Publications

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Book
Dylla, F., A. Ferrein, G. Lakemeyer, J. Murray, O. Obst, T. Röfer, S. Schiffer, F. Stolzenburg, U. Visser, and T. Wagner, "Approaching a formal soccer theory from behaviour specifications in robotic soccer", Computer in Sports: WIT Press, pp. 161 - 185, 2008.  Download: dfl+2008approaching.pdf (245.08 KB)
Book Article
Ferrein, A., L. Hermanns, and G. Lakemeyer, "Comparing Sensor Fusion Techniques for Ball Position Estimation", RoboCup 2005: Robot Soccer World Cup IX, vol. 4020: Springer, pp. 154-165, 2006.
Niemueller, T., A. Ferrein, D. Beck, and G. Lakemeyer, "Design Principles of the Component-Based Robot Software Framework Fawkes", Simulation, Modeling, and Programming for Autonomous Robots Proceedings of the 2nd International Conference on Simulation, Modeling and Programming for Autonomous Robots, vol. 6472, Darmstadt, Germany, Springer, pp. 300-311, 11/2010. Abstract  Download: fawkes-design-principles-simpar2010.pdf (303.92 KB)
Ferrein, A., S. Schiffer, and G. Lakemeyer, "A Fuzzy Set Semantics for Qualitative Fluents in the Situation Calculus", International Conference on Intelligent Robotics and Applications (ICIRA), vol. 5314, Wuhan, China, Springer, pp. 498--509, October 15-17, 2008. Abstract  Download: icira2008fuzzy.pdf (264.8 KB)
Beck, D., A. Ferrein, and G. Lakemeyer, "Landmark-based Representations for Navigating Holonomic Soccer Robots", RoboCup 2008: Robot Soccer World Cup XII, vol. 5399, Suzhou, China, pp. 25-36, 16/07/2008, 2009.  Download: landmark_based.pdf (376.03 KB)
Strack, A., A. Ferrein, and G. Lakemeyer, "Laser-Based Localization with Sparse Landmarks", RoboCup 2005: Robot Soccer World Cup IX, vol. 4020: Springer, pp. 569-576, 2006.
Niemueller, T., A. Ferrein, and G. Lakemeyer, "A Lua-based Behavior Engine for Controlling the Humanoid Robot Nao", RoboCup 2009: Robot Soccer World Cup XIII, vol. 5949, Graz, Austria, Springer, pp. 240-251, 01/07/2009, 2010. Abstract
Ferrein, A., and G. Steinbauer, "On the way to high-level programming for resource-limited embedded systems with golog.", Simulation, Modeling, and Programming for Autonomous Robots Proceedings of the 2nd International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2010), vol. 6472: Springer, pp. 229-240, 2010.
Ferrein, A., C. Fritz, and G. Lakemeyer, "On-Line Decision-Theoretic Golog for Unpredictable Domains", KI 2004: Advances in Artificial Intelligence, 27th Annual German Conference on AI, KI 2004, vol. 3238: Springer, pp. 322-336, 2004.
Böhnstedt, L., A. Ferrein, and G. Lakemeyer, "Options in readylog reloaded – generating decision-theoretic plan libraries in golog", KI 2007: Advances in Artificial Intelligence, 30th Annual German Conference on AI, KI 2007, Joachim Hertzberg; Michel Beetz; Roman Englert, vol. 4667: Springer Verlag, pp. 352-366, 2007.  Download: BoehnstedtFerreinLakemeyer-KI07.pdf (195.49 KB)
Niemueller, T., A. Ferrein, G. Eckel, D. Pirro, P. Podbregar, T. Kellner, C. Rath, and G. Steinbauer, "Providing Ground-truth Data for the Nao Robot Platform", RoboCup 2010: Robot Soccer World Cup XIV, vol. 6556, Singapore, Springer, pp. 133-144, 25/06/2010, 2011. Abstract  Download: nao-groundtruth-rc2010.pdf (1.32 MB)
Mies, C., A. Ferrein, and G. Lakemeyer, "Repairing Decision-theoretic Policies Using Goal-oriented Planning", KI 2008: Advances in Artificial Intelligence, 31st Annual German Conference on AI, KI 2008, vol. 5243: Springer, pp. 267-275, 2008.
