We describe an incremental, distributed formulation of the RCLL problem implemented in the goal reasoning system CLIPS Executive. We elaborate what kind of goals we use in the RCLL, how we use goal trees to define an effective production strategy and how agents coordinate effectively by means of primitive lock actions as well as goal-level resource allocation.  The system utilizes a PDDL model to describe domain predicates and actions, as well as to determine the executability and effects of actions during execution. Our agent is able to react to unexpected events, such as a broken machine or a failed action, by monitoring the execution of the plan, re-evaluating goals, and taking over goals which were previously pursued by another robot. We present a detailed evaluation of the system used on real robots}\n}\n\n

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\n \n\n \n \n \n \n \n \n Controller Synthesis for Golog Programs over Finite Domains with Metric Temporal Constraints.\n \n \n \n \n\n\n \n Hofmann, T.; and Lakemeyer, G.\n\n\n \n\n\n\n 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Controller$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@misc{hofmannMTLSynthesis2021,\n    title={Controller Synthesis for Golog Programs over Finite Domains with Metric Temporal Constraints},\n    author={Till Hofmann and Gerhard Lakemeyer},\n    year={2021},\n    eprint={2102.09837},\n    archivePrefix={arXiv},\n    primaryClass={cs.AI},\n    url = {https://arxiv.org/abs/2102.09837},\n    abstract = {\n      Executing a Golog program on an actual robot typically requires\n      additional steps to account for hardware or software details of the\n      robot platform, which can be formulated as constraints on the program.\n      Such constraints are often temporal, refer to metric time, and require\n      modifications to the abstract Golog program.  We describe how to\n      formulate such constraints based on a modal variant of the Situation\n      Calculus. These constraints connect the abstract program with the\n      platform models, which we describe using timed automata.  We show that\n      for programs over finite domains and with fully known initial state, the\n      problem of synthesizing a controller that satisfies the constraints\n      while preserving the effects of the original program can be reduced to\n      MTL synthesis.  We do this by constructing a timed automaton from the\n      abstract program and synthesizing an MTL controller from this automaton,\n      the platform models, and the constraints. We prove that the synthesized\n      controller results in execution traces which are the same as those of\n      the original program, possibly interleaved with platform-dependent\n      actions, that they satisfy all constraints, and that they have the same\n      effects as the traces of the original program. By doing so, we obtain a\n      decidable procedure to synthesize a controller that satisfies the\n      specification while preserving the original program.\n    }\n}\n\n

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\n \n\n \n \n \n \n \n \n KM-BART: Knowledge Enhanced Multimodal BART for Visual Commonsense Generation.\n \n \n \n \n\n\n \n Xing, Y.; Shi, Z.; Meng, Z.; Lakemeyer, G.; Ma, Y.; and Wattenhofer, R.\n\n\n \n\n\n\n In Proceedings of the 59th Annual Meeting of the Association for Computational Linguistics and the 11th International Joint Conference on Natural Language Processing, ACL/IJCNLP 2021, (Volume 1: Long Papers), Virtual Event, August 1-6, 2021, pages 525–535, 2021. \n \n\n\n\n
\n\n\n\n \n \n $\"KM-BART:$ Paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{DBLP:conf/acl/XingSMLMW20,\n  author    = {Yiran Xing and\n               Zai Shi and\n               Zhao Meng and\n               Gerhard Lakemeyer and\n               Yunpu Ma and\n               Roger Wattenhofer},\n  title     = {{KM-BART:} Knowledge Enhanced Multimodal {BART} for Visual Commonsense\n               Generation},\n  booktitle = {Proceedings of the 59th Annual Meeting of the Association for Computational\n               Linguistics and the 11th International Joint Conference on Natural\n               Language Processing, {ACL/IJCNLP} 2021, (Volume 1: Long Papers), Virtual\n               Event, August 1-6, 2021},\n  pages     = {525--535},\n  year      = {2021},\n  url       = {https://doi.org/10.18653/v1/2021.acl-long.44},\n  doi       = {10.18653/v1/2021.acl-long.44},\n  biburl    = {https://dblp.org/rec/conf/acl/XingSMLMW20.bib},\n  bibsource = {dblp computer science bibliography, https://dblp.org}\n}\n\n

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\n \n\n \n \n \n \n \n \n Robot Action Diagnosis and Experience Correction by Falsifying Parameterised Execution Models.\n \n \n \n \n\n\n \n Mitrevski, A.; Plöger, P. G.; and Lakemeyer, G.\n\n\n \n\n\n\n In IEEE International Conference on Robotics and Automation, ICRA 2021, Xi'an, China, May 30 - June 5, 2021, pages 11025–11031, 2021. \n \n\n\n\n
\n\n\n\n \n \n $\"Robot$ Paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{DBLP:conf/icra/MitrevskiPL21,\n  author    = {Alex Mitrevski and\n               Paul G. Pl{\\"{o}}ger and\n               Gerhard Lakemeyer},\n  title     = {Robot Action Diagnosis and Experience Correction by Falsifying Parameterised\n               Execution Models},\n  booktitle = {{IEEE} International Conference on Robotics and Automation, {ICRA}\n               2021, Xi'an, China, May 30 - June 5, 2021},\n  pages     = {11025--11031},\n  year      = {2021},\n  url       = {https://doi.org/10.1109/ICRA48506.2021.9561710},\n  doi       = {10.1109/ICRA48506.2021.9561710},\n  timestamp = {Mon, 25 Oct 2021 11:20:08 +0200},\n  biburl    = {https://dblp.org/rec/conf/icra/MitrevskiPL21.bib},\n  bibsource = {dblp computer science bibliography, https://dblp.org}\n}\n\n

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\n \n\n \n \n \n \n \n \n Ontology-Assisted Generalisation of Robot Action Execution Knowledge.\n \n \n \n \n\n\n \n Mitrevski, A.; Plöger, P. G.; and Lakemeyer, G.\n\n\n \n\n\n\n In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021, Prague, Czech Republic, September 27 - Oct. 1, 2021, pages 6763–6770, 2021. \n \n\n\n\n
\n\n\n\n \n \n $\"Ontology-Assisted$ Paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{DBLP:conf/iros/MitrevskiPL21,\n  author    = {Alex Mitrevski and\n               Paul G. Pl{\\"{o}}ger and\n               Gerhard Lakemeyer},\n  title     = {Ontology-Assisted Generalisation of Robot Action Execution Knowledge},\n  booktitle = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems,\n               {IROS} 2021, Prague, Czech Republic, September 27 - Oct. 1, 2021},\n  pages     = {6763--6770},\n  year      = {2021},\n  url       = {https://doi.org/10.1109/IROS51168.2021.9636791},\n  doi       = {10.1109/IROS51168.2021.9636791},\n  timestamp = {Wed, 22 Dec 2021 12:37:50 +0100},\n  biburl    = {https://dblp.org/rec/conf/iros/MitrevskiPL21.bib},\n  bibsource = {dblp computer science bibliography, https://dblp.org}\n}\n\n\n\n\n

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\n \n\n \n \n \n \n \n Reasoning about Beliefs and Meta-Beliefs by Regression in an Expressive Probabilistic Action Logic.\n \n \n \n\n\n \n Liu, D.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the 30th International Joint Conference on Artificial Intelligence (IJCAI), 2021. \n \n\n\n\n
\n\n\n\n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 4 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@InProceedings{ijcai2021liu,\n  title = {Reasoning about Beliefs and Meta-Beliefs by Regression in an Expressive Probabilistic Action Logic},\n  booktitle = {Proceedings of the 30th {{International Joint Conference}} on {{Artificial Intelligence}} ({{IJCAI}})},\n  author = {Daxin Liu and Gerhard Lakemeyer},\n  doi = {https://doi.org/10.24963/ijcai.2021/269},\n  year = {2021},\n  abstract = {In a recent paper Belle and Lakemeyer proposed the logic DS, a probabilistic extension of a modal variant of the situation calculus with a model of belief based on weighted possible worlds. Among other things, they were able to precisely capture the beliefs of a probabilistic knowledge base in terms of the concept of only-believing. While intuitively appealing, the logic has a number of shortcomings.Perhaps the most severe is the limited expressiveness in that degrees of belief are restricted to constant rational numbers, which makes it impossible to express arbitrary belief distributions. In this paper we will address this and other shortcomings by extending the language and modifying the semantics of belief and only-believing. Among other things, we will show that belief retains many but not all of the properties of DS. Moreover, it turns out that only-believing arbitrary sentences, including those mentioning belief, is uniquely satisfiable in our logic. For an interesting class of knowledge bases we also show how reasoning about beliefs and meta-beliefs after performing noisy actions and sensing can be reduced to reasoning about the initial beliefs of an agent using a form of regression.}\n}\n  \n

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\n \n\n \n \n \n \n \n \n On the Progression of Belief.\n \n \n \n \n\n\n \n Liu, D.; and Feng, Q.\n\n\n \n\n\n\n In Proceedings of the 18th International Conference on Principles of Knowledge Representation and Reasoning (KR), 2021. \n (Best Student Paper)\n\n\n\n
\n\n\n\n \n \n $\"On$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@InProceedings{kr2021liu,\n  title = {On the Progression of Belief},\n  booktitle = {Proceedings of the 18th  International Conference on Principles of Knowledge Representation and Reasoning\n   ({{KR}})},\n  author = {Daxin Liu and Qihui Feng},\n  year = {2021},\n  url = {https://kbsg.rwth-aachen.de/~liu/papers/LiuFeng2021.pdf},\n  note = {(Best Student Paper)},\n  abstract = {Based on weighted possible-world semantics, Belle and Lakemeyer recently proposed the logic DS, a probabilistic extension of a modal variant of the situation calculus with a model of belief. The logic has many desirable properties like full introspection and it is able to precisely capture the beliefs of a probabilistic knowledge base in terms of the notion of only-believing. While the proposal is intuitively appealing, it is unclear how to do planning with such logic. The reason behind this is that the logic lacks projection reasoning mechanisms. Projection reasoning, in general, is to decide what holds after actions. Two main solutions to projection exist: regression and progression. Roughly, regression reduces a query about the future to a query about the initial state while progression, on the other hand, changes the initial state according to the effects of actions and then checks whether the formula holds in the updated state. In this paper, we study projection by progression in the logic DS. It is known that the progression of a categorical knowledge base wrt a noise-free action corresponds to what is only-known after that action. We show how to progress a type of probabilistic knowledge base wrt noisy actions by the notion of only-believing after actions. Our notion of only-believing is closely related to Lin and Reiter’s notion of progression.}\n  }\n\n

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\n \n 2020\n \n \n (11)\n \n \n

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\n \n\n \n \n \n \n \n Action Discretization for Robot Arm Teleoperation in Open-Die Forging.\n \n \n \n\n\n \n Behery, M.; Tschesche, M.; Rudolph, F.; Hirt, G.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the SMC 2020 conference, 2020. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{behery2020action,\n  title = {Action {Discretization} for {Robot} {Arm} {Teleoperation} in {Open}-{Die} {Forging}},\n  booktitle = {Proceedings of the {SMC} 2020 conference},\n  author = {Mohamed Behery and Matteo Tschesche and Fridtjof Rudolph and Gerhard Hirt and Gerhard Lakemeyer},\n  year = {2020}\n}\n\n

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\n \n\n \n \n \n \n \n Neural Combinatorial Optimization for Production Scheduling with Sequence-Dependent Setup Waste.\n \n \n \n\n\n \n Gannouni, A.; Samsonov, V.; Behery, M.; Meisen, T.; and Lakemeyer, G.\n\n\n \n\n\n\n In proceedings of the SMC 2020 conference, 2020. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{gannouni2020neural,\n  title = {Neural {Combinatorial} {Optimization} for {Production} {Scheduling} with {Sequence}-{Dependent} {Setup} {Waste}},\n  booktitle = {proceedings of the {SMC} 2020 conference},\n  author = {Aymen Gannouni and Vladimir Samsonov and Mohamed Behery and Tobias Meisen and Gerhard Lakemeyer},\n  year = {2020}\n}\n\n

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\n \n\n \n \n \n \n \n \n Reinforcement Learning for Short-Term Production Scheduling with Sequence-Dependent Setup Waste.\n \n \n \n \n\n\n \n Samsonov, V.; Behery, M.; and Lakemeyer, G.\n\n\n \n\n\n\n ERCIM News, 122: 38–39. July 2020.\n \n\n\n\n
\n\n\n\n \n \n $\"Reinforcement$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@article{samsonov2020reinforcement,\n  title = {Reinforcement {Learning} for {Short}-{Term} {Production} {Scheduling} with {Sequence}-{Dependent} {Setup} {Waste}},\n  volume = {122},\n  url = {https://ercim-news.ercim.eu/},\n  abstract = {Continually refined and adjusted methods for production planning are among the cornerstones of\nmanufacturing excellence. Heuristics and metaheuristic methods developed to address these tasks are often\nhard to deploy or lead to suboptimal results under constantly changing conditions combined with short\nresponse times of modern production planning. Within the DFG-funded Cluster of Excellence “Internet of\nProduction”, a team of researchers from RWTH Aachen University is investigating the use of novel deep\nlearning algorithms to facilitate complex decision-making processes along the manufacturing chain},\n  language = {English},\n  journal = {ERCIM News},\n  author = {Vladimir Samsonov and Mohamed Behery and Gerhard Lakemeyer},\n  month = jul,\n  year = {2020},\n  pages = {38--39}\n}\n

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\n \n\n \n \n \n \n \n \n Controller Synthesis for Golog Programs over Finite Domains with Metric Temporal Constraints.\n \n \n \n \n\n\n \n Hofmann, T.; and Lakemeyer, G.\n\n\n \n\n\n\n Poster at the 17th International Conference on Principles of Knowledge Representation and Reasoning, September 2020.\n \n\n\n\n
\n\n\n\n \n \n $\"Controller$ Paper\n \n \n \n $\"Controller$ teaser\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@misc{hofmannMTLSynthesis2020,\n  title = {Controller Synthesis for {{Golog}} Programs over Finite Domains with Metric Temporal Constraints},\n  author = {Till Hofmann and Gerhard Lakemeyer},\n  year = {2020},\n  month= {September},\n  day = {16},\n  howpublished = {Poster at the 17th {{International Conference on Principles of Knowledge Representation and Reasoning}}},\n  abstract = {\n    Executing a Golog program on an actual robot typically requires\n    additional steps to account for hardware or software details of the\n    robot platform, which can be formulated as constraints on the program.\n    Such constraints are often temporal, refer to metric time, and require\n    modifications to the abstract Golog program.  We describe how to\n    formulate such constraints based on a modal variant of the Situation\n    Calculus. These constraints connect the abstract program with the\n    platform models, which we describe using timed automata.  We show that\n    for programs over finite domains and with fully known initial state, the\n    problem of synthesizing a controller that satisfies the constraints\n    while preserving the effects of the original program can be reduced to\n    MTL synthesis.  We do this by constructing a timed automaton from the\n    abstract program and synthesizing an MTL controller from this automaton,\n    the platform models, and the constraints. We prove that the synthesized\n    controller results in execution traces which are the same as those of\n    the original program, possibly interleaved with platform-dependent\n    actions, that they satisfy all constraints, and that they have the same\n    effects as the traces of the original program. By doing so, we obtain a\n    decidable procedure to synthesize a controller that satisfies the\n    specification while preserving the original program.\n  },\n  url = {https://kbsg.rwth-aachen.de/~hofmann/papers/golog-synthesis-poster.pdf},\n  url_Teaser = {https://youtu.be/ns4b8L9RlJo}\n}\n\n

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\n \n\n \n \n \n \n \n \n Constraint-based Plan Transformation in a Safe and Usable GOLOG Language.\n \n \n \n \n\n\n \n Mataré, V.; Schiffer, S.; Ferrein, A.; Viehmann, T.; Hofmann, T.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the Workshop on Bringing Constraint-based Robot Programming to Real-World Applications (IROS CobaRoP), October 2020. \n \n\n\n\n
\n\n\n\n \n \n $\"Constraint-based$ Paper\n \n \n \n $\"Constraint-based$ presentation\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 12 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{ Matare:EtAl:IROS2020WS:ConTrAkt,\n  author       = {Victor Mataré and Stefan Schiffer and Alexander Ferrein and Tarik Viehmann and Till Hofmann and Gerhard Lakemeyer},\n  title        = {Constraint-based Plan Transformation in a Safe and Usable {GOLOG} Language},\n  booktitle    = {Proceedings of the Workshop on Bringing Constraint-based Robot Programming to Real-World Applications (IROS CobaRoP)},\n  month        = {October},\n  day          = {25--29},\n  year         = {2020},\n  location     = {Las Vegas, NV, USA},\n  url          = {https://iros2020-workshop-cobarop.gitlab.io/abstracts/3463_CobaRoP_EA_Matare.pdf},\n  url_Presentation    = {https://youtu.be/4t7BOnh8pMI}\n}\n\n

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\n \n\n \n \n \n \n \n \n Macro Operator Synthesis for ADL Domains.\n \n \n \n \n\n\n \n Hofmann, T.; Niemueller, T.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the 24th European Conference on Artificial Intelligence (ECAI), 2020. \n \n\n\n\n
\n\n\n\n \n \n $\"Macro$ Paper\n \n \n \n $\"Macro$ presentation\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{hofmannMacroOperatorSynthesis2020,\n  title = {Macro Operator Synthesis for {{ADL}} Domains},\n  booktitle = {Proceedings of the 24th {{European Conference}} on {{Artificial Intelligence}} ({{ECAI}})},\n  author = {Hofmann, Till and Niemueller, Tim and Lakemeyer, Gerhard},\n  year = {2020},\n  abstract = {A macro operator is a planning operator that is generated from a\n    sequence of actions. Macros have mostly been used for macro\n    planning, where the planner considers the macro as a single action and\n    expands it into the original sequence during execution, but they can\n    also be applied to other problems, such as maintaining a plan library.\n    There are several approaches to macro operator generation, which differ\n    in restrictions on the original actions and in the way they represent\n    macros.  However, all existing approaches are either restricted to\n    STRIPS domains, only work on grounded actions, or they do not synthesize\n    macros but consider the original sequence instead. We study the\n    synthesis of macro operators for ADL domains. We describe how to compute\n    the parameterized preconditions and effects of a macro operator such that\n    they are equivalent to the preconditions and effects of the respective\n    action sequence and prove the correctness of the synthesized macro\n    operators based on a Situation Calculus semantics for ADL. We use the\n    synthesis method for ADL macro planning and evaluate it on a number of domains\n    from the IPC. As a second application, we describe how macro operator synthesis\n    can be useful for maintaining a plan library by computing the precondition and\n    effects of the parameterized library plans.\n  },\n  url = {http://ecai2020.eu/papers/1491_paper.pdf},\n  url_Presentation = {https://www.underline.io/events/24/sessions/194/lecture/2010-macro-operator-synthesis-for-adl-domains}\n}\n\n

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\n \n\n \n \n \n \n \n \n The Carologistics RoboCup Logistics Team 2020.\n \n \n \n \n\n\n \n Hofmann, T.; Eltester, S.; Viehmann, T.; Limpert, N.; Mataré, V.; Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n Technical Report RWTH Aachen University and Aachen University of Applied Sciences, Aachen, Germany, March 2020.\n \n\n\n\n
\n\n\n\n \n \n $\"The$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@techreport{Carologistics2020,\n  title =\t{The {Carologistics} {RoboCup Logistics} Team 2020},\n  author =\t{Till Hofmann and Sebastian Eltester and Tarik Viehmann and Nicolas Limpert and Victor Mataré and Alexander Ferrein and Gerhard Lakemeyer},\n  institution =\t{RWTH Aachen University and Aachen University of Applied Sciences},\n  address =\t{Aachen, Germany},\n  year =\t{2020},\n  month =\t{March},\n  url = {https://kbsg.rwth-aachen.de/~hofmann/papers/carologistics-2020-tdp.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n Representation and Experience-Based Learning of Explainable Models for Robot Action Execution.\n \n \n \n\n\n \n Mitrevski, A.; Plöger, P. G.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{MitrevskiPloegerLakemeyer2020,\n  author    = {Alex Mitrevski and Paul G. Pl{\\"o}ger and Gerhard Lakemeyer},\n  title     = {Representation and Experience-Based Learning of Explainable Models for Robot Action Execution},\n  booktitle = {Proc. of the {IEEE/RSJ} International Conference on Intelligent Robots and Systems {(IROS)}},\n  year      = {2020}\n}\n\n

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\n \n\n \n \n \n \n \n \n A First-Order Logic of Limited Belief Based on Possible Worlds.\n \n \n \n \n\n\n \n Lakemeyer, G.; and Levesque, H. J.\n\n\n \n\n\n\n In Proc. of the 17th International Conference on Principles of Knowledge Representation and Reasoning, KR 2020, Rhodes, Greece, September 12-18, 2020, pages 624–635, 2020. \n \n\n\n\n
\n\n\n\n \n \n $\"A$ Paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{LakemeyerLevesque2020,\n  author    = {Gerhard Lakemeyer and\n               Hector J. Levesque},\n  title     = {A First-Order Logic of Limited Belief Based on Possible Worlds},\n  booktitle = {Proc. of the 17th International Conference on Principles of\n               Knowledge Representation and Reasoning, {KR} 2020, Rhodes, Greece,\n               September 12-18, 2020},\n  pages     = {624--635},\n  year      = {2020},\n  url       = {https://doi.org/10.24963/kr.2020/62},\n  doi       = {10.24963/kr.2020/62},\n  timestamp = {Thu, 12 Nov 2020 16:35:24 +0100},\n  biburl    = {https://dblp.org/rec/conf/kr/LakemeyerL20.bib},\n  bibsource = {dblp computer science bibliography, https://dblp.org}\n}\n\n

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\n \n\n \n \n \n \n \n \n FactDAG: Formalizing Data Interoperability in an Internet of Production.\n \n \n \n \n\n\n \n Gleim, L.; Pennekamp, J.; Liebenberg, M.; Buchsbaum, M.; Niemietz, P.; Knape, S.; Epple, A.; Storms, S.; Trauth, D.; Bergs, T.; Brecher, C.; Decker, S.; Lakemeyer, G.; and Wehrle, K.\n\n\n \n\n\n\n IEEE Internet of Things Journal, 7(4): 3243–3253. 2020.\n \n\n\n\n
\n\n\n\n \n \n $\"FactDAG:$ Paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@article{LiebenbergFactDAG20,\n    author = {Gleim, Lars and Pennekamp, Jan and Liebenberg, Martin and Buchsbaum, Melanie and Niemietz, Philipp and Knape, Simon and Epple, Alexander and Storms, Simon and Trauth, Daniel and Bergs, Thomas and Brecher, Christian and Decker, Stefan and Lakemeyer, Gerhard and Wehrle, Klaus},\n    title = {{FactDAG: Formalizing Data Interoperability in an Internet of Production}},\n    journal = {IEEE Internet of Things Journal},\n    year = {2020},\n    volume = {7},\n    number = {4},\n    publisher = {IEEE},\n    pages = {3243--3253},\n    doi = {10.1109/JIOT.2020.2966402},\n    issn = {2327-4662},\n    url = {https://jpennekamp.de/wp-content/papercite-data/pdf/gpl+20.pdf},\n    abstract = {In the production industry, the volume, variety and velocity of data as well\n    as the number of deployed protocols increase exponentially due to the influences of IoT\n    advances. While hundreds of isolated solutions exist to utilize this data, e.g.,\n    optimizing processes or monitoring machine conditions, the lack of a unified data\n    handling and exchange mechanism hinders the implementation of approaches to improve the\n    quality of decisions and processes in such an interconnected environment.\n    The vision of an Internet of Production promises the establishment of a Worldwide Lab,\n    where data from every process in the network can be utilized, even interorganizational\n    and across domains. While numerous existing approaches consider interoperability from an\n    interface and communication system perspective, fundamental questions of data and\n    information interactionoperability remain insufficiently addressed.\n    In this paper, we identify ten key issues, derived from three distinctive\n    real-world use cases, that hinder large-scale data interoperability for industrial\n    processes. Based on these issues we derive a set of five key requirements\n    for future (IoT) data layers, building upon the FAIR data principles. We propose to\n    address them by creating FactDAG, a conceptual data layer model for\n    maintaining a provenance-based, directed acyclic graph of facts, inspired by successful\n    distributed version-control and collaboration systems. Eventually, such a\n    standardization should greatly shape the future of interoperability in an interconnected\n    production industry.}\n}\n\n

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\n \n\n \n \n \n \n \n \n Information Systems Engineering with Digital Shadows: Concept and Case Studies.\n \n \n \n \n\n\n \n Liebenberg, M.; and Jarke, M.\n\n\n \n\n\n\n In Proceedings of the 32nd International Conference on Advanced Information Systems Engineering (CAiSE '20), Grenoble, France, 2020. \n \n\n\n\n
\n\n\n\n \n \n $\"Information$ Paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{LiebenbergDigitalShadow20,\n    author = {Liebenberg, Martin and Jarke, Matthias},\n    title = {{Information Systems Engineering with Digital Shadows: Concept and Case Studies}},\n    booktitle = {Proceedings of the 32nd International Conference on Advanced Information Systems Engineering (CAiSE '20)},\n    address = {Grenoble, France},\n    year = {2020},\n\t\turl = {https://link.springer.com/chapter/10.1007%2F978-3-030-49435-3_5},\n\t\tdoi = {10.1007/978-3-030-49435-3_5},\n    abstract = {The production sector has faced many difficulties in taking full advantage\n    of opportunities found in other web application domains. Production research has focused\n    on sophisticated mathematical models ranging from molecular materials modeling to\n    efficient production control to inter-company supply network logistics. Often, these\n    models have no closed-form solutions; this led to intense simulation research for\n    individual modeling viewpoints, often labeled “Digital Twins”.\n    However, the complexity of the overall system precludes Digital Twins covering more than\n    just a few system perspectives, especially if near-realtime performance is required.\n    Moreover, the wide variety of individual situations and behaviors is usually captured\n    only as statistical uncertainty. In order to achieve better performance and more context\n    adaptation, the interdisciplinary research cluster “Internet of Production” at RWTH\n    Aachen University is exploring the concept of “Digital Shadows”. Digital Shadows can be\n    understood as compact views on dynamic processes, usually combining condensed\n    measurement data with highly efficient simplified mathematical models. In this\n    exploratory paper, we argue based on a couple of initial case studies that Digital\n    Shadows are not just valuable carriers of deep engineering knowledge but due to their\n    small size also help in reducing network congestion and enabling edge computing. These\n    properties could make Digital Shadows an interesting solution to address resilience in\n    other information-intensive dynamic systems.}\n}\n

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\n \n 2019\n \n \n (8)\n \n \n

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\n \n\n \n \n \n \n \n \n Winning the RoboCup Logistics League with Fast Navigation, Precise Manipulation, and Robust Goal Reasoning.\n \n \n \n \n\n\n \n Hofmann, T.; Limpert, N.; Mataré, V.; Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n In RoboCup 2019: Robot World Cup XXIII, pages 504-516, 2019. Springer International Publishing\n \n\n\n\n
\n\n\n\n \n \n $\"Winning$ Paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{hofmannWinningRoboCupLogistics2019,\n  abstract = {The RoboCup Logistics League is a robotics competition in a Smart Factory scenario in which a team of robots has to assemble products for dynamically generated orders. In 2019, the Carologistics was able to win the competition with a redesigned manipulation system, improved navigation, and an incremental and distributed goal reasoning system. In this paper, we describe the major components of our approach that enabled us to win the competition, with a particular focus on this year's changes.},\n  author = {Hofmann, Till and Limpert, Nicolas and Matar{\\'e}, Victor and Ferrein, Alexander and Lakemeyer, Gerhard},\n  booktitle = {{{RoboCup}} 2019: {{Robot World Cup XXIII}}},\n  doi = {10.1007/978-3-030-35699-6_41},\n  isbn = {978-3-030-35699-6},\n  language = {en},\n  pages = {504-516},\n  publisher = {{Springer International Publishing}},\n  title = {Winning the {{RoboCup Logistics League}} with {{Fast Navigation}}, {{Precise Manipulation}}, and {{Robust Goal Reasoning}}},\n  year = {2019},\n  url = {https://kbsg.rwth-aachen.de/~hofmann/papers/carologistics-2019-champions.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Goal Reasoning in the CLIPS Executive for Integrated Planning and Execution.\n \n \n \n \n\n\n \n Niemueller, T.; Hofmann, T.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the 29th International Conference on Automated Planning and Scheduling (ICAPS), pages 754-763, Berkeley, CA, USA, 2019. \n \n\n\n\n
\n\n\n\n \n \n $\"Goal$ Paper\n \n \n \n $\"Goal$ presentation\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{niemuellerGoalReasoningCLIPS2019,\n  address = {{Berkeley, CA, USA}},\n  author = {Niemueller, Tim and Hofmann, Till and Lakemeyer, Gerhard},\n  booktitle = {Proceedings of the 29th {{International Conference}} on {{Automated Planning}} and {{Scheduling}} ({{ICAPS}})},\n  pages = {754-763},\n  title = {Goal Reasoning in the {{CLIPS Executive}} for Integrated Planning and Execution},\n  url = {https://kbsg.rwth-aachen.de/~hofmann/papers/clips-exec-icaps19.pdf},\n  url_Presentation = {https://youtu.be/HeDFYe5H-gw?t=1835},\n  year = {2019}\n}\n\n

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\n \n\n \n \n \n \n \n \n The Carologistics RoboCup Logistics Team 2019.\n \n \n \n \n\n\n \n Hofmann, T.; Limpert, N.; Mataré, V.; Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n Technical Report RWTH Aachen University and Aachen University of Applied Sciences, Aachen, Germany, July 2019.\n \n\n\n\n
\n\n\n\n \n \n $\"The$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@techreport{Carologistics2019,\n  title =\t{The {Carologistics} {RoboCup Logistics} Team 2019},\n  author =\t{Till Hofmann and Nicolas Limpert and Victor Mataré and Alexander Ferrein and Gerhard Lakemeyer},\n  institution =\t{RWTH Aachen University and Aachen University of Applied Sciences},\n  address =\t{Aachen, Germany},\n  year =\t{2019},\n  month =\t{July},\n  url = {https://kbsg.rwth-aachen.de/~hofmann/papers/carologistics-2019-tdp.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n A Tractable, Expressive, and Eventually Complete First-Order Logic of Limited Belief.\n \n \n \n \n\n\n \n Lakemeyer, G.; and Levesque, H. J.\n\n\n \n\n\n\n In Proceedings of the Twenty-Eighth International Joint Conference on Artificial Intelligence, IJCAI 2019, Macao, China, August 10-16, 2019, pages 1764–1771, 2019. \n \n\n\n\n
\n\n\n\n \n \n $\"A$ Paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{DBLP:conf/ijcai/LakemeyerL19,\n  author    = {Gerhard Lakemeyer and\n               Hector J. Levesque},\n  title     = {A Tractable, Expressive, and Eventually Complete First-Order Logic\n               of Limited Belief},\n  booktitle = {Proceedings of the Twenty-Eighth International Joint Conference on\n               Artificial Intelligence, {IJCAI} 2019, Macao, China, August 10-16,\n               2019},\n  pages     = {1764--1771},\n  year      = {2019},\n  url       = {https://doi.org/10.24963/ijcai.2019/244},\n  doi       = {10.24963/ijcai.2019/244},\n  timestamp = {Tue, 20 Aug 2019 16:18:18 +0200},\n  biburl    = {https://dblp.org/rec/conf/ijcai/LakemeyerL19.bib},\n  bibsource = {dblp computer science bibliography, https://dblp.org}\n}\n\n

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\n \n\n \n \n \n \n \n \n Integrated Synthesis and Execution of Optimal Plans for Multi-Robot Systems in Logistics.\n \n \n \n \n\n\n \n Leofante, F.; Ábrahám, E.; Niemueller, T.; Lakemeyer, G.; and Tacchella, A.\n\n\n \n\n\n\n Inf. Syst. Frontiers, 21(1): 87–107. 2019.\n \n\n\n\n
\n\n\n\n \n \n $\"Integrated$ Paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@article{DBLP:journals/isf/LeofanteANLT19,\n  author    = {Francesco Leofante and\n               Erika {\\'{A}}brah{\\'{a}}m and\n               Tim Niemueller and\n               Gerhard Lakemeyer and\n               Armando Tacchella},\n  title     = {Integrated Synthesis and Execution of Optimal Plans for Multi-Robot\n               Systems in Logistics},\n  journal   = {Inf. Syst. Frontiers},\n  volume    = {21},\n  number    = {1},\n  pages     = {87--107},\n  year      = {2019},\n  url       = {https://doi.org/10.1007/s10796-018-9858-3},\n  doi       = {10.1007/s10796-018-9858-3},\n  timestamp = {Thu, 14 Oct 2021 09:33:10 +0200},\n  biburl    = {https://dblp.org/rec/journals/isf/LeofanteANLT19.bib},\n  bibsource = {dblp computer science bibliography, https://dblp.org}\n}\n\n

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\n \n\n \n \n \n \n \n \n Situation Calculus Meets Description Logics.\n \n \n \n \n\n\n \n Claßen, J.; Lakemeyer, G.; and Zarrieß, B.\n\n\n \n\n\n\n In Description Logic, Theory Combination, and All That - Essays Dedicated to Franz Baader on the Occasion of His 60th Birthday, pages 240–265, 2019. \n \n\n\n\n
\n\n\n\n \n \n $\"Situation$ Paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{DBLP:conf/birthday/ClassenLZ19,\n  author    = {Jens Cla{\\ss}en and\n               Gerhard Lakemeyer and\n               Benjamin Zarrie{\\ss}},\n  title     = {Situation Calculus Meets Description Logics},\n  booktitle = {Description Logic, Theory Combination, and All That - Essays Dedicated\n               to Franz Baader on the Occasion of His 60th Birthday},\n  pages     = {240--265},\n  year      = {2019},\n  url       = {https://doi.org/10.1007/978-3-030-22102-7\\_11},\n  doi       = {10.1007/978-3-030-22102-7\\_11},\n  timestamp = {Wed, 25 Sep 2019 18:19:59 +0200},\n  biburl    = {https://dblp.org/rec/conf/birthday/ClassenLZ19.bib},\n  bibsource = {dblp computer science bibliography, https://dblp.org}\n}\n\n\n

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\n \n\n \n \n \n \n \n Fast algorithms for semantic association search and pattern mining.\n \n \n \n\n\n \n Cheng, G.; Liu, D.; and Qu, Y.\n\n\n \n\n\n\n IEEE Transactions on Knowledge and Data Engineering, 33(4): 1490–1502. 2019.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@article{cheng2019fast,\n  title={Fast algorithms for semantic association search and pattern mining},\n  author={Cheng, Gong and Liu, Daxin and Qu, Yuzhong},\n  journal={IEEE Transactions on Knowledge and Data Engineering},\n  volume={33},\n  number={4},\n  pages={1490--1502},\n  year={2019},\n  publisher={IEEE},\n  abstract={\nGiven a large graph representing relations between entities, searching for complex relationships (called semantic associations, or SAs for short) between a set of entities is a common type of information needs in many domains. Further, numerous SAs are often abstracted into a few frequent high-level conceptual graph patterns (called SA patterns, or SAPs for short), which organize SAs into interpretable subgroups. Whereas the quality and usefulness of SAs and SAPs have been extensively studied in the literature, in this article we aim to develop faster algorithms for SA search and frequent SAP mining. For the former problem, we leverage distances to prune the search space, and implement a distance oracle to balance the time and space for distance calculation. For the latter problem, we exploit both graph structure and labels to induce fine-grained skeleton-based partitions of SAs, which may be pruned to reduce SAP enumeration. Besides, we generate canonical codes for SAs, which not only enable result deduplication but also are reused in SAP mining to improve the overall performance. We extensively evaluate the efficiency of our algorithms on four large graphs, using both random queries and simulated queries which reproduce the extreme case of finding numerous SAs.\n}\n}\n\n

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\n \n\n \n \n \n \n \n Fast and practical snippet generation for RDF datasets.\n \n \n \n\n\n \n Liu, D.; Cheng, G.; Liu, Q.; and Qu, Y.\n\n\n \n\n\n\n ACM Transactions on the Web (TWEB), 13(4): 1–38. 2019.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@article{liu2019fast,\n  title={Fast and practical snippet generation for RDF datasets},\n  author={Liu, Daxin and Cheng, Gong and Liu, Qingxia and Qu, Yuzhong},\n  journal={ACM Transactions on the Web (TWEB)},\n  volume={13},\n  number={4},\n  pages={1--38},\n  year={2019},\n  publisher={ACM New York, NY, USA},\n  abstract={\n    Triple-structured open data creates value in many ways. However, the reuse of datasets is still challenging. Users feel difficult to assess the usefulness of a large dataset containing thousands or millions of triples. To satisfy the needs, existing abstractive methods produce a concise high-level abstraction of data. Complementary to that, we adopt the extractive strategy and aim to select the optimum small subset of data from a dataset as a snippet to compactly illustrate the content of the dataset. This has been formulated as a combinatorial optimization problem in our previous work. In this article, we design a new algorithm for the problem, which is an order of magnitude faster than the previous one but has the same approximation ratio. We also develop an anytime algorithm that can generate empirically better solutions using additional time. To suit datasets that are partially accessible via online query services (e.g., SPARQL endpoints for RDF data), we adapt our algorithms to trade off quality of snippet for feasibility and efficiency in the Web environment. We carry out extensive experiments based on real RDF datasets and SPARQL endpoints for evaluating quality and running time. The results demonstrate the effectiveness and practicality of our proposed algorithms.\n  }\n}\n\n\n\n\n

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\n \n 2018\n \n \n (10)\n \n \n

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\n \n\n \n \n \n \n \n \n Symbolic Verification of Golog Programs with First-Order BDDs.\n \n \n \n \n\n\n \n Claßen, J.\n\n\n \n\n\n\n In Thielscher, M.; Toni, F.; and Wolter, F., editor(s), Proceedings of the Sixteenth International Conference on Principles of Knowledge Representation and Reasoning (KR 2018), pages 524–528, 2018. AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"Symbolic$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@INPROCEEDINGS{Classen2018,\n  author      = {Jens Cla{\\ss}en},\n  title       = {Symbolic Verification of {G}olog Programs with\n                  First-Order {BDD}s},\n  booktitle   = {Proceedings of the Sixteenth International Conference\n                  on Principles of Knowledge Representation and\n                  Reasoning (KR 2018)},\n  pages       = {524--528},\n  year        = {2018},\n  editor      = {Michael Thielscher and Francesca Toni and Frank Wolter},\n  publisher   = {AAAI Press},\n  abstract    = {Golog is an agent language that allows defining\n                  behaviours in terms of programs over actions defined\n                  in a Situation Calculus action theory. Often it is\n                  vital to verify such a program against a temporal\n                  specification before deployment. So far work on the\n                  verification of Golog has been mostly of theoretical\n                  nature. Here we report on our efforts on\n                  implementing a verification algorithm for Golog\n                  based on fixpoint computations, a graph\n                  representation of program executions, and a symbolic\n                  representation of the state space. We describe the\n                  techniques used in our implementation, in particular\n                  a first-order variant of OBDDs for compactly\n                  representing formulas.  We evaluate the approach by\n                  experimental analysis.},\n  url         = {https://kbsg.rwth-aachen.de/~classen/pub/Classen2018.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n A Logic for Specifying Metric Temporal Constraints for Golog Programs.\n \n \n \n \n\n\n \n Hofmann, T.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the 11th Cognitive Robotics Workshop 2018 (CogRob), Tempe, AZ, USA, 2018. \n \n\n\n\n
\n\n\n\n \n \n $\"A$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{hofmannLogicSpecifyingMetric2018,\n  address = {Tempe, AZ, USA},\n  author = {Hofmann, Till and Lakemeyer, Gerhard},\n  booktitle = {Proceedings of the 11th {{Cognitive Robotics Workshop}} 2018 ({{CogRob}})},\n  title = {A Logic for Specifying Metric Temporal Constraints for {{Golog}} Programs},\n  url = {https://kbsg.rwth-aachen.de/~hofmann/papers/timed-esg-cogrob18.pdf},\n  year = {2018}\n}\n\n

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\n \n\n \n \n \n \n \n \n CLIPS-based Execution for PDDL Planners.\n \n \n \n \n\n\n \n Niemueller, T.; Hofmann, T.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the 2nd Workshop on Integrated Planning, Acting, and Execution (ICAPS IntEx), Delft, Netherlands, 2018. \n \n\n\n\n
\n\n\n\n \n \n $\"CLIPS-based$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{CX-PDDL,\n  author = {Tim Niemueller and Till Hofmann and Gerhard Lakemeyer},\n  title = {CLIPS-based Execution for PDDL Planners},\n  booktitle = {Proceedings of the 2nd Workshop on Integrated Planning, Acting,\n               and Execution (ICAPS IntEx)},\n  url = {https://kbsg.rwth-aachen.de/~hofmann/papers/clips-exec-pddl.pdf},\n  address = {Delft, Netherlands},\n  abstract = {\n  Integrating planning and execution which treats either component as a black\n  box may lead to disparate representations of the domain or information\n  currently known. Consistency and bidirectional information flow are then hard\n  to ensure. However, the separation of these concerns is still useful from an\n  integration point of view.\n\n  In this paper, we discuss the integration of planning systems using the\n  Planning Domain Definition Language (PDDL) with an executive based on the\n  CLIPS rule-based production system. In particular, we describe how we achieved\n  one common and unified domain model used by both systems and some additions we\n  add for the execution model. We also show how the execution model enables\n  effective execution monitoring and selective replanning.\n  },\n  year = 2018\n}\n\n

