Publications

Journal Papers and Book Chapters

R. Simmons, D. Kortencamp, D. Brugali. Robotics Systems Architectures and Programming, Handbook of Robotics II ed., Springer 2013

M. M. Bezemer, R. J. W. Wilterdink, and J. F. Broenink. Design and use of CSP meta-model for embedded control software development. In P. H. Welch, F. R. M. Barnes, K. Chalmers, J. B. Peder-sen, and A. T. Sampson, editors, Communicating Process Architectures 2012, volume 69 of Concurrent System Engineering Series, pages 185–199, August 2012, Dundee, United Kingdom.

T. Breuer, G. R. G. Macedo, R. Hartanto, N. Hochgeschwender, D. Holz, F. Hegger, Z. Jin, C. Mueller, J. Paulus, M. Reckhaus, J. A. Alvarez Ruiz, P. G. Ploeger, G. K. Kraetzschmar. Johnny: An autonomous service robot for domestic environments. In Springer Journal of Intelligent and Robotic Systems. Special Issue on Domestic Service Robots in the Real World. Pre-printed version, Autumn 2011.

J.F. Broenink, P.G. Larsen, M. Verhoef, C. Kleijn, D. Jovanovic and F. Wouters. Design Support and Tooling for Dependable Embedded Control Systems. SERENE, Birbeck College, London, UK, pages 77-82, ACM Sigsoft, 2010.

D. Brugali and A. Shakhimardanov. Component-based Robotic Engineering. Part II: Models and systems. In IEEE Robotics and Automation Magazine, March 2010.

D. Brugali and P. Scandurra. Component-based Robotic Engineering. Part I: Reusable building blocks. In IEEE Robotics and Automation Magazine, December 2009.

C. P. Connette. Kosteneffiziente Verfahren zur Navigation von FTS. In Hebezeuge Fördermittel − Fachzeitschrift für Technische Logistik. Nr.9; pp. 434-435; HUSS-MEDIEN GmbH; Berlin; September 2009.

Conference Papers

Sebastian Blumenthal, Herman Bruyninckx, Walter Nowak, and Erwin Prassler. A Scene Graph Based Shared 3D World Model for Robotic Applications. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013.

Herman Bruyninckx,Markus Klotzbücher, Nico Hochgeschwender, Gerhard Kraetzschmar , Luca Gherardi, and Davide Brugali. The BRICS Component Model: A Model-Based Development Para-digm For Complex Robotics Software Systems. 28Th ACM Symposium on Applied Computing, Coimbra, March 2013.

Andrea Luzzana, Mattia Rossetti, and Patrizia Scandurra, A Formal High-level Modeling Approach to Develop Reliable Components in Vision-based Robotics, ICSEA 2012, The Seventh International Conference on Software Engineering Advances, Lisbona, 17-20 Nov. 2012

A. Bubeck, F. Weisshardt, T. Sing, U. Reiser, M. Haegele, A. Verl. Implementing Best Practices for Systems Integration and Distributed Software Development in Service Robotics - the Care-O-Bot Robot Family. In 2012 IEEE/SICE International Symposium on System Integration, December 16-18, 2012 in Kyushu University, Fukuoka, Japan

D. Brugali, L. Gherardi, A. Luzzana and A. Zakharov. A Reuse-Oriented Development Process for Component-based Robotic Systems. In Proceedings of the 3rd International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2012), November 5-8, 2012, Tsukuba, Japan.

L. Gherardi, D. Brugali and D. Comotti. A Java vs. C++ performance evaluation: a 3D modeling benchmark. In Proceedings of the 3rd International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2012), November 5-8, 2012, Tsukuba, Japan.

A. Bubeck, C. Connette, M. Haegele, A. Verl. SyncMM - A Reactive Path Planning and Control Framework for the Mobile Manipulator Care-O-bot 3. In International Federation of Robotics: ISR 2012: The 43rd International Symposium on Robotics. August 29-31, 2012, Taipei, Taiwan

M. Guarnieri, E. Magri, D. Brugali and L. Gherardi. A Domain Specific Language for Modeling Differential Constraints of Mobile Robots. In Proceedings of the 12th International Conference on Autonomous Robot Systems and Competitions (Robotica 2012), April 11, 2012, Guimaraes, Portugal.ISBN: 978-972-98603-4-8

D. Brugali, L. Gherardi, M. Klotzbücher, H. Bruyninckx. Service Component Architectures in Robotics: the SCA-Orocos integration. In 1st International ISoLA Workshop on Software Aspects of Robotic Systems, October 17-18, 2011, Vienna, Austria.