Beck, D., A. Ferrein, and G. Lakemeyer, "A Simulation Environment for Middle-size Robots with Multi-level Abstraction", RoboCup 2007: Robot Soccer World Cup XI, vol. 5001, Atlanta, USA, Springer, pp. 136-147, 2008.  Download: BeckFerreinLakemeyer2007Simulation.pdf (311.59 KB)
Rens, G., I. Varzinczak, T. Meyer, and A. Ferrein, "A specification logic for reasoning about actions and explicit observations", AI 2010: Advances in Artificial Intelligence - 23rd Australasian Joint Conference, vol. 6464: Springer, pp. 395-404, 2010.
Dylla, F., A. Ferrein, G. Lakemeyer, J. Murray, O. Obst, T. Röfer, F. Stolzenburg, and U. Visser, "Towards a League-Independent Qualitative Soccer Theory for RoboCup", RoboCup 2004: Robot Soccer World Cup VIII, vol. 3276: Springer, pp. 611-618, 2005.  Download: Dylla2004Towards.pdf (200.27 KB)
Ferrein, A., and G. Lakemeyer, "Wie Roboter die Welt sehen", Bild und Erkenntnis - Formen und Funktionen des Bildes in Wissenschaft und Technik: Deutscher Kunstverlag/RWTH Aachen, pp. 342-343, 2005.
Conference Paper
Dylla, F., A. Ferrein, and G. Lakemeyer, "Acting and Deliberating using Golog in Robotic Soccer -- A Hybrid Architecture", 3rd International Cognitive Robotics Workshop (CogRob02): AAAI Press, 2002.  Download: Dylla2002Acting.pdf (172.66 KB)
Ferrein, A., S. Schiffer, and G. Lakemeyer, "Embedding Fuzzy Controllers into Golog", Proceedings of the IEEE International Conference on Fuzzy Systems (FUZZ-IEEE'09), ICC Jeju, Jeju Island, Korea, IEEE, pp. 894--899, August 20-24, 2009. Abstract  Download: fuzz-ieee2009pole.pdf (562.67 KB)
Ferrein, A., C. Fritz, and G. Lakemeyer, "Extending DTGolog with Options", Proc of the 18th International Joint Conference on Artificial Intelligence, 2003.  Download: ferrein03extending.pdf (61.77 KB)
Schiffer, S., A. Ferrein, and G. Lakemeyer, "Football is coming Home", Proc. of the International Symposium on Practical Cognitive Agents and Robots, Perth, Australia, University of Western Australia Press, pp. 39--50, 2006.  Download: schiffer2006football.pdf (474.08 KB)
Schiffer, S., A. Ferrein, and G. Lakemeyer, "Fuzzy Representations and Control for Domestic Service Robots in Golog", Proceedings of the Fourth International Conference on Intelligent Robotics and Applications (ICIRA 2011): Springer, pp. 241-250, 12/2011. Abstract  Download: icira2011fuzzyathome.pdf (322.03 KB)
Rens, G., T. Meyer, A. Ferrein, and G. Lakemeyer, "A Logic for Specifying Partially Observable Stochastic Domains", Nonmonotonic Reasoning, Action, and Change (NRAC 2011), Barcelona, Spain, to appear, 2011.
Schiffer, S., A. Ferrein, and G. Lakemeyer, "Qualitative World Models for Soccer Robots", Qualitative Constraint Calculi, Workshop at KI 2006, Bremen, Bremen, Germany, pp. 3--14, 2006.  Download: schifferFL06kiqcc.pdf (187.97 KB)
Jacobs, S., A. Ferrein, S. Schiffer, D. Beck, and G. Lakemeyer, "Robust Collision Avoidance in Unknown Domestic Environments", RoboCup 2009: Robot Soccer World Cup XIII, vol. 5949, Graz, Austria, Springer, pp. 116--127, 2009.  Download: robocup2009colli.pdf (314.63 KB)
Dylla, F., A. Ferrein, and G. Lakemeyer, "Specifying Multirobot Coordination in ICPGolog -- From Simulation towards Real Robots", AOS-4 at IJCAI-03, 2003.  Download: Dylla2003Specifying_1.pdf (183.63 KB)