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\n \n\n \n \n \n \n \n \n The Carologistics RoboCup Logistics Team 2018.\n \n \n \n \n\n\n \n Hofmann, T.; Limpert, N.; Mataré, V.; Schönitz, S.; Niemueller, T.; Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n Technical Report RWTH Aachen University and Aachen University of Applied Sciences, Aachen, Germany, June 2018.\n \n\n\n\n
\n\n\n\n \n \n $\"The$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@techreport{Carologistics2018,\n  title =\t{The {Carologistics} {RoboCup Logistics} Team 2018},\n  author =\t{Till Hofmann and Nicolas Limpert and Victor Mataré and Sebastian Schönitz and Tim Niemueller and Alexander Ferrein and Gerhard Lakemeyer},\n  institution =\t{RWTH Aachen University and Aachen University of Applied Sciences},\n  address =\t{Aachen, Germany},\n  year =\t{2018},\n  month =\t{June},\n  url = {https://kbsg.rwth-aachen.de/~hofmann/papers/carologistics-2018-tdp.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Constraint-Based Online Transformation of Abstract Plans into Executable Robot Actions.\n \n \n \n \n\n\n \n Hofmann, T.; Mataré, V.; Schiffer, S.; Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n In AAAI Spring Symposium 2018 on Integrating Representation, Reasoning, Learning, and Execution for Goal Directed Autonomy, Stanford, CA, USA, 2018. \n \n\n\n\n
\n\n\n\n \n \n $\"Constraint-Based$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 6 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@InProceedings{ConTrAkt-SIRLE,\n  author = {Till Hofmann and Victor Mataré and Stefan Schiffer and Alexander\n            Ferrein and Gerhard Lakemeyer},\n  title = {Constraint-Based Online Transformation of Abstract Plans into\n           Executable Robot Actions},\n  booktitle = {AAAI Spring Symposium 2018 on Integrating Representation,\n               Reasoning, Learning, and Execution for Goal Directed Autonomy},\n  year = 2018,\n  address = {Stanford, CA, USA},\n  url = {https://kbsg.rwth-aachen.de/~hofmann/papers/contrakt-sirle.pdf},\n  abstract = {\n  In this paper, we are concerned with making the execution of abstract action\n  plans for robotic agents more robust.  To this end, we propose to model the\n  internals of a robot system and its ties to the actions that the robot can\n  perform.  Based on these models, we propose an online transformation of an\n  abstract plan into executable actions conforming with system specifics.  With\n  our framework, we aim to achieve two goals.  First, modeling the system\n  internals is beneficial in its own right in order to achieve long term\n  autonomy, system transparency, and comprehensibility.  Second, separating the\n  system details from determining the course of action on an abstract level\n  leverages the use of planning for actual robotic systems.\n  }\n}\n\n

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\n \n\n \n \n \n \n \n \n Hybrid Reasoning for Intelligent Systems : A Focus of KR Research in Germany.\n \n \n \n \n\n\n \n Brewka, G.; and Lakemeyer, G.\n\n\n \n\n\n\n AI magazine, 39(4): 80–83. 2018.\n \n\n\n\n
\n\n\n\n \n \n $\"Hybrid$ Paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@ARTICLE{Brewka:753306,\n      author       = {Brewka, Gerhard and Lakemeyer, Gerhard},\n      title        = {{H}ybrid {R}easoning for {I}ntelligent {S}ystems : {A}\n                      {F}ocus of {KR} {R}esearch in {G}ermany},\n      journal      = {AI magazine},\n      volume       = {39},\n      number       = {4},\n      issn         = {0738-4602},\n      address      = {Menlo Park, Calif.},\n      publisher    = {AAAI},\n      reportid     = {RWTH-2019-00520},\n      pages        = {80--83},\n      year         = {2018},\n      cin          = {121920 / 120000},\n      ddc          = {004},\n      cid          = {(DE-82)121920_20140620},\n      typ          = {PUB:(DE-HGF)16},\n      UT           = {WOS:000453661300016},\n      doi          = {10.1609/aimag.v39i4.2838},\n      url          = {https://publications.rwth-aachen.de/record/753306},\n}\n\n

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\n \n\n \n \n \n \n \n \n Integrated Synthesis and Execution of Optimal Plans for Multi-Robot Systems in Logistics.\n \n \n \n \n\n\n \n Leofante, F.; Abraham, E.; Niemueller, T.; Lakemeyer, G.; and Tacchella, A.\n\n\n \n\n\n\n Information Systems Frontiers,1–21. May 2018.\n \n\n\n\n
\n\n\n\n \n \n $\"Integrated$ Paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@ARTICLE{LeofanteANLT18,\n    author = {Leofante, Francesco and Abraham, Erika and Niemueller, Tim and Lakemeyer, Gerhard and Tacchella, Armando},\n     month = may,\n     title = {Integrated Synthesis and Execution of Optimal Plans for Multi-Robot Systems in Logistics},\n   journal = {Information Systems Frontiers},\n      year = {2018},\n     pages = {1--21},\n      issn = {1572-9419},\n       url = {https://doi.org/10.1007/s10796-018-9858-3},\n       doi = {10.1007/s10796-018-9858-3},\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Interdisciplinary Data Driven Production Process Analysis for the Internet of Production.\n \n \n \n \n\n\n \n Meyes, R.; Tercan, H.; Thiele, T.; Krämer, A.; Heinisch, J.; Liebenberg, M.; Hirt, G.; Hopmann, C.; Lakemeyer, G.; Meisen, T.; and Jeschke, S.\n\n\n \n\n\n\n In Proceedings of the 46th North American Research Conference (NAMRC 46), pages 1065-1076, College Station, Texas, 2018. \n \n\n\n\n
\n\n\n\n \n \n $\"Interdisciplinary$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {LiebenbergBrain18,\n        title = {Interdisciplinary Data Driven Production Process Analysis for the  Internet of Production},\n        year = {2018},\n        address = {College Station, Texas},\n        author = {Richard Meyes and  Hasan Tercan and Thomas Thiele and Alexander\n        Krämer and Julian Heinisch and Martin Liebenberg and Gerhard Hirt and Christian\n        Hopmann and Gerhard Lakemeyer and Tobias Meisen and Sabina Jeschke},\n        booktitle = {Proceedings of the 46th North American Research Conference (NAMRC 46)},\n        pages = {1065-1076},\n        abstract = {Recent developments in the industrial field are\n        strongly influenced by requirements of the fourth industrial\n        revolution (I4.0) for modern Cyber-Physical Production Systems\n        (CPPS) and the coherent phenomenon of industrial big data (IBD).\n        I4.0 is characterized by a growing amount of interdisciplinary\n        work and cross-domain exchange of methods and knowledge.\n        Similar to the development of the Internet of Things (IoT)\n        for the consumer market, the emergence of an Internet of Production\n        (IoP) in the industrial field is imminent. The future vision\n        for an IoP is based on aggregated, multi-perspective and\n        persistent data sets that can be seamlessly and semantically\n        integrated to allow diagnosis and prediction in domain-specific\n        real-time. In this paper, we demonstrate an exemplary scenario\n        of collaborative cross-domain work, in which domain-experts from\n        largely different fields of expertise, i.e. heavy plate rolling\n        (HPR), injection molding (IM) and machine learning (ML), generate\n        insights through data driven process analysis in two use cases.\n        Specifically, in the HPR use case, reinforcement-learning was\n        utilized to support the planning phase of the process aiming\n        to reduce manual work load and to ultimately generate process\n        plans that serve as a foundation for a simulation to calculate\n        process results. On the contrary, in the IM use case,\n        supervised-learning was utilized to learn a complex and\n        computationally demanding finite element simulation model\n        in order to predict process results for unknown process\n        configurations, which can be used to optimize the process planning\n        phase. While both use cases had the overall goal to utilize ML\n        to gain new insights about the respective process, the actual\n        ML application was utilized with reversed purpose. Particularly,\n        in the HPR use case, ML was used to learn the process planning\n        in order to calculate process results while in the IM use case,\n        ML was used to predict process results in order to improve the\n        process planning. We facilitate the communication between\n        physically separated domain experts and the exchange of gained\n        insights in the respective use cases by a framework that\n        addresses the specific needs of cross-domain collaboration.\n        We show that the insights gained from two largely different\n        use cases are valuable to the domain experts of the other\n        respective use case, facilitating cross-domain data driven\n        production process analysis for future IoP scenarios.},\n        url = {https://www.sciencedirect.com/science/article/pii/S2351978918308199},\n}\n\n\n

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\n Recent developments in the industrial field are strongly influenced by requirements of the fourth industrial revolution (I4.0) for modern Cyber-Physical Production Systems (CPPS) and the coherent phenomenon of industrial big data (IBD). I4.0 is characterized by a growing amount of interdisciplinary work and cross-domain exchange of methods and knowledge. Similar to the development of the Internet of Things (IoT) for the consumer market, the emergence of an Internet of Production (IoP) in the industrial field is imminent. The future vision for an IoP is based on aggregated, multi-perspective and persistent data sets that can be seamlessly and semantically integrated to allow diagnosis and prediction in domain-specific real-time. In this paper, we demonstrate an exemplary scenario of collaborative cross-domain work, in which domain-experts from largely different fields of expertise, i.e. heavy plate rolling (HPR), injection molding (IM) and machine learning (ML), generate insights through data driven process analysis in two use cases. Specifically, in the HPR use case, reinforcement-learning was utilized to support the planning phase of the process aiming to reduce manual work load and to ultimately generate process plans that serve as a foundation for a simulation to calculate process results. On the contrary, in the IM use case, supervised-learning was utilized to learn a complex and computationally demanding finite element simulation model in order to predict process results for unknown process configurations, which can be used to optimize the process planning phase. While both use cases had the overall goal to utilize ML to gain new insights about the respective process, the actual ML application was utilized with reversed purpose. Particularly, in the HPR use case, ML was used to learn the process planning in order to calculate process results while in the IM use case, ML was used to predict process results in order to improve the process planning. We facilitate the communication between physically separated domain experts and the exchange of gained insights in the respective use cases by a framework that addresses the specific needs of cross-domain collaboration. We show that the insights gained from two largely different use cases are valuable to the domain experts of the other respective use case, facilitating cross-domain data driven production process analysis for future IoP scenarios.\n

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\n \n\n \n \n \n \n \n \n ERIKA – Early Robotics Introduction at Kindergarten Age.\n \n \n \n \n\n\n \n Schiffer, S.; and Ferrein, A.\n\n\n \n\n\n\n Multimodal Technologies and Interaction, 2(4). 2018.\n \n\n\n\n
\n\n\n\n \n \n $\"ERIKA$ Paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@Article{ Schiffer:Ferrein:MTI2018:ERiKA,\n  author       = {Schiffer, Stefan and Ferrein, Alexander},\n  title        = {ERIKA -- Early Robotics Introduction at Kindergarten Age},\n  journal      = {Multimodal Technologies and Interaction},\n  year         = {2018},\n  volume       = {2},\n  number       = {4},\n  article-number = {64},\n  url          = {http://www.mdpi.com/2414-4088/2/4/64},\n  issn         = {2414-4088},\n  abstract     = {In this work, we report on our attempt to design and\n                  implement an early introduction to basic robotics\n                  principles for children at kindergarten age. One of\n                  the main challenges of this effort is to explain\n                  complex robotics contents in a way that pre-school\n                  children could follow the basic principles and ideas\n                  using examples from their world of experience. What\n                  sets apart our effort from other work is that part\n                  of the lecturing is actually done by a robot itself\n                  and that a quiz at the end of the lesson is done\n                  using robots as well. The humanoid robot Pepper from\n                  Softbank, which is a great platform for human-robot\n                  interaction experiments, was used to present a\n                  lecture on robotics by reading out the contents to\n                  the children making use of its speech synthesis\n                  capability. A quiz in a Runaround-game-show style\n                  after the lecture activated the children to recap\n                  the contents they acquired about how mobile robots\n                  work in principle. In this quiz, two LEGO Mindstorm\n                  EV3 robots were used to implement a strongly\n                  interactive scenario. Besides the thrill of being\n                  exposed to a mobile robot that would also react to\n                  the children, they were very excited and at the same\n                  time very concentrated. We got very positive\n                  feedback from the children as well as from their\n                  educators. To the best of our knowledge, this is one\n                  of only few attempts to use a robot like Pepper not\n                  as a tele-teaching tool, but as the teacher itself\n                  in order to engage pre-school children with complex\n                  robotics contents.},\n  doi          = {10.3390/mti2040064},\n}\n\n\n

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\n \n\n \n \n \n \n \n \n ASP-based Time-Bounded Planning for Logistics Robots.\n \n \n \n \n\n\n \n Schäpers, B.; Niemueller, T.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the 28th International Conference on Automated Planning and Scheduling (ICAPS), Delft, The Netherlands, 2018. \n \n\n\n\n
\n\n\n\n \n \n $\"ASP-based$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{ASP-TBP,\n title     = {ASP-based Time-Bounded Planning for Logistics Robots},\n author    = {Björn Schäpers and Tim Niemueller and Gerhard Lakemeyer},\n booktitle = {Proceedings of the 28th International Conference on\n              Automated Planning and Scheduling (ICAPS)},\n address   = {Delft, The Netherlands},\n year      = {2018},\n url       = {https://www.aaai.org/ocs/index.php/ICAPS/ICAPS18/paper/download/17777/16944}\n}\n

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\n \n 2017\n \n \n (11)\n \n \n

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\n \n\n \n \n \n \n \n \n Reasoning about Conditional Beliefs for the Winograd Schema Challenge.\n \n \n \n \n\n\n \n Golovin, D.; Claßen, J.; and Schwering, C.\n\n\n \n\n\n\n In Proceedings of the Thirteenth International Symposium on Commonsense Reasoning (Commonsense 2017), 2017. CEUR-WS.org\n \n\n\n\n
\n\n\n\n \n \n $\"Reasoning$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@INPROCEEDINGS{GolovinClassenSchwering2017,\n  author      = {Denis Golovin and Jens Cla{\\ss}en and Christoph\n                  Schwering},\n  title       = {Reasoning about Conditional Beliefs for the Winograd\n                  Schema Challenge},\n  booktitle   = {Proceedings of the Thirteenth International Symposium\n                  on Commonsense Reasoning (Commonsense 2017)},\n  year        = {2017},\n  publisher   = {CEUR-WS.org},\n  abstract    = {The Winograd Schema Challenge has been proposed as an\n                  alternative to the Turing Test for measuring a\n                  machine's intelligence by letting it solve difficult\n                  pronoun resolution problems that cannot be tackled\n                  by statistical analysis alone. While many solutions\n                  so far are based on machine learning and natural\n                  language processing, we believe that a\n                  knowledge-based approach is better suited. In\n                  particular, we propose to employ a logic for\n                  conditional beliefs that is capable of dealing with\n                  incomplete or even inconsistent information (which\n                  commonsense knowledge often is). It does so by\n                  formalising the observation that humans often reason\n                  by picturing different contingencies of what the\n                  world could be like, and then choose to believe what\n                  is thought to be most plausible. We discuss and\n                  evaluate an implementation where relevant\n                  commonsense background information is obtained from\n                  the ConceptNet semantic network, translated into our\n                  formalism, and processed by a reasoner for our\n                  logic.},\n  url         = {https://kbsg.rwth-aachen.de/~classen/pub/GolovinClassenSchwering2017.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Decidable Verification of Decision-Theoretic Golog.\n \n \n \n \n\n\n \n Claßen, J.; and Zarrieß, B.\n\n\n \n\n\n\n In Proceedings of the Eleventh International Symposium on Frontiers of Combining Systems (FroCoS 2017), pages 227–243, 2017. Springer\n \n\n\n\n
\n\n\n\n \n \n $\"Decidable$ Paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@INPROCEEDINGS{ZarriessClassen2017,\n  author      = {Jens Cla{\\ss}en and Benjamin Zarrie{\\ss}},\n  title       = {Decidable Verification of Decision-Theoretic {G}olog},\n  booktitle   = {Proceedings of the Eleventh International Symposium\n                  on Frontiers of Combining Systems (FroCoS 2017)},\n  pages       = {227--243},\n  year        = {2017},\n  publisher   = {Springer},\n  doi         = {10.1007/978-3-319-66167-4_13},\n  abstract    = {The Golog agent programming language is a powerful\n                  means to express high-level behaviours in terms of\n                  programs over actions defined in a Situation\n                  Calculus theory. Its variant DTGolog includes\n                  decision-theoretic aspects in the form of stochastic\n                  (probabilistic) actions and reward functions. In\n                  particular for physical systems such as robots,\n                  verifying that a program satisfies certain desired\n                  temporal properties is often crucial, but\n                  undecidable in general, the latter being due to the\n                  language's high expressiveness in terms of\n                  first-order quantification, range of action effects,\n                  and program constructs. Recent results for classical\n                  Golog show that by suitably restricting these\n                  aspects, the verification problem becomes decidable\n                  for a non-trivial fragment that retains a large\n                  degree of expressiveness. In this paper, we lift\n                  these results to the decision-theoretic case by\n                  providing an abstraction mechanism for reducing the\n                  infinite-state Markov Decision Process induced by\n                  the DTGolog program to a finite-state\n                  representation, which then can be fed into a\n                  state-of-the-art probabilistic model checker.},\n  url         = {https://link.springer.com/chapter/10.1007/978-3-319-66167-4_13}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Enhancing Software and Hardware Reliability for a Successful Participation in the RoboCup Logistics League 2017.\n \n \n \n \n\n\n \n Hofmann, T.; Mataré, V.; Neumann, T.; Schönitz, S.; Henke, C.; Limpert, N.; Niemueller, T.; Ferrein, A.; Jeschke, S.; and Lakemeyer, G.\n\n\n \n\n\n\n In RoboCup Symposium – Champion Teams Track, Nagoya, Japan, 2017. \n \n\n\n\n
\n\n\n\n \n \n $\"Enhancing$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{CarologisticsCP2017,\n  author = {Till Hofmann and Victor Mataré and Tobias Neumann and Sebastian\n            Schönitz and Christoph Henke and Nicolas Limpert and Tim Niemueller\n            and Alexander Ferrein and Sabina Jeschke and Gerhard Lakemeyer},\n  title = {Enhancing Software and Hardware Reliability for a Successful\n           Participation in the RoboCup Logistics League 2017},\n  booktitle = {RoboCup Symposium -- Champion Teams Track},\n  url =   {https://kbsg.rwth-aachen.de/~hofmann/papers/carologistics-2017-champions-tdp.pdf},\n  address = {Nagoya, Japan},\n  abstract = {\n  In 2017, the RoboCup Logistics League has seen major changes to the playing\n  field layout, which allows for more configuration variants that are now\n  generated randomly and automatically, leading towards a more realistic smart\n  factory scenario.  The Carologistics team developed a new strategy for\n  exploration and improved existing components with a particular focus on\n  navigation and error handling in the behavior engine and high-level reasoning.\n  We describe the major concepts of our approach with a focus on the\n  improvements in comparison to last year, which enabled us to win the\n  competition in 2017.\n  },\n  year = 2017\n}\n\n

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\n \n\n \n \n \n \n \n \n Initial Results on Generating Macro Actions from a Plan Database for Planning on Autonomous Mobile Robots.\n \n \n \n \n\n\n \n Hofmann, T.; Niemueller, T.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the 27th International Conference on Automated Planning and Scheduling (ICAPS), Pittsburgh, PA, USA, 2017. \n \n\n\n\n
\n\n\n\n \n \n $\"Initial$ Paper\n \n \n \n $\"Initial$ poster\n \n \n \n $\"Initial$ presentation\n \n \n \n $\"Initial$ project\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@InProceedings {DBMP-STRIPS,\n  author = {Till Hofmann and Tim Niemueller and Gerhard Lakemeyer},\n  title = {Initial Results on Generating Macro Actions from a Plan Database for\n           Planning on Autonomous Mobile Robots},\n  booktitle = {Proceedings of the 27th International Conference on Automated\n               Planning and Scheduling (ICAPS)},\n  url = {https://kbsg.rwth-aachen.de/~hofmann/papers/db-macro-planning-short-proceedings.pdf},\n  url_Poster = {https://kbsg.rwth-aachen.de/~hofmann/papers/db-macro-planning-short-poster.pdf},\n  url_Presentation = {https://youtu.be/AOQX0vsioqI},\n  url_Project = {https://www.fawkesrobotics.org/projects/dbmp-strips/},\n  year = 2017,\n  address = {Pittsburgh, PA, USA},\n  abstract = {Planning in an on-line robotics context has the specific\n              requirement of a short planning duration. A property of typical\n              contemporary scenarios is that (mobile) robots perform similar or\n              even repeating tasks during operation.  With these robot domains\n              in mind, we propose database-driven macro planning for STRIPS\n              (DBMP/S) that learns macros - action sequences that frequently\n              appear in plans - from experience for PDDL-based planners.\n              Planning duration is improved over time by off-line processing of\n              seed plans using a scalable database. The approach is indifferent\n              about the specific planner by representing the resulting macros\n              again as actions with preconditions and effects determined based\n              on the actions contained in the macro. For some domains we have\n              used separate planners for learning and execution exploiting their\n              respective strengths. Initial results based on some IPC domains\n              and a logistic robot scenario show significantly improved (over\n              non-macro planners) or slightly better and comparable (to existing\n              macro planners) performance.}\n}\n\n

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\n \n\n \n \n \n \n \n \n The Carologistics RoboCup Logistics Team 2017.\n \n \n \n \n\n\n \n Neumann, T.; Hofmann, T.; Mataré, V.; Henke, C.; Schönitz, S.; Niemueller, T.; Ferrein, A.; Jeschke, S.; and Lakemeyer, G.\n\n\n \n\n\n\n Technical Report RWTH Aachen University and Aachen University of Applied Sciences, Aachen, Germany, July 2017.\n \n\n\n\n
\n\n\n\n \n \n $\"The$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@techreport{Carologistics2017,\n  title =\t{The {Carologistics} {RoboCup Logistics} Team 2017},\n  author =\t{Tobias Neumann and Till Hofmann and Victor Mataré and Christoph Henke and Sebastian Schönitz and Tim Niemueller and Alexander Ferrein and Sabina Jeschke and Gerhard Lakemeyer},\n  institution =\t{RWTH Aachen University and Aachen University of Applied Sciences},\n  address =\t{Aachen, Germany},\n  year =\t{2017},\n  month =\t{July},\n  url = {https://kbsg.rwth-aachen.de/~hofmann/papers/carologistics-2017-tdp.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n On the Synthesis of Guaranteed-Quality Plans for Robot Fleets in Logistics Scenarios via Optimization Modulo Theories.\n \n \n \n\n\n \n Leofante, F.; Abraham, E.; Niemueller, T.; Lakemeyer, G.; and Tacchella, A.\n\n\n \n\n\n\n In 2017 IEEE International Conference on Information Reuse and Integration, IRI 2017, San Diego, CA, USA, August 4-6, 2017, pages 403–410, November 2017. IEEE Computer Society\n \n\n\n\n
\n\n\n\n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@INPROCEEDINGS{DBLP:conf/iri/LeofanteANLT17,\n     author = {Leofante, Francesco and Abraham, Erika and Niemueller, Tim and Lakemeyer, Gerhard and Tacchella, Armando},\n      month = nov,\n      title = {On the Synthesis of Guaranteed-Quality Plans for Robot Fleets in Logistics Scenarios via Optimization Modulo Theories},\n  booktitle = {2017 IEEE International Conference on Information Reuse and Integration, IRI 2017, San Diego, CA, USA, August 4-6, 2017},\n       year = {2017},\n      pages = {403--410},\n  publisher = {IEEE Computer Society},\n       isbn = {978-1-5386-1562-1},\n        doi = {10.1109/IRI.2017.67},\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Combined learning processes for injection moulding based on simulation and experimental data.\n \n \n \n \n\n\n \n Hopmann, C.; Jeschke, S.; Meisen, T.; Thiele, T. D.; Tercan, H.; Liebenberg, M.; Heinisch, J.; and Theunissen, M.\n\n\n \n\n\n\n In 33rd International Conference of the Polymer Processing Society : PPS-33 : Cancun, Mexico, December 10-14, 2017, Lawrence, KS, Dec 2017. 33rd International Conference of the Polymer Processing Society, Cancún (Mexico), 10 Dec 2017 - 14 Dec 2017, Polymer Processing Society\n \n\n\n\n
\n\n\n\n \n \n $\"Combined$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {LiebenbergPPS17,\n      author       = {Hopmann, Christian and Jeschke, Sabina and Meisen, Tobias\n                      and Thiele, Thomas David and Tercan, Hasan and Liebenberg,\n                      Martin and Heinisch, Julian and Theunissen, Matthias},\n      title        = {{C}ombined learning processes for injection moulding based\n                      on simulation and experimental data},\n      address      = {Lawrence, KS},\n      publisher    = {Polymer Processing Society},\n      reportid     = {RWTH-2018-222255},\n      year         = {2017},\n      comment      = {33rd International Conference of the Polymer Processing\n                      Society : PPS-33 : Cancun, Mexico, December 10-14, 2017},\n      booktitle     = {33rd International Conference of the\n                       Polymer Processing Society : PPS-33 :\n                       Cancun, Mexico, December 10-14, 2017},\n      month         = {Dec},\n      date          = {2017-12-10},\n      organization  = {33rd International Conference of the\n                       Polymer Processing Society, Cancún\n                       (Mexico), 10 Dec 2017 - 14 Dec 2017},\n      cin          = {417810 / 416910 / 052100},\n      cid          = {$I:(DE-82)417810_20140620$ / $I:(DE-82)416910_20140620$ /\n                      $I:(DE-82)052100_20140620$},\n      typ          = {PUB:(DE-HGF)8},\n      url          = {https://publications.rwth-aachen.de/record/719619},\n      abstract     = {Injection moulding enables the production of complex\n                      formed high-quality plastics parts in a single production\n                      step. To achieve a high and constant product quality, an\n                      appropriate process set-up with regards to product quality and\n                      process robustness is essential. A conventional process\n                      set-up requires expensive and time consuming experiments\n                      and know-how from the machine operator. One way to overcome\n                      this challenge is to make use of machine learning methods\n                      for process set-up. These methods can model the relationship\n                      between setting parameters and quality values and thus enable\n                      the identification of optimal working points. However,\n                      the training required for accurate modelling needs experimental\n                      data from extensive experiments for each process, too.\n                      Numerical simulation can predict quality values based on\n                      setting parameters without practical experiments. Whereas\n                      trends and the general dependencies between the parameters\n                      can be predicted with a satisfying accuracy, a certain\n                      discrepancy between the prediction of the simulation and\n                      the real process cannot be excluded. A combined approach\n                      using data from injection moulding simulations as well as\n                      experimental data appears promising to overcome the detriments\n                      of the solitary use of simulation for the training of machine\n                      learning algorithms. General dependencies could be gained\n                      from simulations without practical experiments and fine-tuning\n                      could be achieved by experimental trials with a minimal scope.\n                      In this paper, data obtained from a 2.5 D injection moulding\n                      simulation is compared with experimental data from a plate\n                      specimen and a complex formed injection moulded part.\n                      Therefore, central composed designs of experiments are used\n                      to identify differences in the effects and interdependencies\n                      of six setting parameters on quality values like part weight\n                      and dimensions. Furthermore, differences in the absolute\n                      values and the functionality of the effects are considered.\n                      On this basis, a combined machine learning concept using\n                      simulation and experimental data is presented.},\n}\n\n

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\n Injection moulding enables the production of complex formed high-quality plastics parts in a single production step. To achieve a high and constant product quality, an appropriate process set-up with regards to product quality and process robustness is essential. A conventional process set-up requires expensive and time consuming experiments and know-how from the machine operator. One way to overcome this challenge is to make use of machine learning methods for process set-up. These methods can model the relationship between setting parameters and quality values and thus enable the identification of optimal working points. However, the training required for accurate modelling needs experimental data from extensive experiments for each process, too. Numerical simulation can predict quality values based on setting parameters without practical experiments. Whereas trends and the general dependencies between the parameters can be predicted with a satisfying accuracy, a certain discrepancy between the prediction of the simulation and the real process cannot be excluded. A combined approach using data from injection moulding simulations as well as experimental data appears promising to overcome the detriments of the solitary use of simulation for the training of machine learning algorithms. General dependencies could be gained from simulations without practical experiments and fine-tuning could be achieved by experimental trials with a minimal scope. In this paper, data obtained from a 2.5 D injection moulding simulation is compared with experimental data from a plate specimen and a complex formed injection moulded part. Therefore, central composed designs of experiments are used to identify differences in the effects and interdependencies of six setting parameters on quality values like part weight and dimensions. Furthermore, differences in the absolute values and the functionality of the effects are considered. On this basis, a combined machine learning concept using simulation and experimental data is presented.\n

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\n \n\n \n \n \n \n \n \n An iStar 2.0 Editor Based on the Eclipse Modelling Framework.\n \n \n \n \n\n\n \n Liebenberg, M.; Roßmaier, K.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the Tenth International i* Workshop (iStar17), Essen, Germany, 2017. \n \n\n\n\n
\n\n\n\n \n \n $\"An$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {LiebenbergIstar17,\n        title = {An iStar 2.0 Editor Based on the Eclipse Modelling Framework},\n        booktitle = {Proceedings of the Tenth International i* Workshop (iStar17)},\n        year = {2017},\n        address = {Essen, Germany},\n        url = {http://ceur-ws.org/Vol-1829/iStar17_paper_18.pdf},\n        author = {Martin Liebenberg and Kerstin Ro{\\ss}maier and Gerhard Lakemeyer},\n        abstract = {During the search for a replacement of our outdated OpenOME\n        editor to obtain a new editor for iStar 2.0, we became aware of certain\n        tools from the Eclipse Modeling Project. These tools provide the possi-\n        bility to build modern graphical editors in a convenient way with little\n        programming overhead. They also meet our requirements for an editor\n        which should be flexible in changing the metamodel of iStar and easy to\n        extend. In this paper, we report on our quest to find an Eclipse modelling\n        framework which makes it easy to create and adapt an up-to-date iStar\n        2.0 editor.},\n}\n\n\n

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\n \n\n \n \n \n \n \n \n A Decentralised System Approach for Controlling AGVs with ROS.\n \n \n \n \n\n\n \n Walenta, R.; Schellekens, T.; Ferrein, A.; and Schiffer, S.\n\n\n \n\n\n\n In Proceedings of the IEEE AFRICON 2017, September 18-20 2017. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"A$ conference\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{ Walenta:Schellekens:Ferrein:Schiffer:AFRICON2017:DecentralisedAGVsROS,\n  author       = {Robert Walenta and Twan Schellekens and Alexander Ferrein and Stefan Schiffer},\n  title        = {A Decentralised System Approach for Controlling AGVs with ROS},\n  booktitle    = {Proceedings of the IEEE AFRICON 2017},\n  OPTeditor       = {Jan Haase and Gerhard Hancke and Albert Lysko},\n  OPTvolume       = {},\n  OPTpages        = {XX--YY},\n  year         = {2017},\n  month        = {September 18-20},\n  location     = {Cape Town, South Africa},\n  publisher    = {IEEE},\n  OPTisbn         = {},\n  OPTissn         = {},\n  url_Conference = {http://africon2017.org/},\n  abstract     = {The current industrial state of the art for\n                  automated guided vehicles relies on centralised\n                  controllers dispatching transports to vehicles along\n                  predefined paths.\n                  The design of these paths is time-consuming and has\n                  to be done in advance, followed by an extensive\n                  testing phase. In the field of mobile robotics,\n                  robust path planning and navigation algorithms\n                  exist.  However, they have not yet found their way\n                  into industrial applications in larger numbers.\n                  In this paper, we present a system architecture for\n                  a decentralised control of multiple automated guided\n                  vehicles performing material transportation tasks in\n                  intra-logistic applications which is based on mobile\n                  robotics solutions. The proposed system includes\n                  solutions for self-localisation, behaviour control,\n                  conflict-free routing and motion control. The\n                  non-centralised control of the system architecture\n                  allows for dynamic path planning and traffic\n                  coordination. Its implementation is based on the\n                  Robot Operating System, the de-facto standard\n                  middleware for robotics applications.  We give an\n                  overview of the overall system architecture as well\n                  as the coordination mechanisms and show a first\n                  proof of concept in simulations.},\n}\n\n

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\n \n\n \n \n \n \n \n Assisted Feature Engineering and Feature Learning to Build Knowledge-Based Agents for Arcade Games.\n \n \n \n\n\n \n Andelefski, B.; and Schiffer, S.\n\n\n \n\n\n\n In van den Herik, J.; Rocha, A. P.; and Filipe, J., editor(s), ICAART 2017 - Proceedings of the 4th International Conference on Agents and Artificial Intelligence, volume 2 - Artificial Intelligence, pages 228–238, February 6-8 2017. SciTePress\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{ Andelefski:Schiffer:ICAART2017:AssistedFeatureLearning,\n  author       = {Bastian Andelefski and Stefan Schiffer},\n  title        = {Assisted Feature Engineering and Feature Learning to Build Knowledge-Based Agents for Arcade Games},\n  year         = {2017},\n  pages        = {228--238},\n  editor       = {Jaap van den Herik  and Ana Paula Rocha and Joaquim Filipe},\n  booktitle    = {ICAART 2017 - Proceedings of the 4th International Conference on Agents and Artificial Intelligence},\n  volume       = {2 - Artificial Intelligence},\n  location     = {Porto, Portugal},\n  month        = {February 6-8},\n  publisher    = {SciTePress},\n  isbn         = {978-989-758-220-2},\n  abstract     = {Human knowledge can greatly increase the performance\n                  of autonomous agents. Leveraging this knowledge is\n                  sometimes neither straightforward nor easy. In this\n                  paper, we present an approach for assisted feature\n                  engineering and feature learning to build\n                  knowledge-based agents for three arcade games within\n                  the Arcade Learning Environment. While existing\n                  approaches mostly use model-free approaches we aim\n                  at creating a descriptive set of features for world\n                  modelling and building agents. To this end, we\n                  provide (visual) assistance in identifying and\n                  modelling features from RAM, we allow for learning\n                  features based on labeled game data, and we allow\n                  for creating basic agents using the above\n                  features. In our evaluation, we compare different\n                  methods to learn features from the RAM. We then\n                  compare several agents using different sets of\n                  manual and learned features with one another and\n                  with the state-of-the-art.},\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Towards CLIPS-based Task Execution and Monitoring with SMT-based Planning and Optimization.\n \n \n \n \n\n\n \n Niemueller, T.; Lakemeyer, G.; Leofante, F.; and Abraham, E.\n\n\n \n\n\n\n In Proceedings of the 5th Workshop on Planning and Robotics at ICAPS (PLANROB 2017), June 2017. \n \n\n\n\n
\n\n\n\n \n \n $\"Towards$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@INPROCEEDINGS{NiemuellerEtAl:PlanRob2017:TowardsCLIPSbased,\n     author = {Niemueller, Tim and Lakemeyer, Gerhard and Leofante, Francesco and Abraham, Erika},\n      month = jun,\n      title = {Towards CLIPS-based Task Execution and Monitoring with SMT-based Planning and Optimization},\n  booktitle = {Proceedings of the 5th Workshop on Planning and Robotics at ICAPS (PLANROB 2017)},\n       year = {2017},\n   location = {Carnegie Mellon, Pittsburgh},\n        url = {http://icaps17.icaps-conference.org/workshops/PlanRob/planrob_proceedings.pdf},\n   abstract = {In robotics, automated task planning is still the exception rather\n  than the norm. While\n  generating a plan certainly represents a crucial aspect, another\n  often neglected one, in particular relevant to integration in\n  robotics, is the task-level executive. It forms the coherent behavior\n  out of the determined plan to achieve the mission goals. This work\n  presents first results towards the integration of a knowledge-based\n  plan executive. This work is embedded in a project to generate\n  guaranteed-quality plans based on Satisfiability Modulo Theory (SMT)\n  in industrial scenarios. The initial prototype is integrated based\n  on the scenario of logistics robots in simulation.}\n}\n\n

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\n \n\n \n \n \n \n \n \n Knowledge-Based Programs with Defaults in a Modal Situation Calculus.\n \n \n \n \n\n\n \n Claßen, J.; and Neuss, M.\n\n\n \n\n\n\n In Kaminka, G. A.; Fox, M.; Bouquet, P.; Hüllermeier, E.; Dignum, V.; Dignum, F.; and van Harmelen, F., editor(s), Proceedings of the Twenty-Second European Conference on Artificial Intelligence (ECAI 2016), pages 1309–1317, 2016. IOS Press\n \n\n\n\n
\n\n\n\n \n \n $\"Knowledge-Based$ Paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@INPROCEEDINGS{ClassenNeuss2016,\n  author      = {Jens Cla{\\ss}en and Malte Neuss},\n  title       = {Knowledge-Based Programs with Defaults in a Modal\n                  Situation Calculus},\n  booktitle   = {Proceedings of the Twenty-Second European Conference\n                  on Artificial Intelligence (ECAI 2016)},\n  pages       = {1309--1317},\n  year        = {2016},\n  publisher   = {IOS Press},\n  doi         = {10.3233/978-1-61499-672-9-1309},\n  editor      = {Gal A. Kaminka and Maria Fox and Paolo Bouquet and\n                  Eyke H{\\"u}llermeier and Virginia Dignum and Frank\n                  Dignum and Frank van Harmelen},\n  abstract    = {We consider the realistic case of a GOLOG agent that\n                  only possesses incomplete knowledge about the state\n                  of its environment and has to resort to sensing in\n                  order to gather additional information at runtime,\n                  and where the agent is controlled by a\n                  knowledge-based program in which test conditions\n                  explicitly refer to the agent{\\textquoteright}s\n                  knowledge (or lack thereof). In this paper, we\n                  propose a formalization of knowledge-based agents\n                  that extends earlier proposals by a form of\n                  non-monotonic reasoning that includes Reiter-style\n                  defaults. We present a reasoning mechanism that\n                  enables us to reduce projection queries about future\n                  states of the agent{\\textquoteright}s knowledge\n                  (including nesting of epistemic modalities) to\n                  classical Default Logic, and provide a corresponding\n                  Representation Theorem. We thus obtain the\n                  theoretical foundation for an implementation where\n                  reasoning subtasks can be handed to an embedded\n                  off-the-shelf reasoner for Default Logic, and that\n                  supports a (in some respects) more expressive\n                  epistemic action language than previous solutions.},\n  url         = {https://kbsg.rwth-aachen.de/~classen/pub/ClassenNeuss2016.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Decidable Verification of Golog Programs over Non-Local Effect Actions.\n \n \n \n \n\n\n \n Zarrieß, B.; and Claßen, J.\n\n\n \n\n\n\n In Schuurmans, D.; and Wellman, M., editor(s), Proceedings of the Thirtieth AAAI Conference on Artificial Intelligence (AAAI 2016), pages 1109–1115, 2016. AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"Decidable$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@INPROCEEDINGS{ZarriessClassen2016a,\n  author      = {Benjamin Zarrie{\\ss} and Jens Cla{\\ss}en},\n  title       = {Decidable Verification of {G}olog Programs over\n                  Non-Local Effect Actions},\n  booktitle   = {Proceedings of the Thirtieth AAAI Conference on\n                  Artificial Intelligence (AAAI 2016)},\n  year        = {2016},\n  pages       = {1109--1115},\n  publisher   = {AAAI Press},\n  editor      = {Dale Schuurmans and Michael Wellman},\n  abstract    = {The Golog action programming language is a powerful\n                  means to express high-level behaviours in terms of\n                  programs over actions defined in a Situation\n                  Calculus theory. In particular for physical systems,\n                  verifying that the program satisfies certain desired\n                  temporal properties is often crucial, but\n                  undecidable in general, the latter being due to the\n                  language{\\textquoteright}s high expressiveness in\n                  terms of first-order quantification, range of action\n                  effects, and program constructs. So far, approaches\n                  to achieve decidability involved restrictions where\n                  action effects either had to be context-free\n                  (i.e. not depend on the current state), local\n                  (i.e. only affect objects mentioned in the\n                  action{\\textquoteright}s parameters), or at least\n                  bounded (i.e. only affect a finite number of\n                  objects). In this paper, we introduce two new, more\n                  general classes of action theories that allow for\n                  context-sensitive, non-local, unbounded effects,\n                  i.e. actions that may affect an unbounded number of\n                  possibly unnamed objects in a state-dependent\n                  fashion. We contribute to the further exploration of\n                  the boundary between decidability and undecidability\n                  for Golog, showing that for our new classes of\n                  action theories in the two-variable fragment of\n                  first-order logic, verification of CTL* properties\n                  of programs over ground actions is decidable.},\n  url         = {https://kbsg.rwth-aachen.de/~classen/pub/ZarriessClassen2016a.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Decidable Reasoning in a Logic of Limited Belief with Function Symbols.\n \n \n \n \n\n\n \n Lakemeyer, G.; and Levesque, H. J.\n\n\n \n\n\n\n In Baral, C.; Delgrande, J. P.; and Wolter, F., editor(s), 15th International Conference on Principles of Knowledge Representation and Reasoning (KR 2016), pages 288–297, Cape Town, South Africa, 2016. AAAI Press, AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"Decidable$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {LakemeyerLevesque2016,\n        title = {Decidable Reasoning in a Logic of Limited Belief with Function Symbols},\n        booktitle = {15th International Conference on Principles of Knowledge Representation and Reasoning (KR 2016)},\n        year = {2016},\n        pages = {288--297},\n        publisher = {AAAI Press},\n        organization = {AAAI Press},\n        address = {Cape Town, South Africa},\n        abstract = {A principled way to study limited forms of reasoning for expressive knowledge bases is to specify the reasoning problem within a suitable logic of limited belief. Ideally such a logic comes equipped with a perspicuous semantics, which provides insights into the nature of the belief model and facilitates the study of the reasoning problem. While a number of such logics were proposed in the past, none of them is able to deal with function symbols except perhaps for the special case of logical constants. In this paper we propose a logic of limited belief with arbitrary function symbols. Among other things, we demonstrate that this form of limited belief has desirable properties such as eventual completeness for a large class of formulas and that it serves as a specification of a form of decidable reasoning for very expressive knowledge bases.},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/LakemeyerLevesque2016.pdf},\n        author = {Lakemeyer, Gerhard and Levesque, Hector J.},\n        editor = {Chitta Baral and James P. Delgrande and Frank Wolter},\n}\n\n

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\n \n\n \n \n \n \n \n A First-Order Logic of Probability and Only Knowing in Unbounded Domains.\n \n \n \n\n\n \n Belle, V.; Lakemeyer, G.; and Levesque, H. J.\n\n\n \n\n\n\n In Proceedings of the Thirtieth AAAI Conference on Artificial Intelligence, February 12-17, 2016, Phoenix, Arizona, USA., pages 893–899, 2016. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{DBLP:conf/aaai/BelleLL16,\n  author    = {Vaishak Belle and Gerhard Lakemeyer and Hector J. Levesque},\n  title     = {A First-Order Logic of Probability and Only Knowing in\n                  Unbounded Domains},\n  booktitle = {Proceedings of the Thirtieth {AAAI} Conference on\n                  Artificial Intelligence, February 12-17, 2016,\n                  Phoenix, Arizona, {USA.}},\n  pages     = {893--899},\n  year      = {2016},\n}\n\n\n