L. Gherardi, D. Brugali. An eclipse-based Feature Models toolchain. In Proc. of the 6th Workshop of the Italian Eclipse Community (Eclipse-IT 2011), September 22-23, 2011, Milano, Italy.

D. Brugali, L. Gherardi, E. Riccobene, P. Scandurra. A formal framework for coordinated simulation of heterogeneous service-oriented applications. In Proc. of the 8th International Symposium on Formal Aspects of Component Software (FACS), September 14-16, 2011, Oslo, Norway.

A. Shakhimardanov, N. Hochgeschwender, M, Reckhaus and G. K. Kraetzschmar. Analysis of software connectors in robotics. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), September 2011, San Francisco, CA, USA.

M. Klotzbücher, R. Smits, H. Bruyninckx and J. De Schutter. Reusable Hybrid Force-Velocity controlled Motion Specifications with executable Domain Specific Languages. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), September 2011, San Francisco, CA, USA.

S. Blumenthal, E. Prassler, J. Fischer, W. Nowak. Towards Identification of Best Practice Algorithms in 3D Perception and Modeling. In Proc. of the IEEE/RAS International Conference on Robotics and Automation (ICRA 2011), May 2011, Shanghai, China.

D. Brugali, L. Gherardi and P. Scandurra. A Robotics Coordination Case Study. In SDIR VI − Workshop on Software development and Integration in Robotics, IEEE/RAS International Conference on Robotics and Automation (ICRA 2011), May 2011, Shanghai, China.

M. Klotzbücher, P. Soetens and H. Bruyninckx. OROCOS RTT-Lua: an Execution Environment for building Real-time Robotic Domain Specific Languages. In Proc. of the Internation Workshop on Dynamic Languages (DYROS '10), November 2010, Darmstadt, Germany.

D. Dresscher, Y. Brodskiy, P. Breedveld, J. Broenink and S. Stramigioli. Modeling of the youBot in a serial link structure using twists and wrenches in a bond graph. In SIMPAR2010 Workshop proceedings, in Darmstadt, Germany.

M. Reckhaus, N. Hochgeschwender, J. Paulus, A. Shakhimardanov and G. K. Kraetzschmar. An Overview about Simulation and Emulation in Robotics. In Proc. of the Workshop on Simulation Technologies in the Robot Development Process held on the 2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010) in Darmstadt, Germany.

G. K. Kraetzschmar, A. Shakhimardanov, M. Reckhaus, J. Paulus and N. Hochgeschwender. On the role of simulation in the robot development process. In Proc. of the Workshop on Simulation Technologies in the Robot Development Process held on the 2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010) in Darmstadt, Germany.

D. Brugali, W. Nowak, L. Gherardi, A. Zakharov, and E. Prassler. Component-based Refactoring of Motion Planning Libraries. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), October 2010, Taipei / Taiwan.

M. Reckhaus, N. Hochgeschwender, P. Ploeger, and G. Kraetzschmar. A Platform-independent Programming Environment for Robot Control. In Proc. of the 1st International Workshop on Domain−Specific Languages and models for ROBotic systems (DSLRob’10), October 2010, Taipeh, Taiwan.

A. Shakhimardanov, N. Hochgeschwender, and G. Kraetzschmar. Component Models in Robotics Software. In Proc. of the Workshop on Performance Metrics for Intelligent Systems (PerMIS'10), September 2010, Baltimore, USA.

F. Weisshardt, U. Reiser, C. Parlitz and A. Verl. Making High-Tech Service Robot Platforms Available. In K. Neumann (Ed.), R.D. Schraft (Chairman), K. Berns (Chairman). International Federation of Robotics: Joint International Conference of ISR/ROBOTIK2010. Munich, 7-9 June 2010, Berlin, Offenbach, VDE-Verlag, 2010, S. 1115-1120.

P. Miermeister, A. Pott, A. Verl. Dynamic Modeling and Hardware-In-The-Loop Simulation for the Cable-Driven Parallel Robot IPAnema. In K. Neumann (Ed.), R.D. Schraft (Chairman), K. Berns(Chairman). International Federation of Robotics: Joint International Conference of ISR/ROBOTIK2010. Munich, 7-9 June 2010, Berlin, Offenbach, VDE-Verlag, 2010, S. 1288-1295.

G. Arbeiter, J. Fischer, A. Verl. 3-D-Environment Reconstruction for Mobile Robots using fast- SLAM and Feature Extraction. In: K. Neumann, Kristin (Ed.), R.D. Schraft (Chairman), K. Berns (Chairman). International Federation of Robotics: Joint International Conference of ISR/ROBOTIK2010. Munich, 7-9 June 2010, Berlin, Offenbach, VDE-Verlag, 2010, S. 291-295.