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\n \n\n \n \n \n \n \n \n .\n \n \n \n \n\n\n \n Neumann, T.; Dülberg, E.; Schiffer, S.; and Ferrein, A.\n\n\n \n\n\n\n A Rotating Platform for Swift Acquisition of Dense 3D Point Clouds, pages 257–268. Springer International Publishing, August 22-24 2016.\n \n\n\n\n
\n\n\n\n \n \n $\"A$ Paper\n \n \n \n $\"A$ spinger\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 8 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@Inbook{ Neumann:Duellberg:Schiffer:Ferrein:ICIRA2016:RotatingPlatform,\n  author       = "Neumann, Tobias and D{\\"u}lberg, Enno and Schiffer, Stefan and Ferrein, Alexander",\n  title        = "A Rotating Platform for Swift Acquisition of Dense 3D Point Clouds",\n  bookTitle    = "Proceedings of the 9th International Conference on Intelligent Robotics and Applications (ICIRA 2016), Part I",\n  OPTeditor       = "Kubota, Naoyuki and Kiguchi, Kazuo and Liu, Honghai and Obo, Takenori",\n  year         = "2016",\n  month        = "August 22-24",\n  location     = "Tokyo, Japan",\n  publisher    = "Springer International Publishing",\n  OPTaddress      = "Cham",\n  pages        = "257--268",\n  isbn         = "978-3-319-43506-0",\n  doi          = "10.1007/978-3-319-43506-0_22",\n  url          = "http://dx.doi.org/10.1007/978-3-319-43506-0_22",\n  url_Spinger  = "https://link.springer.com/chapter/10.1007/978-3-319-43506-0_22",\n  abstract     = "For mapping with mobile robots the fast acquisition\n                  of dense point clouds is important. Different sensor\n                  techniques and devices exist for different\n                  applications. In this paper, we present a novel\n                  platform for rotating 3D and 2D LiDAR sensors. It\n                  allows for swiftly capturing 3D scans that are\n                  densely populated and that almost cover a full\n                  sphere. While the platform design is generic and\n                  many common LRF can be mounted on it, in our setup\n                  we use a Velodyne VLP-16 PUCK LiDAR as well as a\n                  Hokuyo UTM-30LX-EW LRF to acquire distance\n                  measurements. We describe the hardware design as\n                  well as the control software. We further compare our\n                  system with other existing commercial and\n                  non-commercial designs, especially with the FARO\n                  Focus3D X 130.",\n}\n\n

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\n \n\n \n \n \n \n \n \n Why it is harder to run RoboCup in South Africa: Experiences from German South African collaborations.\n \n \n \n \n\n\n \n Ferrein, A.; Schiffer, S.; Booysen, T.; and Stopforth, R.\n\n\n \n\n\n\n International Journal of Advanced Robotic Systems, 13(5). 2016.\n \n\n\n\n
\n\n\n\n \n \n $\"Why$ Paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 5 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@article{ Ferrein:Schiffer:Booysen:Stopforth:IJARS2016:RoboCup-SA-DE,\n  author       = {Ferrein, Alexander and Schiffer, Stefan and Booysen, Tracy and Stopforth, Riaan}, \n  title        = {Why it is harder to run {RoboCup} in {South Africa}: Experiences from {German} {South African} collaborations},\n  journal      = {International Journal of Advanced Robotic Systems},\n  volume       = {13}, \n  number       = {5}, \n  year         = {2016}, \n  doi          = {10.1177/1729881416662789}, \n  URL          = {http://arx.sagepub.com/content/13/5/1729881416662789.abstract}, \n  eprint       = {http://arx.sagepub.com/content/13/5/1729881416662789.full.pdf+html}, \n  abstract     = {Robots are widely used as a vehicle to spark\n                  interest in science and technology in learners. A\n                  number of initiatives focus on this issue, for\n                  instance, the Roberta Initiative, the FIRST Lego\n                  League, the World Robot Olympiad and RoboCup\n                  Junior. Robotic competitions are valuable not only\n                  for school learners but also for university\n                  students, as the RoboCup initiative shows. Besides\n                  technical skills, the students get some project\n                  exposure and experience what it means to finish\n                  their tasks on time. But qualifying students for\n                  future high-tech areas should not only be for\n                  students from developed countries. In this article,\n                  we present our experiences with research and\n                  education in robotics within the RoboCup initiative,\n                  in Germany and South Africa; we report on our\n                  experiences with trying to get the RoboCup\n                  initiative in South Africa going. RoboCup has a huge\n                  support base of academic institutions in Germany;\n                  this is not the case in South Africa. We present our\n                  ‘north–south’ collaboration initiatives in RoboCup\n                  between Germany and South Africa and discuss some of\n                  the reasons why we think it is harder to run RoboCup\n                  in South Africa.}, \n}\n\n

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\n \n\n \n \n \n \n \n \n Integrating Qualitative Reasoning and Human-Robot Interaction in Domestic Service Robotics.\n \n \n \n \n\n\n \n Schiffer, S.\n\n\n \n\n\n\n KI - Künstliche Intelligenz, 30(3): 257–265. 2016.\n \n\n\n\n
\n\n\n\n \n \n $\"Integrating$ Paper\n \n \n \n $\"Integrating$ springer\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 4 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@Article{ Schiffer:KI2016:Integrating,\n  author       = "Stefan Schiffer",\n  title        = "Integrating Qualitative Reasoning and Human-Robot Interaction in Domestic Service Robotics",\n  journal      = "KI - K{\\"u}nstliche Intelligenz",\n  year         = "2016",\n  volume       = "30",\n  number       = "3",\n  pages        = "257--265",\n  issn         = "1610-1987",\n  doi          = "10.1007/s13218-016-0436-x",\n  url          = "http://dx.doi.org/10.1007/s13218-016-0436-x",\n  url_Springer = {https://link.springer.com/article/10.1007/s13218-016-0436-x},\n  abstract     = "In this paper we discuss a system layout for\n                  cognitive service robots and our implementation of\n                  such a system. Our focus is on integrating\n                  qualitative reasoning and human-robot\n                  interaction. After introducing the domestic service\n                  robotics domain with its challenges and the\n                  RoboCup@Home initiative we present our robot\n                  platform, its basic capabilities and its high-level\n                  reasoning system. Then, we discuss a system layout\n                  for a cognitive service robot in domestic domains,\n                  and we show how components of our service robot\n                  implement elements of such a system layout. We\n                  discuss strengths and limitations of these\n                  components and of the overall system.",\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Decidable Reasoning in a First-Order Logic of Limited Conditional Belief.\n \n \n \n \n\n\n \n Schwering, C.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the Twenty-Second European Conference on Artificial Intelligence (ECAI), pages 1379–1387, The Hague, Netherlands, 2016. IOS Press\n \n\n\n\n
\n\n\n\n \n \n $\"Decidable$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {Schwering:ECAI-2016,\n        title = {Decidable Reasoning in a First-Order Logic of Limited Conditional Belief},\n        booktitle = {Proceedings of the Twenty-Second European Conference on Artificial Intelligence (ECAI)},\n        year = {2016},\n        pages = {1379--1387},\n        publisher = {IOS Press},\n        address = {The Hague, Netherlands},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/SchweringLakemeyer2016.pdf},\n        author = {Christoph Schwering and Lakemeyer, Gerhard}\n}\n\n

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\n \n\n \n \n \n \n \n \n Sensor Fusion in the Epistemic Situation Calculus.\n \n \n \n \n\n\n \n Schwering, C.; Niemueller, T.; Lakemeyer, G.; Abdo, N.; and Burgard, W.\n\n\n \n\n\n\n Journal of Experimental & Theoretical Artificial Intelligence (JETAI), 28(5): 871–887. 2016.\n \n\n\n\n
\n\n\n\n \n \n $\"Sensor$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@article {Schwering:JETAI-2015,\n        title = {Sensor Fusion in the Epistemic Situation Calculus},\n        journal = {Journal of Experimental \\& Theoretical Artificial Intelligence (JETAI)},\n        volume = {28},\n        number = {5},\n        year = {2016},\n        pages = {871--887},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/SchweringEtAl2016.pdf},\n        author = {Christoph Schwering and Tim Niemueller and Lakemeyer, Gerhard and Nichola Abdo and Wolfram Burgard}\n}\n\n

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\n \n\n \n \n \n \n \n Benchmarking of Cyber-Physical Systems in Industrial Robotics – The RoboCup Logistics League as a CPS Benchmark Blueprint.\n \n \n \n\n\n \n Niemueller, T.; Lakemeyer, G.; Reuter, S.; Jeschke, S.; and Ferrein, A.\n\n\n \n\n\n\n Cyber-Physical Systems – Foundations, Principles, and Applications. H. Song, D. R.; and S. Jeschke, C. B., editor(s). Elsevier, 2016.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@InBook{CPS-Testbed-Book,\n\tauthor = \t {Tim Niemueller and Gerhard Lakemeyer and Sebastian\n                  Reuter and Sabina Jeschke and Alexander Ferrein},\n\ttitle = \t\t\t {{Cyber-Physical Systems -- Foundations, Principles,\n                  and Applications}},\n\tchapter = \t\t {Benchmarking of Cyber-Physical Systems in Industrial\n                  Robotics -- The RoboCup Logistics League as a CPS\n                  Benchmark Blueprint},\n\tpublisher = \t {Elsevier},\n\tyear = \t\t\t\t {2016},\n  editor =       {H. Song, D. Rawat, S. Jeschke, C. Brecher}\n}\n\n

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\n \n\n \n \n \n \n \n Cyber-Physical System Intelligence – Knowledge-Based Mobile Robot Autonomy in an Industrial Scenario.\n \n \n \n\n\n \n Niemueller, T.; Zwilling, F.; Lakemeyer, G.; Löbach, M.; Reuter, S.; Jeschke, S.; and Ferrein, A.\n\n\n \n\n\n\n Industrial Internet of Things: Cybermanufacturing Systems. S. Jeschke, C. B.; and H. Song, D. R., editor(s). Springer, 2016.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@InBook{CPS-Intelligence-2016,\n\tauthor = \t {Tim Niemueller and Frederik Zwilling and Gerhard\n                  Lakemeyer and Matthias L\\"obach and Sebastian Reuter\n                  and Sabina Jeschke and Alexander Ferrein},\n\ttitle = \t\t\t {Industrial Internet of Things: Cybermanufacturing\n                  Systems},\n\tchapter = \t\t {Cyber-Physical System Intelligence --\n                  Knowledge-Based Mobile Robot Autonomy in an\n                  Industrial Scenario},\n\tpublisher = \t {Springer},\n\tyear = \t\t\t\t {2016},\n\teditor =       {S. Jeschke, C. Brecher, H. Song, D. Rawat}\n}\n\n

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\n \n\n \n \n \n \n \n \n Continual Planning in Golog.\n \n \n \n \n\n\n \n Hofmann, T.; Niemueller, T.; Claßen, J.; and Lakemeyer, G.\n\n\n \n\n\n\n In Schuurmans, D.; and Wellman, M., editor(s), Thirtieth AAAI Conference on Artificial Intelligence (AAAI), pages 3346-3353, Phoenix, AZ, USA, 2016. AAAI Press, AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"Continual$ Paper\n \n \n \n $\"Continual$ demo\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@InProceedings {ContinualPlanningGolog,\n  author = {Till Hofmann and Tim Niemueller and Cla{\\ss}en, Jens and Lakemeyer, Gerhard},\n  title = {{Continual Planning in Golog}},\n  booktitle = {Thirtieth AAAI Conference on Artificial Intelligence (AAAI)},\n  year = {2016},\n  pages = {3346-3353},\n  publisher = {AAAI Press},\n  organization = {AAAI Press},\n  address = {Phoenix, AZ, USA},\n  abstract = {To solve ever more complex and longer tasks, mobile\n                  robots need to generate more elaborate plans and\n                  must handle dynamic environments and incomplete\n                  knowledge. We address this challenge by integrating\n                  two seemingly different approaches {\\textendash}\n                  PDDL-based planning for efficient plan generation\n                  and GOLOG for highly expressive behavior\n                  specification {\\textendash} in a coherent framework\n                  that supports continual planning. The latter allows\n                  to interleave plan generation and execution through\n                  assertions, which are placeholder actions that are\n                  dynamically expanded into conditional sub-plans\n                  (using classical planners) once a replanning\n                  condition is satisfied. We formalize and implement\n                  continual planning in GOLOG which was so far only\n                  supported in PDDL-based systems. This enables\n                  combining the execution of generated plans with\n                  regular GOLOG programs and execution\n                  monitoring. Experiments on autonomous mobile robots\n                  show that the approach supports expressive behavior\n                  specification combined with efficient sub-plan\n                  generation to handle dynamic environments and\n                  incomplete knowledge in a unified way.},\n  url = {https://kbsg.rwth-aachen.de/~hofmann/papers/continual-planning-golog.pdf},\n  url_Demo = {https://youtu.be/qLIYJ2NiGq0},\n  attachments = {https://kbsg.rwth-aachen.de/~hofmann/papers/continual-planning-golog.pdf},\n  editor = {Dale Schuurmans and Michael Wellman}\n}\n\n

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\n \n\n \n \n \n \n \n Interruptible Task Execution with Resumption in Golog.\n \n \n \n\n\n \n Gierse, G.; Niemueller, T.; Claßen, J.; and Lakemeyer, G.\n\n\n \n\n\n\n In Kaminka, G. A.; Fox, M.; Bouquet, P.; Hüllermeier, E.; Dignum, V.; Dignum, F.; and van Harmelen, F., editor(s), Twenty-Second European Conference on Artificial Intelligence (ECAI), pages 1265-1273, Den Haag, The Netherlands, 2016. IOS Press, IOS Press\n \n\n\n\n
\n\n\n\n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@InProceedings {IntRGolog,\n  author = {Gesche Gierse and Tim Niemueller and Jens Cla{\\ss}en and\n                  Gerhard Lakemeyer},\n  title = {{Interruptible Task Execution with Resumption in Golog}},\n  booktitle = {Twenty-Second European Conference on Artificial Intelligence (ECAI)},\n  year = {2016},\n  pages = {1265-1273},\n  publisher = {IOS Press},\n  organization = {IOS Press},\n  address = {Den Haag, The Netherlands},\n  abstract = {Mobile robots should perform a growing number of tasks\n                  and react to time-critical events. Thus, the ability\n                  to interrupt a task and resume it later is\n                  crucial. While interleaved execution occurs often in\n                  robotics, existing approaches do not consider the\n                  fact that interrupting a task and resuming an\n                  interrupted task often requires intermediate\n                  steps. In this paper we present an approach to\n                  interruptible task execution with resumption. We\n                  propose IntRGolog which extends IndigGolog by task\n                  interruption and resumption through introducing new\n                  constructs to determine and fulfill the requirements\n                  of tasks. Our experiments on a service robot and in\n                  simulation show that the ability to switch to\n                  another task enables a robot to react in a swift and\n                  reliable fashion to new events.},\n  doi = {10.3233/978-1-61499-672-9-1265},\n  attachments = {https://kbsg.rwth-aachen.de/sites/kbsg/files/GierseEtAl2016.pdf},\n  editor = {Gal A. Kaminka and Maria Fox and Paolo Bouquet and Eyke\n                  H{\\"u}llermeier and Virginia Dignum and Frank Dignum\n                  and Frank van Harmelen}\n}\n\n

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\n \n\n \n \n \n \n \n Improvements for a Robust Production in the RoboCup Logistics League 2016.\n \n \n \n\n\n \n Niemueller, T.; Neumann, T.; Henke, C.; Schönitz, S.; Reuter, S.; Ferrein, A.; Jeschke, S.; and Lakemeyer, G.\n\n\n \n\n\n\n In RoboCup Symposium – Champion Teams Track, 2016. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@InProceedings{Carologistics2016,\n  author =       {Tim Niemueller and Tobias Neumann and Christoph\n                  Henke and Sebastian Sch{\\"o}nitz and Sebastian\n                  Reuter and Alexander Ferrein and Sabina Jeschke and\n                  Gerhard Lakemeyer},\n  title =        {{Improvements for a Robust Production in the RoboCup\n                  Logistics League 2016}},\n  booktitle =    {RoboCup Symposium -- Champion Teams Track},\n  year =         {2016},\n}\n\n

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\n \n\n \n \n \n \n \n Robust Multi-Modal Detection of Industrial Signal Light Towers.\n \n \n \n\n\n \n Mataré, V.; Niemueller, T.; and Lakemeyer, G.\n\n\n \n\n\n\n In RoboCup Symposium, Leipzig, Germany, 2016. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@InProceedings{RCLL-SignalVision-2016,\n  title =\t{{Robust Multi-Modal Detection of Industrial Signal Light Towers}},\n  author =\t{Victor Matar\\'e and Tim Niemueller and Gerhard Lakemeyer},\n  booktitle =\t{RoboCup Symposium},\n\taddress = {Leipzig, Germany},\n  year =\t2016,\n}\n\n

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\n \n\n \n \n \n \n \n Planning Competition for Logistics Robots in Simulation.\n \n \n \n\n\n \n Niemueller, T.; Karpas, E.; Vaquero, T.; and Timmons, E.\n\n\n \n\n\n\n In WS on Planning and Robotics (PlanRob) at Int. Conf. on Automated Planning and Scheduling (ICAPS), London, UK, 2016. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@InProceedings{LogRobComp2016,\n  author = \t {Tim Niemueller and Erez Karpas and Tiago Vaquero and Eric Timmons},\n  title = \t {{Planning Competition for Logistics Robots in Simulation}},\n  booktitle = {WS on Planning and Robotics (PlanRob) at Int. Conf. on Automated Planning and Scheduling (ICAPS)},\n  year = \t 2016,\n  address = \t {London, UK}\n}\n\n

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\n \n\n \n \n \n \n \n An Integration Challenge to Bridge the Gap among Industry-inspired RoboCup Leagues.\n \n \n \n\n\n \n Zug, S.; Niemueller, T.; Hochgeschwender, N.; Seidensticker, K.; Seidel, M.; Friedrich, T.; Neumann, T.; Karras, U.; Kraetzschmar, G.; and Ferrein, A.\n\n\n \n\n\n\n In RoboCup Symposium, 2016. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@InProceedings{RCI-Crossover-2016,\n\tauthor = \t\t\t {Sebastian Zug and Tim Niemueller and Nico\n                  Hochgeschwender and Kai Seidensticker and Martin\n                  Seidel and Tim Friedrich and Tobias Neumann and\n                  Ulrich Karras and Gerhard Kraetzschmar and Alexander\n                  Ferrein},\n\ttitle = \t\t\t {{An Integration Challenge to Bridge the Gap among\n  Industry-inspired RoboCup Leagues}},\n\tbooktitle = {RoboCup Symposium},\n\tyear = \t\t {2016},\n}\n\n

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\n \n\n \n \n \n \n \n International Harting Open Source Award 2016: Fawkes for the RoboCup Logistics League.\n \n \n \n\n\n \n Niemueller, T.; Neumann, T.; Henke, C.; Schönitz, S.; Reuter, S.; Ferrein, A.; Jeschke, S.; and Lakemeyer, G.\n\n\n \n\n\n\n In RoboCup Symposium – Harting Award Paper, 2016. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@InProceedings{FawkesHarting2016,\n\tauthor = \t\t\t {Tim Niemueller and Tobias Neumann and Christoph\n                  Henke and Sebastian Sch\\"onitz and Sebastian Reuter\n                  and Alexander Ferrein and Sabina Jeschke and Gerhard\n                  Lakemeyer},\n\ttitle = \t\t\t {{International Harting Open Source Award 2016: Fawkes for the RoboCup Logistics League}},\n\tbooktitle = {RoboCup Symposium -- Harting Award Paper},\n\tyear = \t\t 2016,\n}\n\n

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\n \n\n \n \n \n \n \n Knowledge-Based Instrumentation and Control for Competitive Industry-Inspired Robotic Domains.\n \n \n \n\n\n \n Niemueller, T.; Zug, S.; Schneider, S.; and Karras, U.\n\n\n \n\n\n\n KI - Künstliche Intelligenz, 30(289–299). 2016.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@Article{RefBox2016,\n  title\t   = {{Knowledge-Based Instrumentation and Control for Competitive Industry-Inspired Robotic Domains}},\n  author   = {Tim Niemueller and Sebastian Zug and Sven Schneider and Ulrich Karras},\n  journal  = {KI - Künstliche Intelligenz},\n  volume   = 30,\n  number   = {289–299},\n  year     = 2016,\n}\n\n

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\n \n\n \n \n \n \n \n Controlling Logistics Robots with the Action-based Language YAGI.\n \n \n \n\n\n \n Ferrein, A.; Maier, C.; Muehlbacher, C.; Niemueller, T.; Steinbauer, G.; and Vassos, S.\n\n\n \n\n\n\n In Proceedings of 9th International Conference on Intelligent Robotics and Applications (ICIRA2016), Tokio, Japan, 2016. Springer\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@InProceedings{YAGI,\n\tauthor = \t\t\t {Alexander Ferrein and Christopher Maier and Clemens\n                  Muehlbacher and Tim Niemueller and Gerald Steinbauer\n                  and Stavros Vassos},\n\ttitle = \t\t\t {{Controlling Logistics Robots with the Action-based Language YAGI}},\n\tbooktitle = {Proceedings of 9th International Conference on Intelligent\n    Robotics and Applications (ICIRA2016)},\n\tyear = \t\t {2016},\n\taddress = \t {Tokio, Japan},\n\tpublisher = {Springer},\n}\n\n\n

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\n \n 2015\n \n \n (22)\n \n \n

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\n \n\n \n \n \n \n \n \n Verification of Knowledge-Based Programs over Description Logic Actions.\n \n \n \n \n\n\n \n Zarrieß, B.; and Claßen, J.\n\n\n \n\n\n\n In Proceedings of the Twenty-Fourth International Joint Conference on Artificial Intelligence (IJCAI 2015), pages 3278–3284, 2015. AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"Verification$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@INPROCEEDINGS{ZarriessClassen2015b,\n  author      = {Benjamin Zarrie{\\ss} and Jens Cla{\\ss}en},\n  title       = {Verification of Knowledge-Based Programs over Description Logic Actions},\n  booktitle   = {Proceedings of the Twenty-Fourth International Joint\n                  Conference on Artificial Intelligence (IJCAI 2015)}, \n  year        = {2015},\n  pages       = {3278--3284},\n  publisher   = {AAAI Press},\n  abstract    = {A knowledge-based program defines the behavior of an\n                  agent by combining primitive actions, programming\n                  constructs and test conditions that make explicit\n                  reference to the agent{\\textquoteright}s\n                  knowledge. In this paper we consider a setting where\n                  an agent is equipped with a Description Logic (DL)\n                  knowledge base providing general domain knowledge\n                  and an incomplete description of the initial\n                  situation. We introduce a corresponding new DL-based\n                  action language that allows for representing both\n                  physical and sensing actions, and that we then use\n                  to build knowledge-based programs with test\n                  conditions expressed in the epistemic DL. After\n                  proving undecidability for the general case, we then\n                  discuss a restricted fragment where verification\n                  becomes decidable. The provided proof is\n                  constructive and comes with an upper bound on the\n                  procedure{\\textquoteright}s complexity.},\n  url         = {http://www.kbsg.rwth-aachen.de/~classen/pub/ZarriessClassen2015b.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Decidable Verification of Knowledge-Based Programs over Description Logic Actions with Sensing.\n \n \n \n \n\n\n \n Zarrieß, B.; and Claßen, J.\n\n\n \n\n\n\n In Proceedings of the Twenty-Eighth International Workshop on Description Logics (DL 2015), 2015. CEUR-WS.org\n \n\n\n\n
\n\n\n\n \n \n $\"Decidable$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@INPROCEEDINGS{ZarriessClassen2015a,\n  author      = {Benjamin Zarrie{\\ss} and Jens Cla{\\ss}en},\n  title       = {Decidable Verification of Knowledge-Based Programs\n                  over Description Logic Actions with Sensing}, \n  booktitle   = {Proceedings of the Twenty-Eighth International\n                  Workshop on Description Logics (DL 2015)},\n  year        = {2015},\n  publisher   = {CEUR-WS.org},\n  url         = {http://www.kbsg.rwth-aachen.de/~classen/pub/ZarriessClassen2015a.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n Semantical considerations on multiagent only knowing.\n \n \n \n\n\n \n Belle, V.; and Lakemeyer, G.\n\n\n \n\n\n\n Artif. Intell., 223: 1–26. 2015.\n \n\n\n\n
\n\n\n\n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@article{DBLP:journals/ai/BelleL15,\n  author    = {Vaishak Belle and\n               Gerhard Lakemeyer},\n  title     = {Semantical considerations on multiagent only knowing},\n  journal   = {Artif. Intell.},\n  volume    = {223},\n  pages     = {1--26},\n  year      = {2015},\n  doi       = {10.1016/j.artint.2015.02.005}\n}\n\n

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\n \n\n \n \n \n \n \n A Modal Logic for the Decision-Theoretic Projection Problem.\n \n \n \n\n\n \n Rens, G.; Meyer, T. A.; and Lakemeyer, G.\n\n\n \n\n\n\n In ICAART 2015 - Proceedings of the International Conference on Agents and Artificial Intelligence, Volume 2, Lisbon, Portugal, 10-12 January, 2015., pages 5–16, 2015. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{DBLP:conf/icaart/RensML15,\n  author    = {Gavin Rens and Thomas Andreas Meyer and Gerhard Lakemeyer},\n  title     = {A Modal Logic for the Decision-Theoretic Projection Problem},\n  booktitle = {{ICAART} 2015 - Proceedings of the International\n                  Conference on Agents and Artificial Intelligence,\n                  Volume 2, Lisbon, Portugal, 10-12 January, 2015.},\n  pages     = {5--16},\n  year      = {2015}\n}\n\n

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\n \n\n \n \n \n \n \n A Logic for Reasoning About Decision-Theoretic Projections.\n \n \n \n\n\n \n Rens, G.; Meyer, T. A.; and Lakemeyer, G.\n\n\n \n\n\n\n In Agents and Artificial Intelligence - 7th International Conference, ICAART 2015, Lisbon, Portugal, January 10-12, 2015, Revised Selected Papers, pages 79–99, 2015. \n \n\n\n\n
\n\n\n\n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{DBLP:conf/icaart/RensML15a,\n  author    = {Gavin Rens and Thomas Andreas Meyer and Gerhard Lakemeyer},\n  title     = {A Logic for Reasoning About Decision-Theoretic Projections},\n  booktitle = {Agents and Artificial Intelligence - 7th International\n                  Conference, {ICAART} 2015, Lisbon, Portugal, January\n                  10-12, 2015, Revised Selected Papers},\n  pages     = {79--99},\n  year      = {2015},\n  doi       = {10.1007/978-3-319-27947-3_5}\n}\n\n

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\n \n\n \n \n \n \n \n Only Knowing Meets Common Knowledge.\n \n \n \n\n\n \n Belle, V.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the Twenty-Fourth International Joint Conference on Artificial Intelligence, IJCAI 2015, Buenos Aires, Argentina, July 25-31, 2015, pages 2755–2761, 2015. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{DBLP:conf/ijcai/BelleL15,\n  author    = {Vaishak Belle and\n               Gerhard Lakemeyer},\n  title     = {Only Knowing Meets Common Knowledge},\n  booktitle = {Proceedings of the Twenty-Fourth International Joint\n                  Conference on Artificial Intelligence, {IJCAI} 2015,\n                  Buenos Aires, Argentina, July 25-31, 2015},\n  pages     = {2755--2761},\n  year      = {2015},\n  crossref  = {DBLP:conf/ijcai/2015}\n}\n\n\n\n\n\n\n

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\n \n\n \n \n \n \n \n \n Towards integrated intentional agent simulation and semantic geodata management in complex urban systems modeling.\n \n \n \n \n\n\n \n Baier, K.; Mataré, V.; Liebenberg, M.; and Lakemeyer, G.\n\n\n \n\n\n\n Computers, Environment and Urban Systems, 51. 2015.\n \n\n\n\n
\n\n\n\n \n \n $\"Towards$ paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@article {LiebenbergMegaurbanization15,\n        title = {Towards integrated intentional agent simulation and semantic geodata management in complex urban systems modeling},\n        journal = {Computers, Environment and Urban Systems},\n        volume = {51},\n        year = {2015},\n        publisher = {Elsevier},\n        chapter = {47},\n        doi = {10.1016/j.compenvurbsys.2015.01.006},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/CEUS2015.pdf},\n        author = {Klaus Baier and Victor Matar{\\'e} and Martin Liebenberg and Gerhard Lakemeyer},\n        abstract = {Mega-urbanization presents researchers with\n        a network of densely interwoven problems that elude\n        disciplinary boundaries. We report on the development\n        of a spatial knowledge management and agent simulation\n        framework that is designed to integrate closely with\n        the process of trans-disciplinary research into the dynamics\n        of complex human-environment systems. We argue that our\n        choice of knowledge representation languages facilitates\n        cross-domain collaboration. In a runthrough application\n        example, we show how standardized knowledge engineering\n        technologies are used to turn a conventional geodatabase\n        into a self-documenting knowledge base that can flexibly\n        interface with modern open-data infrastructures.\n        The resulting cross-domain world model is then coupled\n        to a graphical actor modeling language that specializes\n        in the formulation of behavioral theories in terms of\n        social roles, intentions, tasks, conditions and interaction.\n        Finally, we describe how system theories expressed in this\n        way are automatically translated into computer simulations.},\n}\n\n\n

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\n \n\n \n \n \n \n \n Akbaba – An Agent for the Angry Birds AI Challenge Based on Search and Simulation.\n \n \n \n\n\n \n Schiffer, S.; Jourenko, M.; and Lakemeyer, G.\n\n\n \n\n\n\n IEEE Transactions on Computational Intelligence and AI in Games, PP(99): 1–12. Sep 2015.\n \n\n\n\n
\n\n\n\n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n\n

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@Article{ Schiffer:Jourenko:Lakemeyer:TCIAIG2015SIPBSG:Akbaba,\n  title      = {{Akbaba} -- An Agent for the {Angry Birds} {AI} {Challenge} Based on Search and Simulation},\n  author     = {Schiffer, Stefan and Jourenko, Maxim and Lakemeyer, Gerhard},\n  journal    = {IEEE Transactions on Computational Intelligence and AI in Games},\n  year       = {2015},\n  month      = {Sep},\n  volume     = {PP},\n  number     = {99},\n  pages      = {1--12},\n  keywords   = {Artificial intelligence; Angry Birds; Computational modeling; Physics Engines; Games;Search; Simulation},\n  doi        = {10.1109/TCIAIG.2015.2478703},\n  ISSN       = {1943-068X},\n  abstract   = {We report on our entry for the AI Birds competition,\n                where we designed, implemented and evaluated an agent\n                for the physics puzzle computer game Angry Birds. Our\n                agent uses search and simulation to find appropriate\n                parameters for launching birds. While there are other\n                methods that focus on qualitative reasoning about\n                physical systems we try to combine simulation and\n                adjustable abstractions to efficiently traverse the\n                possibly infinite search space. The agent features a\n                hierarchical search scheme where different levels of\n                abstractions are used. At any level, it uses\n                simulation to rate subspaces that should be further\n                explored in more detail on the next levels. We\n                evaluate single components of our agent and we also\n                compare the overall performance of different versions\n                of our agent. We show that our approach yields a\n                competitive solution on the standard set of levels.},\n}\n\n

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\n \n\n \n \n \n \n \n Abstracting Away Low-Level Details in Service Robotics with Fuzzy Fluents.\n \n \n \n\n\n \n Schiffer, S.; Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n In Model-Driven Knowledge Engineering for Improved Software Modularity in Robotics and Automation, Workshop at European Robotics Forum 2015, pages 7–10, March 11–13 2015. ERF, ERF\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {Schiffer:etAl:MDKE2015:FuzzyAway,\n        title = {{Abstracting Away Low-Level Details in Service Robotics with Fuzzy Fluents}},\n        booktitle = {Model-Driven Knowledge Engineering for Improved Software Modularity in Robotics and Automation, Workshop at European Robotics Forum 2015},\n        year = {2015},\n        month = {March 11--13},\n        pages = {7--10},\n        publisher = {ERF},\n        organization = {ERF},\n        author = {Schiffer, Stefan and Ferrein, Alexander and Lakemeyer, Gerhard}\n}\n\n

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\n \n\n \n \n \n \n \n \n .\n \n \n \n \n\n\n \n Goeckel, T.; Wagner, H.; Schiffer, S.; and Lakemeyer, G.\n\n\n \n\n\n\n of Lecture Notes in Computer Science. The Video Conference Tool Robot ViCToR, pages 61–73. Springer Berlin / Heidelberg, Aug 24-27 2015.\n \n\n\n\n
\n\n\n\n \n \n $\"The$ springer\n \n \n \n $\"The$ paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inbook { Goeckel:Schiffer:EtAl:ICIRA2015:ViCToR,\n        title = {The Video Conference Tool Robot ViCToR},\n        author = {Goeckel, Tom and Wagner, Hermann and Schiffer, Stefan and Lakemeyer, Gerhard},\n        booktitle = {Intelligent Robotics and Applications},\n        series = {Lecture Notes in Computer Science},\n        year = {2015},\n        month = {Aug 24-27},\n        pages = {61--73},\n        publisher = {Springer Berlin / Heidelberg},\n        organization = {Springer Berlin / Heidelberg},\n        abstract = {We present a robotic tool that autonomously follows a conversation to enable remote presence in video conferencing. When humans participate in a meeting with the help of video conferencing tools, it is crucial that they are able to follow the conversation both with acoustic and visual input. To this end, we design and implement a video conferencing tool robot that uses binaural sound source localization as its main source to autonomously orient towards the currently talking speaker. To increase robustness of the acoustic cue against noise we supplement the sound localization with a source detection stage. Also, we include a simple onset detector to retain fast response times. Since we only use two microphones, we are confronted with ambiguities on whether a source is in front or behind the device. We resolve these ambiguities with the help of face detection and additional moves. We tailor the system to our target scenarios in experiments with a four minute scripted conversation. In these experiments we evaluate the influence of different system settings on the responsiveness and accuracy of the device.},\n        doi = {10.1007/978-3-319-22876-1_6},\n        url_Springer = {http://link.springer.com/chapter/10.1007\\%2F978-3-319-22876-1_6},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/ViCToR.pdf},\n}\n\n

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\n \n\n \n \n \n \n \n \n Proceedings of the Workshop on Fuzzy Logic in AI, FLinAI 2015, co-located with the 24th International Joint Conference on Artificial Intelligence (IJCAI 2015), Buenos Aires, Argentina, July 25, 2015.\n \n \n \n \n\n\n \n Díaz, I.; Ralescu, A.; and Schiffer, S.,\n editors.\n \n\n\n \n\n\n\n Volume 1424.CEUR-WS.org. 2015.\n \n\n\n\n
\n\n\n\n \n \n $\"Proceedings$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@proceedings {DBLP:conf/ijcai/2015flinai,\n        title = {Proceedings of the Workshop on Fuzzy Logic in AI, FLinAI 2015, co-located with the 24th International Joint Conference on Artificial Intelligence {(IJCAI} 2015), Buenos Aires, Argentina, July 25, 2015},\n        editor = {Irene D{\\'{\\i}}az and Anca Ralescu and Schiffer, Stefan},\n        volume = {1424},\n        year = {2015},\n        publisher = {CEUR-WS.org},\n        url = {http://ceur-ws.org/Vol-1424},\n}\n\n

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\n \n\n \n \n \n \n \n \n Decision-Theoretic Planning with Linguistic Terms in Golog.\n \n \n \n \n\n\n \n Schiffer, S.; and Ferrein, A.\n\n\n \n\n\n\n In Proceedings of the Workshop on Fuzzy Logic in AI, FLinAI 2015, co-located with the 24th International Joint Conference on Artificial Intelligence (IJCAI 2015), Buenos Aires, Argentina, July 25, 2015., 2015. \n \n\n\n\n
\n\n\n\n \n \n $\"Decision-Theoretic$ pdf\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {DBLP:conf/ijcai/0002F15,\n        title = {Decision-Theoretic Planning with Linguistic Terms in Golog},\n        author = {Schiffer, Stefan and Ferrein, Alexander},\n        booktitle = {Proceedings of the Workshop on Fuzzy Logic in AI, FLinAI 2015, co-located with the 24th International Joint Conference on Artificial Intelligence {(IJCAI} 2015), Buenos Aires, Argentina, July 25, 2015.},\n        year = {2015},\n        url_PDF = {http://ceur-ws.org/Vol-1424/Paper1.pdf},\n}\n\n\n\n

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\n \n\n \n \n \n \n \n Integrating Qualitative Reasoning and Human-Robot Interaction for Domestic Service Robots.\n \n \n \n\n\n \n \n\n\n \n\n\n\n Ph.D. Thesis, Knowledge-Based Systems Group, Feb 2015.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

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\n \n\n \n \n \n \n \n \n Belief Revision and Progression of Knowledge Bases in the Epistemic Situation Calculus.\n \n \n \n \n\n\n \n Schwering, C.; Lakemeyer, G.; and Pagnucco, M.\n\n\n \n\n\n\n In Proceedings of the Twenty-Fourth International Joint Conference on Artificial Intelligence (IJCAI-2015), Buenos Aires, Argentina, 2015. \n \n\n\n\n
\n\n\n\n \n \n $\"Belief$ Paper\n \n \n \n $\"Belief$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {Schwering:IJCAI-2015,\n        title = {Belief Revision and Progression of Knowledge Bases in the Epistemic Situation Calculus},\n        booktitle = {Proceedings of the Twenty-Fourth International Joint Conference on Artificial Intelligence (IJCAI-2015)},\n        year = {2015},\n        address = {Buenos Aires, Argentina},\n        url = {http://kbsg.rwth-aachen.de/~schwering/ijcai-2015.pdf},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/SchweringLakemeyerPagnucco2015.pdf},\n        author = {Christoph Schwering and Lakemeyer, Gerhard and Maurice Pagnucco}\n}\n\n

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\n \n\n \n \n \n \n \n \n Projection in the Epistemic Situation Calculus with Belief Conditionals.\n \n \n \n \n\n\n \n Schwering, C.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI-2015), Austin, Texas, 2015. \n \n\n\n\n
\n\n\n\n \n \n $\"Projection$ Paper\n \n \n \n $\"Projection$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {AAAI-2015,\n        title = {Projection in the Epistemic Situation Calculus with Belief Conditionals},\n        booktitle = {Proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI-2015)},\n        year = {2015},\n        address = {Austin, Texas},\n        url = {http://kbsg.rwth-aachen.de/~schwering/aaai-2015.pdf},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/SchweringLakemeyer2015.pdf},\n        author = {Christoph Schwering and Lakemeyer, Gerhard}\n}\n\n\n

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\n \n\n \n \n \n \n \n Fawkes for the RoboCup Logistics League.\n \n \n \n\n\n \n Niemueller, T.; Reuter, S.; and Ferrein, A.\n\n\n \n\n\n\n In RoboCup Symposium 2015 – Development Track, 2015. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@InProceedings{FawkesRCLL2014,\n  author = \t {Tim Niemueller and Sebastian Reuter and Alexander Ferrein},\n  title = \t {{Fawkes for the RoboCup Logistics League}},\n  booktitle =\t {RoboCup Symposium 2015 -- Development Track},\n  year = \t {2015},\n}\n\n

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\n \n\n \n \n \n \n \n The RoboCup Logistics League as a Benchmark for Planning in Robotics.\n \n \n \n\n\n \n Niemueller, T.; Lakemeyer, G.; and Ferrein, A.\n\n\n \n\n\n\n In Workshop on Planning and Robotics (PlanRob) at International Conference on Automated Planning and Scheduling (ICAPS), Jerusalem, Israel, June 2015. \n \n\n\n\n
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@InProceedings{RCLL-Planning,\n  author = \t {Tim Niemueller and Gerhard Lakemeyer and Alexander Ferrein},\n  title = \t {{The RoboCup Logistics League as a Benchmark for\n                  Planning in Robotics}},\n  booktitle = {Workshop on Planning and Robotics (PlanRob) at\n                  International Conference on Automated Planning and\n                  Scheduling (ICAPS)},\n  year = \t 2015,\n  month = \t {June},\n  address = \t {Jerusalem, Israel},\n}\n\n

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\n \n\n \n \n \n \n \n Controlling Logistics Robots with the Action-based Language YAGI.\n \n \n \n\n\n \n Ferrein, A.; Maier, C.; Muehlbacher, C.; Niemueller, T.; Steinbauer, G.; and Vassos, S.\n\n\n \n\n\n\n In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems 2015 (IROS) – Workshop on Task Planning for Intelligent Robots in Service and Manufacturing, Hamburg, Germany, sep 2015. IEEE\n \n\n\n\n
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@InProceedings{YAGI-IROS2015,\n\tauthor = \t\t\t {Alexander Ferrein and Christopher Maier and Clemens\n                  Muehlbacher and Tim Niemueller and Gerald Steinbauer\n                  and Stavros Vassos},\n\ttitle = \t\t\t {{Controlling Logistics Robots with the Action-based Language YAGI}},\n\tbooktitle = {Proceedings of the IEEE/RSJ International Conference on\n                  Intelligent Robots and Systems 2015 (IROS) --\n                  Workshop on Task Planning for Intelligent Robots in\n                  Service and Manufacturing},\n\tyear = \t\t {2015},\n\tmonth = \t\t {sep},\n\taddress = \t {Hamburg, Germany},\n\tpublisher = {IEEE},\n}\n\n

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\n \n\n \n \n \n \n \n Evaluation of the RoboCup Logistics League and Derived Criteria for Future Competitions.\n \n \n \n\n\n \n Niemueller, T.; Reuter, S.; Ferrein, A.; Jeschke, S.; and Lakemeyer, G.\n\n\n \n\n\n\n In RoboCup Symposium 2015, 2015. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@InProceedings{RCLL2015Eval,\n  author = \t {Tim Niemueller and Sebastian Reuter and Alexander\n                  Ferrein and Sabina Jeschke and Gerhard Lakemeyer},\n  title = \t {{Evaluation of the RoboCup Logistics League and\n                  Derived Criteria for Future Competitions}},\n  booktitle =\t {RoboCup Symposium 2015},\n  year = \t {2015},\n}\n\n

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\n \n\n \n \n \n \n \n The Carologistics Approach to Cope with the Increased Complexity and New Challenges of the RoboCup Logistics League 2015.\n \n \n \n\n\n \n Niemueller, T.; Reuter, S.; Ewert, D.; Ferrein, A.; Jeschke, S.; and Lakemeyer, G.\n\n\n \n\n\n\n In RoboCup Symposium – Champion Teams Track, 2015. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@InProceedings{Carologistics2015,\n  author =       {Tim Niemueller and Sebastian Reuter and Daniel Ewert\n                  and Alexander Ferrein and Sabina Jeschke and Gerhard\n                  Lakemeyer},\n  title =        {{The Carologistics Approach to Cope with the\n                  Increased Complexity and New Challenges of the\n                  RoboCup Logistics League 2015}},\n  booktitle =    {RoboCup Symposium -- Champion Teams Track},\n  year =         {2015},\n}\n\n

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\n \n\n \n \n \n \n \n The RoboCup Logistics League as a Holistic Multi-Robot Smart Factory Benchmark.\n \n \n \n\n\n \n Niemueller, T.; Ferrein, A.; Reuter, S.; Jeschke, S.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems 2015 (IROS) – Open forum on evaluation of results, replication of experiments and benchmarking in robotics research, Hamburg, Germany, sep 2015. IEEE\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@InProceedings{RCLL-Holistic-Benchmark-2015,\n\tauthor = \t\t\t {Tim Niemueller and Alexander Ferrein and Sebastian\n                  Reuter and Sabina Jeschke and Gerhard Lakemeyer},\n\ttitle = \t\t\t {{The RoboCup Logistics League as a Holistic Multi-Robot Smart Factory Benchmark}},\n\tbooktitle =\t\t {Proceedings of the IEEE/RSJ International Conference\n                  on Intelligent Robots and Systems 2015 (IROS) --\n                  Open forum on evaluation of results, replication of\n                  experiments and benchmarking in robotics research},\n\tyear =\t\t \t\t {2015},\n\tmonth = \t\t {sep},\n\taddress = \t {Hamburg, Germany},\n\tpublisher = {IEEE},\n}\n\n\n

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\n \n\n \n \n \n \n \n The RoboCup Logistics League as a Benchmark for Future Production Scenarios.\n \n \n \n\n\n \n Ewert, D.; Ferrein, A.; Jeschke, S.; Lakemeyer, G.; Niemueller, T.; and Reuter, S.\n\n\n \n\n\n\n In Proceedings of the European Robotics Forum 2015 – Workshop on Cognitive Robotics in future manufacturing scenarios, Vienna, Austria, 2015. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@InProceedings{RCLL-ERF2015,\n\tauthor = \t\t\t {Daniel Ewert and Alexander Ferrein and Sabina\n                  Jeschke and Gerhard Lakemeyer and Tim Niemueller and\n                  Sebastian Reuter},\n\ttitle = \t\t\t {{The RoboCup Logistics League as a Benchmark for\n                  Future Production Scenarios}},\n\tbooktitle = {Proceedings of the European Robotics Forum 2015 --\n                  Workshop on Cognitive Robotics in future\n                  manufacturing scenarios},\n\tyear = \t\t {2015},\n\taddress = \t {Vienna, Austria},\n}\n\n

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\n \n 2014\n \n \n (9)\n \n \n

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\n \n\n \n \n \n \n \n \n Verifying CTL* Properties of Golog Programs over Local-Effect Actions.\n \n \n \n \n\n\n \n Zarrieß, B.; and Claßen, J.\n\n\n \n\n\n\n In Proceedings of the Twenty-First European Conference on Artificial Intelligence (ECAI 2014), pages 939-944, 2014. IOS Press\n \n\n\n\n
\n\n\n\n \n \n $\"Verifying$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@INPROCEEDINGS{ZarriessClassen2014b,\n  author      = {Benjamin Zarrie{\\ss} and Jens Cla{\\ss}en},\n  title       = {Verifying {CTL*} Properties of {G}olog Programs over\n                  Local-Effect Actions},\n  booktitle   = {Proceedings of the Twenty-First European Conference\n                  on Artificial Intelligence (ECAI 2014)},\n  year        = {2014},\n  pages       = {939-944},\n  publisher   = {IOS Press},\n  abstract    = {Golog is a high-level action programming language for\n                  controlling autonomous agents such as mobile\n                  robots. It is defined on top of a logic-based action\n                  theory expressed in the Situation Calculus. Before a\n                  program is deployed onto an actual robot and\n                  executed in the physical world, it is desirable, if\n                  not crucial, to verify that it meets certain\n                  requirements (typically expressed through temporal\n                  formulas) and thus indeed exhibits the desired\n                  behaviour. However, due to the high (first-order)\n                  expressiveness of the language, the corresponding\n                  verification problem is in general undecidable. In\n                  this paper, we extend earlier results to identify a\n                  large, non-trivial fragment of the formalism where\n                  verification is decidable. In particular, we\n                  consider properties expressed in a first-order\n                  variant of the branching-time temporal logic\n                  CTL*. Decidability is obtained by (1) resorting to\n                  the decidable first-order fragment\n                  C{\\texttwosuperior} as underlying base logic, (2)\n                  using a fragment of Golog with ground actions only,\n                  and (3) requiring the action theory to only admit\n                  local effects.},\n  url         = {http://www.kbsg.rwth-aachen.de/~classen/pub/ZarriessClassen2014b.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Exploring the Boundaries of Decidable Verification of Non-Terminating Golog Programs.\n \n \n \n \n\n\n \n Claßen, J.; Liebenberg, M.; Lakemeyer, G.; and Zarrieß, B.\n\n\n \n\n\n\n In Proceedings of the Twenty-Eighth AAAI Conference on Artificial Intelligence (AAAI 2014), pages 1012–1019, 2014. AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"Exploring$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@INPROCEEDINGS{ClassenEtAl2014,\n  author      = {Jens Cla{\\ss}en and Martin Liebenberg and Gerhard\n                  Lakemeyer and Benjamin Zarrie{\\ss}},\n  title       = {Exploring the Boundaries of Decidable Verification of\n                  Non-Terminating {G}olog Programs},\n  booktitle   = {Proceedings of the Twenty-Eighth AAAI Conference on\n                  Artificial Intelligence (AAAI 2014)},\n  year        = {2014},\n  pages       = {1012--1019},\n  publisher   = {AAAI Press},\n  abstract    = {The action programming language Golog has been found\n                  useful for the control of autonomous agents such as\n                  mobile robots. In scenarios like these, tasks are\n                  often open-ended so that the respective control\n                  programs are non-terminating. Before deploying such\n                  programs on a robot, it is often desirable to verify\n                  that they meet certain requirements. For this\n                  purpose, Cla{\\ss}en and Lakemeyer recently\n                  introduced algorithms for the verification of\n                  temporal properties of Golog programs. However,\n                  given the expressiveness of Golog, their\n                  verification procedures are not guaranteed to\n                  terminate. In this paper, we show how decidability\n                  can be obtained by suitably restricting the\n                  underlying base logic, the effect axioms for\n                  primitive actions, and the use of actions within\n                  Golog programs. Moreover, we show that dropping any\n                  of these restrictions immediately leads to\n                  undecidability of the verification problem.},\n  url         = {http://www.kbsg.rwth-aachen.de/~classen/pub/ClassenEtAl2014.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n On the Decidability of Verifying LTL Properties of Golog Programs.\n \n \n \n \n\n\n \n Zarrieß, B.; and Claßen, J.\n\n\n \n\n\n\n In Proceedings of the AAAI 2014 Spring Symposium: Knowledge Representation and Reasoning in Robotics (KRR'14), 2014. AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"On$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@INPROCEEDINGS{ZarriessClassen2014a,\n  author      = {Benjamin Zarrie{\\ss} and Jens Cla{\\ss}en},\n  title       = {On the Decidability of Verifying {LTL} Properties of\n                  {G}olog Programs},\n  booktitle   = {Proceedings of the AAAI 2014 Spring Symposium:\n                  Knowledge Representation and Reasoning in Robotics\n                  (KRR'14)},\n  year        = {2014},\n  publisher   = {AAAI Press},\n  abstract    = {The high-level action programming language Golog is a\n                  useful means for modeling the behavior of autonomous\n                  agents such as mobile robots. It relies on a\n                  representation given in terms of a logic-based\n                  action theory in the Situation Calculus (SC). To\n                  guarantee that the possibly non-terminating\n                  execution of a Golog program leads to the desired\n                  behavior of the agent, it is desirable to\n                  (automatically) verify that it satisfies certain\n                  requirements given in terms of temporal\n                  formulas. However, due to the high (first-order)\n                  expressiveness of the Golog language, the\n                  verification problem is in general undecidable. In\n                  this paper we show that for a fragment of the Golog\n                  language defined on top of the decidable logic\n                  C{\\texttwosuperior}, the verification problem for\n                  linear time temporal properties becomes decidable,\n                  which extends earlier results to a more expressive\n                  fragment of the input formalism. Moreover, we\n                  justify the involved restrictions on program\n                  constructs and action theory by showing that\n                  relaxing any of these restrictions instantly renders\n                  the verification problem undecidable again.},\n  url         = {http://www.kbsg.rwth-aachen.de/~classen/pub/ZarriessClassen2014a.pdf}\n}\n\n

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\n\n\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n Exploring the Boundaries of Decidable Verification of Non-Terminating Golog Programs.\n \n \n \n \n\n\n \n Claßen, J.; Liebenberg, M.; Lakemeyer, G.; and Zarrieß, B.\n\n\n \n\n\n\n In Proceedings of the Twenty-Eighth AAAI Conference on Artificial Intelligence (AAAI 2014), pages 1012–1019, Québec, Canada, 2014. AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"Exploring$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@INPROCEEDINGS{LiebenbergAAAI14,\n  author      = {Jens Cla{\\ss}en and Martin Liebenberg and Gerhard\n                  Lakemeyer and Benjamin Zarrie{\\ss}},\n  title       = {Exploring the Boundaries of Decidable Verification of\n                  Non-Terminating {G}olog Programs},\n  booktitle   = {Proceedings of the Twenty-Eighth AAAI Conference on\n                  Artificial Intelligence (AAAI 2014)},\n  year        = {2014},\n  address     = {Québec, Canada},\n  pages       = {1012--1019},\n  publisher   = {AAAI Press},\n  abstract    = {The action programming language Golog has been found\n                  useful for the control of autonomous agents such as\n                  mobile robots. In scenarios like these, tasks are\n                  often open-ended so that the respective control\n                  programs are non-terminating. Before deploying such\n                  programs on a robot, it is often desirable to verify\n                  that they meet certain requirements. For this\n                  purpose, Cla{\\ss}en and Lakemeyer recently\n                  introduced algorithms for the verification of\n                  temporal properties of Golog programs. However,\n                  given the expressiveness of Golog, their\n                  verification procedures are not guaranteed to\n                  terminate. In this paper, we show how decidability\n                  can be obtained by suitably restricting the\n                  underlying base logic, the effect axioms for\n                  primitive actions, and the use of actions within\n                  Golog programs. Moreover, we show that dropping any\n                  of these restrictions immediately leads to\n                  undecidability of the verification problem.},\n  url         = {http://www.kbsg.rwth-aachen.de/~classen/pub/ClassenEtAl2014.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Towards Using i* for Modeling Mega-Urban Processes.\n \n \n \n \n\n\n \n Liebenberg, M.; Mataré, V.; Baier, K.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the Seventh International i* Workshop (iStar14), Thessaloniki, Greece, 2014. \n \n\n\n\n
\n\n\n\n \n \n $\"Towards$ Paper\n \n \n \n $\"Towards$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {LiebenbergIstar14,\n        title = {Towards Using i* for Modeling Mega-Urban Processes},\n        booktitle = {Proceedings of the Seventh International i* Workshop (iStar14)},\n        year = {2014},\n        address = {Thessaloniki, Greece},\n        url = {http://ceur-ws.org/Vol-1157/paper21.pdf},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/LiebenbergMatareBaierLakemeyer2014.pdf},\n        author = {Martin Liebenberg and Victor Matar{\\'e} and Klaus Baier and Gerhard Lakemeyer},\n        abstract = {In this paper, we consider the use of i*\n        for modelling social networks in the context of\n        mega-urbanization  and  water resources. In particular,\n        we discuss, mostly by way of example, issues that are\n        special to this domain such as the need to explicitly\n        model nature or a new kind of agent evolution. Another\n        important issue is the usability of i* by scientists\n        from different disciplines to model mega-urban scenarios\n        without any background in programming or mathematical models.},\n}\n\n

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\n \n\n \n \n \n \n \n \n A Semantic Account of Iterated Belief Revision in the Situation Calculus.\n \n \n \n \n\n\n \n Schwering, C.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the Twenty-First European Conference on Artificial Intelligence (ECAI-2014), Prague, Czech Republic, 2014. \n \n\n\n\n
\n\n\n\n \n \n $\"A$ Paper\n \n \n \n $\"A$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {Schwering:ECAI-2014,\n        title = {A Semantic Account of Iterated Belief Revision in the Situation Calculus},\n        booktitle = {Proceedings of the Twenty-First European Conference on Artificial Intelligence (ECAI-2014)},\n        year = {2014},\n        address = {Prague, Czech Republic},\n        abstract = {Recently Shapiro et al. explored the notion of iterated belief revision within Reiter's version of the situation calculus. In particular, they consider a notion of belief defined as truth in the most plausible situations. To specify what an agent is willing to believe at different levels of plausibility they make use of so-called belief conditionals, which themselves neither refer to situations or plausibilities explicitly. Reasoning about such belief conditionals turns out to be complex because there may be too many models satisfying them and negative belief conditionals are also needed to obtain the desired conclusions. In this paper we show that, by adopting a notion of only-believing, these problems can be overcome. The work is carried out within a modal variant of the situation calculus with a possible-world semantics which features levels of plausibility. Among other things, we show that only-believing a knowledge base together with belief conditionals always leads to a unique model, which allows characterizing the beliefs of an agent, after any number of revisions, in terms of entailments within the logic.},\n        url = {http://kbsg.rwth-aachen.de/~schwering/ecai-2014.pdf},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/SchweringLakemeyer2014.pdf},\n        author = {Christoph Schwering and Lakemeyer, Gerhard}\n}\n\n

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\n \n\n \n \n \n \n \n \n Sensor Fusion in the Epistemic Situation Calculus.\n \n \n \n \n\n\n \n Schwering, C.; Niemueller, T.; Lakemeyer, G.; Abdo, N.; and Burgard, W.\n\n\n \n\n\n\n In Proceedings of the Ninth International Cognitive Robotics Workshop (CogRob-2014), Prague, Czech Republic, 2014. \n \n\n\n\n
\n\n\n\n \n \n $\"Sensor$ Paper\n \n \n \n $\"Sensor$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {Schwering:CogRob-2014,\n  title        = {Sensor Fusion in the Epistemic Situation Calculus},\n  author       = {Christoph Schwering and Tim Niemueller and Lakemeyer, Gerhard and Nichola Abdo and Wolfram Burgard},\n  booktitle    = {Proceedings of the Ninth International Cognitive Robotics Workshop (CogRob-2014)},\n  year         = {2014},\n  address      = {Prague, Czech Republic},\n  abstract     = {Robot sensors are usually subject to error. Since in\n                  many practical scenarios a probabilistic error model\n                  is not available, sen- sor readings are often dealt\n                  with in a hard-coded, heuristic fashion. In this\n                  paper, we propose a logic to address the problem\n                  from a KR perspective. In this logic the epistemic\n                  effect of sensing actions is deferred to so-called\n                  fusion actions, which may resolve discrepan- cies\n                  and inconsistencies of recent sensing\n                  results. Moreover, a local closed world assumption\n                  can be applied dynamically. When needed, this\n                  assumption can be revoked and fusions can be undone\n                  using a form of forgetting.},\n  url          = {http://kbsg.rwth-aachen.de/~schwering/cogrob-2014.pdf},\n  url_Paper    = {https://kbsg.rwth-aachen.de/sites/kbsg/files/SchweringEtAl2014.pdf},\n}\n\n

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\n \n\n \n \n \n \n \n Decisive Factors for the Success of the Carologistics RoboCup Team in the RoboCup Logistics League 2014.\n \n \n \n\n\n \n Niemueller, T.; Reuter, S.; Ewert, D.; Ferrein, A.; Jeschke, S.; and Lakemeyer, G.\n\n\n \n\n\n\n In RoboCup Symposium – Champion Teams Track, 2014. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@InProceedings{Carologistics2014,\n  author =       {Tim Niemueller and Sebastian Reuter and Daniel Ewert\n                  and Alexander Ferrein and Sabina Jeschke and Gerhard\n                  Lakemeyer},\n  title =        {{Decisive Factors for the Success of the\n                  Carologistics RoboCup Team in the RoboCup Logistics\n                  League 2014}},\n  booktitle =    {RoboCup Symposium -- Champion Teams Track},\n  year =         {2014},\n}\n\n

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\n \n\n \n \n \n \n \n Simulation for the RoboCup Logistics League with Real-World Environment Agency and Multi-level Abstraction.\n \n \n \n\n\n \n Zwilling, F.; Niemueller, T.; and Lakemeyer, G.\n\n\n \n\n\n\n In RoboCup Symposium, João Pessoa, Brazil, July 2014. Springer\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@InProceedings{LLSF-Sim,\n  author = \t {Frederik Zwilling and Tim Niemueller and Gerhard Lakemeyer},\n  title = \t {{Simulation for the RoboCup Logistics League with\n                  Real-World Environment Agency and Multi-level\n                  Abstraction}},\n  booktitle =\t {RoboCup Symposium},\n  year = \t {2014},\n  month = \t jul,\n  address = \t {Jo\\~{a}o Pessoa, Brazil},\n  publisher =\t {Springer},\n}\n\n

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\n \n 2013\n \n \n (20)\n \n \n

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\n \n\n \n \n \n \n \n \n Planning and Verification in the Agent Language Golog.\n \n \n \n \n\n\n \n Claßen, J.\n\n\n \n\n\n\n Ph.D. Thesis, Department of Computer Science, RWTH Aachen University, 2013.\n \n\n\n\n
\n\n\n\n \n \n $\"Planning$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@PHDTHESIS{Cla:PHD2013,\n  author      = {Jens Cla{\\ss}en},\n  title       = {Planning and Verification in the Agent Language\n                  {G}olog},\n  school      = {Department of Computer Science, RWTH Aachen\n                  University},\n  year        = {2013},\n  abstract    = {The action programming language Golog has proven to\n                  be a useful means for the high-level control of\n                  autonomous agents such as mobile robots. It is based\n                  on the Situation Calculus, a dialect of classical\n                  first-order logic, that is used to encode dynamic\n                  domains through logical axioms. Perhaps the greatest\n                  advantage of Golog is that a user can write programs\n                  which constrain the search for an executable plan in\n                  a flexible manner. However, when general planning is\n                  needed, Golog supports this only in principle, but\n                  does not measure up with state-of-the-art planners,\n                  most of which are based on the plan language\n                  PDDL. On the other hand, planning formalisms and\n                  systems lack the expressiveness of Golog that make\n                  it suited for realistic scenarios of agents with\n                  partial world knowledge acting in dynamic\n                  environments. We therefore propose an integration of\n                  Golog and planning where planning subtasks\n                  encountered during the execution of a Golog program\n                  are referred to a PDDL planner, thus combining\n                  Golog{\\textquoteright}s expressiveness with the\n                  efficiency of modern planners. The theoretical\n                  justification for such an embedding is provided in\n                  the form of relating state updates in PDDL to the\n                  progression of a certain form of theories of the\n                  modal Situation Calculus variant ES. We complement\n                  these results with an empirical evaluation that\n                  shows that equipping Golog with a PDDL planner\n                  indeed pays off in terms of the runtime\n                  performance. Moreover, before deploying a Golog\n                  program onto a robot, it is often desirable to\n                  verify that certain requirements are met, typical\n                  examples including safety, liveness and fairness\n                  conditions. Since autonomous robots typically\n                  perform open-ended tasks, the corresponding control\n                  programs are often non-terminating. Analyzing such\n                  programs so far requires manual, meta-theoretic\n                  arguments involving complex fixpoint constructions,\n                  which is tedious and error-prone. In this thesis, we\n                  propose an extension to ES that includes new modal\n                  operators to express temporal properties of Golog\n                  programs. We then provide algorithms for the\n                  automated verification of such properties, relying\n                  on a newly introduced graph representation for Golog\n                  programs which enables a systematic exploration of\n                  the state space. Similar to other forms of reasoning\n                  in the Situation Calculus, our verification methods\n                  ultimately reduce to classical first-order theorem\n                  proving.},\n  url         = {http://darwin.bth.rwth-aachen.de/opus3/volltexte/2013/4809/}\n}\n\n

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\n The action programming language Golog has proven to be a useful means for the high-level control of autonomous agents such as mobile robots. It is based on the Situation Calculus, a dialect of classical first-order logic, that is used to encode dynamic domains through logical axioms. Perhaps the greatest advantage of Golog is that a user can write programs which constrain the search for an executable plan in a flexible manner. However, when general planning is needed, Golog supports this only in principle, but does not measure up with state-of-the-art planners, most of which are based on the plan language PDDL. On the other hand, planning formalisms and systems lack the expressiveness of Golog that make it suited for realistic scenarios of agents with partial world knowledge acting in dynamic environments. We therefore propose an integration of Golog and planning where planning subtasks encountered during the execution of a Golog program are referred to a PDDL planner, thus combining Golog\\textquoterights expressiveness with the efficiency of modern planners. The theoretical justification for such an embedding is provided in the form of relating state updates in PDDL to the progression of a certain form of theories of the modal Situation Calculus variant ES. We complement these results with an empirical evaluation that shows that equipping Golog with a PDDL planner indeed pays off in terms of the runtime performance. Moreover, before deploying a Golog program onto a robot, it is often desirable to verify that certain requirements are met, typical examples including safety, liveness and fairness conditions. Since autonomous robots typically perform open-ended tasks, the corresponding control programs are often non-terminating. Analyzing such programs so far requires manual, meta-theoretic arguments involving complex fixpoint constructions, which is tedious and error-prone. In this thesis, we propose an extension to ES that includes new modal operators to express temporal properties of Golog programs. We then provide algorithms for the automated verification of such properties, relying on a newly introduced graph representation for Golog programs which enables a systematic exploration of the state space. Similar to other forms of reasoning in the Situation Calculus, our verification methods ultimately reduce to classical first-order theorem proving.\n

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\n \n\n \n \n \n \n \n \n On Decidable Verification of Non-terminating Golog Programs.\n \n \n \n \n\n\n \n Claßen, J.; Liebenberg, M.; and Lakemeyer, G.\n\n\n \n\n\n\n In Ji, J.; Strass, H.; and Wang, X., editor(s), Proceedings of the 10th International Workshop on Nonmonotonic Reasoning, Action and Change (NRAC 2013), pages 13–20, 2013. \n \n\n\n\n
\n\n\n\n \n \n $\"On$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@INPROCEEDINGS{ClaLieLak:NRAC2013,\n  title     = {On Decidable Verification of Non-terminating {G}olog\n                  Programs},\n  author    = {Jens Cla{\\ss}en and Martin Liebenberg and Gerhard\n                  Lakemeyer},\n  booktitle = {Proceedings of the 10th International Workshop on\n                  Nonmonotonic Reasoning, Action and Change (NRAC\n                  2013)},\n  year      = {2013},\n  editor    = {Jianmin Ji and Hannes Strass and Xun Wang},\n  pages     = {13--20},\n  abstract  = {The high-level action programming language Golog has\n                  proven to be a useful means for the control of\n                  autonomous agents such as mobile robots. Usually,\n                  such agents perform open-ended tasks, and their\n                  control programs are hence non-terminating. Before\n                  deploying such a program to the robot, it is often\n                  desirable if not crucial to verify that it meets\n                  certain requirements, preferably by means of an\n                  automated method. For this purpose, Cla{\\ss}en and\n                  Lakemeyer recently introduced algorithms for the\n                  verification of temporal properties of\n                  non-terminating Golog programs, based on the\n                  first-order modal Situation Calculus variant \\ES,\n                  and regression-based reasoning. However, while\n                  Golog{\\textquoteright}s high expressiveness is a\n                  desirable feature, it also means that their\n                  verification procedures cannot be guaranteed to\n                  terminate in general. In this paper, we address this\n                  problem by showing that, for a relevant subset, the\n                  verification of non-terminating Golog programs is\n                  indeed decidable, which is achieved by means of\n                  three restrictions. First, we use the ES variant of\n                  a decidable two-variable fragment of the Situation\n                  Calculus that was introduced by Gu and\n                  Soutchanski. Second, we have to restrict the Golog\n                  program to contain ground action only. Finally, we\n                  consider special classes of successor state axioms,\n                  namely the context-free ones and those that only\n                  admit local effects.},\n  url       = {https://kbsg.rwth-aachen.de/~classen/pub/ClassenLiebenbergLakemeyer2013.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Lessons Learnt from Developing the Embodied AI Platform Caesar for Domestic Service Robotics.\n \n \n \n \n\n\n \n Ferrein, A.; Niemueller, T.; Schiffer, S.; and Lakemeyer, G.\n\n\n \n\n\n\n In AAAI Spring Symposium 2013 on Designing Intelligent Robots: Reintegrating AI II, March 25-27 2013. AAAI, AAAI\n \n\n\n\n
\n\n\n\n \n \n $\"Lessons$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {AAAI-SS2013-DIR2-LessonsLearnt,\n        title = {Lessons Learnt from Developing the Embodied AI Platform Caesar for Domestic Service Robotics},\n        booktitle = {AAAI Spring Symposium 2013 on Designing Intelligent Robots: Reintegrating AI II},\n        number = {ss-13-04},\n        year = {2013},\n        month = {March 25-27},\n        publisher = {AAAI},\n        organization = {AAAI},\n        isbn = {ISBN 978-1-57735-601-1},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/caesar-ai-platform-aaai-springsymp2013.pdf},\n        author = {Ferrein, Alexander and Tim Niemueller and Schiffer, Stefan and Lakemeyer, Gerhard}\n}\n

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\n \n\n \n \n \n \n \n \n Simulation-based approach for avoiding external faults.\n \n \n \n \n\n\n \n Akhtar, N.; Küstenmacher, A.; Plöger, P. G.; and Lakemeyer, G.\n\n\n \n\n\n\n In 11/2013 2013. \n \n\n\n\n
\n\n\n\n \n \n $\"Simulation-based$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {KBSG_300,\n        title = {Simulation-based approach for avoiding external faults},\n        journal = {16th International Conference on Advanced Robotics, ICAR'13},\n        year = {2013},\n        month = {11/2013},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/ExternalFaultsSimBasedAppr.pdf},\n        author = {Naveed Akhtar and Anastassia K{\\"u}stenmacher and Paul G. Pl{\\"o}ger and Lakemeyer, Gerhard}\n}\n

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\n \n\n \n \n \n \n \n \n Improving Robustness of Task Execution Against External Faults Using Simulation Based Approach.\n \n \n \n \n\n\n \n Küstenmacher, A.; Plöger, P. G.; and Lakemeyer, G.\n\n\n \n\n\n\n In 10/2013 2013. \n \n\n\n\n
\n\n\n\n \n \n $\"Improving$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n\n\n\n

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@inproceedings {KBSG_299,\n        title = {Improving Robustness of Task Execution Against External Faults Using Simulation Based Approach},\n        journal = {24nd International Workshop on Principles of Diagnosis DX'13},\n        year = {2013},\n        month = {10/2013},\n        abstract = {Robots interacting in complex and cluttered\n                  environments may face unexpected situations referred\n                  to as external faults which prohibit the successful\n                  completion of their tasks. In order to function in a\n                  more robust manner, robots need to recognise these\n                  faults and learn how to deal with them in the\n                  future. We present a simulation-based technique to\n                  avoid external faults occurring during execusion\n                  releasing actions of a robot. Our technique utilizes\n                  simulation to generate a set of labeled examples\n                  which are used by a histogram algorithm to compute a\n                  safe region. A safe region consists of a set of\n                  releasing states of an object that correspond to\n                  successful performances of the action.  This\n                  technique also suggests a general solution to avoid\n                  the occurrence of external faults for not only the\n                  current, observable object but also for any other\n                  object of the same shape but different size.},\n        keywords = {faults in robotics, simulation},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/kuestenmacher_DX13_0.pdf},\n        author = {Anastassia K{\\"u}stenmacher and Paul G. Pl{\\"o}ger and Lakemeyer, Gerhard},\n}\n

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\n \n\n \n \n \n \n \n \n RoboCup Logistics League Sponsored by Festo: A Competitive Factory Automation Testbed.\n \n \n \n \n\n\n \n Niemueller, T.; Ewert, D.; Reuter, S.; Ferrein, A.; Jeschke, S.; and Lakemeyer, G.\n\n\n \n\n\n\n In RoboCup Symposium 2013, Eindhoven, Netherlands, 07/2013 2013. Springer, Springer\n \n\n\n\n
\n\n\n\n \n \n $\"RoboCup$ Paper\n \n \n \n $\"RoboCup$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {KBSG_293,\n        title = {RoboCup Logistics League Sponsored by Festo: A Competitive Factory Automation Testbed},\n        booktitle = {RoboCup Symposium 2013},\n        year = {2013},\n        month = {07/2013},\n        publisher = {Springer},\n        organization = {Springer},\n        address = {Eindhoven, Netherlands},\n        url = {http://www.robocup-logistics.org},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/llsf-testbed-rc2013.pdf},\n        author = {Tim Niemueller and Daniel Ewert and Sebastian Reuter and Ferrein, Alexander and Sabina Jeschke and Lakemeyer, Gerhard}\n}\n

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\n \n\n \n \n \n \n \n Unexpected Situations in Service Robot Environment: Classification and Reasoning Using Naive Physics.\n \n \n \n\n\n \n Küstenmacher, A.; Akhtar, N.; Plöger, P. G.; and Lakemeyer, G.\n\n\n \n\n\n\n In Eindhoven, Netherlands, 07/2013 2013. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n\n\n\n

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@inproceedings {KBSG_298,\n        title = {Unexpected Situations in Service Robot Environment: Classification and Reasoning Using Naive Physics},\n        journal = {17th annual RoboCup International Symposium},\n        year = {2013},\n        month = {07/2013},\n        address = {Eindhoven, Netherlands},\n        abstract = {Despite perfect functioning of its internal components, a robot can\r\nbe unsuccessful in performing its tasks because of unforeseen situations. Mostly\r\nthese situations arise from the interaction of a robot with its ever-changing environment.\r\nIn this paper we refer to these unsuccessful operations as external\r\nunknown faults. We reason along the most frequent failures in typical scenarios\r\nwhich we observed during real-world demonstrations and competitions using our\r\nCare-O-bot III robot. These events take place in an apartment-like environment.\r\nWe create four different - for now adhoc - fault classes, which refer to faults\r\ncaused by a) disturbances, b) imperfect perception, c) inadequate planning or d)\r\nchaining of action sequences. These four fault classes can then be mapped to a\r\nhandful of partly known, partly extended fault handling techniques.\r\nIn addition to existing techniques we propose an approach that uses naive physics\r\nconcepts to find information about these kinds of situations. Here the naive physics\r\nknowledge is represented by the physical properties of objects which are formalized\r\nin a logical framework. The proposed approach applies a qualitative version\r\nof physical laws to these properties to reason about the fault. By interpreting the\r\nresults the robot finds the information about the situations which can cause the\r\nfault.We apply this approach to scenarios in which a robot performs manipulation\r\ntasks (pick and place). The results show that naive physics hold great promises\r\nfor reasoning about unknown external faults in the field of robotics.},\n        keywords = {faults in robotics, naive physics, unexpected situations},\n        author = {Anastassia K{\\"u}stenmacher and Naveed Akhtar and Paul G. Pl{\\"o}ger and Lakemeyer, Gerhard}\n}\n

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\n \n\n \n \n \n \n \n \n Aspects of Integrating Diverse Software into Robotic Systems.\n \n \n \n \n\n\n \n Niemueller, T.; Lakemeyer, G.; and Ferrein, A.\n\n\n \n\n\n\n In ICRA 2013 - 8th Workshop on Software Development and Integration in Robotics (SDIR), Karlsruhe, Germany, 05/2013 2013. \n \n\n\n\n
\n\n\n\n \n \n $\"Aspects$ Paper\n \n \n \n $\"Aspects$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {KBSG_292,\n        title = {Aspects of Integrating Diverse Software into Robotic Systems},\n        booktitle = {ICRA 2013 - 8th Workshop on Software Development and Integration in Robotics (SDIR)},\n        year = {2013},\n        month = {05/2013},\n        address = {Karlsruhe, Germany},\n        url = {http://www.fawkesrobotics.org/publications/2013/diverse-sw-integration-icra2013-sdir/},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/diverse-sw-integration-icra2013-sdir.pdf},\n        author = {Tim Niemueller and Lakemeyer, Gerhard and Ferrein, Alexander}\n}\n\n

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\n \n\n \n \n \n \n \n \n Life-long Learning Perception using Cloud Database Technology.\n \n \n \n \n\n\n \n Niemueller, T.; Schiffer, S.; Lakemeyer, G.; and Rezapour-Lakani, S.\n\n\n \n\n\n\n In IROS 2013 - Cloud Robotics Workshop, Tokyo, Japan, 2013. \n \n\n\n\n
\n\n\n\n \n \n $\"Life-long$ Paper\n \n \n \n $\"Life-long$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n\n\n\n

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@inproceedings {longterm-perception-db-iros2013,\n        title = {Life-long Learning Perception using Cloud Database Technology},\n        booktitle = {IROS 2013 - Cloud Robotics Workshop},\n        year = {2013},\n        address = {Tokyo, Japan},\n        abstract = {Autonomous mobile robots in household environments have to cope with many different kinds of objects which they must detect, recognize, and manipulate. Over their lifetime, the robots must adapt to new objects and incorporate new perception methods. In this paper we present a system for life-long learning of training data and perception method parameters using a document-oriented, schema-less database technology that is typically used in cloud computing applications. Not only can a single robot extend and increase its data volume continuously over time, but it can also potentially share this very dataset with multiple other robots through the cloud.},\n        keywords = {Cloud Robotics, Robot Database, Robotic Perception},\n        url = {http://www.roboearth.org/iros2013},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/longterm-perception-db-iros2013.pdf},\n        author = {Tim Niemueller and Schiffer, Stefan and Lakemeyer, Gerhard and Safoura Rezapour-Lakani}\n}\n

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\n \n\n \n \n \n \n \n \n Proposal for Advancements to the LLSF in 2014 and beyond.\n \n \n \n \n\n\n \n Niemueller, T.; Lakemeyer, G.; Ferrein, A.; Reuter, S.; Ewert, D.; Jeschke, S.; Pensky, D.; and Karras, U.\n\n\n \n\n\n\n In ICAR 2013 - 1st Workshop on Developments in RoboCup Leagues, Montevideo, Uruguay, 2013. \n \n\n\n\n
\n\n\n\n \n \n $\"Proposal$ Paper\n \n \n \n $\"Proposal$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {KBSG_304,\n        title = {Proposal for Advancements to the LLSF in 2014 and beyond},\n        booktitle = {ICAR 2013 - 1st Workshop on Developments in RoboCup Leagues},\n        year = {2013},\n        address = {Montevideo, Uruguay},\n        url = {https://www.carologistics.org/publications/2013/llsf2014-wdrl2013/},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/llsf2014-wdrl2013.pdf},\n        author = {Tim Niemueller and Lakemeyer, Gerhard and Ferrein, Alexander and Sebastian Reuter and Daniel Ewert and Sabina Jeschke and Dirk Pensky and Ulrich Karras}\n}\n

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\n \n\n \n \n \n \n \n \n Towards Deliberative Active Perception using Persistent Memory.\n \n \n \n \n\n\n \n Niemueller, T.; Abdo, N.; Hertle, A.; Lakemeyer, G.; Burgard, W.; and Nebel, B.\n\n\n \n\n\n\n In IROS 2013 - Workshop on AI-based Robotics, Tokyo, Japan, 2013. \n \n\n\n\n
\n\n\n\n \n \n $\"Towards$ Paper\n \n \n \n $\"Towards$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

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@inproceedings {KBSG_303,\n        title = {Towards Deliberative Active Perception using Persistent Memory},\n        booktitle = {IROS 2013 - Workshop on AI-based Robotics},\n        year = {2013},\n        address = {Tokyo, Japan},\n        abstract = {Task coordination for autonomous mobile service robots typically involves a substantial amount of background knowledge and explicit action sequences to acquire the relevant information nowadays. We strive for a system which, given a task, is capable of reasoning about task-relevant knowledge to automatically determine whether that knowledge is sufficient. If missing or uncertain, the robot shall decide autonomously on the actions to gain or improve that knowledge. In this paper we present our baseline system implementing the foundations for these capabilities. The robot has to analyze a tabletop scene and increase its object type confidence. It plans motions to observe the scene from multiple perspectives, combines the acquired data, and performs a recognition step on the merged input.},\n        keywords = {Active Perception, Hybrid Reasoning, Robot Database, Robotic Perception, Task Planning},\n        url = {http://robohow.eu/workshops/ai-based-robotics-iros-2013},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/hybris-c1-baseline-iros2013.pdf},\n        author = {Tim Niemueller and Nichola Abdo and Andreas Hertle and Lakemeyer, Gerhard and Wolfram Burgard and Nebel, Bernhard}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n On Decidable Verification of Non-terminating Golog Programs.\n \n \n \n \n\n\n \n Claßen, J.; Liebenberg, M.; and Lakemeyer, G.\n\n\n \n\n\n\n In Ji, J.; Strass, H.; and Wang, X., editor(s), Proceedings of the 10th International Workshop on Nonmonotonic Reasoning, Action and Change (NRAC 2013), pages 13–20, Beijing, China, 2013. \n \n\n\n\n
\n\n\n\n \n \n $\"On$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@INPROCEEDINGS{LiebenbergNRAC13,\n  title     = {On Decidable Verification of Non-terminating {G}olog\n                  Programs},\n  author    = {Jens Cla{\\ss}en and Martin Liebenberg and Gerhard\n                  Lakemeyer},\n  booktitle = {Proceedings of the 10th International Workshop on\n                  Nonmonotonic Reasoning, Action and Change (NRAC\n                  2013)},\n  year      = {2013},\n  address   = {Beijing, China},\n  editor    = {Jianmin Ji and Hannes Strass and Xun Wang},\n  pages     = {13--20},\n  abstract  = {The high-level action programming language Golog has\n                  proven to be a useful means for the control of\n                  autonomous agents such as mobile robots. Usually,\n                  such agents perform open-ended tasks, and their\n                  control programs are hence non-terminating. Before\n                  deploying such a program to the robot, it is often\n                  desirable if not crucial to verify that it meets\n                  certain requirements, preferably by means of an\n                  automated method. For this purpose, Cla{\\ss}en and\n                  Lakemeyer recently introduced algorithms for the\n                  verification of temporal properties of\n                  non-terminating Golog programs, based on the\n                  first-order modal Situation Calculus variant \\ES,\n                  and regression-based reasoning. However, while\n                  Golog{\\textquoteright}s high expressiveness is a\n                  desirable feature, it also means that their\n                  verification procedures cannot be guaranteed to\n                  terminate in general. In this paper, we address this\n                  problem by showing that, for a relevant subset, the\n                  verification of non-terminating Golog programs is\n                  indeed decidable, which is achieved by means of\n                  three restrictions. First, we use the ES variant of\n                  a decidable two-variable fragment of the Situation\n                  Calculus that was introduced by Gu and\n                  Soutchanski. Second, we have to restrict the Golog\n                  program to contain ground action only. Finally, we\n                  consider special classes of successor state axioms,\n                  namely the context-free ones and those that only\n                  admit local effects.},\n  url       = {https://kbsg.rwth-aachen.de/~classen/pub/ClassenLiebenbergLakemeyer2013.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n Natural Language Processing in Domestic Service Robotics.\n \n \n \n\n\n \n Schiffer, S.\n\n\n \n\n\n\n In Neumann, S.; Niehr, T.; Runkehl, J.; Niemietz, P.; and Fest, J., editor(s), LingUnite – Tag der Sprachforschung, Oct 11 2013. \n Best Poster Award\n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings { Schiffer_LingUnite2013_NLPinDSR,\n title = {Natural Language Processing in Domestic Service Robotics},\n booktitle = {LingUnite -- Tag der Sprachforschung},\n year = {2013},\n note = {Best Poster Award},\n month = {Oct 11},\n abstract = {As robots are more and more entering our everyday life, like as assistive devices to support us in our home with the daily chores, methods to control and to interact with such robots become more and more important. The most natural way for a human to instruct a robot is perhaps natural language. However, there are several challenges to master to allow for suitable humanrobot interaction by means of natural language. We will report on two of our efforts in enabling humans to use natural language to command a domestic service robot. The two methods we present reside on different levels - one is at a lower level of recognizing speech from acoustic input while the second one is about interpreting natural language. While the former was primarily intended for noisy scenarios to help rejecting utterances that were not meant for the robot, the latter yields a flexible system for commanding a robot which can resolve ambiguities and which is also capable of initiating steps to achieve clarification. The first approach [1] is at the signal processing stage where the acoustic input received from spoken language is to be converted to the textual level. When acting in human environments it is important that commands given to the robot are recognized robustly. Also, spoken language not directed to the robot must not be matched to an instruction for the robot to execute. We developed a system that is robust in noisy environments and that is insusceptible to act upon commands not meant for the robot. First, we use a threshold-based close speech detection to segment utterances targeted at the robot from the continuous audio stream recorded by a microphone. Then, we decode these utterances with two different decoders in parallel, namely one very restrictive decoder based on finite state grammars and a second more lenient decoder using N-grams. We do this to filter out false positive recognitions by comparing the output of the two decoders and rejecting the input if it was not recognized by both decoders. The second approach [2] takes place on a higher level of abstraction, that is, it deals with interpreting an utterance that has already been transformed to text from the raw audio signal. We model the processing of natural spoken language input as an interpretation process where the utterance needs to be mapped to a robot's capabilities. More precisely, we first analyse the given utterance syntactically by using a generic grammar that we developed for english directives. Then, we cast the interpretation as a planning problem where the individual actions available to the planner are to interpret syntactical elements of the utterance. If, in the course of interpreting, ambiguities are detected, the system uses decision-theory to weigh different alternatives. The system is also able to initiate clarification to resolve ambiguities and to handle errors as to arrive at a successful command interpretation eventually. We show how we evaluated several versions of the system with multiple utterances of different complexity as well as with incomplete and erroneous requests.},\n author = {Schiffer, Stefan},\n editor = {Stella Neumann and Thomas Niehr and Jens Runkehl and Paula Niemietz and Jennifer Fest}\n}\n\n