C.P. Connette, S. Hofmeister, A. Bubeck, M. Hägele, Martin, A. Verl. Model-Predictive Undercarriage Control for a Pseudo-Omnidirectional, Wheeled Mobile Robot. In K. Neumann (Ed.). R.D. Schraft (Chairman), K. Berns (Chairman). International Federation of Robotics: Joint International Conference of ISR/ROBOTIK2010. Munich, 7-9 June 2010, Berlin, Offenbach, VDE-Verlag, 2010, S. 1178-1183.

R. Bischoff, T. Guhl, E. Prassler, W. Nowak, G. Kraetzschmar, H. Bruyninckx, P. Soetens, M. Haegele, A. Pott, P. Breedveld, J. Broenink, D. Brugali and N. Tomatis. BRICS − Best practice in robotics. In Proc. of the IFR International Symposium on Robotics (ISR 2010), June 2010, Munich, Germany.

R. Bischoff, J. Kurth, G. Schreiber, R. Koeppe, A. Albu-Schäffer, A. Beyer, O. Eiberger, S. Haddadin, A. Stemmer, G. Grunwald and G. Hirzinger. The KUKA-DLR Lightweight Robot arm − a new reference platform for robotics research and manufacturing. In Proc. of the IFR International Symposium on Robotics (ISR 2010), June 2010, Munich, Germany.

G. Schreiber, A. Stemmer, R. Bischoff. The Fast Research Interface for the KUKA Lightweight Robot. In Proc. of the IEEE ICRA 2010 Workshop on ICRA 2010 Workshop on Innovative Robot Control Architectures for Demanding (Research) Applications − How to Modify and Enhance Commercial Controllers. Anchorage, May 2010, p. 15-21. Presentation available at: http://www.rob.cs.tu-bs.de/news/icra2010, last access: July 5, 2010.

J.F. Broenink, M.A. Groothuis, P.M. Visser and M.M. Bezemer. Model-Driven Robot-Software Design Using Template-Based Target Descriptions. In ICRA 2010 workshop on Innovative Robot Control Architectures for Demanding (Research) Applications, IEEE, Anchorage, pages 73 - 77, IEEE, 2010.

D. Brugali and L. Gherardi. Component-Based Robotics Models and Systems. In SDIR Tutorial on Component-Based Robotics Engineering, IEEE/RAS International Conference on Robotics and Automation (ICRA 2010), May 2010, Anchorage, USA.

N. Hochgeschwender and A. Shakhimardanov: Component-Based Robotics Middleware. In SDIR Tutorial on Component-Based Robotics Engineering, IEEE/RAS International Conference on Robotics and Automation (ICRA 2010), May 2010, Anchorage, USA.

G. Schreiber, A. Stemmer and R. Bischoff. The Fast Research Interface for the KUKA Lightweight Robot. In IEEE Workshop on Innovative Robot Control Architectures for Demanding (Research) Applications − How to Modify and Enhance Commercial Controllers (ICRA 2010), May 2010, Anchorage, USA.

E. Milke, S. Christen, W. Nowak, and E. Prassler. Towards Harmonization and Refactoring of Mobile Manipulation Algorithms. In Proc. International Conference on Advanced Robotics (ICAR 2009), June 2009, Munich, Germany.

Talks, presentations and theses

L. Gherardi. Variability Modeling and Resolution in Component-based Robotics Systems. PhD school in Mechatronics, Information Technology, New Technologies and Mathematical Methods. University of Bergamo, Italy. April 15. 2013.

G. Kraetzschmar. Software Development in Robotics. Presentation at Evolution Robotics, Pasadena, CA, USA.

G. Kraetzschmar. Software Development in Robotics. Presentation at University of California at Merced, CA, USA.

Yury Brodskiy. Model-driven controller design and implementation for the KUKA youBot, Conference on Hightech Mechatronica, Veldhoven, The Netherlands, 2012.

Yury Brodskiy. A survey on Robust Autonomy metrics for robots, Workshop on Performance Measures for Quantifying Safe and Reliable Operation of Professional Service Robots in Unstructured, Dynamic Environments, ICAR, Tallinn, Estonia, 2011.

F. Weisshardt. Care-O-bot-Research: Providing robust robotics hardware to an open source community. Schunk Expert Days, 24th February, 2011.

E. Prassler. Best Practices in Robotics. FIMA (Finish Intelligent Machine Association) Annual Meeting in Tampere in January 2011.