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\n As robots are more and more entering our everyday life, like as assistive devices to support us in our home with the daily chores, methods to control and to interact with such robots become more and more important. The most natural way for a human to instruct a robot is perhaps natural language. However, there are several challenges to master to allow for suitable humanrobot interaction by means of natural language. We will report on two of our efforts in enabling humans to use natural language to command a domestic service robot. The two methods we present reside on different levels - one is at a lower level of recognizing speech from acoustic input while the second one is about interpreting natural language. While the former was primarily intended for noisy scenarios to help rejecting utterances that were not meant for the robot, the latter yields a flexible system for commanding a robot which can resolve ambiguities and which is also capable of initiating steps to achieve clarification. The first approach [1] is at the signal processing stage where the acoustic input received from spoken language is to be converted to the textual level. When acting in human environments it is important that commands given to the robot are recognized robustly. Also, spoken language not directed to the robot must not be matched to an instruction for the robot to execute. We developed a system that is robust in noisy environments and that is insusceptible to act upon commands not meant for the robot. First, we use a threshold-based close speech detection to segment utterances targeted at the robot from the continuous audio stream recorded by a microphone. Then, we decode these utterances with two different decoders in parallel, namely one very restrictive decoder based on finite state grammars and a second more lenient decoder using N-grams. We do this to filter out false positive recognitions by comparing the output of the two decoders and rejecting the input if it was not recognized by both decoders. The second approach [2] takes place on a higher level of abstraction, that is, it deals with interpreting an utterance that has already been transformed to text from the raw audio signal. We model the processing of natural spoken language input as an interpretation process where the utterance needs to be mapped to a robot's capabilities. More precisely, we first analyse the given utterance syntactically by using a generic grammar that we developed for english directives. Then, we cast the interpretation as a planning problem where the individual actions available to the planner are to interpret syntactical elements of the utterance. If, in the course of interpreting, ambiguities are detected, the system uses decision-theory to weigh different alternatives. The system is also able to initiate clarification to resolve ambiguities and to handle errors as to arrive at a successful command interpretation eventually. We show how we evaluated several versions of the system with multiple utterances of different complexity as well as with incomplete and erroneous requests.\n

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\n \n\n \n \n \n \n \n .\n \n \n \n\n\n \n Schiffer, S.; Hoppe, N.; and Lakemeyer, G.\n\n\n \n\n\n\n Volume 358 of Communications in Computer and Information Science. Natural Language Interpretation for an Interactive Service Robot in Domestic Domains, pages 39–53. Filipe, J.; and Fred, A., editor(s). Springer Berlin Heidelberg, 2013.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inbook {Schiffer:Hoppe:Lakemeyer:ICAART2012BOOK:NatLangInterpretation,\n        title = {Natural Language Interpretation for an Interactive Service Robot in Domestic Domains},\n        booktitle = {Agents and Artificial Intelligence. Fourth International Conference, ICAART 2012, Vilamoura, Portugal, February 6-8, 2012. Revised Selected Papers.},\n        series = {Communications in Computer and Information Science},\n        volume = {358},\n        year = {2013},\n        pages = {39--53},\n        publisher = {Springer Berlin Heidelberg},\n        organization = {Springer Berlin Heidelberg},\n        abstract = {In this paper, we propose a flexible system for robust natural language interpretation of spoken commands on a mobile robot in domestic service robotics applications. Existing language processing for instructing a mobile robot is often restricted by using a simple grammar where precisely pre-defined utterances are directly mapped to system calls. These approaches do not regard fallibility of human users and they only allow for binary processing of an utterance; either a command is part of the grammar and hence understood correctly, or it is not part of the grammar and gets rejected. We model the language processing as an interpretation process where the utterance needs to be mapped to the robot's capabilities. We do so by casting the processing as a (decision-theoretic) planning problem on interpretation actions. This allows for a flexible system that can resolve ambiguities and which is also capable of initiating steps to achieve clarification. We show how we evaluated several versions of the system with multiple utterances of different complexity as well as with incomplete and erroneous requests.},\n        author = {Schiffer, Stefan and Niklas Hoppe and Lakemeyer, Gerhard},\n        editor = {Joaquim Filipe and Ana Fred}\n}\n\n

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\n \n\n \n \n \n \n \n \n Spatio-Temporal Reasoning about Traffic Scenarios.\n \n \n \n \n\n\n \n Schwering, C.; and Lakemeyer, G.\n\n\n \n\n\n\n In Eleventh International Symposium on Logical Formalizations of Commonsense Reasoning, Cyprus, 05/2013 2013. \n \n\n\n\n
\n\n\n\n \n \n $\"Spatio-Temporal$ Paper\n \n \n \n $\"Spatio-Temporal$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings { Schwering:Commonsense2013,\n        title = {Spatio-Temporal Reasoning about Traffic Scenarios},\n        booktitle = {Eleventh International Symposium on Logical Formalizations of Commonsense Reasoning},\n        year = {2013},\n        month = {05/2013},\n        address = {Cyprus},\n        abstract = {A model of spatial relations between automobiles changing over time needs to trade off expressivity, computational complexity, type of measured data, and closeness to human cognition. We present a common sense theory for reasoning about distances between cars based on two temporal distances between pairs of cars, \\emph{net time gap} and \\emph{time to collision}. We give an axiomatization in the situation calculus which allows reasoning about car-to-car relations and how they are affected by time and acceleration. We also discuss experimental results in a plan recognition scenario.},\n        url = {http://kbsg.rwth-aachen.de/~schwering/commonsense-2013.pdf},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/SchweringLakemeyer2013.pdf},\n        author = {Christoph Schwering and Lakemeyer, Gerhard}\n}\n\n

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\n \n\n \n \n \n \n \n The Carologistics RoboCup Logistics Team 2013.\n \n \n \n\n\n \n Niemueller, T.; Ewert, D.; Reuter, S.; Ferrein, A.; Jeschke, S.; and Lakemeyer, G.\n\n\n \n\n\n\n Technical Report RWTH Aachen University and Aachen University of Applied Sciences, Aachen, Germany, June 2013.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@techreport{Carologistics2013,\n  title =\t{{The Carologistics RoboCup Logistics Team 2013}},\n  author =\t{Tim Niemueller and Daniel Ewert and Sebastian Reuter and\n                  Alexander Ferrein and Sabina Jeschke and Gerhard\n                  Lakemeyer},\n  institution =\t{RWTH Aachen University and Aachen University of Applied Sciences},\n  address =\t{Aachen, Germany},\n  year =\t{2013},\n  month =\t{June},\n}\n\n

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\n \n\n \n \n \n \n \n Towards Benchmarking Cyber-Physical Systems in Factory Automation Scenarios.\n \n \n \n\n\n \n Niemueller, T.; Ewert, D.; Reuter, S.; Karras, U.; Ferrein, A.; Jeschke, S.; and Lakemeyer, G.\n\n\n \n\n\n\n In KI 2013: Advances in Artificial Intelligence. Springer, 2013.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@InCollection{LLSF2013,\n  title={{Towards Benchmarking Cyber-Physical Systems in Factory\n   Automation Scenarios}},\n  author={Niemueller, Tim and Ewert, Daniel and Reuter, Sebastian\n   and Karras, Ulrich and Ferrein, Alexander and Jeschke,\n   Sabina and Lakemeyer, Gerhard},\n  booktitle={KI 2013: Advances in Artificial Intelligence},\n  year={2013},\n  publisher={Springer}\n}\n\n

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\n \n\n \n \n \n \n \n Towards Deliberative Active Perception using Persistent Memory.\n \n \n \n\n\n \n Niemueller, T.; Abdo, N.; Hertle, A.; Lakemeyer, G.; Burgard, W.; and Nebel, B.\n\n\n \n\n\n\n In Proceedings of the Workshop on AI-based Robotics at the International Conference on Intelligent Robots and Systems (IROS), Tokio, Japan, 2013. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@InProceedings{Hybris-C1-Baseline,\n    author={Tim Niemueller and Nichola Abdo and Andreas Hertle and Gerhard Lakemeyer and \n      Wolfram Burgard and Bernhard Nebel},\n    title={{Towards Deliberative Active Perception using Persistent\n                  Memory}},\n    booktitle = {Proceedings of the Workshop on AI-based Robotics at the\n                  International Conference on Intelligent Robots and Systems (IROS)},\n    year = 2013,\n\t\taddress = {Tokio, Japan}\n}\n\n

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\n \n\n \n \n \n \n \n \n Incremental Task-level Reasoning in a Competitive Factory Automation Scenario.\n \n \n \n \n\n\n \n Niemueller, T.; Lakemeyer, G.; and Ferrein, A.\n\n\n \n\n\n\n In AAAI Spring Symposium 2013 on Designing Intelligent Robots: Reintegrating AI II, Stanford, USA, March 25-27 2013. AAAI, AAAI\n \n\n\n\n
\n\n\n\n \n \n $\"Incremental$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@InProceedings {CLIPS-Agent,\n        title = {Incremental Task-level Reasoning in a Competitive Factory Automation Scenario},\n        booktitle = {AAAI Spring Symposium 2013 on Designing Intelligent Robots: Reintegrating AI II},\n        year = {2013},\n        month = {March 25-27},\n        publisher = {AAAI},\n        organization = {AAAI},\n        address = {Stanford, USA},\n        url = {https://www.fawkesrobotics.org/projects/clips-agent/},\n        attachments = {https://kbsg.rwth-aachen.de/sites/kbsg/files/clips-agent-llsf-aaai-springsymp2013.pdf},\n        author = {Tim Niemueller and Lakemeyer, Gerhard and Ferrein, Alexander}\n}\n\n\n

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\n \n\n \n \n \n \n \n Proposal for Advancements to the LLSF in 2014 and beyond.\n \n \n \n\n\n \n Niemueller, T.; Lakemeyer, G.; Ferrein, A.; Reuter, S.; Ewert, D.; Jeschke, S.; Pensky, D.; and Karras, U.\n\n\n \n\n\n\n In ICAR – 1st Workshop on Developments in RoboCup Leagues, Montevideo, Uruguay, 2013. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@InProceedings{LLSF2014,\n  title = {{Proposal for Advancements to the LLSF in 2014 and beyond}},\n  author = {Tim Niemueller and Gerhard Lakemeyer and Alexander Ferrein\n                  and Sebastian Reuter and Daniel Ewert and Sabina\n                  Jeschke and Dirk Pensky and Ulrich Karras},\n  booktitle = {ICAR -- 1st Workshop on Developments in RoboCup\n                  Leagues},\n  year = 2013,\n  address = {Montevideo, Uruguay},\n}\n\n\n

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\n \n 2012\n \n \n (11)\n \n \n

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\n \n\n \n \n \n \n \n \n PLATAS – Integrating Planning and the Action Language Golog.\n \n \n \n \n\n\n \n Claßen, J.; Röger, G.; Lakemeyer, G.; and Nebel, B.\n\n\n \n\n\n\n KI – Künstliche Intelligenz, 26(1): 61–67. 2012.\n \n\n\n\n
\n\n\n\n \n \n $\"PLATAS$ Paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@ARTICLE{ClaRoeLakNeb:KISprachen2012,\n  title     = {{PLATAS} -- Integrating Planning and the Action\n                  Language {G}olog},\n  author    = {Jens Cla{\\ss}en and Gabriele R{\\"o}ger and Gerhard\n                  Lakemeyer and Bernhard Nebel},\n  journal   = {{KI} -- K{\\"u}nstliche Intelligenz},\n  year      = {2012},\n  volume    = {26},\n  number    = {1},\n  pages     = {61--67},\n  publisher = {Springer},\n  doi       = {10.1007/s13218-011-0155-2},\n  url       = {https://link.springer.com/article/10.1007%2Fs13218-011-0155-2}\n}\n\n

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\n \n\n \n \n \n \n \n \n BendIT – An Interactive Game with two Robots.\n \n \n \n \n\n\n \n Niemueller, T.; Schiffer, S.; Helligrath, A.; Lakani, S. R.; and Lakemeyer, G.\n\n\n \n\n\n\n In Wölfl, S., editor(s), Poster and Demo Session at the 35th German Conference on Artificial Intelligence (KI 2012), pages 145–149, Saarbrücken, Germany, September 24–27 2012. \n \n\n\n\n
\n\n\n\n \n \n $\"BendIT$ paper\n \n \n \n $\"BendIT$ poster\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings { Niemueller:Schiffer:EtAl:KI2012:BendIT,\n        title = {BendIT -- An Interactive Game with two Robots},\n        booktitle = {Poster and Demo Session at the 35th German Conference on Artificial Intelligence (KI 2012)},\n        year = {2012},\n        month = {September 24--27},\n        pages = {145--149},\n        address = {Saarbr{\\"u}cken, Germany},\n        abstract = {In this paper we report on an interactive game with two robots and review its components. A human user uses his torso movements to steer a Robotino robot along a pre-defined course. Our domestic service robot Caesar acts as a referee and autonomously follows the Robotino and makes sure that it stays within a corridor along the path. If the user manages to keep the Robotino within the corridor for the whole path he wins. The game can be used, for example, to engage people in physical training such as a rehabilitation after an injury. It was designed and implemented as a student project in winter term 2011/2012.},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/KI2012BendIT.pdf},\n        url_Poster = {https://kbsg.rwth-aachen.de/sites/kbsg/files/KI2012BendIT_poster.pdf},\n        author = {Tim Niemueller and Schiffer, Stefan and Albert Helligrath and Safoura Rezapour Lakani and Lakemeyer, Gerhard},\n        editor = {Stefan W{\\"o}lfl}\n}\n

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\n \n\n \n \n \n \n \n Representing Value Functions with Recurrent Binary Decision Diagrams.\n \n \n \n\n\n \n Beck, D.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the 20th European Conference on Artificial Intelligence (ECAI 2012), Montpellier, 2012. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {BeckLakemeyer:2012:ecai,\n        title = {Representing Value Functions with Recurrent Binary Decision Diagrams},\n        booktitle = {Proceedings of the 20th European Conference on Artificial Intelligence (ECAI 2012)},\n        year = {2012},\n        address = {Montpellier},\n        author = {Beck, Daniel and Lakemeyer, Gerhard}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n robOCD: Robotic Order Cups Demo – An Interactive Domestic Service Robotics Demo.\n \n \n \n \n\n\n \n Schiffer, S.; Baumgartner, T.; Beck, D.; Maleki-Fard, B.; Niemueller, T.; Schwering, C.; and Lakemeyer, G.\n\n\n \n\n\n\n Saarbrücken, Germany, September 24–27 2012.\n \n\n\n\n
\n\n\n\n \n \n $\"robOCD:$ paper\n \n \n \n $\"robOCD:$ poster\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@proceedings { Schiffer:EtAl:KI2012:robOCD,\n        title = {robOCD: Robotic Order Cups Demo -- An Interactive Domestic Service Robotics Demo},\n        journal = {Poster and Demo Session at the 35th German Conference on Artificial Intelligence (KI 2012)},\n        year = {2012},\n        month = {September 24--27},\n        pages = {150--154},\n        address = {Saarbr{\\"u}cken, Germany},\n        abstract = {This paper describes an interactive demonstration by the AllemaniACs' domestic service robot Caesar. In a home-like environment Caesar's task is to help setting the table. Besides basic capabilities of an autonomous mobile robot such as localization and collision free navigation it uses methods for human-robot interaction and it also has a sophisticated high-level control that allows for decision-theoretic planning. We use this demo to illustrate the interplay of several modules of our robot control software in carrying out complex tasks. The overall system allows to perform robust reliable service robotics in domestic settings like in the RoboCup@AtHome league. Also, we show how our high-level programming language provides a powerful framework for agent behavior specification that can be beneficially deployed for service robotic applications.},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/KI2012robOCD.pdf},\n        url_Poster = {https://kbsg.rwth-aachen.de/sites/kbsg/files/KI2012robOCD_poster.pdf},\n        author = {Schiffer, Stefan and Tobias Baumgartner and Beck, Daniel and Bahram Maleki-Fard and Tim Niemueller and Christoph Schwering and Lakemeyer, Gerhard},\n        editor = {Stefan W{\\"o}lfl}\n}\n\n

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\n \n\n \n \n \n \n \n \n Flexible Command Interpretation on an Interactive Domestic Service Robot.\n \n \n \n \n\n\n \n Schiffer, S.; Hoppe, N.; and Lakemeyer, G.\n\n\n \n\n\n\n In Filipe, J.; and Fred, A., editor(s), Proceedings of the 4th International Conference on Agents and Artificial Intelligence (ICAART 2012), volume Volume 1 - Artificial Intelligence, pages 26–35, Vilamoura, Portugal, February 6-8 2012. SciTePress, SciTePress\n Best Student Paper Award\n\n\n\n
\n\n\n\n \n \n $\"Flexible$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {Schiffer:Hoppe:Lakemeyer:ICAART2012:FlexibleCommand,\n        title = {Flexible Command Interpretation on an Interactive Domestic Service Robot},\n        booktitle = {Proceedings of the 4th International Conference on Agents and Artificial Intelligence (ICAART 2012)},\n        volume = {Volume 1 - Artificial Intelligence},\n        year = {2012},\n        note = {Best Student Paper Award},\n        month = {February 6-8},\n        pages = {26--35},\n        publisher = {SciTePress},\n        organization = {SciTePress},\n        address = {Vilamoura, Portugal},\n        abstract = {In this paper, we propose a system for robust and flexible command interpretation on a mobile robot in domestic service robotics applications. Existing language processing for instructing a mobile robot often make use of a simple, restricted grammar where precisely pre-defined utterances are directly mapped to system calls. This does not take into account fallibility of human users and only allows for binary processing; either a command is part of the grammar and hence understood correctly, or it is not part of the grammar and gets rejected. We model the language processing as an interpretation process where the utterance needs to be mapped to a robot's capabilities. We do so by casting the processing as a (decision-theoretic) planning problem on interpretatory actions. This allows for a flexible system that can resolve ambiguities and which is also capable of initiating steps to achieve clarification.},\n        isbn = {978-989-8425-95-9},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/icaart2012flexicon.pdf},\n        author = {Schiffer, Stefan and Niklas Hoppe and Lakemeyer, Gerhard},\n        editor = {Joaquim Filipe and Ana Fred}\n}\n\n

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\n \n\n \n \n \n \n \n \n Caesar: An Intelligent Domestic Service Robot.\n \n \n \n \n\n\n \n Schiffer, S.; Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n Intelligent Service Robotics,1–15. 2012.\n \n\n\n\n
\n\n\n\n \n \n $\"Caesar:$ springer\n \n \n \n $\"Caesar:$ paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@article {Schiffer:Ferrein:Lakemeyer:JISR:2012:Caesar,\n        title = {Caesar: An Intelligent Domestic Service Robot},\n        journal = {Intelligent Service Robotics},\n        year = {2012},\n        pages = {1--15},\n        publisher = {Springer Berlin / Heidelberg},\n        abstract = {In this paper we present Caesar, an intelligent domestic service robot. In domestic settings for service robots complex tasks have to be accomplished. Those tasks benefit from deliberation, from robust action execution and from flexible methods for human-robot interaction that account for qualitative notions used in natural language as well as human fallibility. Our robot Caesar deploys AI techniques on several levels of its system architecture. On the low-level side, system modules for localization or navigation make, for instance, use of path-planning methods, heuristic search, and Bayesian filters. For face recognition and human-machine interaction, random trees and well-known methods from natural language processing are deployed. For deliberation, we use the robot programming and plan language Readylog , which was developed for the high-level control of agents and robots; it allows combining programming the behaviour using planning to find a course of action. Readylog is a variant of the robot programming language Golog. We extended Readylog to be able to cope with qualitative notions of space frequently used by humans, such as {\\textquotedblleft}near{\\textquotedblright} and {\\textquotedblleft}far{\\textquotedblright}. This facilitates human-robot interaction by bridging the gap between human natural language and the numerical values needed by the robot. Further, we use Readylog to increase the flexible interpretation of human commands with decision-theoretic planning. We give an overview of the different methods deployed in Caesar and show the applicability of a system equipped with these AI techniques in domestic service robotics.},\n        issn = {1861-2776},\n        doi = {10.1007/s11370-012-0118-y},\n        url_Springer = {http://www.springerlink.com/content/387011j2h58x0135/},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/JISR2012Caesar_preprint.pdf},\n        author = {Schiffer, Stefan and Ferrein, Alexander and Lakemeyer, Gerhard},\n        editor = {Fulvio Mastrogiovanni and Nak Young Chong}\n}\n\n

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\n \n\n \n \n \n \n \n \n An evaluation framework for traffic information systems based on data streams.\n \n \n \n \n\n\n \n Geisler, S.; Quix, C.; Schiffer, S.; and Jarke, M.\n\n\n \n\n\n\n Transportation Research Part C: Emerging Technologies, 23: 29–55. 2012.\n \n\n\n\n
\n\n\n\n \n \n $\"An$ Paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n\n\n\n

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@article {GeislerEtAl:TRC2012:EvalFramework,\n        title = {An evaluation framework for traffic information systems based on data streams},\n        journal = {Transportation Research Part C: Emerging Technologies},\n        volume = {23},\n        year = {2012},\n        pages = {29--55},\n        abstract = {Traffic information systems have to process and analyze huge amounts of data in real-time to effectively provide traffic information to road users. Progress in mobile communication technology with higher bandwidths and lower latencies enables the use of data provided by in-car sensors. Data stream management systems have been proposed to address the challenges of such applications which have to process a continuous data flow from various data sources in real-time. Data mining methods, adapted to data streams, can be used to analyze the data and to identify interesting patterns such as congestion or road hazards. Although several data stream mining methods have been proposed, an evaluation of such methods in the context of traffic applications is yet missing. In this paper, we present an evaluation framework for traffic information systems based on data streams. We apply a traffic simulation software to emulate the generation of traffic data by mobile probes. The framework is applied in two case studies, namely queue-end detection and traffic state estimation. The results show which parameters of the traffic information system significantly impact the accuracy of the predicted traffic information. This provides important findings for the design and implementation of traffic information systems using data from mobile probes.},\n        keywords = {Car-to-X communication, Data stream mining, Data streams},\n        issn = {0968-090X},\n        doi = {10.1016/j.trc.2011.08.003},\n        url = {http://www.sciencedirect.com/science/article/pii/S0968090X11001136},\n        author = {Sandra Geisler and Christoph Quix and Schiffer, Stefan and Jarke, Matthias}\n}\n\n

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\n \n\n \n \n \n \n \n \n Plan Recognition by Program Execution in Continuous Temporal Domains.\n \n \n \n \n\n\n \n Schwering, C.; Beck, D.; Schiffer, S.; and Lakemeyer, G.\n\n\n \n\n\n\n In Burgard, W.; Konolige, K.; Pagnucco, M.; and Vassos, S., editor(s), Proceedings of the Eighth International Cognitive Robotics Workshop (CogRob-2012), pages 77–84, Toronto, Canada, 2012. AAAI Press, AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"Plan$ Paper\n \n \n \n $\"Plan$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 4 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings { Schwering:Beck:Schiffer:Lakemeyer:CogRob2012:PlaRaPeX,\n        title = {Plan Recognition by Program Execution in Continuous Temporal Domains},\n        booktitle = {Proceedings of the Eighth International Cognitive Robotics Workshop (CogRob-2012)},\n        year = {2012},\n        pages = {77--84},\n        publisher = {AAAI Press},\n        organization = {AAAI Press},\n        address = {Toronto, Canada},\n        abstract = {Much of the existing work on plan recognition assumes that actions of other agents can be observed directly. In continuous temporal domains such as traffic scenarios this assumption is typically not warranted. Instead, one is only able to observe facts about the world such as vehicle positions at different points in time, from which the agents' intentions need to be inferred. In this paper we show how this problem can be addressed in the situation calculus and a new variant of the action programming language Golog, which includes features such as continuous time and change, stochastic actions, nondeterminism, and concurrency. In our approach we match observations against a set of candidate plans in the form of Golog programs. We turn the observations into actions which are then executed concurrently with the given programs. Using decision-theoretic optimization techniques those programs are preferred which bring about the observations at the appropriate times. Besides defining this new variant of Golog we also discuss an implementation and experimental results using driving maneuvers as an example.},\n        isbn = {978-1-57735-571-7},\n        url = {http://kbsg.rwth-aachen.de/~schwering/cogrob-2012.pdf},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/SchweringEtAl2012a.pdf},\n        author = {Christoph Schwering and Beck, Daniel and Schiffer, Stefan and Lakemeyer, Gerhard},\n        editor = {Wolfram Burgard and Kurt Konolige and Maurice Pagnucco and Stavros Vassos}\n}\n\n

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\n \n\n \n \n \n \n \n \n Plan Recognition by Program Execution in Continuous Temporal Domains.\n \n \n \n \n\n\n \n Schwering, C.; Beck, D.; Schiffer, S.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the Thirty-Fifth German Conference on Artificial Intelligence (KI-2012), Saarbrücken, 2012. Springer, Springer\n \n\n\n\n
\n\n\n\n \n \n $\"Plan$ Paper\n \n \n \n $\"Plan$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 4 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings { Schwering:Beck:Schiffer:Lakemeyer:KI2012:PlaRaPeX,\n        title = {Plan Recognition by Program Execution in Continuous Temporal Domains},\n        booktitle = {Proceedings of the Thirty-Fifth German Conference on Artificial Intelligence (KI-2012)},\n        year = {2012},\n        publisher = {Springer},\n        organization = {Springer},\n        address = {Saarbr{\\"u}cken},\n        abstract = {Much of the existing work on plan recognition assumes that actions of other agents can be observed directly. In continuous temporal domains such as traffic scenarios this assumption is typically not warranted. Instead, one is only able to observe facts about the world such as vehicle positions at different points in time, from which the agents' plans need to be inferred. In this paper we show how this problem can be addressed in the situation calculus and a new variant of the action programming language Golog, which includes features such as continuous time and change, stochastic actions, nondeterminism, and concurrency. In our approach we match observations against a set of candidate plans in the form of Golog programs. We turn the observations into actions which are then executed concurrently with the given programs. Using decision-theoretic optimization techniques those programs are preferred which bring about the observations at the appropriate times. Besides defining this new variant of Golog we also discuss an implementation and experimental results using driving maneuvers as an example.},\n        url = {http://kbsg.rwth-aachen.de/~schwering/ki-2012.pdf},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/SchweringEtAl2012b.pdf},\n        author = {Christoph Schwering and Beck, Daniel and Schiffer, Stefan and Lakemeyer, Gerhard}\n}\n

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\n \n\n \n \n \n \n \n HERB 2.0: Lessons Learned From Developing a Mobile Manipulator for the Home.\n \n \n \n\n\n \n Srinivasa, S. S.; Berenson, D.; Cakmak, M.; Collet, A.; Dogar, M. R.; Dragan, A. D.; Knepper, R. A.; Niemueller, T.; Strabala, K.; Vande Weghe, M.; and Ziegler, J.\n\n\n \n\n\n\n Proceedings of the IEEE, 100(8). 2012.\n \n\n\n\n
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@Article{HERB2,\n  author = {Srinivasa, S. S. and Berenson, D. and Cakmak, M. and\n                  Collet, A. and Dogar, M. R. and Dragan, A. D. and\n                  Knepper, R. A. and Niemueller, T. and Strabala,\n                  K. and Vande Weghe, M. and Ziegler, J.},\n  journal = {Proceedings of the IEEE},\n  title   = {{HERB 2.0: Lessons Learned From Developing a Mobile\n                  Manipulator for the Home}},\n  year    = 2012,\n  volume  = 100,\n  number  = 8,\n}\n\n

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\n \n\n \n \n \n \n \n BendIT – An Interactive Game with two Robots.\n \n \n \n\n\n \n Niemueller, T.; Schiffer, S.; Helligrath, A.; Lakani, S. R.; and Lakemeyer, G.\n\n\n \n\n\n\n In Poster and Demo Session at the 35th German Conference on Artificial Intelligence (KI 2012), Saarbrücken, Germany, September 24–27 2012. \n \n\n\n\n
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@InProceedings{BendIT,\n  author      = {Tim Niemueller and Stefan Schiffer and Albert\n                  Helligrath and Safoura Rezapour Lakani and Gerhard\n                  Lakemeyer},\n  title       = {{BendIT -- An Interactive Game with two Robots}},\n  booktitle   = {Poster and Demo Session at the 35th German Conference\n                  on Artificial Intelligence (KI 2012)},\n  year        = {2012},\n  month       = {September 24--27},\n  address     = {Saarbr{\\"u}cken, Germany},\n}\n\n

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\n \n 2011\n \n \n (13)\n \n \n

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\n \n\n \n \n \n \n \n Belief Management for High-Level Robot Programs.\n \n \n \n\n\n \n Gspandl, S.; Pill, I.; Reip, M.; Steinbauer, G.; and Ferrein, A.\n\n\n \n\n\n\n In Barcelona, Spain, 2011. AAAI Press\n \n\n\n\n
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@inproceedings {KBSG_221,\n        title = {Belief Management for High-Level Robot Programs},\n        journal = {Twenty-second International Joint Conference on Artificial Intelligence (IJCAI-11)},\n        year = {2011},\n        publisher = {AAAI Press},\n        address = {Barcelona, Spain},\n        author = {Stephan Gspandl and Ingo Pill and Michael Reip and Gerald Steinbauer and Ferrein, Alexander}\n}\n

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\n \n\n \n \n \n \n \n A Logic for Specifying Partially Observable Stochastic Domains.\n \n \n \n\n\n \n Rens, G.; Meyer, T. A.; Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n In Nonmonotonic Reasoning, Action, and Change (NRAC 2011), Barcelona, Spain, 2011. \n \n\n\n\n
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@inproceedings {KBSG_240,\n        title = {A Logic for Specifying Partially Observable Stochastic Domains},\n        booktitle = {Nonmonotonic Reasoning, Action, and Change (NRAC 2011)},\n        year = {2011},\n        address = {Barcelona, Spain},\n        author = {Gavin Rens and Thomas A. Meyer and Ferrein, Alexander and Lakemeyer, Gerhard}\n}\n

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\n \n\n \n \n \n \n \n \n On Progression and Query Evaluation in First-Order Knowledge Bases with Function Symbols.\n \n \n \n \n\n\n \n Belle, V.; and Lakemeyer, G.\n\n\n \n\n\n\n In Twenty-second International Joint Conference on Artificial Intelligence (IJCAI-11) , Barcelona, Spain, 2011. AAAI Press, AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"On$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 12 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {KBSG_219,\n        title = {On Progression and Query Evaluation in First-Order Knowledge Bases with Function Symbols},\n        booktitle = {Twenty-second International Joint Conference on Artificial Intelligence (IJCAI-11) },\n        year = {2011},\n        publisher = {AAAI Press},\n        organization = {AAAI Press},\n        address = {Barcelona, Spain},\n        abstract = {In a seminal paper, Lin and Reiter introduced the notion of progression of basic action theories. Unfortunately, progression is second-order in general. Recently, Liu and Lakemeyer improve on earlier results and show that for the local-effect and normal actions case, progression is computable but may lead to an exponential blow-up. Nevertheless, they show that for certain kinds of expressive first-order knowledge bases with disjunctive information, called proper$^+$, it is efficient. However, answering queries about the resulting state is still undecidable. In this paper, we continue this line of research and extend proper$^+$ KBs to include functions. We prove that their progression wrt local-effect, normal actions, and range-restricted theories, is first-order definable and efficiently computable. We then provide a new logically sound and complete decision procedure for certain kinds of queries. },\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/ijcai11.pdf},\n        author = {Belle, Vaishak and Lakemeyer, Gerhard}\n}\n

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\n \n\n \n \n \n \n \n \n Reinforcement Learning for Golog Programs with First-Order State-Abstraction.\n \n \n \n \n\n\n \n Beck, D.; and Lakemeyer, G.\n\n\n \n\n\n\n Logic Journal of the IGPL. 2011.\n \n\n\n\n
\n\n\n\n \n \n $\"Reinforcement$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@article {KBSG_250,\n        title = {Reinforcement Learning for Golog Programs with First-Order State-Abstraction},\n        journal = {Logic Journal of the IGPL},\n        year = {2011},\n        publisher = {Oxford University Press},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/JIGPL_Beck_Lakemeyer_2011.pdf},\n        author = {Beck, Daniel and Lakemeyer, Gerhard}\n}\n

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\n \n\n \n \n \n \n \n \n A Semantical Account of Progression in the Presence of Uncertainty.\n \n \n \n \n\n\n \n Belle, V.; and Lakemeyer, G.\n\n\n \n\n\n\n In Twenty-Fifth Conference on Artificial Intelligence (AAAI-11), San Francisco, USA, 2011. AAAI Press , AAAI Press \n \n\n\n\n
\n\n\n\n \n \n $\"A$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 12 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {KBSG_220,\n        title = {A Semantical Account of Progression in the Presence of Uncertainty},\n        booktitle = {Twenty-Fifth Conference on Artificial Intelligence (AAAI-11)},\n        year = {2011},\n        publisher = {AAAI Press },\n        organization = {AAAI Press },\n        address = {San Francisco, USA},\n        abstract = {Building on a general theory of action by Reiter and his colleagues, Bacchus et al give an account for formalizing degrees of belief and noisy actions in the situation calculus. Unfortunately, there is no clear solution to the projection problem for the formalism. And, while the model has epistemic features, it is not obvious what the agent's knowledge base should look like. Also, reasoning about uncertainty essentially resorts to second-order logic. In recent work, Gabaldon and Lakemeyer remedy these shortcomings somewhat, but here too the utility seems to be restricted to queries (with action operators) about the initial theory. In this paper, we propose a fresh amalgamation of a modal fragment of the situation calculus and uncertainty, where the idea will be to update the initial knowledge base, containing both ordinary and (certain kinds of) probabilistic beliefs, when noisy actions are performed. We show that the new semantics has the right properties, and study a special case where updating probabilistic beliefs is computable. Our ideas are closely related to the Lin and Reiter notion of progression. },\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/prog-noisy.pdf},\n        author = {Belle, Vaishak and Lakemeyer, Gerhard}\n}\n

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\n \n\n \n \n \n \n \n Towards Passive Walking for the Fully-actuated Biped Robot Nao.\n \n \n \n\n\n \n Priede, G.; and Ferrein, A.\n\n\n \n\n\n\n In International Conference on Industrial Electronics, Technology & Automation (IETA 10), 2011. \n \n\n\n\n
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@inproceedings {KBSG_241,\n        title = {Towards Passive Walking for the Fully-actuated Biped Robot Nao},\n        booktitle = {International Conference on Industrial Electronics, Technology \\& Automation (IETA 10)},\n        year = {2011},\n        author = {Gareth Priede and Ferrein, Alexander}\n}\n

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\n \n\n \n \n \n \n \n \n Providing ground-truth data for the nao robot platform.\n \n \n \n \n\n\n \n Niemueller, T.; Ferrein, A.; Eckel, G.; Pirro, D.; Podbregar, P.; Kellner, T.; Rath, C.; and Steinbauer, G.\n\n\n \n\n\n\n Volume 6556 of Lecture Notes in Artificial Intelligence. Providing Ground-truth Data for the Nao Robot Platform, pages 133–144. del Solar, J R.; Chown, E; Plöger, P; and Matsumoto, A, editor(s). Springer, Singapore, 25/06/2010 2011.\n \n\n\n\n
\n\n\n\n \n \n $\"Providing$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inbook {NiemuellerEtAl2010NaoGroundTruth,\n        title = {Providing Ground-truth Data for the Nao Robot Platform},\n        booktitle = {RoboCup 2010: Robot Soccer World Cup XIV},\n        series = {Lecture Notes in Artificial Intelligence},\n        volume = {6556},\n        year = {2011},\n        month = {25/06/2010},\n        pages = {133--144},\n        publisher = {Springer},\n        organization = {Springer},\n        chapter = {Providing ground-truth data for the nao robot platform},\n        address = {Singapore},\n        abstract = {Collecting ground truth-data for real-world applications is a non-trivial but very important task. In order to evaluate new algorithmic approaches or to benchmark system performance, they are inevitable. This is particularly true for robotics applications. In this paper we present our data collection for the biped humanoid robot Nao. Reflective markers were attached to Nao's body, and the positions and orientation of its body and head were tracked in 6D with an accurate professional vision-based body motion tracking system. While doing so, the data of Nao's internal state, i.e., the readings of all its servos, the inertial measurement unit, the force receptors plus a camera stream of the robot's camera were stored for different, typical robotic soccer scenarios in the context of the RoboCup Standard Platform League. These data will be combined in order to compile an accurate ground-truth data set. We describe how the data were recorded, in which format they are stored, and show the usability of the logged data in some first experiments on the recorded data sets. The data sets will be made publicly available for the RoboCup's Standard Platform League community.},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/nao-groundtruth-rc2010.pdf},\n        author = {Tim Niemueller and Ferrein, Alexander and Gerhard Eckel and David Pirro and Patrick Podbregar and Tobias Kellner and Christof Rath and Gerald Steinbauer},\n        editor = {J Ruiz del Solar and E Chown and P Pl{\\"o}ger and A Matsumoto}\n}\n

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\n \n\n \n \n \n \n \n Decision-Theoretic Planning for Golog Programs with Action Abstraction.\n \n \n \n\n\n \n Beck, D.; and Lakemeyer, G.\n\n\n \n\n\n\n In Nonmonotonic Reasoning, Action, and Change (NRAC 2011), pages 39–46, Barcelona, Spain, 2011. \n \n\n\n\n
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@inproceedings {KBSG_239,\n        title = {Decision-Theoretic Planning for Golog Programs with Action Abstraction},\n        booktitle = {Nonmonotonic Reasoning, Action, and Change (NRAC 2011)},\n        year = {2011},\n        pages = {39--46},\n        address = {Barcelona, Spain},\n        author = {Beck, Daniel and Lakemeyer, Gerhard}\n}\n

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\n \n\n \n \n \n \n \n .\n \n \n \n\n\n \n Belle, V.; and Lakemeyer, G.\n\n\n \n\n\n\n Multi-Agent Only-Knowing. College Publications, 2011.\n \n\n\n\n
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@inbook {KBSG_247,\n        title = {Multi-Agent Only-Knowing},\n        booktitle = {Knowing, Reasoning, and Acting},\n        year = {2011},\n        publisher = {College Publications},\n        organization = {College Publications},\n        author = {Belle, Vaishak and Lakemeyer, Gerhard}\n}\n

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\n \n\n \n \n \n \n \n A semantic characterization of a useful fragment of the situation calculus with knowledge.\n \n \n \n\n\n \n Lakemeyer, G.; and Levesque, H. J.\n\n\n \n\n\n\n Artificial Intelligence, 175(1): 142–164. 2011.\n \n\n\n\n
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@article {KBSG_269,\n        title = {A semantic characterization of a useful fragment of the situation calculus with knowledge},\n        journal = {Artificial Intelligence},\n        volume = {175},\n        number = {1},\n        year = {2011},\n        pages = {142--164},\n        publisher = {Elsevier},\n        doi = {10.1016/j.artint.2010.04.005},\n        author = {Lakemeyer, Gerhard and Levesque, Hector J.}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Reasoning with Qualitative Positional Information for Domestic Domains in the Situation Calculus.\n \n \n \n \n\n\n \n Schiffer, S.; Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n Journal of Intelligent and Robotic Systems. Special Issue on Domestic Service Robots in the Real World., 66(1-2): 273–300. April 2012 2011.\n \n\n\n\n
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@article { Schiffer:Ferrein:Lakemeyer:JINT2011:FuzzyAtHome,\n        title = {Reasoning with Qualitative Positional Information for Domestic Domains in the Situation Calculus},\n        journal = {Journal of Intelligent and Robotic Systems. Special Issue on Domestic Service Robots in the Real World.},\n        volume = {66},\n        number = {1-2},\n        year = {2011},\n        month = {April 2012},\n        pages = {273--300},\n        publisher = {Springer},\n        abstract = {In this paper, we present a thorough integration of qualitative representations and reasoning for positional information for domestic service robotics domains into our high-level robot control. In domestic settings for service robots like in the RoboCup@Home competitions, complex tasks such as ''get the cup from the kitchen and bring it to the living room'' or ''find me this and that object in the apartment'' have to be accomplished. At these competitions the robots may only be instructed by natural language. As humans use qualitative concepts such as ''near'' or ''far'', the robot needs to cope with them, too. For our domestic robot, we use the robot programming and plan language Readylog, our variant of Golog. In previous work we extended the action language Golog, which was developed for the high-level control of agents and robots, with fuzzy set-based qualitative concepts. We now extend our framework to positional fuzzy fluents with an associated positional context called frames. With that and our underlying reasoning mechanism we can transform qualitative positional information from one context to another to account for changes in context such as the point of view or the scale.\r\nWe demonstrate how qualitative positional fluents based on a fuzzy set semantics can be deployed in domestic domains and showcase how reasoning with these qualitative notions can seamlessly be applied to a fetch-and-carry task in a RoboCup@Home scenario.},\n        doi = {10.1007/s10846-011-9606-0},\n        url_Springer = {http://www.springer.com/engineering/robotics/journal/10846},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/JINT2011fuzzyathome.pdf},\n        author = {Schiffer, Stefan and Ferrein, Alexander and Lakemeyer, Gerhard},\n        editor = {Iocchi, Luca and Javier Ruiz-del-Solar and van der Zant, Tijn}\n}\n\n

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\n \n\n \n \n \n \n \n \n Fuzzy Representations and Control for Domestic Service Robots in Golog.\n \n \n \n \n\n\n \n Schiffer, S.; Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the Fourth International Conference on Intelligent Robotics and Applications (ICIRA 2011), of Lecture Notes in Computer Science, pages 241-250, 12/2011 2011. Springer, Springer\n \n\n\n\n
\n\n\n\n \n \n $\"Fuzzy$ paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings { Schiffer:Ferrein:Lakemeyer:ICIRA2011:FuzzyAtHome,\n        title = {Fuzzy Representations and Control for Domestic Service Robots in Golog},\n        booktitle = {Proceedings of the Fourth International Conference on Intelligent Robotics and Applications (ICIRA 2011)},\n        series = {Lecture Notes in Computer Science},\n        year = {2011},\n        month = {12/2011},\n        pages = {241-250},\n        publisher = {Springer},\n        organization = {Springer},\n        abstract = {In the RoboCup@Home domestic service robot\n                  competition, complex tasks such as ''get the cup\n                  from the kitchen and bring it to the living room''\n                  or ''find me this and that object in the apartment''\n                  have to be accomplished. At these competitions the\n                  robots may only be instructed by natural\n                  language. As humans use qualitative concepts such as\n                  ''near'' or ''far'', the robot needs to cope with\n                  them, too. For our domestic robot, we use the robot\n                  programming and plan language Readylog, our variant\n                  of Golog. In previous work we extended the action\n                  language Golog, which was developed for the\n                  high-level control of agents and robots, with fuzzy\n                  concepts and showed how to embed fuzzy controllers\n                  in Golog. In this paper, we demonstrate how these\n                  notions can be fruitfully applied to two domestic\n                  service robotic scenarios. In the first application,\n                  we demonstrate how qualitative fluents based on a\n                  fuzzy set semantics can be deployed. In the second\n                  program, we show an example of a fuzzy controller\n                  for a follow-a-person task.},\n        isbn = {978-3-642-25488-8},\n        doi = {10.1007/978-3-642-25489-5_24},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/icira2011fuzzyathome.pdf},\n        author = {Schiffer, Stefan and Ferrein, Alexander and Lakemeyer, Gerhard}\n}\n\n

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\n \n\n \n \n \n \n \n \n A Modular Approach to Gesture Recognition for Interaction with a Domestic Service Robot.\n \n \n \n \n\n\n \n Schiffer, S.; Baumgartner, T.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the Fourth International Conference on Intelligent Robotics and Applications (ICIRA 2011), of Lecture Notes in Computer Science, pages 348-357, 12/2011 2011. Springer, Springer\n \n\n\n\n
\n\n\n\n \n \n $\"A$ paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {Schiffer:Baumgartner:Lakemeyer:ICIRA2011:ViGoR,\n        title = {A Modular Approach to Gesture Recognition for Interaction with a Domestic Service Robot},\n        booktitle = {Proceedings of the Fourth International Conference on Intelligent Robotics and Applications (ICIRA 2011)},\n        series = {Lecture Notes in Computer Science},\n        year = {2011},\n        month = {12/2011},\n        pages = {348-357},\n        publisher = {Springer},\n        organization = {Springer},\n        abstract = {In this paper, we propose a system for robust and flexible visual gesture recognition on a mobile robot for domestic service robotics applications. This adds a simple yet powerful mode of interaction, especially for the targeted user group of laymen and elderly or disabled people in home environments. Existing approaches often use a monolithic design, are computationally expensive, rely on previously learned (static) color models, or a specific initialization procedure to start gesture recognition. We propose a multi-step modular approach where we iteratively reduce the search space while retaining flexibility and extensibility. Building on a set of existing approaches, we integrate an on-line color calibration and adaptation mechanism for hand detection followed by feature-based posture recognition. Finally, after tracking the hand over time we adopt a simple yet effective gesture recognition method that does not require any training.},\n        isbn = {978-3-642-25488-8},\n        doi = {10.1007/978-3-642-25489-5_34},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/icira2011vigor.pdf},\n        author = {Schiffer, Stefan and Tobias Baumgartner and Lakemeyer, Gerhard}\n}\n\n

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\n \n 2010\n \n \n (17)\n \n \n

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\n \n\n \n \n \n \n \n \n On the Verification of Very Expressive Temporal Properties of Non-terminating Golog Programs.\n \n \n \n \n\n\n \n Claßen, J.; and Lakemeyer, G.\n\n\n \n\n\n\n In Coelho, H.; Studer, R.; and Wooldridge, M., editor(s), Proceedings of the 19th European Conference on Artificial Intelligence (ECAI 2010), pages 887–892, 2010. IOS Press\n \n\n\n\n
\n\n\n\n \n \n $\"On$ Paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@INPROCEEDINGS{ClaLak:ECAI2010,\n  title     = {On the Verification of Very Expressive Temporal\n                  Properties of Non-terminating {G}olog Programs},\n  author    = {Jens Cla{\\ss}en and Gerhard Lakemeyer},\n  booktitle = {Proceedings of the 19th European Conference on\n                  Artificial Intelligence (ECAI 2010)},\n  year      = {2010},\n  editor    = {Helder Coelho and Rudi Studer and Michael Wooldridge},\n  pages     = {887--892},\n  publisher = {IOS Press},\n  doi       = {10.3233/978-1-60750-606-5-887},\n  abstract  = {The agent programming language Golog and the underlying\n                  Situation Calculus have become popular means for the\n                  modelling and control of autonomous agents such as\n                  mobile robots. Although such agents{\\textquoteright}\n                  tasks are typically open-ended, little attention has\n                  been paid so far to the analysis of non-terminating\n                  Golog control programs. Recently we therefore\n                  introduced a logic that allows to express properties\n                  of Golog programs using operators from temporal\n                  logics while retaining the full first-order\n                  expressiveness of the Situation Calculus. Combining\n                  ideas from classical symbolic model checking with\n                  first-order theorem proving we presented a\n                  verification method for a restricted subclass of\n                  temporal properties. In this paper, we extend this\n                  work by considering arbitrary temporal formulas. Our\n                  algorithm is inspired by classical CTL* model\n                  checking, but introduces techniques to cope with\n                  arbitrary first-order quantification.},\n  url       = {http://www.kbsg.rwth-aachen.de/~classen/pub/ClassenLakemeyer2009.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n .\n \n \n \n \n\n\n \n Niemueller, T.; Ferrein, A.; Beck, D.; and Lakemeyer, G.\n\n\n \n\n\n\n Volume 6472 of Lecture Notes in Computer Science. Design Principles of the Component-Based Robot Software Framework Fawkes, pages 300–311. Ando, N.; Balakirsky, S.; Hemker, T.; Reggiani, M.; and von Str yk , O., editor(s). Springer, Darmstadt, Germany, 11/2010 2010.\n \n\n\n\n
\n\n\n\n \n \n $\"Design$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

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@inbook {KBSG_204,\n        title = {Design Principles of the Component-Based Robot Software Framework Fawkes},\n        booktitle = { Simulation, Modeling, and Programming for Autonomous Robots Proceedings of the 2nd International Conference on Simulation, Modeling and Programming for Autonomous Robots},\n        series = {Lecture Notes in Computer Science},\n        volume = {6472},\n        year = {2010},\n        month = {11/2010},\n        pages = {300--311},\n        publisher = {Springer},\n        organization = {Springer},\n        address = {Darmstadt, Germany},\n        abstract = {The idea of component-based software engineering was proposed more that 40 years ago, yet only few robotics software frameworks follow these ideas. The main problem with robotics software usually is that it runs on a particular platform and transferring source code to another platform is crucial. In this paper, we present our software framework Fawkes which follows the component-based software design paradigm by featuring a clear component concept with well-defined communication interfaces. We deployed Fawkes on several different robot platforms ranging from service robots to biped soccer robots. Following the component concept with clearly defined communication interfaces shows great benefit when porting robot software from one robot to the other. Fawkes comes with a number of useful plugins for tasks like timing, logging, data visualization, software configuration, and even high-level decision making. These make it particularly easy to create and to debug productive code, shortening the typical development cycle for robot software.},\n        keywords = {component-based, fawkes, framework, robot software framework},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/fawkes-design-principles-simpar2010.pdf},\n        author = {Tim Niemueller and Ferrein, Alexander and Beck, Daniel and Lakemeyer, Gerhard},\n        editor = {N. Ando and S. Balakirsky and Th. Hemker and M. Reggiani and O. von Str yk}\n}\n

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\n \n\n \n \n \n \n \n .\n \n \n \n\n\n \n Niemueller, T.; Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n Volume 5949 of Lecture Notes in Computer Science. A Lua-based Behavior Engine for Controlling the Humanoid Robot Nao, pages 240–251. Baltes, J.; Lagoudakis, M. G.; Naruse, T.; and Saeed Shiry Ghidary, undefined, editor(s). Springer, Graz, Austria, 01/07/2009 2010.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inbook {Niemueller:Ferrein:Lakemeyer:2009:LuaBehaviorEngineNao,\n        title = {A Lua-based Behavior Engine for Controlling the Humanoid Robot Nao},\n        booktitle = {RoboCup 2009: Robot Soccer World Cup XIII},\n        series = {Lecture Notes in Computer Science},\n        volume = {5949},\n        year = {2010},\n        month = {01/07/2009},\n        pages = {240--251},\n        publisher = {Springer},\n        organization = {Springer},\n        address = {Graz, Austria},\n        abstract = {The high-level decision making process of an autonomous robot can be seen as an hierarchically organised entity, where strategical decisions are made on the topmost layer, while the bottom layer serves as driver for the hardware. In between is a layer with monitoring and reporting functionality. In this paper we propose a behaviour engine for this middle layer which, based on formalism of hybrid state machines (HSMs), bridges the gap between high-level strategic decision making and low-level actuator control. The behaviour engine has to execute and monitor behaviours and reports status information back to the higher level. To be able to call the behaviours or skills hierarchically, we extend the model of HSMs with dependencies and sub-skills. These Skill-HSMs are implemented in the lightweight but expressive Lua scripting language which is well-suited to implement the behaviour engine on our target platform, the humanoid robot Nao.},\n        author = {Tim Niemueller and Ferrein, Alexander and Lakemeyer, Gerhard},\n        editor = {Jacky Baltes and Michail G. Lagoudakis and Tadashi Naruse and Saeed Shiry Ghidary,}\n}\n

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\n \n\n \n \n \n \n \n Editorial: Hybrid control for autonomous systems – Integrating learning, deliberation and reactive control.\n \n \n \n\n\n \n Ferrein, A.; Siebel, N. T.; and Steinbauer, G.\n\n\n \n\n\n\n Robotics and Autonomous Systems, 54(9): 1037–1038. 2010.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@article {KBSG_228,\n        title = {Editorial: Hybrid control for autonomous systems -- Integrating learning, deliberation and reactive control.},\n        journal = {Robotics and Autonomous Systems},\n        volume = {54},\n        number = {9},\n        year = {2010},\n        pages = {1037--1038},\n        author = {Ferrein, Alexander and Nils T. Siebel and G. Steinbauer}\n}\n

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\n \n\n \n \n \n \n \n golog.lua: Towards a non-prolog implementation of golog for embedded systems.\n \n \n \n\n\n \n Ferrein, A.\n\n\n \n\n\n\n In 2010. AAAI Press\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {KBSG_225,\n        title = {golog.lua: Towards a non-prolog implementation of golog  for embedded systems},\n        journal = {Proceedings of the AAAI  Spring Symposium on Embedded Reasoning},\n        number = {SS-10-04},\n        year = {2010},\n        publisher = {AAAI Press},\n        author = {Ferrein, Alexander}\n}\n

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\n \n\n \n \n \n \n \n \n Multi-Agent Only-Knowing Revisited.\n \n \n \n \n\n\n \n Belle, V.; and Lakemeyer, G.\n\n\n \n\n\n\n In Principles of Knowledge Representation and Reasoning (KR-2010), Toronto, Canada, 2010. AAAI Press, AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"Multi-Agent$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 12 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {belle_lakemeyer_kr2010,\n        title = {Multi-Agent Only-Knowing Revisited},\n        booktitle = {Principles of Knowledge Representation and Reasoning (KR-2010)},\n        year = {2010},\n        publisher = {AAAI Press},\n        organization = {AAAI Press},\n        address = {Toronto, Canada},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/BelleLakKR10.pdf},\n        author = {Belle, Vaishak and Lakemeyer, Gerhard}\n}\n

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\n \n\n \n \n \n \n \n .\n \n \n \n\n\n \n Ferrein, A.; and Steinbauer, G.\n\n\n \n\n\n\n Volume 6472 of Lecture Notes in Computer Science. On the way to high-level programming for resource-limited embedded systems with golog., pages 229–240. Ando, N.; Balakirsky, S.; Hemker, T.; Reggiani, M.; and von Stryk, O., editor(s). Springer, 2010.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inbook {KBSG_223,\n        title = {On the way to high-level programming for resource-limited embedded systems with golog.},\n        booktitle = { Simulation, Modeling, and Programming for Autonomous Robots Proceedings of the 2nd International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2010)},\n        series = {Lecture Notes in Computer Science},\n        volume = {6472},\n        year = {2010},\n        pages = {229--240},\n        publisher = {Springer},\n        organization = {Springer},\n        author = {Ferrein, Alexander and Gerald Steinbauer},\n        editor = {N. Ando and S. Balakirsky and Th. Hemker and M. Reggiani and O. von Stryk}\n}\n

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\n \n\n \n \n \n \n \n \n Reasoning about Imperfect Information Games in the Epistemic Situation Calculus.\n \n \n \n \n\n\n \n Belle, V.; and Lakemeyer, G.\n\n\n \n\n\n\n In Twenty-Fourth Conference on Artificial Intelligence (AAAI-10), Atlanta, Georgia, USA, 2010. AAAI Press, AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"Reasoning$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 15 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {belle_lak_aaai2010,\n        title = {Reasoning about Imperfect Information Games in the Epistemic Situation Calculus},\n        booktitle = {Twenty-Fourth Conference on Artificial Intelligence (AAAI-10)},\n        year = {2010},\n        publisher = {AAAI Press},\n        organization = {AAAI Press},\n        address = {Atlanta, Georgia, USA},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/BelleLakAI.pdf},\n        author = {Belle, Vaishak and Lakemeyer, Gerhard}\n}\n

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\n \n\n \n \n \n \n \n Robot controllers for highly dynamic environments with real-time constraints.\n \n \n \n\n\n \n Ferrein, A.\n\n\n \n\n\n\n Künstliche Intelligenz, 24(2): 175–178. 2010.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@article {KBSG_227,\n        title = {Robot controllers for highly dynamic environments with  real-time constraints},\n        journal = {K{\\"u}nstliche Intelligenz},\n        volume = {24},\n        number = {2},\n        year = {2010},\n        pages = {175--178},\n        author = {Ferrein, Alexander}\n}\n

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\n \n\n \n \n \n \n \n The Situation Calculus: A Case for Modal Logic.\n \n \n \n\n\n \n Lakemeyer, G.\n\n\n \n\n\n\n Journal of Logic, Language and Information, 19(4): 431–450. 2010.\n \n\n\n\n
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@article {KBSG_270,\n        title = {The Situation Calculus: A Case for Modal Logic},\n        journal = {Journal of Logic, Language and Information},\n        volume = {19},\n        number = {4},\n        year = {2010},\n        pages = {431--450},\n        publisher = {Springer},\n        doi = {10.1007/s10849-009-9117-6},\n        author = {Lakemeyer, Gerhard}\n}\n

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\n \n\n \n \n \n \n \n .\n \n \n \n\n\n \n Rens, G.; Varzinczak, I.; Meyer, T. A.; and Ferrein, A.\n\n\n \n\n\n\n Volume 6464 of Lecture Notes in Computer Science. A specification logic for reasoning about actions and explicit observations, pages 395–404. Springer, 2010.\n \n\n\n\n
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@inbook {KBSG_226,\n        title = {A specification logic for reasoning about actions and explicit observations},\n        booktitle = {AI 2010: Advances in Artificial Intelligence - 23rd Australasian  Joint Conference},\n        series = {Lecture Notes in Computer Science},\n        volume = {6464},\n        year = {2010},\n        pages = {395--404},\n        publisher = {Springer},\n        organization = {Springer},\n        author = {Gavin Rens and Ivan Varzinczak and Thomas A. Meyer and Ferrein, Alexander}\n}\n

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\n \n\n \n \n \n \n \n \n Task Space Behavior Learning for Humanoid Robots using Gaussian Mixture Models.\n \n \n \n \n\n\n \n Subramanian, K.\n\n\n \n\n\n\n In Twenty-Fourth AAAI Conference on Artificial Intelligence (AAAI 2010), Student Paper, Atlanta, Georgia, USA, 2010. AAAI Press, AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"Task$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings { Subramanian:AAAI2010:GMM,\n        title = {Task Space Behavior Learning for Humanoid Robots using Gaussian Mixture Models},\n        booktitle = {Twenty-Fourth AAAI Conference on Artificial Intelligence (AAAI 2010), Student Paper},\n        year = {2010},\n        publisher = {AAAI Press},\n        organization = {AAAI Press},\n        address = {Atlanta, Georgia, USA},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/Subramanian_AAAI.pdf},\n        author = {Kaushik Subramanian}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n A Data Stream-based Evaluation Framework for Traffic Information Systems.\n \n \n \n\n\n \n Geisler, S.; Quix, C.; and Schiffer, S.\n\n\n \n\n\n\n ACM. San Jose, CA, USA, November 2 2010.\n \n\n\n\n
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@proceedings { Geisler:Quix:Schiffer:IWGS2010:QueueEndDetection,\n        title = {A Data Stream-based Evaluation Framework for Traffic Information Systems},\n        journal = {Proceedings of the 1st ACM SIGSPATIAL International Workshop on GeoStreaming (IWGS 2010)},\n        year = {2010},\n        month = {November 2},\n        pages = {11--18},\n        publisher = {ACM},\n        address = {San Jose, CA, USA},\n        abstract = {Traffic information systems based on mobile, in-car sensor technology are a challenge for data management systems as a huge amount of data has to be processed in real-time. Data mining methods must be adapted to cope with these challenges in handling streaming data. Although several data stream mining methods have been proposed, an evaluation of such methods in the context of traffic applications is yet missing. In this paper, we present an evaluation framework for data stream mining for traffic applications. We apply a traffic simulation software to emulate the generation of traffic data by mobile probes. The framework is evaluated in a first case study, namely queue-end detection. We show first results of the evaluation of a data stream mining method, using multiple parameters for the traffic simulation. The goal of our work is to identify parameter settings for which the data stream mining methods produce useful results for the traffic application at hand.},\n        keywords = {Data-Streams, Stream Mining, Traffic Information Systems},\n        author = {Sandra Geisler and Christoph Quix and Schiffer, Stefan},\n        editor = {Mohamed Ali and Erik Hoel and Cyrus Shahabi}\n}\n

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\n \n\n \n \n \n \n \n \n Fuzzy Representations and Control for Domestic Service Robots in Golog.\n \n \n \n \n\n\n \n Schiffer, S.; Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n In Iocchi, L.; Ruiz-del-Solar, J.; and van der Zant, T., editor(s), Domestic Service Robots in the Real World. Workshop Proceedings of the International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2010), pages 183–192, Darmstadt, Germany, November 15-18 2010. \n \n\n\n\n
\n\n\n\n \n \n $\"Fuzzy$ workshop\n \n \n \n $\"Fuzzy$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

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@inproceedings { Schiffer:Ferrein:Lakemeyer:SIMPAR2010:FuzzyAtHome,\n        title = {{Fuzzy Representations and Control for Domestic Service Robots in Golog}},\n        booktitle = {Domestic Service Robots in the Real World. Workshop Proceedings of the International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2010)},\n        year = {2010},\n        month = {November 15-18},\n        pages = {183--192},\n        address = {Darmstadt, Germany},\n        abstract = {In the RoboCup@Home domestic robot competition,\n                  complex tasks such as ''get the cup from the kitchen\n                  and bring it to the living room'' or ''find me this\n                  and that object in the apartment'' have to be\n                  accomplished. At these competitions the robots may\n                  only be instructed by natural language. As humans\n                  use qualitative concepts such as ''near'' or\n                  ''far'', the robot needs to cope with them, too. For\n                  our domestic robot, we use the robot programming and\n                  plan language Readylog, our variant of Golog. In\n                  previous work we extended the action language Golog,\n                  which was developed for the high-level control of\n                  agents and robots, with fuzzy concepts and showed\n                  how to embed fuzzy controllers in Golog. In this\n                  paper, we demonstrate how these notions can be\n                  fruitfully applied to two Robocup@Home scenarios. In\n                  the first application, we demonstrate how\n                  qualitative fluents based on a fuzzy set semantics\n                  can be deployed. In the second program, we show an\n                  example of a fuzzy controller for a follow-a-person\n                  task. While these programs have to be regarded as a\n                  proof-of-concept for the possibility to integrate\n                  qualitative concepts into Readylog beneficially for\n                  such applications, we aim at implementing these\n                  programs on our domestic robot platform in the\n                  future.},\n        keywords = {Control, Domestic, Fuzzy, Logic, Representations, Robotics, Service},\n        isbn = {978-3-00-032863-3},\n        url_Workshop = {http://www.dis.uniroma1.it/~iocchi/Events/SIMPAR10-ATHOME/},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/simpar2010fuzzyathome.pdf},\n        author = {Schiffer, Stefan and Ferrein, Alexander and Lakemeyer, Gerhard},\n        editor = {Iocchi, Luca and Javier Ruiz-del-Solar and van der Zant, Tijn}\n}\n

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\n \n\n \n \n \n \n \n \n Self-Maintenance for Autonomous Robots controlled by ReadyLog.\n \n \n \n \n\n\n \n Schiffer, S.; Wortmann, A.; and Lakemeyer, G.\n\n\n \n\n\n\n In Ingrand, F.; and Guiochet, J., editor(s), Proceedings of the 7th IARP Workshop on Technical Challenges for Dependable Robots in Human Environments, pages 101–107, Toulouse, France, June 16-17 2010. \n \n\n\n\n
\n\n\n\n \n \n $\"Self-Maintenance$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

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@inproceedings { SchifferEtAl:DRHE2010:SMaRT,\n        title = {{Self-Maintenance for Autonomous Robots controlled by ReadyLog}},\n        booktitle = {Proceedings of the 7th IARP Workshop on Technical Challenges for Dependable Robots in Human Environments},\n        year = {2010},\n        month = {June 16-17},\n        pages = {101--107},\n        address = {Toulouse, France},\n        abstract = {In order to make a robot execute a given task plan\n                  more robustly we want to enable it to take care of\n                  its self-maintenance requirements during online\n                  execution of this plan. This requires the robot to\n                  know about the (internal) states of its components,\n                  constraints that restrict execution of actions and\n                  how to recover from faulty situations. The general\n                  idea is to implement a transformation process on the\n                  plans, which are specified in the agent programming\n                  language \\ReadyLog{}, to be performed based on\n                  explicit qualitative temporal\n                  constraints. Afterwards, a 'guarded' execution of\n                  the transformed program results in more robust\n                  behavior.},\n        keywords = {Autonomous Robots, ReadyLog, Self-Maintenance, Situation Calculus},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/DRHE2010smart.pdf},\n        author = {Schiffer, Stefan and Andreas Wortmann and Lakemeyer, Gerhard},\n        editor = {Felix Ingrand and Jeremie Guiochet}\n}\n\n

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\n \n\n \n \n \n \n \n \n Self-Maintenance for Autonomous Robots in the Situation Calculus.\n \n \n \n \n\n\n \n Schiffer, S.; Wortmann, A.; and Lakemeyer, G.\n\n\n \n\n\n\n In Lakemeyer, G.; Levesque, H. J.; and Pirri, F., editor(s), Dagstuhl, Germany, 2010. Schloss Dagstuhl - Leibniz-Zentrum fuer Informatik, Germany\n \n\n\n\n
\n\n\n\n \n \n $\"Self-Maintenance$ drops\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings { SchifferEtAl:CogRob2010:SMaRT,\n        title = {Self-Maintenance for Autonomous Robots in the Situation Calculus},\n        journal = {Cognitive Robotics},\n        number = {10081},\n        year = {2010},\n        publisher = {Schloss Dagstuhl - Leibniz-Zentrum fuer Informatik, Germany},\n        address = {Dagstuhl, Germany},\n        abstract = {In order to make a robot execute a given task plan\n                  more robustly we want to enable it to take care of\n                  its self-maintenance requirements during online\n                  execution of this program. This requires the robot\n                  to know about the (internal) states of its\n                  components, constraints that restrict execution of\n                  certain actions and possibly also how to recover\n                  from faulty situations. The general idea is to\n                  implement a transformation process on the plans,\n                  which are specified in the agent programming\n                  language ReadyLog, to be performed based on explicit\n                  (temporal) constraints. Afterwards, a 'guarded'\n                  execution of the transformed program should result\n                  in more robust behavior.},\n        issn = {1862-4405},\n        url_DROPS = {http://drops.dagstuhl.de/opus/volltexte/2010/2636},\n        author = {Schiffer, Stefan and Andreas Wortmann and Lakemeyer, Gerhard},\n        editor = {Lakemeyer, Gerhard and Levesque, Hector J. and Fiora Pirri}\n}\n\n

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\n \n\n \n \n \n \n \n Design Principles of the Component-Based Robot Software Framework Fawkes.\n \n \n \n\n\n \n Niemueller, T.; Ferrein, A.; Beck, D.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), Darmstadt, Germany, 2010. Springer\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@InProceedings{Fawkes,\n  title =\t{{Design Principles of the Component-Based Robot Software\n                  Framework Fawkes}},\n  author =\t{Tim Niemueller and Alexander Ferrein and Daniel Beck and\n                  Gerhard Lakemeyer},\n  booktitle =\t{Proceedings of the International Conference on\n                  Simulation, Modeling, and Programming for Autonomous\n                  Robots (SIMPAR)},\n  year =\t2010,\n  address =\t{Darmstadt, Germany},\n  publisher =\t{Springer},\n}\n\n

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\n \n 2009\n \n \n (11)\n \n \n

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\n \n\n \n \n \n \n \n \n Tractable First-Order Golog with Disjunctive Knowledge Bases.\n \n \n \n \n\n\n \n Claßen, J.; and Lakemeyer, G.\n\n\n \n\n\n\n In Lakemeyer, G.; Morgenstern, L.; and Williams, M., editor(s), Proceedings of the Ninth International Symposium on Logical Formalizations of Commonsense Reasoning (Commonsense 2009), pages 27–33, 2009. UTSePress\n \n\n\n\n
\n\n\n\n \n \n $\"Tractable$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@INPROCEEDINGS{ClaLak:Commonsense2009,\n  title     = {Tractable First-Order {G}olog with Disjunctive Knowledge\n                  Bases},\n  author    = {Jens Cla{\\ss}en and Gerhard Lakemeyer},\n  booktitle = {Proceedings of the Ninth International Symposium on\n                  Logical Formalizations of Commonsense Reasoning\n                  (Commonsense 2009)},\n  year      = {2009},\n  editor    = {Gerhard Lakemeyer and Leora Morgenstern and Mary-Anne\n                  Williams},\n  pages     = {27--33},\n  publisher = {UTSePress},\n  abstract  = {While based on the Situation Calculus, current\n                  implementations of the agent control language Golog\n                  typically avoid offering full first-order\n                  capabilities, but rather resort to the closed-world\n                  assumption for the sake of efficiency. On the other\n                  hand, realistic applications need to deal with\n                  incomplete world knowledge including disjunctive\n                  information. Recently Liu, Lakemeyer and Levesque\n                  proposed the logic of limited belief SL, which lends\n                  itself to efficient reasoning in incomplete\n                  first-order knowledge bases. In particular, SL\n                  defines levels of belief which limit reasoning by\n                  cases in a principled way. In this paper, we propose\n                  to apply SL-based reasoning in the context of a\n                  Golog system. Central to our approach is a new\n                  search operator that finds plans only within a fixed\n                  belief level k, and an iterative-deepening-style\n                  variant where instead of considering plans with\n                  increasing length, the belief level k is incremented\n                  in each cycle. Thus, not the shortest plans are\n                  preferred, but those which are the computationally\n                  cheapest to discover.},\n  url       = {http://kbsg.rwth-aachen.de/~classen/pub/ClassenLakemeyer2009.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Embedding Fuzzy Controllers into Golog.\n \n \n \n \n\n\n \n Ferrein, A.; Schiffer, S.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the IEEE International Conference on Fuzzy Systems (FUZZ-IEEE'09), pages 894–899, ICC Jeju, Jeju Island, Korea, August 20-24 2009. IEEE, IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Embedding$ paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n\n\n\n

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@inproceedings {Ferrein:Schiffer:Lakemeyer:2009:EmbeddingFuzzyControllorsGolog,\n        title = {Embedding Fuzzy Controllers into Golog},\n        booktitle = {Proceedings of the IEEE International Conference on Fuzzy Systems (FUZZ-IEEE'09)},\n        year = {2009},\n        month = {August 20-24},\n        pages = {894--899},\n        publisher = {IEEE},\n        organization = {IEEE},\n        type = {inproceedings},\n        address = {ICC Jeju, Jeju Island, Korea},\n        abstract = {High-level behaviour specification of an intelligent autonomous agent or robot is a non-trivial task. Various approaches exist some of which try to combine different paradigms like programming and planning. In this paper, we show how to integrate fuzzy logic controllers into the logic-based programming language Golog. Golog already allows for combining programming and planning. By adding the instrument of fuzzy controllers we provide the means to have a natural specification of rules for tasks that require a high amount of reactivity. Since the facilities already present in Golog remain, we add to an already powerful framework thus expanding the applicability of Golog for high-level behaviour specification of a robot or agent.},\n        keywords = {Controller, Fuzzy, Golog},\n        issn = {1098-7584},\n        doi = {10.1109/FUZZY.2009.5277161},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/fuzz-ieee2009pole.pdf},\n        author = {Ferrein, Alexander and Schiffer, Stefan and Lakemeyer, Gerhard}\n}\n

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\n \n\n \n \n \n \n \n \n .\n \n \n \n \n\n\n \n Beck, D.; Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n Volume 5399 of Lecture Notes in Computer Science. Landmark-based Representations for Navigating Holonomic Soccer Robots, pages 25–36. Iocchi, L.; Matsubara, H.; Weitzenfeld, A.; and Zhou, C., editor(s). Suzhou, China, 16/07/2008 2009.\n \n\n\n\n
\n\n\n\n \n \n $\"Landmark-based$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n\n\n\n

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@inbook {Beck:Ferrein:Lakemeyer:2008:LandmarkNavigation,\n        title = {Landmark-based Representations for Navigating Holonomic Soccer Robots},\n        booktitle = {RoboCup 2008: Robot Soccer  World Cup XII},\n        series = {Lecture Notes in Computer Science},\n        volume = {5399},\n        year = {2009},\n        month = {16/07/2008},\n        pages = {25--36},\n        address = {Suzhou, China},\n        keywords = {Navigation, RoboCup},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/landmark_based.pdf},\n        author = {Beck, Daniel and Ferrein, Alexander and Lakemeyer, Gerhard},\n        editor = {Iocchi, Luca and Hitoshi Matsubara and Alfredo Weitzenfeld and Changjiu Zhou}\n}\n

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\n \n\n \n \n \n \n \n \n Reinforcement Learning for Golog Programs.\n \n \n \n \n\n\n \n Beck, D.; and Lakemeyer, G.\n\n\n \n\n\n\n In Christoph Beierle, G. K., editor(s), Relational Approaches to Knowledge Representation and Learning, Workshop at the 32nd Annual Conference on Artificial Intelligence (KI-2009), of Informatik Berichte, pages 64–78, Paderborn, Germany, 15/09/2009 2009. FernUniversität in Hagen, FernUniversität in Hagen\n \n\n\n\n
\n\n\n\n \n \n $\"Reinforcement$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings { BeckLakemeyer:KI2009:RLGolog,\n        title = {Reinforcement Learning for Golog Programs},\n        booktitle = {Relational Approaches to Knowledge Representation and Learning, Workshop at the 32nd Annual Conference on Artificial Intelligence (KI-2009)},\n        series = {Informatik Berichte},\n        year = {2009},\n        month = {15/09/2009},\n        pages = {64--78},\n        publisher = {FernUniversit{\\"a}t in Hagen},\n        organization = {FernUniversit{\\"a}t in Hagen},\n        address = {Paderborn, Germany},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/relkrl09.pdf},\n        author = {Beck, Daniel and Lakemeyer, Gerhard},\n        editor = {Christoph Beierle, Gabriele Kern-Isberner}\n}\n

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\n \n\n \n \n \n \n \n A BDI agent architecture for a POMDP planner.\n \n \n \n\n\n \n Rens, G.; Ferrein, A.; and van der Poel, E.\n\n\n \n\n\n\n In 2009. UTSePress\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {KBSG_224,\n        title = {A BDI agent architecture for a POMDP planner},\n        journal = {Nineth International  Symposium on Logical Formalizations of Commonsense Reasoning},\n        year = {2009},\n        publisher = {UTSePress},\n        author = {Gavin Rens and Ferrein, Alexander and Etienne van der Poel}\n}\n

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\n \n\n \n \n \n \n \n \n On First-Order Definability and Computability of Progression for Local-Effect Actions and Beyond.\n \n \n \n \n\n\n \n Liu, Y.; and Lakemeyer, G.\n\n\n \n\n\n\n In Twenty-first International Joint Conference on Artificial Intelligence (IJCAI-09), 2009. AAAI Press, AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"On$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings { LiuLakemeyer:IJCAI2009:LocalEffects,\n        title = {On First-Order Definability and Computability of Progression for Local-Effect Actions and Beyond},\n        booktitle = {Twenty-first International Joint Conference on Artificial Intelligence (IJCAI-09)},\n        year = {2009},\n        publisher = {AAAI Press},\n        organization = {AAAI Press},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/LiuLak_LocalEffects_ijcai09.pdf},\n        author = {Yongmei Liu and Lakemeyer, Gerhard}\n}\n

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\n \n\n \n \n \n \n \n \n RoboCup@Home: Results in Benchmarking Domestic Service Robots.\n \n \n \n \n\n\n \n Wisspeintner, T.; van der Zant, T.; Iocchi, L.; and Schiffer, S.\n\n\n \n\n\n\n In RoboCup Symposium 2009, volume 5949, pages 390–401, Graz, Austria, 2009. \n \n\n\n\n
\n\n\n\n \n \n $\"RoboCup@Home:$ paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

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@inproceedings {Wisspeintner:EtAl:2009:RoboCupAtHomeBenchmarkingResults,\n        title = {RoboCup@Home: Results in Benchmarking Domestic Service Robots},\n        booktitle = {RoboCup Symposium 2009},\n        volume = {5949},\n        year = {2009},\n        pages = {390--401},\n        type = {inproceedings},\n        address = {Graz, Austria},\n        abstract = {Benchmarking robotic technologies is of utmost importance for actual deployment of robotic applications in industrial and every-day environments, therefore many efforts have recently focused on this problem. Among the many different ways of benchmarking robotic systems, scientific competitions are recognized as one of the most effective ways of rapid development of scientific progress in a field. The RoboCup@Home league targets the development and deployment of autonomous service and assistive robot technology, being essential for future personal domestic applications, and offers an important approach to benchmarking domestic and service robots.  In this paper we present the new methodology for benchmarking DSR adopted in RoboCup@Home, that includes the definition of multiple benchmarks (tests) and of performance metrics based on the relationships between key abilities required to the robots and the tests. We also discuss the results of our benchmarking approach over the past years and provide an outlook on short- and mid-term goals of @Home and of DSR in general.},\n        keywords = {AtHome, Benchmarking, Domestic Service Robotics, RoboCup, RoboCup@Home},\n        isbn = {978-3-642-11875-3},\n        issn = {0302-9743 (Print) 1611-3349 (Online)},\n        doi = {10.1007/978-3-642-11876-0_34},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/robocup2009home.pdf},\n        author = {Wisspeintner, Thomas and van der Zant, Tijn and Iocchi, Luca and Schiffer, Stefan}\n}\n

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\n \n\n \n \n \n \n \n RoboCup@Home: Scientific Competition and Benchmarking for Domestic Service Robots.\n \n \n \n\n\n \n Wisspeintner, T.; van der Zant, T.; Iocchi, L.; and Schiffer, S.\n\n\n \n\n\n\n Interaction Studies, 10(3): 392–426. 2009.\n \n\n\n\n
\n\n\n\n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

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@article {Wisspeintner:EtAl:2009:RoboCupAtHomeScientificCompetitionBenchmarking,\n        title = {RoboCup@Home: Scientific Competition and Benchmarking for Domestic Service Robots},\n        journal = {Interaction Studies},\n        volume = {10},\n        number = {3},\n        year = {2009},\n        pages = {392--426},\n        publisher = {John Benjamin Publishing},\n        abstract = {Being part of the RoboCup initiative, the RoboCup@Home league targets the development and deployment of autonomous service and assistive robot technology being essential for future personal domestic applications.  The domain of domestic service and assistive robotics implicates a wide range of possible problems. The primary reasons for this include the large amount of uncertainty in the dynamic and non-standardized environments of the real world, and the related human interaction. Furthermore, the application\r\norientation requires a large effort towards high level integration combined with a demand for general robustness of the systems. This article details the need for interdisciplinary community effort to iteratively identify related problems, to define benchmarks, to test and, finally, to solve the problems. The concepts and the implementation of the RoboCup@Home initiative as a combination of scientific exchange and competition is presented as an efficient method to accelerate and focus technological and scientific progress in the domain of domestic service robots. Finally, the progress in terms of performance increase in the benchmarks and\r\ntechnological advancements is evaluated and discussed.},\n        keywords = {AtHome, Benchmarking, Domestic Service Robotics, RoboCup, RoboCup@Home, Scientific Competition},\n        doi = {10.1075/is.10.3.06wis},\n        author = {Wisspeintner, Thomas and van der Zant, Tijn and Iocchi, Luca and Schiffer, Stefan}\n}\n

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\n \n\n \n \n \n \n \n \n Robust Collision Avoidance in Unknown Domestic Environments.\n \n \n \n \n\n\n \n Jacobs, S.; Ferrein, A.; Schiffer, S.; Beck, D.; and Lakemeyer, G.\n\n\n \n\n\n\n In Baltes, J.; Lagoudakis, M. G.; Naruse, T.; and Saeed Shiry Ghidary, undefined, editor(s), RoboCup 2009: Robot Soccer World Cup XIII, volume 5949, of Lecture Notes in Computer Science, pages 116–127, Graz, Austria, 2009. Springer, Springer\n \n\n\n\n
\n\n\n\n \n \n $\"Robust$ paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

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@inproceedings {Jacobs:EtAl:2009:RoboCupAtHomeColli,\n        title = {Robust Collision Avoidance in Unknown Domestic Environments},\n        booktitle = {RoboCup 2009: Robot Soccer World Cup XIII},\n        series = {Lecture Notes in Computer Science},\n        volume = {5949},\n        year = {2009},\n        pages = {116--127},\n        publisher = {Springer},\n        organization = {Springer},\n        address = {Graz, Austria},\n        keywords = {Collision Avoidance, Domestic Service Robotics, Mobile Robots, Navigation},\n        isbn = {978-3-642-11875-3},\n        issn = {0302-9743 (Print) 1611-3349 (Online)},\n        doi = {10.1007/978-3-642-11876-0_11},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/robocup2009colli.pdf},\n        author = {Jacobs, Stefan and Ferrein, Alexander and Schiffer, Stefan and Beck, Daniel and Lakemeyer, Gerhard},\n        editor = {Jacky Baltes and Michail G. Lagoudakis and Tadashi Naruse and Saeed Shiry Ghidary,}\n}\n

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\n \n\n \n \n \n \n \n \n A Semantical Account of Progression in the Presence of Defaults.\n \n \n \n \n\n\n \n Lakemeyer, G.; and Levesque, H. J.\n\n\n \n\n\n\n In Twenty-first International Joint Conference on Artificial Intelligence (IJCAI-09), Pasadena, USA, 2009. AAAI Press, AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"A$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings { LakemeyerLevesque:IJCAI2009:Progression,\n        title = {A Semantical Account of Progression in the Presence of Defaults},\n        booktitle = {Twenty-first International Joint Conference on Artificial Intelligence (IJCAI-09)},\n        year = {2009},\n        publisher = {AAAI Press},\n        organization = {AAAI Press},\n        address = {Pasadena, USA},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/LakLev_Progression_ijcai09.pdf},\n        author = {Lakemeyer, Gerhard and Levesque, Hector J.}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n A Lua-based Behavior Engine for Controlling the Humanoid Robot Nao.\n \n \n \n\n\n \n Niemueller, T.; Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n In RoboCup Symposium 2009, Graz, Austria, 2009. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@InProceedings{BehaviorEngine,\n  title =\t{{A Lua-based Behavior Engine for Controlling the Humanoid Robot Nao}},\n  author =\t{Tim Niemueller and Alexander Ferrein and Gerhard Lakemeyer},\n  booktitle =\t{RoboCup Symposium 2009},\n  year =\t{2009},\n  address =\t{Graz, Austria},\n}\n\n

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\n \n 2008\n \n \n (11)\n \n \n