H. Bruyninckx. Benchmarking Reusability and Composability of Robotics Software Frameworks − The Open Source Opportunity. Presentation at Workshop on Performance Metrics for Intelligent Systems (PerMIS'10), September 28, 2011, Baltimore, Maryland, USA.

E. Prassler. Best Practices in Robotics. IROS 2010 Workshop "Towards a Robotics Software Platform.

E. Prassler and R. Bischoff. Presentation of BRICS at ISR-Robotic 2010

D. Brugali. Separation of Concerns in Component-based Robotics. At French Conference on Control Architectures for Robotics (CAR 2010), Douai, France, May, 19th, 2010.

N. Hochgeschwender and A. Shakhimirdanov. Inivited talk about Component-oriented Middleware in Robotics. At the SDIR Workshop during the International Conference on Robotics and Automation (ICRA2010).

A. Bubeck. Open-Source-Komponenten für die synchrone und dezentrale Echtzeitregelung in mobilen Robotern. In: Mesago Messe Frankfurt GmbH: Trendsession: Open Source Software in der Automatisierungstechnik: Potentiale und Strategien, im Rahmen der SPS/IPC/Drives/ Elektrische Automatisierung, Fachmesse & Kongress, 24-26. Nov. 2009, Nürnberg. 2009.

E. Milke, S. Christen, W. Nowak, and E. Prassler. Towards Harmonization and Refactoring of Mobile Manipulation Algorithms. Robotics: Science and Systems (RSS 2009), Workshop on Mobile Manipulation in Human Environments, June 2009, Seattle, USA.

Deliverables

H. Bruyninckx. Harmonised interfaces and full integration of harmonisation guidelines in tool chain. BRICS Deliverable D8.2, April 2012.

T. Guhl. Hardware according to specification developed. BRICS Deliverable D1.2, October 2011.

W. Nowak, S. Blumenthal, E. Prassler. Framework for identification and re-factoring of best practice algorithms in robotics. BRICS Deliverable D3.2, July 2011.

M. Klotzbuecher, H. Bruyninckx. Statecharts and IPC policy improvements to MDE standards. BRICS Deliverable D4.2, June 2011.

H. Garcia, H. Bruyninckx. Tool chain (BRIDE) delivered as BRICS software distribution. BRICS Deliverable D4.4, April 2011.

E. Prassler, W. Nowak. Tutorial "Best Practice Robot Algorithms" (materials). BRICS Deliverable D9.1, June 2011.

A. Bubeck, R. Hollmann, N. Blümlein, M. Drust. Specification of evaluation procedures, implementation of evaluation workshops and annual progress report on all BRICS showcases. BRICS Deliverable D5.2, June 2011.

T. Guhl. Specification of required hardware. Update of BRICS Deliverable D1.1, February 2011.

Y. Brodskiy, S. Stramigioli, J. Broenink, P. Bredveeld, C. Yalcin. Robust autonomy. BRICS Deliverable D6.1, January 2011.

D. Brugali, P. Scandurra, A. Gargantini, L. Gherardi, A. Luzzana, M. Pedroni. Design principles, implementation guidelines, evaluation criteria for system openness and flexibility and use case implementations. BRICS Deliverable D7.1, September 2010.

H. Bruyninckx. Robotics software framework harmonization by means of component composability benchmarks. "The manifolds of four". BRICS Deliverable D8.1, September 2010.

G. K. Kraetzschmar, A. Shakhimardanov, J. Paulus, N. Hochgeschwender, M. Reckhaus. Specifications of Architectures, Modules, Modularity, and Interfaces for the BROCRE Software Platform and Robot Control Architecture Workbench. BRICS Deliverable D2.2, August 2010.

T. Guhl. Specification of required hardware. BRICS Deliverable D1.1, March 2010.

A. Shakhimardanov, J. Paulus, N. Hochgeschwender, M. Reckhaus, G. K. Kraetzschmar. Best Practice Assessment of Software Technologies for Robotics. BRICS Deliverable D2.1, March 2010.

W. Nowak, A. Zakharov, S. Blumenthal, E. Prassler. Benchmarks for Mobile Manipulation and Robust Obstacle Avoidance and Navigation. BRICS Deliverable D3.1, March 2010.

M. Klotzbücher, P. Soetens and H. Bruyninckx. BCM: A Minimal Robotic Component Model for Multitarget System and Component Generation. Appendix of BRICS Deliverable D4.1, March 2010.

P. Soetens, H. Garcia, M. Klotzbuecher and H. Bruyninckx. First established CAE tool integration. BRICS Deliverable D4.1, March 2010.

A. Pott, C. Connette, et al. Detailed specification of hardware and software for the showcases. BRICS Deliverable D5.1, March 2010.