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\n \n\n \n \n \n \n \n \n A Logic for Non-Terminating Golog Programs.\n \n \n \n \n\n\n \n Claßen, J.; and Lakemeyer, G.\n\n\n \n\n\n\n In Brewka, G.; and Lang, J., editor(s), Proceedings of the 11th International Conference on the Principles of Knowledge Representation and Reasoning (KR 2008), pages 589–599, 2008. AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"A$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@INPROCEEDINGS{ClaLak:KR2008,\n  title     = {A Logic for Non-Terminating {G}olog Programs},\n  author    = {Jens Cla{\\ss}en and Gerhard Lakemeyer},\n  booktitle = {Proceedings of the 11th International Conference on the\n                  Principles of Knowledge Representation and Reasoning\n                  (KR 2008)},\n  year      = {2008},\n  editor    = {Gerhard Brewka and J{\\'e}r{\\^o}me Lang},\n  pages     = {589--599},\n  publisher = {AAAI Press},\n  abstract  = {Typical Golog programs for robot control are\n                  nonterminating. Analyzing such programs so far\n                  requires meta-theoretic arguments involving complex\n                  fix-point constructions. In this paper we propose a\n                  logic based on the situation calculus variant ES,\n                  which includes elements from branching time, dynamic\n                  and process logics and where the meaning of programs\n                  is modelled as possibly infinite sequences of\n                  actions. We show how properties of non-terminating\n                  programs can be formulated in the logic and, for a\n                  subset of it, how existing ideas from symbolic model\n                  checking in temporal logic can be applied to\n                  automatically verify program properties.},\n  url       = {http://kbsg.rwth-aachen.de/~classen/pub/ClassenLakemeyer2008.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Integrating Golog and Planning: An Empirical Evaluation.\n \n \n \n \n\n\n \n Claßen, J.; Engelmann, V.; Lakemeyer, G.; and Röger, G.\n\n\n \n\n\n\n In Pagnucco, M.; and Thielscher, M., editor(s), Proceedings of the 12th International Workshop on Nonmonotonic Reasoning (NMR 2008), of School of Computer Science and Engineering, The University of New South Wales, Technical Report Series, pages 10–18, 2008. \n \n\n\n\n
\n\n\n\n \n \n $\"Integrating$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@INPROCEEDINGS{ClaEngLakRoe:NMR2008,\n  title     = {Integrating {G}olog and Planning: An Empirical Evaluation},\n  author    = {Jens Cla{\\ss}en and Viktor Engelmann and Gerhard\n                  Lakemeyer and Gabriele R{\\"o}ger},\n  booktitle = {Proceedings of the 12th International Workshop on\n                  Nonmonotonic Reasoning (NMR 2008)},\n  year      = {2008},\n  editor    = {Maurice Pagnucco and Michael Thielscher},\n  pages     = {10--18},\n  series    = {School of Computer Science and Engineering, The\n                  University of New South Wales, Technical Report\n                  Series},\n  number    = {UNSW-CSE-TR-0819},\n  abstract  = {The Golog family of action languages has proven to be a\n                  useful means for the high-level control of\n                  autonomous agents, such as mobile robots. In\n                  particular, the IndiGolog variant, where programs\n                  are executed in an online manner, is applicable in\n                  realistic scenarios where agents possess only\n                  incomplete knowledge about the state of the world,\n                  have to use sensors to gather necessary information\n                  at runtime and need to react to spontaneous,\n                  exogenous events that happen unpredictably due to a\n                  dynamic environment. Often, the specification of\n                  such an agent{\\textquoteright}s program also\n                  involves that certain subgoals have to be solved by\n                  means of planning. IndiGolog supports this in\n                  principle by providing a variety of lookahead\n                  mechanisms, but when it comes to pure, sequential\n                  planning, these usually cannot compete with modern\n                  state-of-the-art planning systems, most of which\n                  being based on the Planning Domain Definition\n                  Language PDDL. Previous theoretical results provide\n                  insights on the semantical compatibility between\n                  Golog and PDDL and how they compare in terms of\n                  expressiveness. In this paper, we complement these\n                  results with an empirical evaluation that shows that\n                  equipping IndiGolog with a PDDL planner (FF in our\n                  case) pays off in terms of the runtime performance\n                  of the overall system. For that matter, we study a\n                  number of example application domains and compare\n                  the needed computation times for varying problem\n                  sizes and difficulties.},\n  url       = {http://kbsg.rwth-aachen.de/~classen/pub/ClassenEtAl2008.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n A Fuzzy Set Semantics for Qualitative Fluents in the Situation Calculus.\n \n \n \n \n\n\n \n Ferrein, A.; Schiffer, S.; and Lakemeyer, G.\n\n\n \n\n\n\n Volume 5314 of Lecture Notes in Computer Science. A Fuzzy Set Semantics for Qualitative Fluents in the Situation Calculus, pages 498–509. Xiong, X.; Liu, H.; Huang, Y.; and Xiong, Y., editor(s). Springer, Wuhan, China, October 15-17 2008.\n \n\n\n\n
\n\n\n\n \n \n $\"A$ paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inbook {Ferrein:Schiffer:Lakemeyer:2008:FuzzyLogicSemanticsSituationCalculus,\n        title = {A Fuzzy Set Semantics for Qualitative Fluents in the Situation Calculus},\n        booktitle = {International Conference on Intelligent Robotics and Applications (ICIRA)},\n        series = {Lecture Notes in Computer Science},\n        volume = {5314},\n        year = {2008},\n        month = {October 15-17},\n        pages = {498--509},\n        publisher = {Springer},\n        organization = {Springer},\n        type = {inproceedings},\n        address = {Wuhan, China},\n        abstract = {Specifying the behavior of an intelligent autonomous robot or agent is a non-trivial task. The question is: how can the knowledge of the domain expert be encoded in the agent program? Qualitative representations in general facilitate to express the knowledge of a domain expert. In this paper, we propose a semantics for qualitative fluents in the situation calculus. Our semantics is based on fuzzy sets. Membership functions define to which degree a qualitative fluent belongs to a particular category. Especially intriguing about a fuzzy logic semantic for qualitative fluents is that the qualitative ranges may overlap, and a value can, at the same time, fall into several categories.},\n        isbn = {978-3-540-88512-2},\n        doi = {10.1007/978-3-540-88513-9_54},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/icira2008fuzzy.pdf},\n        author = {Ferrein, Alexander and Schiffer, Stefan and Lakemeyer, Gerhard},\n        editor = {Xaihua Xiong and Honghai Liu and Yongan Huang and Youlun Xiong}\n}\n

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\n \n\n \n \n \n \n \n \n Approaching a formal soccer theory from behaviour specifications in robotic soccer.\n \n \n \n \n\n\n \n Dylla, F.; Ferrein, A.; Lakemeyer, G.; Murray, J.; Obst, O.; Röfer, T.; Schiffer, S.; Stolzenburg, F.; Visser, U.; and Wagner, T.\n\n\n \n\n\n\n of Computer in SportsWIT Press, 2008.\n \n\n\n\n
\n\n\n\n \n \n $\"Approaching$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@book {DFL+2008Approaching,\n        title = {Approaching a formal soccer theory from behaviour specifications in robotic soccer},\n        series = {Computer in Sports},\n        year = {2008},\n        pages = {161--185},\n        publisher = {WIT Press},\n        organization = {WIT Press},\n        isbn = {978-1845640644},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/dfl+2008approaching.pdf},\n        author = {Dylla, Frank and Ferrein, Alexander and Lakemeyer, Gerhard and Murray, Jan and Obst, Oliver and R{\\"o}fer, Thomas and Schiffer, Stefan and Stolzenburg, Frieder and Visser, Ubbo and Wagner, Thomas},\n        editor = {Dabnicki, Peter and Baca, Arnold}\n}\n

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\n \n\n \n \n \n \n \n \n First-Order Strong Progression for Local-Effect Basic Action Theories.\n \n \n \n \n\n\n \n Vassos, S.; Lakemeyer, G.; and Levesque, H. J.\n\n\n \n\n\n\n In 11th International Conference on the Principles of Knowledge Representation and Reasoning (KR 2008), Sydney, Australia, 2008. AAAI Press, AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"First-Order$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings { VassosEtAl:KR2008:LocalEffect,\n        title = {First-Order Strong Progression for Local-Effect Basic Action Theories},\n        booktitle = {11th International Conference on the Principles of Knowledge Representation and Reasoning (KR 2008)},\n        year = {2008},\n        publisher = {AAAI Press},\n        organization = {AAAI Press},\n        address = {Sydney, Australia},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/localeffect.pdf},\n        author = {Stavros Vassos and Lakemeyer, Gerhard and Hector J. Levesque}\n}\n

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\n \n\n \n \n \n \n \n \n Logic-based Robot Control in Highly Dynamic Domains.\n \n \n \n \n\n\n \n Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n Robotics and Autonomous Systems, 56(11): 980–991. 2008.\n \n\n\n\n
\n\n\n\n \n \n $\"Logic-based$ Paper\n \n \n \n $\"Logic-based$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@article {KBSG_138,\n        title = {Logic-based Robot Control in Highly Dynamic Domains},\n        journal = {Robotics and Autonomous Systems},\n        volume = {56},\n        number = {11},\n        year = {2008},\n        pages = {980--991},\n        publisher = {Elsevier},\n        url = {http://www.sciencedirect.com/science?_ob=ArticleURL\\&_udi=B6V16-4T9M640-2\\&_user=929460\\&_rdoc=1\\&_fmt=\\&_orig=search\\&_sort=d\\&view=c\\&_version=1\\&_urlVersion=0\\&_userid=929460\\&md5=0ad53c930e49bce2e7b20c5c38cfce3c},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/readylog.pdf},\n        author = {Ferrein, Alexander and Lakemeyer, Gerhard}\n}\n

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\n \n\n \n \n \n \n \n \n .\n \n \n \n \n\n\n \n Mies, C.; Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n Volume 5243 of Lecture Notes in Computer Science. Repairing Decision-theoretic Policies Using Goal-oriented Planning, pages 267–275. Dengel, A.; Berns, K.; Breuel, T. M.; Bomarius, F.; and Roth-Berghofer, T., editor(s). Springer, 2008.\n \n\n\n\n
\n\n\n\n \n \n $\"Repairing$ Paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inbook {KBSG_140,\n        title = {Repairing Decision-theoretic Policies Using Goal-oriented Planning},\n        booktitle = {KI 2008: Advances in Artificial Intelligence, 31st Annual German Conference on AI, KI 2008},\n        series = {Lecture Notes in Computer Science},\n        volume = {5243},\n        year = {2008},\n        pages = {267--275},\n        publisher = {Springer},\n        organization = {Springer},\n        isbn = {978-3-540-85844-7},\n        doi = {10.1007/978-3-540-85845-4_33},\n        url = {http://www.springerlink.com/content/x1656213648x1h34/},\n        author = {Christoph Mies and Ferrein, Alexander and Lakemeyer, Gerhard},\n        editor = {Andreas Dengel and Karsten Berns and Thomas M. Breuel and Frank Bomarius and Thomas Roth-Berghofer}\n}\n

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\n \n\n \n \n \n \n \n \n Robot Controllers for Highly-Dynamic Environments with Real-time Constraints.\n \n \n \n \n\n\n \n Ferrein, A.\n\n\n \n\n\n\n Doctoral Dissertation, RWTH Aachen University, 2008.\n \n\n\n\n
\n\n\n\n \n \n $\"Robot$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@mastersthesis { Ferrein:2008:Diss,\n        title = {Robot Controllers for Highly-Dynamic Environments with Real-time Constraints},\n        year = {2008},\n        school = {RWTH Aachen University},\n        type = {Doctoral Dissertation},\n        url = {http://darwin.bth.rwth-aachen.de/opus3/volltexte/2008/2172/pdf/Ferrein_Alexander.pdf },\n        author = {Ferrein, A.}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n A Simulation Environment for Middle-size Robots with Multi-level Abstraction.\n \n \n \n \n\n\n \n Beck, D.; Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n Volume 5001 of Lecture Notes in Computer Science. A Simulation Environment for Middle-size Robots with Multi-level Abstraction, pages 136–147. Visser, U.; Ribeiro, F.; Ohashi, T.; and Dellaert, F., editor(s). Springer, Atlanta, USA, 2008.\n \n\n\n\n
\n\n\n\n \n \n $\"A$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inbook {KBSG_19,\n        title = {A Simulation Environment for Middle-size Robots with Multi-level Abstraction},\n        booktitle = {RoboCup 2007: Robot Soccer World Cup XI},\n        series = {Lecture Notes in Computer Science},\n        volume = {5001},\n        year = {2008},\n        pages = {136--147},\n        publisher = {Springer},\n        organization = {Springer},\n        type = {inproceedings},\n        address = {Atlanta, USA},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/BeckFerreinLakemeyer2007Simulation.pdf},\n        author = {Beck, Daniel and Ferrein, Alexander and Lakemeyer, Gerhard},\n        editor = {Visser, Ubbo and Fernando Ribeiro and Takeshi Ohashi and Frank Dellaert}\n}\n

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\n \n\n \n \n \n \n \n \n Randomized Trees for Real-Time One-Step Face Detection and Recognition.\n \n \n \n \n\n\n \n Belle, V.; Deselaers, T.; and Schiffer, S.\n\n\n \n\n\n\n In Proceedings of the 19th International Conference on Pattern Recognition (ICPR'08), pages 1–4, Tampa, Florida, USA, December 8-11 2008. IEEE Computer Society, IEEE Computer Society\n \n\n\n\n
\n\n\n\n \n \n $\"Randomized$ paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 15 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

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@inproceedings {Belle:Deselaers:Schiffer:ICPR:2008:RandomForestFacer,\n        title = {Randomized Trees for Real-Time One-Step Face Detection and Recognition},\n        booktitle = {Proceedings of the 19th International Conference on Pattern Recognition (ICPR'08)},\n        year = {2008},\n        month = {December 8-11},\n        pages = {1--4},\n        publisher = {IEEE Computer Society},\n        organization = {IEEE Computer Society},\n        type = {inproceedings},\n        address = {Tampa, Florida, USA},\n        abstract = {We present a system for detecting and recognizing faces in images in real-time which is able to learn new identities in instants.  In mobile service robotics, interaction with persons is becoming increasingly important, real-time performance is required and the introduction of new persons is a necessary feature for many applications.  Although face detection and face recognition are well studied, only a few papers address both problems jointly and only few systems are able to learn to identify new persons quickly.  To achieve real-time performance on modest computing hardware, we use random forests for both detection and recognition, and compare with well-known techniques such as boosted face detection and support vector machines for identification. Results are presented on different datasets and compare favorably well to\r\ncompetitive methods.},\n        keywords = {Face Detection, face recognition, Human-Robot Interaction, Random Forests, RoboCup@Home},\n        isbn = {978-1-4244-2175-6},\n        doi = {10.1109/ICPR.2008.4761365},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/icpr2008rff.pdf},\n        author = {Belle, Vaishak and Deselaers, Thomas and Schiffer, Stefan}\n}\n\n

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\n \n\n \n \n \n \n \n \n A Robust Speech Recognition System for Service-Robotics Applications.\n \n \n \n \n\n\n \n Doostdar, M.; Schiffer, S.; and Lakemeyer, G.\n\n\n \n\n\n\n In RoboCup Symposium 2008, volume 5399, pages 1–12, Suzhou, China, 2008. \n Best Student Paper Award\n\n\n\n
\n\n\n\n \n \n $\"A$ paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

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@inproceedings {Doostdar:Schiffer:Lakemeyer:2008:RoiSpeR,\n        title = {A Robust Speech Recognition System for Service-Robotics Applications},\n        booktitle = {RoboCup Symposium 2008},\n        volume = {5399},\n        year = {2008},\n        note = {Best Student Paper Award},\n        pages = {1--12},\n        address = {Suzhou, China},\n        abstract = {Mobile service robots in human environments need to have versatile abilities to perceive and to interact with their environment.  Spoken language is a natural way to interact with a robot, in general, and to instruct it, in particular. However, most existing speech recognition systems often suffer from high environmental noise present in the target domain and they require in-depth knowledge of the underlying theory in case of necessary adaptation to reach the desired accuracy.  We propose and evaluate an architecture for a robust speaker independent speech recognition system using off-the-shelf technology and simple additional methods. We first use close speech detection to segment closed utterances which alleviates the recognition process. By further utilizing a combination of an FSG based and an $N$-gram based speech decoder we reduce false positive recognitions while achieving high accuracy.},\n        keywords = {Domestic Service Robotics, RoboCup@Home, Robust, Speech Recognition},\n        isbn = {978-3-642-02920-2},\n        issn = {0302-9743 (Print) 1611-3349 (Online)},\n        doi = {10.1007/978-3-642-02921-9_1},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/RoiSpeR_camera.pdf},\n        author = {Masrur Doostdar and Schiffer, Stefan and Lakemeyer, Gerhard}\n}\n\n

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\n \n\n \n \n \n \n \n \n A Situation-Calculus Semantics for an Expressive Fragment of PDDL.\n \n \n \n \n\n\n \n Claßen, J.; Hu, Y.; and Lakemeyer, G.\n\n\n \n\n\n\n In Howe, A.; and Holt, R., editor(s), Proceedings of the 22nd Conference on Artificial Intelligence (AAAI 2007), pages 956–961, 2007. AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"A$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@INPROCEEDINGS{ClaHuLak:AAAI2007,\n  title     = {A Situation-Calculus Semantics for an Expressive\n                  Fragment of {PDDL}},\n  author    = {Jens Cla{\\ss}en and Yuxiao Hu and Gerhard Lakemeyer},\n  booktitle = {Proceedings of the 22nd Conference on Artificial\n                  Intelligence (AAAI 2007)},\n  year      = {2007},\n  editor    = {Adele Howe and Robert Holt},\n  pages     = {956--961},\n  publisher = {AAAI Press},\n  abstract  = {The Planning Domain Definition Language (PDDL) has\n                  become a common language to specify planning\n                  problems, facilitating the formulation of benchmarks\n                  and a direct comparison of planners. Over the years\n                  PDDL has been extended beyond STRIPS and ADL in\n                  various directions, for example, by adding time and\n                  concurrent actions. The current semantics of PDDL is\n                  purely meta-theoretic and quite complex, which makes\n                  an analysis difficult. Moreover, relating the\n                  language to other action formalisms is also\n                  nontrivial. We propose an alternative semantics for\n                  an expressive fragment of PDDL within the situation\n                  calculus. This yields at least two advantages. For\n                  one, the new semantics is purely declarative, making\n                  it amenable to an analysis in terms of logical\n                  entailments. For another, it facilitates the\n                  comparison with and mapping to other formalisms that\n                  are defined on top of the same logic, such as the\n                  agent control language Golog. In particular we\n                  obtain the semantical foundation for embedding\n                  efficient PDDL-based planners into the more\n                  expressive, yet computationally expensive Golog,\n                  thus combining the benefits of both. Other\n                  by-products of our investigations are a simpler\n                  account of durative actions in the situation\n                  calculus and a new notion of compulsory actions.},\n  url       = {http://kbsg.rwth-aachen.de/~classen/pub/ClassenHuLakemeyer2007.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Towards an Integration of Golog and Planning.\n \n \n \n \n\n\n \n Claßen, J.; Eyerich, P.; Lakemeyer, G.; and Nebel, B.\n\n\n \n\n\n\n In Veloso, M. M., editor(s), Proceedings of the 20th International Joint Conference on Artificial Intelligence (IJCAI 2007), pages 1846–1851, 2007. AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"Towards$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@INPROCEEDINGS{ClaEyeLakNeb:IJCAI2007,\n  title     = {Towards an Integration of {G}olog and Planning},\n  author    = {Jens Cla{\\ss}en and Patrick Eyerich and Gerhard\n                  Lakemeyer and Bernhard Nebel},\n  booktitle = {Proceedings of the 20th International Joint Conference\n                  on Artificial Intelligence (IJCAI 2007)},\n  year      = {2007},\n  editor    = {Manuela M. Veloso},\n  pages     = {1846--1851},\n  publisher = {AAAI Press},\n  abstract  = {The action language Golog has been applied successfully\n                  to the control of robots, among other\n                  things. Perhaps its greatest advantage is that a\n                  user can write programs which constrain the search\n                  for an executable plan in a flexible\n                  manner. However, when general planning is needed,\n                  Golog supports this only in principle, but does not\n                  measure up with state-of-the-art planners. In this\n                  paper we propose an integration of Golog and\n                  planning in the sense that planning problems,\n                  formulated as part of a Golog program, are solved by\n                  a modern planner during the execution of the\n                  program. Here we focus on the ADL subset of the plan\n                  language PDDL. First we show that the semantics of\n                  ADL can be understood as progression in the\n                  situation calculus, which underlies Golog, thus\n                  providing us with a correct embedding of ADL within\n                  Golog. We then show how Golog can be integrated with\n                  an existing ADL planner for closed-world initial\n                  databases and compare the performance of the\n                  resulting system with the original Golog.},\n  url       = {http://kbsg.rwth-aachen.de/~classen/pub/ClassenEtAl2007.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Azimuthal sound localization using coincidence of timing across frequency on a robotic platform.\n \n \n \n \n\n\n \n Calmes, L.; Lakemeyer, G.; and Wagner, H.\n\n\n \n\n\n\n Journal of the Acoustical Society of America, 121(4): 2034–2048. 2007.\n \n\n\n\n
\n\n\n\n \n \n $\"Azimuthal$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

\n

@article { CalmesEtAl:ASA2007:SoundLocalization,\n        title = {Azimuthal sound localization using coincidence of timing across frequency on a robotic platform},\n        journal = {Journal of the Acoustical Society of America},\n        volume = {121},\n        number = {4},\n        year = {2007},\n        pages = {2034--2048},\n        type = {article},\n        address = {ASA},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/calmes2007jasa.pdf},\n        author = {Calmes, Laurent and Lakemeyer, Gerhard and Wagner, Hermann}\n}\n

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\n \n\n \n \n \n \n \n \n Cognitive Robotics.\n \n \n \n \n\n\n \n Levesque, H. J.; and Lakemeyer, G.\n\n\n \n\n\n\n of Handbook of Knowledge RepresentationElsevier, 2007.\n \n\n\n\n
\n\n\n\n \n \n $\"Cognitive$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@book {KBSG_56,\n        title = {Cognitive Robotics},\n        series = {Handbook of Knowledge Representation},\n        year = {2007},\n        publisher = {Elsevier},\n        organization = {Elsevier},\n        type = {incollection},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/CogRobKRHandbook.pdf},\n        author = {Levesque, Hector J. and Lakemeyer, Gerhard},\n        editor = {Frank van Harmelen and Vladimir Lifschitz and Bruce Porter}\n}\n

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\n \n\n \n \n \n \n \n \n ESP: A Logic of Only-Knowing, Noisy Sensing and Acting.\n \n \n \n \n\n\n \n Gabaldon, A.; and Lakemeyer, G.\n\n\n \n\n\n\n In Twenty-Second Conference on Artificial Intelligence (AAAI-07), 2007. AAAI Press, AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"ESP:$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {KBSG_12,\n        title = {ESP: A Logic of Only-Knowing, Noisy Sensing and Acting},\n        booktitle = {Twenty-Second Conference on Artificial Intelligence (AAAI-07)},\n        year = {2007},\n        publisher = {AAAI Press},\n        organization = {AAAI Press},\n        type = {inproceedings},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/GabaldonLakemeyer2007ESP.pdf},\n        author = {Gabaldon, Alfredo and Lakemeyer, Gerhard}\n}\n

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\n \n\n \n \n \n \n \n \n .\n \n \n \n \n\n\n \n Böhnstedt, L.; Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n Volume 4667 of Lecture Notes in Computer Science. Options in readylog reloaded – generating decision-theoretic plan libraries in golog, pages 352–366. Hertzberg, J.; Beetz, M.; and Englert, R., editor(s). Springer Verlag, Joachim Hertzberg; Michel Beetz; Roman Englert edition, 2007.\n \n\n\n\n
\n\n\n\n \n \n $\"Options$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inbook {KBSG_125,\n        title = {Options in readylog reloaded -- generating decision-theoretic plan libraries in golog},\n        booktitle = {KI 2007: Advances in Artificial Intelligence, 30th Annual German Conference on AI, KI 2007},\n        series = {Lecture Notes in Computer Science},\n        volume = {4667},\n        year = {2007},\n        pages = {352--366},\n        publisher = {Springer Verlag},\n        organization = {Springer Verlag},\n        edition = {Joachim Hertzberg; Michel Beetz; Roman Englert},\n        isbn = {978-3-540-74564-8},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/BoehnstedtFerreinLakemeyer-KI07.pdf},\n        author = {B{\\"o}hnstedt, Lutz and Ferrein, Alexander and Lakemeyer, Gerhard},\n        editor = {Joachim Hertzberg and Beetz, Michael and Roman Englert}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Combining Sound Localization and Laser based Object Recognition.\n \n \n \n \n\n\n \n Calmes, L.; Wagner, H.; Schiffer, S.; and Lakemeyer, G.\n\n\n \n\n\n\n In Adriana Tapus, M. M.; and Sabanovic, S., editor(s), AAAI Spring Symposium, of Papers from the AAAI Spring Symposium, pages 1-6, Stanford CA, USA, 2007. AAAI Press, AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"Combining$ website\n \n \n \n $\"Combining$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

\n

@inproceedings {Calmes:Wagner:Schiffer:Lakemeyer:2007:AAAI-SS:SouLabOR,\n        title = {Combining Sound Localization and Laser based Object Recognition},\n        booktitle = {AAAI Spring Symposium},\n        series = {Papers from the AAAI Spring Symposium},\n        year = {2007},\n        pages = {1-6},\n        publisher = {AAAI Press},\n        organization = {AAAI Press},\n        type = {inproceedings},\n        address = {Stanford CA, USA},\n        abstract = {Mobile robots, in general, and service robots in human environments, in particular, need to have versatile abilities to perceive and interact with their environment. Biologically inspired sound source localization is an interesting ability for such a robot. When combined with other sensory input both the sound localization and the general interaction abilities can be improved. In particular, spatial filtering can be used to improve the signal-to-noise ratio of speech signals emanating from a given direction in order to enhance speech recognition abilities. In this paper we investigate and discuss the combination of sound source localization and laser-based object recognition on a mobile robot.},\n        keywords = {Domestic Service Robotics, Human-Robot Interaction, Laser-based Object Detection, RoboCup@Home, Sound Source Localization},\n        isbn = {978-1-57735-316-4},\n        url_Website = {http://robocup.rwth-aachen.de/soulabor},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/calmes2007soulabor.pdf},\n        author = {Calmes, Laurent and Wagner, Hermann and Schiffer, Stefan and Lakemeyer, Gerhard},\n        editor = {Adriana Tapus, Marek Michalowski, and Selma Sabanovic}\n}\n\n

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\n \n 2006\n \n \n (10)\n \n \n

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\n \n\n \n \n \n \n \n \n Golog and PDDL: What is the Relative Expressiveness?.\n \n \n \n \n\n\n \n Eyerich, P.; Nebel, B.; Lakemeyer, G.; and Claßen, J.\n\n\n \n\n\n\n In Chen, X.; Liu, W.; and Williams, M., editor(s), Proceedings of the 2006 International Symposium on Practical Cognitive Agents and Robots (PCAR 2006), pages 93–104, 2006. University of Western Australia Press\n \n\n\n\n
\n\n\n\n \n \n $\"Golog$ Paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

\n

@INPROCEEDINGS{EyeNebLakCla:PCAR2006,\n  title     = {{G}olog and {PDDL}: What is the Relative Expressiveness?},\n  author    = {Patrick Eyerich and Bernhard Nebel and Gerhard\n                  Lakemeyer and Jens Cla{\\ss}en},\n  booktitle = {Proceedings of the 2006 International Symposium on\n                  Practical Cognitive Agents and Robots (PCAR 2006)},\n  year      = {2006},\n  editor    = {Xiaoping Chen and Wei Liu and Mary-Anne Williams},\n  pages     = {93--104},\n  publisher = {University of Western Australia Press},\n  doi       = {10.1145/1232425.1232440},\n  abstract  = {Action formalisms such as GOLOG or FLUX have been\n                  developed primarily for representing and reasoning\n                  about change in a logical framework. For this\n                  reason, expressivity was the main goal in the\n                  development of these formalisms. In another line of\n                  research, efficiency of planning methods was the\n                  top-most goal resulting in the basic STRIPS\n                  language, which has only moderate expressivity. The\n                  planning language PDDL developed since 1998 is an\n                  extension of basic STRIPS with many expressive\n                  features. Now the interesting question is how PDDL\n                  compares to GOLOG or other action languages from an\n                  expressivity point of view. We will show that a\n                  GOLOG fragment, which we call Restricted Basic\n                  Action Theories, is as expressive as the ADL\n                  fragment of PDDL. To prove this equivalence we use\n                  the compilation framework. From a practical point of\n                  view, this result can be used for employing\n                  efficient planners inside a GOLOG interpreter.},\n  url       = {http://kbsg.rwth-aachen.de/~classen/pub/EyerichEtAl2006.pdf}\n}\n\n

\n

\n\n\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n A Semantics for ADL as Progression in the Situation Calculus.\n \n \n \n \n\n\n \n Claßen, J.; and Lakemeyer, G.\n\n\n \n\n\n\n In Dix, J.; and Hunter, A., editor(s), Proceedings of the 11th Workshop on Nonmonotonic Reasoning (NMR 2006), pages 334–341, 2006. Institut für Informatik, TU Clausthal\n \n\n\n\n
\n\n\n\n \n \n $\"A$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

\n

@INPROCEEDINGS{ClaLak:NMR2006,\n  title     = {A Semantics for {ADL} as Progression in the Situation\n                  Calculus},\n  author    = {Jens Cla{\\ss}en and Gerhard Lakemeyer},\n  booktitle = {Proceedings of the 11th Workshop on Nonmonotonic\n                  Reasoning (NMR 2006)},\n  year      = {2006},\n  editor    = {J{\\"u}rgen Dix and Anthony Hunter},\n  pages     = {334--341},\n  publisher = {Institut f{\\"u}r Informatik, TU Clausthal},\n  abstract  = {Lin and Reiter were the first to propose a purely\n                  declarative semantics of STRIPS by relating the\n                  update of a STRIPS database to a form of progression\n                  in the situation calculus. In this paper we show\n                  that a corresponding result can be obtained also for\n                  ADL. We do so using a variant of the situation\n                  calculus recently proposed by Lakemeyer and\n                  Levesque. Compared to Lin and Reiter this leads to a\n                  simpler technical treatment, including a new notion\n                  of progression.},\n  url       = {http://kbsg.rwth-aachen.de/~classen/pub/ClassenLakemeyer2006b.pdf}\n}\n\n

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\n\n\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n Foundations for Knowledge-Based Programs using ES.\n \n \n \n \n\n\n \n Claßen, J.; and Lakemeyer, G.\n\n\n \n\n\n\n In Doherty, P.; Mylopoulos, J.; and Welty, C. A., editor(s), Proceedings of the 10th Conference on Principles of Knowledge Representation and Reasoning (KR 2006), pages 318–328, 2006. AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"Foundations$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

\n

@INPROCEEDINGS{ClaLak:KR2006,\n  title     = {Foundations for Knowledge-Based Programs using {ES}},\n  author    = {Jens Cla{\\ss}en and Gerhard Lakemeyer},\n  booktitle = {Proceedings of the 10th Conference on Principles of\n                  Knowledge Representation and Reasoning (KR 2006)},\n  year      = {2006},\n  editor    = {Patrick Doherty and John Mylopoulos and Christopher\n                  A. Welty},\n  pages     = {318--328}, \n  publisher = {AAAI Press},\n  abstract  = {Reiter proposed a semantics for knowledge-based Golog\n                  programs with sensing where program execution can be\n                  conditioned on tests involving explicit references\n                  to what the agent knows and does not know. An\n                  important result of this work is that reasoning\n                  about knowledge after the execution of actions can\n                  be reduced to classical reasoning from an initial\n                  first-order theory.  However, it is limited in that\n                  tests can only refer to what is known about the\n                  current state, knowledge about knowledge is not\n                  considered, and the reduction does not apply to\n                  formulas with quantifying-in. This is in large part\n                  due to the choice of the underlying formalism, which\n                  is Reiter{\\textquoteright}s version of the situation\n                  calculus. In this paper we show that, by moving to a\n                  new situation calculus recently proposed by\n                  Lakemeyer and Levesque, we cannot only reconstruct\n                  Reiter{\\textquoteright}s foundations for\n                  knowledge-based programs but we can significantly go\n                  beyond them, which includes removing the above\n                  restrictions and more.},\n  url       = {http://kbsg.rwth-aachen.de/~classen/pub/ClassenLakemeyer2006a.pdf}\n}\n

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\n\n\n\n\n\n

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\n \n\n \n \n \n \n \n .\n \n \n \n\n\n \n Ferrein, A.; Hermanns, L.; and Lakemeyer, G.\n\n\n \n\n\n\n Volume 4020 of Lecture Notes in Computer Science. Comparing Sensor Fusion Techniques for Ball Position Estimation, pages 154–165. Bredenfeld, A.; Jacoff, A.; Noda, I.; and Takahashi, Y., editor(s). Springer, 2006.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

\n

@inbook {KBSG_229,\n        title = {Comparing Sensor Fusion Techniques for Ball Position Estimation},\n        booktitle = {RoboCup 2005: Robot Soccer World Cup IX},\n        series = {Lecture Notes in Computer Science},\n        volume = {4020},\n        year = {2006},\n        pages = {154--165},\n        publisher = {Springer},\n        organization = {Springer},\n        author = {Ferrein, Alexander and Lutz Hermanns and Lakemeyer, Gerhard},\n        editor = {Ansgar Bredenfeld and Adam Jacoff and Itsuki Noda and Yasutake Takahashi}\n}\n

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\n \n\n \n \n \n \n \n Fußballroboter - Wissenschaft, die auch Spaß macht.\n \n \n \n\n\n \n Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n RWTH Themen. 2006.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@article {KBSG_231,\n        title = {Fu{\\ss}ballroboter - Wissenschaft, die auch Spa{\\ss} macht},\n        journal = {RWTH Themen},\n        year = {2006},\n        author = {Ferrein, Alexander and Lakemeyer, Gerhard}\n}\n

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\n \n\n \n \n \n \n \n .\n \n \n \n\n\n \n Strack, A.; Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n Volume 4020 of Lecture Notes in Computer Science. Laser-Based Localization with Sparse Landmarks, pages 569–576. Bredenfeld, A.; Jacoff, A.; Noda, I.; and Takahashi, Y., editor(s). Springer, 2006.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inbook {KBSG_230,\n        title = {Laser-Based Localization with Sparse Landmarks},\n        booktitle = {RoboCup 2005: Robot Soccer World Cup IX},\n        series = {Lecture Notes in Computer Science},\n        volume = {4020},\n        year = {2006},\n        pages = {569--576},\n        publisher = {Springer},\n        organization = {Springer},\n        author = {Andreas Strack and Ferrein, Alexander and Lakemeyer, Gerhard},\n        editor = {Ansgar Bredenfeld and Adam Jacoff and Itsuki Noda and Yasutake Takahashi}\n}\n

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\n \n\n \n \n \n \n \n \n Towards an Axiom System for Default Logic.\n \n \n \n \n\n\n \n Lakemeyer, G.; and Levesque, H. J.\n\n\n \n\n\n\n In Proc. AAAI-06, 2006. AAAI Press, AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"Towards$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {KBSG_47,\n        title = {Towards an Axiom System for Default Logic},\n        booktitle = {Proc. AAAI-06},\n        year = {2006},\n        publisher = {AAAI Press},\n        organization = {AAAI Press},\n        type = {inproceedings},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/Lakemeyer2006Towards.pdf},\n        author = {Lakemeyer, Gerhard and Levesque, Hector J.}\n}\n

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\n \n\n \n \n \n \n \n Von Schleiereulen und fußballspielenden Robotern.\n \n \n \n\n\n \n Calmes, L.; Ferrein, A.; Lakemeyer, G.; and Wagner, H.\n\n\n \n\n\n\n RWTH Themen. 2006.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@article {KBSG_232,\n        title = {Von Schleiereulen und fu{\\ss}ballspielenden Robotern},\n        journal = {RWTH Themen},\n        year = {2006},\n        author = {Calmes, Laurent and Ferrein, Alexander and Lakemeyer, Gerhard and Wagner, Hermann}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Football is coming Home.\n \n \n \n \n\n\n \n Schiffer, S.; Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proc. of the International Symposium on Practical Cognitive Agents and Robots, pages 39–50, Perth, Australia, 2006. University of Western Australia Press, University of Western Australia Press\n \n\n\n\n
\n\n\n\n \n \n $\"Football$ paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n\n\n\n

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@inproceedings {Schiffer:Ferrein:Lakemeyer:2006:FootballComingHome,\n        title = {Football is coming Home},\n        booktitle = {Proc. of the International Symposium on Practical Cognitive Agents and Robots},\n        year = {2006},\n        pages = {39--50},\n        publisher = {University of Western Australia Press},\n        organization = {University of Western Australia Press},\n        type = {inproceedings},\n        address = {Perth, Australia},\n        keywords = {Domestic Service Robotics, RoboCup@Home},\n        isbn = {1-74052-130-7},\n        doi = {10.1145/1232425.1232433},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/schiffer2006football.pdf},\n        author = {Schiffer, Stefan and Ferrein, Alexander and Lakemeyer, Gerhard}\n}\n\n

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\n \n\n \n \n \n \n \n \n Qualitative World Models for Soccer Robots.\n \n \n \n \n\n\n \n Schiffer, S.; Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n In Wölfl, S.; and Mossakowski, T., editor(s), Qualitative Constraint Calculi, Workshop at KI 2006, Bremen, pages 3–14, Bremen, Germany, 2006. \n \n\n\n\n
\n\n\n\n \n \n $\"Qualitative$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

\n

@inproceedings {Schiffer:Ferrein:Lakemeyer:2006:KI:QCC,\n        title = {Qualitative World Models for Soccer Robots},\n        booktitle = {Qualitative Constraint Calculi, Workshop at KI 2006, Bremen},\n        year = {2006},\n        pages = {3--14},\n        type = {inproceedings},\n        address = {Bremen, Germany},\n        isbn = {3-88722-666-6},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/schifferFL06kiqcc.pdf},\n        author = {Schiffer, Stefan and Ferrein, Alexander and Lakemeyer, Gerhard},\n        editor = {Stefan W{\\"o}lfl and Till Mossakowski}\n}\n\n

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\n \n 2005\n \n \n (10)\n \n \n

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\n \n\n \n \n \n \n \n \n Comparing Sensor Fusion Techniques for Ball Position Estimation.\n \n \n \n \n\n\n \n Ferrein, A.; Lakemeyer, G.; and Hermanns, L.\n\n\n \n\n\n\n In Proc. RoboCup 2005 Symposium, 2005. \n \n\n\n\n
\n\n\n\n \n \n $\"Comparing$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

\n

@inproceedings {KBSG_9,\n        title = {Comparing Sensor Fusion Techniques for Ball Position Estimation},\n        booktitle = {Proc. RoboCup 2005 Symposium},\n        year = {2005},\n        type = {inproceedings},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/Ferrein2005Comparing.pdf},\n        author = {Ferrein, A. and Lakemeyer, G. and Hermanns, L.}\n}\n

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\n \n\n \n \n \n \n \n Controlling Unreal Tournament 2004 Bots with the logic-based action language Golog.\n \n \n \n\n\n \n Jacobs, S.; Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n In pages 151–152, 2005. AAAI Press\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {KBSG_237,\n        title = {Controlling Unreal Tournament 2004 Bots with the logic-based action language Golog},\n        journal = {Proceedings of the First AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment (AIIDE)},\n        year = {2005},\n        pages = {151--152},\n        publisher = {AAAI Press},\n        author = {Jacobs, Stefan and Ferrein, Alexander and Lakemeyer, Gerhard}\n}\n

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\n \n\n \n \n \n \n \n \n Deliberation in a Metadata Based Modeling and Simulation Environment for Inter Organizational Networks.\n \n \n \n \n\n\n \n Gans, G.; Jarke, M.; Lakemeyer, G.; and Schmitz, D.\n\n\n \n\n\n\n Information Systems, Special Issue on Selected Papers From CAiSE03 Elsevier. 2005.\n \n\n\n\n
\n\n\n\n \n \n $\"Deliberation$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@article {KBSG_28,\n        title = {Deliberation in a Metadata Based Modeling and Simulation Environment for Inter Organizational Networks},\n        journal = {Information Systems, Special Issue on Selected Papers From CAiSE03 Elsevier},\n        year = {2005},\n        type = {article},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/GJLS04InfSys.pdf},\n        author = {Gans, G. and Jarke, M. and Lakemeyer, G. and Schmitz, D.}\n}\n

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\n \n\n \n \n \n \n \n \n Laser-Based Localization with Sparse Landmarks.\n \n \n \n \n\n\n \n Strack, A.; Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proc. RoboCup 2005 Symposium, 2005. \n \n\n\n\n
\n\n\n\n \n \n $\"Laser-Based$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {KBSG_10,\n        title = {Laser-Based Localization with Sparse Landmarks},\n        booktitle = {Proc. RoboCup 2005 Symposium},\n        year = {2005},\n        type = {inproceedings},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/Strack2005LaserBased.pdf},\n        author = {Strack, A. and Ferrein, A. and Lakemeyer, G.}\n}\n

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\n \n\n \n \n \n \n \n \n Only-knowing: taking it beyond autoepistemic reasoning.\n \n \n \n \n\n\n \n Lakemeyer, G.; and Levesque, H. J.\n\n\n \n\n\n\n In Proceedings of the 20th national conference on Artificial intelligence (AAAI-05), volume 2, pages 633–638, 2005. AAAI Press, AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"Only-knowing:$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {KBSG_46,\n        title = {Only-knowing: taking it beyond autoepistemic reasoning},\n        booktitle = {Proceedings of the 20th national conference on Artificial intelligence (AAAI-05)},\n        volume = {2},\n        year = {2005},\n        pages = {633--638},\n        publisher = {AAAI Press},\n        organization = {AAAI Press},\n        type = {inproceedings},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/Lakemeyer2005Onlyknowing1.pdf},\n        author = {Lakemeyer, Gerhard and Levesque, Hector J.}\n}\n\n

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\n \n\n \n \n \n \n \n \n Semantics for a useful fragment of the situation calculus.\n \n \n \n \n\n\n \n Lakemeyer, G.; and Levesque, H. J.\n\n\n \n\n\n\n In Proceedings of the 19th International Joint Conference on Artificial Intelligence (IJCAI-05), pages 490–496, 2005. Morgan Kaufmann Publishers Inc., Morgan Kaufmann Publishers Inc.\n \n\n\n\n
\n\n\n\n \n \n $\"Semantics$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {KBSG_45,\n        title = {Semantics for a useful fragment of the situation calculus},\n        booktitle = {Proceedings of the 19th International Joint Conference on Artificial Intelligence (IJCAI-05)},\n        year = {2005},\n        pages = {490--496},\n        publisher = {Morgan Kaufmann Publishers Inc.},\n        organization = {Morgan Kaufmann Publishers Inc.},\n        type = {inproceedings},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/Lakemeyer2005Semantic.pdf},\n        author = {Lakemeyer, Gerhard and Levesque, Hector J.}\n}\n

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\n \n\n \n \n \n \n \n \n Towards a League-Independent Qualitative Soccer Theory for RoboCup.\n \n \n \n \n\n\n \n Dylla, F.; Ferrein, A.; Lakemeyer, G.; Murray, J.; Obst, O.; Röfer, T.; Stolzenburg, F.; and Visser, U.\n\n\n \n\n\n\n Volume 3276 of Lecture Notes in Computer Science. Towards a League-Independent Qualitative Soccer Theory for RoboCup, pages 611–618. Nardi, D.; Riedmiller, M.; Sammut, C.; and Santos-Victor, J., editor(s). Springer, 2005.\n \n\n\n\n
\n\n\n\n \n \n $\"Towards$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inbook {KBSG_24,\n        title = {Towards a League-Independent Qualitative Soccer Theory for RoboCup},\n        booktitle = {RoboCup 2004: Robot Soccer World Cup VIII},\n        series = {Lecture Notes in Computer Science},\n        volume = {3276},\n        year = {2005},\n        pages = {611--618},\n        publisher = {Springer},\n        organization = {Springer},\n        type = {inproceedings},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/Dylla2004Towards.pdf},\n        author = {Dylla, Frank and Ferrein, Alexander and Lakemeyer, Gerhard and Murray, Jan and Obst, Oliver and R{\\"o}fer, Thomas and Stolzenburg, Frieder and Visser, Ubbo},\n        editor = {Daniele Nardi and Martin Riedmiller and Claude Sammut and Jose Santos-Victor}\n}\n

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\n \n\n \n \n \n \n \n \n Unreal Golog Bots.\n \n \n \n \n\n\n \n Jacobs, S.; Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n In IJCAI-05 Workshop on Reasoning, Representation, and Learning in Computer Games, pages 31–36, 2005. \n \n\n\n\n
\n\n\n\n \n \n $\"Unreal$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {KBSG_238,\n        title = {Unreal Golog Bots},\n        booktitle = {IJCAI-05 Workshop on Reasoning, Representation, and Learning in Computer Games},\n        year = {2005},\n        pages = {31--36},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/Jacobs2005Unreal_0.pdf},\n        author = {Jacobs, Stefan and Ferrein, Alexander and Lakemeyer, Gerhard}\n}\n

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\n \n\n \n \n \n \n \n \n Using Golog for Deliberation and Team Coordination in Robotic Soccer.\n \n \n \n \n\n\n \n Ferrein, A.; Fritz, C.; and Lakemeyer, G.\n\n\n \n\n\n\n KI Künstliche Intelligenz, 19(1): 24–30. 2005.\n \n\n\n\n
\n\n\n\n \n \n $\"Using$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@article {KBSG_8,\n        title = {Using Golog for Deliberation and Team Coordination in Robotic Soccer},\n        journal = {KI K{\\"u}nstliche Intelligenz},\n        volume = {19},\n        number = {1},\n        year = {2005},\n        pages = {24--30},\n        type = {article},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/Ferrein2005Using.pdf},\n        author = {Ferrein, Alexander and Fritz, Christian and Lakemeyer, Gerhard}\n}\n

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\n \n\n \n \n \n \n \n .\n \n \n \n\n\n \n Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n Wie Roboter die Welt sehen, pages 342–343. Beyer, A.; and Lohoff, M., editor(s). Deutscher Kunstverlag/RWTH Aachen, 2005.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inbook {KBSG_234,\n        title = {Wie Roboter die Welt sehen},\n        booktitle = {Bild und Erkenntnis - Formen und Funktionen des Bildes in Wissenschaft und Technik},\n        year = {2005},\n        pages = {342--343},\n        publisher = {Deutscher Kunstverlag/RWTH Aachen},\n        organization = {Deutscher Kunstverlag/RWTH Aachen},\n        author = {Ferrein, Alexander and Lakemeyer, Gerhard},\n        editor = {Andreas Beyer and Markus Lohoff}\n}\n\n\n\n

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\n \n 2004\n \n \n (11)\n \n \n

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\n \n\n \n \n \n \n \n \n Using BPEL Process Descriptions for Building up Strategic Models for Inter-Organizational Networks.\n \n \n \n \n\n\n \n Schmitz, D.; Lakemeyer, G.; Gans, G.; and Jarke, M.\n\n\n \n\n\n\n In International Workshop on Modeling Inter-Organizational Systems (MIOS), Larnaca, Cyprus, October 2004. Springer, LNCS, Springer, LNCS\n \n\n\n\n
\n\n\n\n \n \n $\"Using$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings { SchmitzEtAl:MIOS2004:BPEL,\n        title = {Using BPEL Process Descriptions for Building up Strategic Models for Inter-Organizational Networks},\n        booktitle = {International Workshop on Modeling Inter-Organizational Systems (MIOS)},\n        year = {2004},\n        month = {October},\n        publisher = {Springer, LNCS},\n        organization = {Springer, LNCS},\n        type = {inproceedings},\n        address = {Larnaca, Cyprus},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/Sch04MOIS.pdf},\n        author = {Schmitz, D. and Lakemeyer, G. and Gans, G. and Jarke, M.}\n}\n

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\n \n\n \n \n \n \n \n \n SNet Reloaded: Roles, Monitoring, and Agent Evolution.\n \n \n \n \n\n\n \n Gans, G.; Schmitz, D.; Jarke, M.; and Lakemeyer, G.\n\n\n \n\n\n\n In Giorgini, P.; and Winikoff, M., editor(s), Proceedings of the 6th Workshop on Agent-Oriented Information Systems, AOIS, pages 2–16, New York, USA, July 2004. \n \n\n\n\n
\n\n\n\n \n \n $\"SNet$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings { GansEtAl:AOIS2004:SNetReloaded,\n        title = {SNet Reloaded: Roles, Monitoring, and Agent Evolution},\n        booktitle = {Proceedings of the 6th Workshop on Agent-Oriented Information Systems, AOIS},\n        year = {2004},\n        month = {July},\n        pages = {2--16},\n        type = {inproceedings},\n        address = {New York, USA},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/GSJL04AOIS.pdf},\n        author = {Gans, G. and Schmitz, D. and Jarke, M. and Lakemeyer, G.},\n        editor = {Giorgini,P. and Winikoff,M.}\n}\n

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\n \n\n \n \n \n \n \n \n Learning Decision Trees for Action Selection in Soccer Agents.\n \n \n \n \n\n\n \n Konur, S.; Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proc. of Workshop on Agents in dynamic and real-time environments, 2004. \n \n\n\n\n
\n\n\n\n \n \n $\"Learning$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings { Konur04Learning,\n        title = {Learning Decision Trees for Action Selection in Soccer Agents},\n        booktitle = {Proc. of Workshop on Agents in dynamic and real-time environments},\n        year = {2004},\n        type = {inproceedings},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/Konur2004Learning.pdf},\n        author = {Konur, S. and Ferrein, A. and Lakemeyer, G.}\n}\n

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\n \n\n \n \n \n \n \n \n A Logic of Limited Belief for Reasoning with Disjunctive Information.\n \n \n \n \n\n\n \n Liu, Y.; Lakemeyer, G.; and Levesque, H. J.\n\n\n \n\n\n\n In 9th Conf. on Principles of Knowledge Representation and Reasoning (KR2004), pages 587–597, 2004. AAAI Press, AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"A$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {KBSG_95,\n        title = {A Logic of Limited Belief for Reasoning with Disjunctive Information},\n        booktitle = {9th Conf.  on Principles of Knowledge Representation and Reasoning (KR2004)},\n        year = {2004},\n        pages = {587--597},\n        publisher = {AAAI Press},\n        organization = {AAAI Press},\n        type = {inproceedings},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/LiuKR04LimitedBelief.pdf},\n        author = {Yongmei Liu and Lakemeyer, Gerhard and Levesque, Hector J.}\n}\n

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\n \n\n \n \n \n \n \n \n On-line Decision-Theoretic Golog for Unpredictable Domains.\n \n \n \n \n\n\n \n Ferrein, A.; Fritz, C.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proc. of 4th International Cognitive Robotics Workshop, 2004. \n \n\n\n\n
\n\n\n\n \n \n $\"On-line$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings { FerreinEtAl:CogRob2004:OnlineDT-Golog,\n        title = {On-line Decision-Theoretic Golog for Unpredictable Domains},\n        booktitle = {Proc. of 4th International Cognitive Robotics Workshop},\n        year = {2004},\n        type = {inproceedings},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/Ferrein2004OnlineCogRob.pdf},\n        author = {Ferrein, A. and Fritz, C. and Lakemeyer, G.}\n}\n

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\n \n\n \n \n \n \n \n .\n \n \n \n\n\n \n Ferrein, A.; Fritz, C.; and Lakemeyer, G.\n\n\n \n\n\n\n Volume 3238 of Lecture Notes in Computer Science. On-Line Decision-Theoretic Golog for Unpredictable Domains, pages 322–336. Biundo, S.; Frühwirth, T. W.; and Palm, G., editor(s). Springer, 2004.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inbook {KBSG_235,\n        title = {On-Line Decision-Theoretic Golog for Unpredictable Domains},\n        booktitle = {KI 2004: Advances in Artificial Intelligence, 27th Annual German Conference on AI, KI 2004},\n        series = {Lecture Notes in Computer Science},\n        volume = {3238},\n        year = {2004},\n        pages = {322--336},\n        publisher = {Springer},\n        organization = {Springer},\n        author = {Ferrein, Alexander and Fritz, Christian and Lakemeyer, Gerhard},\n        editor = {Susanne Biundo and Thom W. Fr{\\"u}hwirth and G{\\"u}nther Palm}\n}\n

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\n \n\n \n \n \n \n \n Planwirtschaft.\n \n \n \n\n\n \n Ferrein, A.\n\n\n \n\n\n\n Linux Magazin,50–53. 2004.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@article {KBSG_236,\n        title = {Planwirtschaft},\n        journal = {Linux Magazin},\n        year = {2004},\n        pages = {50--53},\n        author = {Ferrein, Alexander}\n}\n

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\n \n\n \n \n \n \n \n \n Situations, si! Situation Terms, no!.\n \n \n \n \n\n\n \n Lakemeyer, G.; and Levesque, H. J.\n\n\n \n\n\n\n In 9th Conf. on Principles of Knowledge Representation and Reasoning (KR2004), pages 516–526, 2004. AAAI Press, AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"Situations,$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {KBSG_29,\n        title = {Situations, si! Situation Terms, no!},\n        booktitle = {9th Conf. on Principles of Knowledge Representation and Reasoning (KR2004)},\n        year = {2004},\n        pages = {516--526},\n        publisher = {AAAI Press},\n        organization = {AAAI Press},\n        type = {inproceedings},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/LakKR04SiNo.pdf},\n        author = {Lakemeyer, Gerhard and Levesque, Hector J.}\n}\n

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\n \n\n \n \n \n \n \n Specifying Soccer Moves with Golog.\n \n \n \n\n\n \n Ferrein, A.\n\n\n \n\n\n\n In Proc. 5th Conference dvs-Section Computer Science in Sport, 2004. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {KBSG_5,\n        title = {Specifying Soccer Moves with Golog},\n        booktitle = {Proc. 5th Conference dvs-Section Computer Science in Sport},\n        year = {2004},\n        type = {inproceedings},\n        author = {Ferrein, A.}\n}\n

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\n \n\n \n \n \n \n \n On-line Decision-Theoretic Golog for Unpredictable Domains.\n \n \n \n\n\n \n Ferrein, A.; Fritz, C.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proc. of 27th German Conference on AI, 2004. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings { KI04:OnlineDT-Golog,\n        title = {On-line Decision-Theoretic Golog for Unpredictable Domains},\n        booktitle = {Proc. of 27th German Conference on AI},\n        year = {2004},\n        type = {inproceedings},\n        author = {Ferrein, A. and Fritz, C. and Lakemeyer, G.}\n}\n

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\n \n\n \n \n \n \n \n Towards a League-Independent Qualitative Soccer Theory for RoboCup.\n \n \n \n\n\n \n Dylla, F.; Ferrein, A.; Lakemeyer, G.; Murray, J.; Obst, O.; Röfer, T.; Stolzenburg, F.; and Visser, U.\n\n\n \n\n\n\n In KI04-WS Methods and Technol. for Empirical Evaluation of Multi-agent System, 2004. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings { KI04WS:SoccerTheory,\n        title = {Towards a {L}eague-{I}ndependent {Q}ualitative\n                 {S}occer {T}heory for {R}obo{C}up},\n        booktitle = {KI04-WS Methods and Technol. for Empirical Evaluation of Multi-agent System},\n        year = {2004},\n        type = {inproceedings},\n        author = {Dylla, Frank and Ferrein, Alexander and Lakemeyer, Gerhard and Murray, Jan and Obst, Oliver and R{\\"o}fer, Thomas and Stolzenburg, Frieder and Visser, Ubbo}\n}\n\n\n\n

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\n \n 2003\n \n \n (5)\n \n \n

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\n \n\n \n \n \n \n \n Continuous Requirements Management for Organization Networks: A (Dis)Trust-Based Approach.\n \n \n \n\n\n \n Gans, G.; Jarke, M.; Kethers, S.; and Lakemeyer, G.\n\n\n \n\n\n\n Requirements Engineering Journal, Selected Papers from RE\\textquoteright01, Springer, 8(1): 4–22. Feb. 2003.\n \n\n\n\n
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@article { GansEtAl:REJ2003:Trust,\n        title = {Continuous Requirements Management for Organization Networks: A (Dis)Trust-Based Approach},\n        journal = {Requirements Engineering Journal, Selected Papers from RE{\\textquoteright}01, Springer},\n        volume = {8},\n        number = {1},\n        year = {2003},\n        month = {Feb.},\n        pages = {4--22},\n        type = {article},\n        author = {Gans, G{\\"u}nter and Jarke, Matthias and Kethers, Stefanie and Lakemeyer, Gerhard}\n}\n

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\n \n\n \n \n \n \n \n \n Deliberation in a Modeling and Simulation Environment for Inter-Organizational Networks.\n \n \n \n \n\n\n \n Gans, G.; Jarke, M.; Lakemeyer, G.; and Schmitz, D.\n\n\n \n\n\n\n In CAISE2003, 2003. \n \n\n\n\n
\n\n\n\n \n \n $\"Deliberation$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings { GansEtAl:CAISE2003:Deliberation,\n        title = {Deliberation in a Modeling and Simulation Environment for Inter-Organizational Networks},\n        booktitle = {CAISE2003},\n        year = {2003},\n        type = {inproceedings},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/Gans2003Deliberation.pdf},\n        author = {Gans, G{\\"u}nter and Jarke, Matthias and Lakemeyer, Gerhard and Schmitz, Dominik}\n}\n

\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n Extending DTGolog with Options.\n \n \n \n \n\n\n \n Ferrein, A.; Fritz, C.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proc of the 18th International Joint Conference on Artificial Intelligence, 2003. \n \n\n\n\n
\n\n\n\n \n \n $\"Extending$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings { FerreinEtAl:IJCAI2003:Options,\n        title = {Extending {DTG}olog with {O}ptions},\n        booktitle = {Proc of the 18th International Joint Conference on Artificial Intelligence},\n        year = {2003},\n        type = {inproceedings},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/ferrein03extending.pdf},\n        author = {Ferrein, Alexander and Fritz, Christian and Lakemeyer, Gerhard}\n}\n\n

\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n Specifying Multirobot Coordination in ICPGolog – From Simulation towards Real Robots.\n \n \n \n \n\n\n \n Dylla, F.; Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n In AOS-4 at IJCAI-03, 2003. \n \n\n\n\n
\n\n\n\n \n \n $\"Specifying$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

\n

@inproceedings { DyllaEtAl:AOS2003:Specifying,\n        title = {Specifying Multirobot Coordination in ICPGolog -- From Simulation towards Real Robots},\n        booktitle = {AOS-4 at IJCAI-03},\n        year = {2003},\n        type = {inproceedings},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/Dylla2003Specifying_1.pdf},\n        author = {Dylla, Frank and Ferrein, Alexander and Lakemeyer, Gerhard}\n}\n

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\n\n\n\n

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\n \n\n \n \n \n \n \n What Observations Really Tell Us.\n \n \n \n\n\n \n Iwan, G.; and Lakemeyer, G.\n\n\n \n\n\n\n In KI 2003: Advances in Artificial Intelligence, pages 194–208, 2003. Springer, Springer\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

\n

@inproceedings {KBSG_53,\n        title = {What Observations Really Tell Us},\n        booktitle = {KI 2003: Advances in Artificial Intelligence},\n        year = {2003},\n        pages = {194--208},\n        publisher = {Springer},\n        organization = {Springer},\n        type = {inproceedings},\n        author = {Iwan, Gero and Lakemeyer, Gerhard}\n}\n\n\n\n

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\n\n\n\n

\n\n\n\n\n\n

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\n \n 2002\n \n \n (5)\n \n \n

\n

\n \n \n

\n \n\n \n \n \n \n \n \n Acting and Deliberating using Golog in Robotic Soccer – A Hybrid Architecture.\n \n \n \n \n\n\n \n Dylla, F.; Ferrein, A.; and Lakemeyer, G.\n\n\n \n\n\n\n In 3rd International Cognitive Robotics Workshop (CogRob02), 2002. AAAI Press, AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"Acting$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

\n

@inproceedings { DyllaEtAl:CogRob2002:Acting,\n        title = {Acting and Deliberating using Golog in Robotic Soccer -- A Hybrid Architecture},\n        booktitle = {3rd International  Cognitive Robotics Workshop (CogRob02)},\n        year = {2002},\n        publisher = {AAAI Press},\n        organization = {AAAI Press},\n        type = {inproceedings},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/Dylla2002Acting.pdf},\n        author = {Dylla, Frank and Ferrein, Alexander and Lakemeyer, Gerhard}\n}\n

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\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n Evaluation-Based Reasoning with Disjunctive Information in First-Order Knowledge Bases.\n \n \n \n \n\n\n \n Lakemeyer, G.; and Levesque, H. J.\n\n\n \n\n\n\n In International Conference Principles of Knowledge Representation and Reasoning (KR-02), pages 73–81, 2002. \n \n\n\n\n
\n\n\n\n \n \n $\"Evaluation-Based$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

\n

@inproceedings {KBSG_42,\n        title = {Evaluation-Based Reasoning with Disjunctive Information in First-Order Knowledge Bases},\n        booktitle = {International Conference Principles of Knowledge Representation and Reasoning (KR-02)},\n        year = {2002},\n        pages = {73--81},\n        type = {inproceedings},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/lakemeyer2002.pdf},\n        author = {Lakemeyer, Gerhard and Levesque, Hector J.}\n}\n\n

\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n Towards More Realistic Logic-Based Robot Controllers in the GOLOG Framework.\n \n \n \n\n\n \n Grosskreutz, H.\n\n\n \n\n\n\n phdthesis, RWTH Aachen, 2002.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

\n

@mastersthesis { Grosskreutz:2002:Diss,\n        title = {Towards More Realistic Logic-Based Robot Controllers in the {GOLOG} Framework},\n        year = {2002},\n        school = {RWTH Aachen},\n        type = {phdthesis},\n        author = {Grosskreutz, Henrik}\n}\n

\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n What Observations Really Tell Us.\n \n \n \n\n\n \n Iwan, G.; and Lakemeyer, G.\n\n\n \n\n\n\n In 3rd International Cognitive Robotics Workshop (CogRob02) at AAAI-02, 2002. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

\n

@inproceedings {KBSG_52,\n        title = {What Observations Really Tell Us},\n        booktitle = {3rd International  Cognitive Robotics Workshop (CogRob02) at AAAI-02},\n        year = {2002},\n        type = {inproceedings},\n        author = {Iwan, Gero and Lakemeyer, Gerhard}\n}\n\n

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\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n History-based Diagnosis Templates in the Framework of the Situation Calculus.\n \n \n \n\n\n \n Iwan, G.\n\n\n \n\n\n\n AI Communications, 15(1). 2002.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

\n

@article { Iwan:AIComm2002:History,\n        title = {History-based Diagnosis Templates in the Framework of the Situation Calculus},\n        journal = {AI Communications},\n        volume = {15},\n        number = {1},\n        year = {2002},\n        type = {article},\n        author = {Iwan, Gero}\n}\n\n\n

\n

\n\n\n\n

\n\n\n\n\n\n

\n

\n \n 2001\n \n \n (9)\n \n \n

\n

\n \n \n

\n \n\n \n \n \n \n \n \n Belief Update in the pGOLOG Framework.\n \n \n \n \n\n\n \n Grosskreutz, H.; and Lakemeyer, G.\n\n\n \n\n\n\n In KI 2001: Advances in Artificial Intelligence, pages 213–228, 2001. \n \n\n\n\n
\n\n\n\n \n \n $\"Belief$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

\n

@inproceedings {KBSG_61,\n        title = {Belief Update in the {pGOLOG} Framework},\n        booktitle = {KI 2001: Advances in Artificial Intelligence},\n        year = {2001},\n        pages = {213--228},\n        type = {inproceedings},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/grosskreutz2001_2.pdf},\n        author = {Grosskreutz, Henrik and Lakemeyer, Gerhard}\n}\n

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\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n History-based Diagnosis Templates in the Framework of the Situation Calculus.\n \n \n \n\n\n \n Iwan, G.\n\n\n \n\n\n\n In KI 2001: Advances in Artificial Intelligence, pages 244–259, 2001. Springer, Springer\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

\n

@inproceedings {KBSG_48,\n        title = {History-based Diagnosis Templates in the Framework of the Situation Calculus},\n        booktitle = {KI 2001: Advances in Artificial Intelligence},\n        year = {2001},\n        pages = {244--259},\n        publisher = {Springer},\n        organization = {Springer},\n        type = {inproceedings},\n        author = {Iwan, Gero}\n}\n

\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n History-based Diagnosis Templates in the Framework of the Situation Calculus.\n \n \n \n\n\n \n Iwan, G.\n\n\n \n\n\n\n In Twelfth International Workshop on Principles of Diagnosis (DX-01), 2001. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

\n

@inproceedings {KBSG_50,\n        title = {History-based Diagnosis Templates in the Framework of the Situation Calculus},\n        booktitle = {Twelfth International Workshop on Principles of Diagnosis (DX-01)},\n        year = {2001},\n        type = {inproceedings},\n        abstract = {When agents like mobile robots discover that the\n                  world is not as expected after carrying out a\n                  sequence of actions, they are interested in what\n                  action faults or unnoticed actions could have\n                  actually occurred, which would help them rectify the\n                  situation.  For this purpose, we investigate a kind\n                  of history-based diagnosis which is appropriate for\n                  explaining what went wrong in dynamic domains. It\n                  turns out that there are often many diagnoses which\n                  are quite similar and differ only in the objects\n                  they refer to. In this paper we show how these\n                  instances can be compactly represented by\n                  introducing so-called diagnosis templates.  We\n                  formalize this approach for an action theory based\n                  on the situation calculus and discuss a prototypical\n                  implementation of a diagnostic system which\n                  generates diagnosis templates according to certain\n                  preference criteria.},\n        author = {Iwan, Gero}\n}\n

\n

\n\n\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n Modeling the Impact of Trust and Distrust in Agent Networks.\n \n \n \n \n\n\n \n Gans, G.; Jarke, M.; Kethers, S.; and Lakemeyer, G.\n\n\n \n\n\n\n In AOIS-01 at CAiSE-01, 2001. \n \n\n\n\n
\n\n\n\n \n \n $\"Modeling$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

\n

@inproceedings { GansEtAl:AOIS2001:Modeling,\n        title = {Modeling the Impact of Trust and Distrust in Agent Networks},\n        booktitle = {AOIS-01 at CAiSE-01},\n        year = {2001},\n        type = {inproceedings},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/Gans2001Modeling.pdf},\n        author = {Gans, G{\\"u}nter and Jarke, Matthias and Kethers, Stefanie and Lakemeyer, Gerhard}\n}\n

\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n Multi-Agent Only Knowing.\n \n \n \n \n\n\n \n Halpern, J. Y.; and Lakemeyer, G.\n\n\n \n\n\n\n Journal of Logic and Computation. 2001.\n \n\n\n\n
\n\n\n\n \n \n $\"Multi-Agent$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

\n

@article { HalpernLakemeyer:JLC2001:MultiAgentOnlyKnowing,\n        title = {Multi-Agent Only Knowing},\n        journal = {Journal of Logic and Computation},\n        year = {2001},\n        type = {article},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/halpern2001.pdf},\n        author = {Halpern, Joseph Y. and Lakemeyer, Gerhard}\n}\n

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\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n On-Line Execution of cc-Golog Plans.\n \n \n \n \n\n\n \n Grosskreutz, H.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the 17th International Joint Conference on Artificial Intelligence (IJCAI-01), volume 1, 2001. \n \n\n\n\n
\n\n\n\n \n \n $\"On-Line$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

\n

@inproceedings {KBSG_60,\n        title = {On-Line Execution of {cc-Golog} Plans},\n        booktitle = {Proceedings of the 17th International Joint Conference on Artificial Intelligence (IJCAI-01)},\n        volume = {1},\n        year = {2001},\n        type = {inproceedings},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/grosskreutz2001.pdf},\n        author = {Grosskreutz, Henrik and Lakemeyer, Gerhard}\n}\n

\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n Requirements Modeling for Organization Networks: A (Dis-)Trust-Based Approach.\n \n \n \n \n\n\n \n Gans, G.; Jarke, M.; Kethers, S.; Lakemeyer, G.; Ellrich, L.; Funken, C.; and Meister, M.\n\n\n \n\n\n\n In RE-01, 2001. \n \n\n\n\n
\n\n\n\n \n \n $\"Requirements$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

\n

@inproceedings { GansEtAl:RE2001,\n        title = {Requirements Modeling for Organization Networks: A (Dis-)Trust-Based Approach},\n        booktitle = {RE-01},\n        year = {2001},\n        type = {inproceedings},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/Gans2001Requirements.pdf},\n        author = {Gans, G{\\"u}nter and Jarke, Matthias and Kethers, Stefanie and Lakemeyer, Gerhard and Ellrich, Lutz and Funken, Christiane and Meister, Martin},\n}\n

\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n Towards (Dis)Trust-Based Simulations of Agent Networks.\n \n \n \n \n\n\n \n Gans, G.; Jarke, M.; Kethers, S.; Lakemeyer, G.; Ellrich, L.; Funken, C.; and Meister, M.\n\n\n \n\n\n\n In Workshop at Agents-01, 2001. \n \n\n\n\n
\n\n\n\n \n \n $\"Towards$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings { GansEtAl:WS-Agents2001:Towards,\n        title = {Towards (Dis)Trust-Based Simulations of Agent Networks},\n        booktitle = {Workshop at Agents-01},\n        year = {2001},\n        type = {inproceedings},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/Gans2001Towards.pdf},\n        author = {Gans, G{\\"u}nter and Jarke, Matthias and Kethers, Stefanie and Lakemeyer, Gerhard and Ellrich, Lutz and Funken, Christiane and Meister, Martin},\n}\n\n

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\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n The Logic of Knowledge Bases.\n \n \n \n\n\n \n Levesque, H. J.; and Lakemeyer, G.\n\n\n \n\n\n\n MIT Press, 2001.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

\n

@book { LevesqueLakemeyer:2001:LogicOfKB,\n        title = {The Logic of Knowledge Bases},\n        year = {2001},\n        publisher = {MIT Press},\n        organization = {MIT Press},\n        type = {book},\n        author = {Levesque, Hector J. and Lakemeyer, Gerhard}\n}\n\n\n

\n

\n\n\n\n

\n\n\n\n\n\n

\n

\n \n 2000\n \n \n (8)\n \n \n

\n

\n \n \n

\n \n\n \n \n \n \n \n Explaining What Went Wrong in Dynamic Domains.\n \n \n \n\n\n \n Iwan, G.\n\n\n \n\n\n\n In Proc. of the 2nd International Cognitive Robotics Workshop at European Conference on Artificial Intelligence (ECAI-00), 2000. \n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

\n

@inproceedings {KBSG_49,\n        title = {Explaining What Went Wrong in Dynamic Domains},\n        booktitle = {Proc. of the 2nd International Cognitive Robotics Workshop at European Conference on Artificial Intelligence (ECAI-00)},\n        year = {2000},\n        type = {inproceedings},\n        author = {Iwan, Gero}\n}\n

\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n Probabilistic Hybrid Action Models for Predicting Concurrent Percept-driven Robot Behavior.\n \n \n \n \n\n\n \n Beetz, M.; and Grosskreutz, H.\n\n\n \n\n\n\n In Proceedings of the Fifth International Conference on AI Planning Systems (AIPS-2000), 2000. \n \n\n\n\n
\n\n\n\n \n \n $\"Probabilistic$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

\n

@inproceedings {KBSG_76,\n        title = {Probabilistic Hybrid Action Models for Predicting Concurrent Percept-driven Robot Behavior},\n        booktitle = {Proceedings of the Fifth International Conference on AI Planning Systems (AIPS-2000)},\n        year = {2000},\n        type = {inproceedings},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/Beetz2000Probabilistic.pdf},\n        author = {Beetz, Michael and Grosskreutz, Henrik}\n}\n

\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n Probabilistic Projection and Belief Update in the pGOLOG Framework.\n \n \n \n \n\n\n \n Grosskreutz, H.\n\n\n \n\n\n\n In Proc. of the 2nd International Cognitive Robotics Workshop (CogRob-00) at the European Conference on Artificial Intelligence (ECAI-00), 2000. \n \n\n\n\n
\n\n\n\n \n \n $\"Probabilistic$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

\n

@inproceedings {KBSG_57,\n        title = {Probabilistic Projection and Belief Update in the {pGOLOG} Framework},\n        booktitle = {Proc. of the 2nd International Cognitive Robotics Workshop (CogRob-00) at the European Conference on Artificial Intelligence (ECAI-00)},\n        year = {2000},\n        type = {inproceedings},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/grosskreutz2000.pdf},\n        author = {Grosskreutz, Henrik}\n}\n

\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n A Speech Interface for a Mobile Robot controlled by GOLOG.\n \n \n \n \n\n\n \n Dylla, F.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proc. of the 2nd International Cognitive Robotics Workshop (CogRob-00) at the European Conference on Artificial Intelligence (ECAI-00), 2000. \n \n\n\n\n
\n\n\n\n \n \n $\"A$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

\n

@inproceedings {KBSG_26,\n        title = {A Speech Interface for a Mobile Robot controlled by {GOLOG}},\n        booktitle = {Proc. of the 2nd International Cognitive Robotics Workshop (CogRob-00) at the European Conference on Artificial Intelligence (ECAI-00)},\n        year = {2000},\n        type = {inproceedings},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/Dylla2000A.pdf},\n        author = {Dylla, Frank and Lakemeyer, Gerhard}\n}\n

\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n Towards more realistic logic-based robot controllers in the GOLOG framework.\n \n \n \n \n\n\n \n Grosskreutz, H.; and Lakemeyer, G.\n\n\n \n\n\n\n Themenheft \"Autonome mobile Systeme\" der Zeitschrift KI, 4. 2000.\n \n\n\n\n
\n\n\n\n \n \n $\"Towards$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

\n

@article { Grosskreutz2000Towards,\n        title = {Towards more realistic logic-based robot controllers in the {GOLOG} framework},\n        journal = {Themenheft "Autonome mobile Systeme" der Zeitschrift KI},\n        volume = {4},\n        year = {2000},\n        type = {article},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/Grosskreutz2000Towards.pdf},\n        author = {Grosskreutz, Henrik and Lakemeyer, Gerhard}\n}\n

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\n\n\n\n

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\n \n\n \n \n \n \n \n \n Turning High-Level Plans into Robot Programs in Uncertain Domains.\n \n \n \n \n\n\n \n Grosskreutz, H.; and Lakemeyer, G.\n\n\n \n\n\n\n In ECAI-00, 2000. \n \n\n\n\n
\n\n\n\n \n \n $\"Turning$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings { GrosskreutzLakemeyer:ECAI2000:Turning,\n        title = {Turning High-Level Plans into Robot Programs in Uncertain Domains},\n        booktitle = {ECAI-00},\n        year = {2000},\n        type = {inproceedings},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/grosskreutz2000_4.pdf},\n        author = {Grosskreutz, Henrik and Lakemeyer, Gerhard}\n}\n

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\n \n\n \n \n \n \n \n \n cc-Golog: Towards More Realistic Logic-Based Robot Controllers.\n \n \n \n \n\n\n \n Grosskreutz, H.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the 8th International Workshop on Non-Monotonic Reasoning (NMR-00), 2000. \n \n\n\n\n
\n\n\n\n \n \n $\"cc-Golog:$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {KBSG_62,\n        title = {{cc-Golog}: Towards More Realistic Logic-Based Robot Controllers},\n        booktitle = {Proceedings of the 8th International Workshop on Non-Monotonic Reasoning (NMR-00)},\n        year = {2000},\n        type = {inproceedings},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/grosskreutz2000_2.pdf},\n        author = {Grosskreutz, Henrik and Lakemeyer, Gerhard}\n}\n

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\n \n\n \n \n \n \n \n \n cc-Golog: Towards More Realistic Logic-Based Robot Controllers.\n \n \n \n \n\n\n \n Grosskreutz, H.; and Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence (AAAI-00), 2000. AAAI Press, AAAI Press\n \n\n\n\n
\n\n\n\n \n \n $\"cc-Golog:$ paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {KBSG_63,\n        title = {{cc-Golog}: Towards More Realistic Logic-Based Robot Controllers},\n        booktitle = {Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence (AAAI-00)},\n        year = {2000},\n        publisher = {AAAI Press},\n        organization = {AAAI Press},\n        type = {inproceedings},\n        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/grosskreutz2000_3.pdf},\n        author = {Grosskreutz, Henrik and Lakemeyer, Gerhard}\n}\n\n\n

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\n \n 1999\n \n \n (4)\n \n \n

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\n \n\n \n \n \n \n \n \n .\n \n \n \n \n\n\n \n Lakemeyer, G.\n\n\n \n\n\n\n On Sensing and Offline-Interpreting in Golog, pages 173–187. Springer, Berlin, 1999.\n \n\n\n\n
\n\n\n\n \n \n $\"On$ Pdf\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inbook { Lakemeyer:1999:OnSensing,\n  title       = {On Sensing and Offline-Interpreting in Golog},\n  author      = {Lakemeyer, Gerhard},\n  booktitle   = {Logical Foundation for Cognitive Agents: Contributions in Honor of Ray Reiter},\n  year        = {1999},\n  pages       = {173--187},\n  publisher   = {Springer},\n  address     = {Berlin},\n  urlPDF      = {https://kbsg.rwth-aachen.de/sites/kbsg/files/lakemeyer1999_2.pdf},\n}\n\n

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\n \n\n \n \n \n \n \n \n Query Evaluation and Progression in AOL Knowledge Bases.\n \n \n \n \n\n\n \n Lakemeyer, G.; and Levesque, H. J.\n\n\n \n\n\n\n In International Joint Conference on Artificial Intelligence (IJCAI-99), 1999. \n \n\n\n\n
\n\n\n\n \n \n $\"Query$ pdf\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings { LakemeyerLevesque:IJCAI99:Query,\n  title       = {Query Evaluation and Progression in {AOL} Knowledge Bases},\n  author      = {Lakemeyer, Gerhard and Levesque, Hector J.},\n  booktitle   = {International Joint Conference on Artificial Intelligence (IJCAI-99)},\n  year        = {1999},\n  url_PDF     = {https://kbsg.rwth-aachen.de/sites/kbsg/files/lakemeyer1999.pdf},\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Probabilistic Prediction-based Schedule Debugging for Autonomous Robot Office Couriers.\n \n \n \n \n\n\n \n Beetz, M.; Bennewitz, M.; and Grosskreutz, H.\n\n\n \n\n\n\n In LNAI, KI-99: Advances in Artificial Intelligence, volume 1701, pages 698–698, 1999. Springer\n \n\n\n\n
\n\n\n\n \n \n $\"Probabilistic$ Pdf\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings {KBSG_77,\n  title     = {Probabilistic Prediction-based Schedule Debugging for Autonomous Robot Office Couriers},\n  booktitle = {LNAI, KI-99: Advances in Artificial Intelligence},\n  volume    = {1701},\n  year      = {1999},\n  pages     = {698--698},\n  publisher = {Springer},\n  urlPDF    = {https://kbsg.rwth-aachen.de/sites/kbsg/files/Beetz1999Probabilistic.pdf},\n  author    = {Beetz, Michael and Bennewitz, Maren and Grosskreutz, Henrik},\n}\n\n

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\n \n\n \n \n \n \n \n \n Probabilistic Temporal Projections in ConGolog.\n \n \n \n \n\n\n \n Grosskreutz, H.\n\n\n \n\n\n\n In RoAcPl-99 at IJCAI-99, 1999. \n \n\n\n\n
\n\n\n\n \n \n $\"Probabilistic$ Pdf\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{ Grosskreutz1999,\n  title     = {Probabilistic Temporal Projections in {ConGolog}},\n  author    = {Grosskreutz, Henrik},\n  booktitle = {RoAcPl-99 at IJCAI-99},\n  year      = {1999},\n  urlPDF    = {https://kbsg.rwth-aachen.de/sites/kbsg/files/grosskreutz1999.pdf},\n}\n\n\n

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\n \n 1998\n \n \n (3)\n \n \n

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\n \n\n \n \n \n \n \n \n The Interactive Museum Tour-Guide Robot.\n \n \n \n \n\n\n \n Burgard, W.; Cremers, A. B.; Fox, D.; Hähnel, D.; Lakemeyer, G.; Schulz, D.; Steiner, W.; and Thrun, S.\n\n\n \n\n\n\n In Proceedings of the National Conference on Artificial Intelligence (AAAI-98), pages 11–18, 1998. \n \n\n\n\n
\n\n\n\n \n \n $\"The$ Pdf\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{ BurgardEtAl1998Rhino,\n  title     = {The Interactive Museum Tour-Guide Robot},\n  author    = {Burgard, W. and Cremers, A. B. and Fox, D. and H{\\"a}hnel, D. and Lakemeyer, Gerhard and Schulz, D. and Steiner, W. and Thrun, S.},\n  booktitle = {Proceedings of the National Conference on Artificial Intelligence (AAAI-98)},\n  year      = {1998},\n  pages     = {11--18},\n  urlPDF    = {https://kbsg.rwth-aachen.de/sites/kbsg/files/burgard1998.pdf},\n}\n\n

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\n \n\n \n \n \n \n \n \n AOL: a logic of acting, sensing, knowing, and only knowing.\n \n \n \n \n\n\n \n Lakemeyer, G.; and Levesque, H. J.\n\n\n \n\n\n\n In Proceedings of the International Conference on Principles of Knowledge Representation and Reasoning (KR-98), 1998. \n \n\n\n\n
\n\n\n\n \n \n $\"AOL:$ Pdf\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{ LakemeyerLevesque1998AOL,\n  title       = {{AOL}: a logic of acting, sensing, knowing, and only knowing},\n  author      = {Lakemeyer, Gerhard and Levesque, Hector J.},\n  booktitle   = {Proceedings of the International Conference on Principles of Knowledge Representation and Reasoning (KR-98)},\n  year        = {1998},\n  urlPDF      = {https://kbsg.rwth-aachen.de/sites/kbsg/files/lakemeyer1998.pdf},\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Causal Models of Mobile Service Robot Behavior.\n \n \n \n \n\n\n \n Beetz, M.; and Grosskreutz, H.\n\n\n \n\n\n\n In Fourth International Conference on AI Planning Systems (AIPS-98), 1998. \n \n\n\n\n
\n\n\n\n \n \n $\"Causal$ Pdf\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{ BeetzGrosskreutz1998,\n  title     = {Causal Models of Mobile Service Robot Behavior},\n  author    = {Beetz, Michael and Grosskreutz, Henrik},\n  booktitle = {Fourth International Conference on AI Planning Systems (AIPS-98)},\n  year      = {1998},\n  urlPDF    = {https://kbsg.rwth-aachen.de/sites/kbsg/files/Beetz1998Causal.pdf},\n}\n\n

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\n \n\n \n \n \n \n \n \n Limited Reasoning in first-order knowledge bases with full introspection.\n \n \n \n \n\n\n \n Lakemeyer, G.\n\n\n \n\n\n\n Artificial Intelligence, 84: 209–255. 1996.\n \n\n\n\n
\n\n\n\n \n \n $\"Limited$ Pdf\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@article{ Lakemeyer1996-2,\n  title     = {Limited Reasoning in first-order knowledge bases with full introspection},\n  author    = {Lakemeyer, Gerhard},\n  journal   = {Artificial Intelligence},\n  volume    = {84},\n  year      = {1996},\n  pages     = {209--255},\n  urlPDF    = {https://kbsg.rwth-aachen.de/sites/kbsg/files/lakemeyer1996_2.pdf},\n}\n\n

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\n \n\n \n \n \n \n \n \n Only knowing in the situation calculus.\n \n \n \n \n\n\n \n Lakemeyer, G.\n\n\n \n\n\n\n In Proceedings of the International Conference on Principles of Knowledge Representation and Reasoning (KR-96), 1996. \n \n\n\n\n
\n\n\n\n \n \n $\"Only$ Pdf\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@inproceedings{ Lakemeyer1996,\n  title     = {Only knowing in the situation calculus},\n  author    = {Lakemeyer, Gerhard},\n  booktitle = {Proceedings of the International Conference on Principles of Knowledge Representation and Reasoning (KR-96)},\n  year      = {1996},\n  urlPDF    = {https://kbsg.rwth-aachen.de/sites/kbsg/files/lakemeyer1996.pdf},\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Levesque\\textquoterights axiomatization of only knowing is incomplete.\n \n \n \n \n\n\n \n Halpern, J. Y.; and Lakemeyer, G.\n\n\n \n\n\n\n Artificial Intelligence, 74(2): 381–387. 1995.\n \n\n\n\n
\n\n\n\n \n \n $\"Levesque\\textquoterights$ Pdf\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

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@article{ HalpernLakemeyer1995,\n  title   = {Levesque{\\textquoteright}s axiomatization of only knowing is incomplete},\n  author  = {Halpern, Joseph Y. and Lakemeyer, Gerhard},\n  journal = {Artificial Intelligence},\n  volume  = {74},\n  number  = {2},\n  year    = {1995},\n  pages   = {381--387},\n  urlPDF  = {https://kbsg.rwth-aachen.de/sites/kbsg/files/halpern1995.pdf},\n}\n\n\n

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\n \n 1994\n \n \n (1)\n \n \n

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\n \n\n \n \n \n \n \n \n Limited Reasoning in first-order knowledge bases.\n \n \n \n \n\n\n \n Lakemeyer, G.\n\n\n \n\n\n\n Artificial Intelligence, 71: 1–42. 1994.\n \n\n\n\n
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@article{ Lakemeyer1994,\n  title   = {Limited Reasoning in first-order knowledge bases},\n  author  = {Lakemeyer, Gerhard},\n  journal = {Artificial Intelligence},\n  volume  = {71},\n  year    = {1994},\n  pages   = {1--42},\n  urlPDF  = {https://kbsg.rwth-aachen.de/sites/kbsg/files/lakemeyer1994.pdf},\n}\n\n

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\n \n\n \n \n \n \n \n Supervised Learning for Robotic Draping Tasks in Composite Preforming.\n \n \n \n\n\n \n \n\n\n \n\n\n\n Proceedings of the International Conference on Composite Materials (ICCM). .\n \n\n\n\n
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\n \n\n \n \n \n \n \n A Generic Robot Database and its Application in Fault Analysis and Performance Evaluation.\n \n \n \n\n\n \n \n\n\n \n\n\n\n In . \n \n\n\n\n
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