Research Training Group
Cooperative, Adaptive and Responsive Monitoring in Mixed Mode Environments

@inproceedings{Brachmann16:LaneFlood
  author = {M. Brachmann and O. Landsiedel and S. Santini},
  booktitle = {IEEE Conference on Local Computer Networks (LCN)},
  title = {Concurrent Transmissions for Communication Protocols in the Internet of Things},
  year = {2016},
}

@inproceedings{TatarenkoECC16
  author = {Tatiana Tatarenko},
  booktitle = {Proceedings of European Control Conference (ECC)},
  title = {Stochastic stability of potential function maximizers in continuous version of independent log-linear learning},
  year = {2016},
}

@inproceedings{TatarenkoACC16
  author = {Tatiana Tatarenko and Behrouz Touri},
  booktitle = {Proceedings of American Control Conference (ACC)},
  title = {On local analysis of distributed optimization},
  year = {2016},
}

@inproceedings{Ali2015
  author = {Azad Ali and Abdelmajid Khelil and Neeraj Suri},
  booktitle = {Proceedings of Symposium on Reliable Distributed Systems (SRDS)},
  title = {FTDE: Distributed Fault Tolerance for WSN Data collection and Compression Schemes},
  year = {2015},
  abstract = {Wireless Sensor Networks (WSNs), often employ data compression schemes to efficiently collect data at sink for processing due the constrained resources. However, various factors such as can compromise the core objective of accurate collection and delivery of the sensor data. However, most current compression schemes fail to consider the faults and the resulting data errors arising from low node reliability (node crashes), harsh operating environments and communication faults resulting into erroneous data being collected. This paper proposes a novel and efficient distributed model based fault-tolerance technique applicable to varied compression schemes. Being fully distributed, our scheme corrects data errors at the point of origin (faulty sensor nodes), and thus avoids costly transmissions of corrupt data, decreasing message cost, and enhances compression effectiveness by correcting the erroneous samples.},
  pdf = {Ali2015.pdf},
}

@phdthesis{Germanus2015-PhdThesis
  author = {Daniel Germanus},
  school = {TU Darmstadt},
  title = {Increasing Structured P2P Protocol Resilience to Localized Attacks},
  year = {2015},
  abstract = {The Peer-to-Peer (P2P) computing model has been applied to many application fields over the last decade. P2P protocols made their way from infamous - and frequently illicit - file sharing applications towards serious applications, e.g., in entertainment, audio/video conferencing, or critical applications like smart grid, Car-2-Car communication, or Machine-to-Machine communication. Some of the reasons for that are P2P's decentralized design that inherently provides for fault tolerance to non-malicious faults. However, the base P2P scalability and decentralization requirements often result in design choices that negatively impact their robustness to varied security threats. A prominent vulnerability are Eclipse attacks (EA) that aim at information hiding and consequently perturb a P2P overlay's reliable service delivery. This dissertation provides the necessary background to understand the different types and inherent complexity of EAs, the susceptibility of many P2P protocols to EAs, and a mitigation technique for the localized EA variant. The applicability of the proposed mitigation technique has been validated experimentally and shows for a wide range of system parameters and application scenarios good mitigation rates reaching up to 100%.},
  pdf = {Germanus2015-PhdThesis.pdf},
  url = {http://tuprints.ulb.tu-darmstadt.de/id/eprint/4582},
}

@inproceedings{Germanus2015
  author = {Daniel Germanus and Hatem Ismail and Neeraj Suri},
  booktitle = {Proceedings of Symposium on Reliable Distributed Systems (SRDS)},
  title = {PASS: An Address Space Slicing Framework for P2P Eclipse Attack Mitigation},
  year = {2015},
  abstract = {The decentralized design of Peer-to-Peer (P2P) protocols inherently provides for fault tolerance to non-malicious faults. However, the base P2P scalability and decentralization requirements often result in design choices that negatively impact their robustness to varied security threats. A prominent vulnerability are Eclipse attacks that aim at information hiding and consequently perturb a P2P overlay's reliable service delivery. Divergent lookups constitute an advocated mitigation technique but are size-limited to overlay networks with tens of thousands of peers. In this work, building upon divergent lookups, we propose a novel and scalable P2P address space slicing strategy (PASS) to efficiently mitigate attacks in overlays that host hundreds of thousands of peers. Moreover, we integrate and evaluate diversely designed lookup variants to assess their network overhead and mitigation rates. The proposed PASS approach shows mitigation rates reaching up to 100%. },
  pdf = {Germanus2015.pdf},
}

@inproceedings{Klodt2015a
  author = {Lukas Klodt and Saman Khodaverdian and Volker Willert},
  booktitle = {Proceedings of the IEEE Multi-Conference on Systems and Control (MSC)},
  title = {Motion Control for UAV-UGV Cooperation with Visibility Constraint},
  year = {2015},
}

@inproceedings{Klodt2015b
  author = {Lukas Klodt and Volker Willert},
  booktitle = {Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS)},
  title = {Equitable Workload Partitioning for Multi-Robot Exploration through Pairwise Optimization},
  year = {2015},
}

@inproceedings{Brachmann15:Heterogeneous
  author = {M. Brachmann and D. Becker and and S. Santini},
  booktitle = {ACM/IEEE International Conference on Information Processing in Sensor Networks (IPSN)},
  title = {Poster Abstract: Towards Enabling Concurrent Trans- missions in Heterogeneous Networks},
  year = {2015},
}

@article{2015:winter
  author = {Stefan Winter and Oliver Schwahn and Roberto Natella and Neeraj Suri and Domenico Cotroneo},
  journal = {Intl. Conf on Software Engg (ICSE)},
  title = {No PAIN, No Gain? The utility of PArallel fault INjections},
  year = {2015},
}

@inproceedings{richter:2015:cvpr
  author = {Stephan R. Richter and Stefan Roth},
  booktitle = {Proc. of Conf. on Computer Vision and Pattern Recognition (CVPR)},
  month = {June},
  title = {Discriminative Shape from Shading in Uncalibrated Illumination},
  year = {2015},
  abstract = {Estimating surface normals from just a single image is challenging. To simplify the problem, previous work focused on special cases, including directional lighting, known reflectance maps, etc., making shape from shading impractical outside the lab. To cope with more realistic settings, shading cues need to be combined and generalized to natural illumination. This significantly increases the complexity of the approach, as well as the number of parameters that require tuning. Enabled by a new large-scale dataset for training and analysis, we address this with a discriminative learning approach to shape from shading, which uses regression forests for efficient pixel-independent prediction and fast learning. Von Mises-Fisher distributions in the leaves of each tree enable the estimation of surface normals. To account for their expected spatial regularity, we introduce spatial features, including texton and silhouette features. The proposed silhouette features are computed from the occluding contours of the surface and provide scale-invariant context. Aside from computational efficiency, they enable good generalization to unseen data and importantly allow for a robust estimation of the reflectance map, extending our approach to the uncalibrated setting. Experiments show that our discriminative approach outperforms state-of- the-art methods on synthetic and real-world datasets},
}

@inproceedings{TatarenkoECC15
  author = {Tatiana Tatarenko},
  booktitle = {Proceedings of European Control Conference (ECC)},
  title = {Synchronous learning of efficient Nash equilibria in potential games with uncoupled dynamics and memoryless players},
  year = {2015},
}

@inproceedings{TatarenkoCDC15
  author = {Tatiana Tatarenko},
  booktitle = {Proceedings of 54th IEEE Conference on Decision and Control (CDC)},
  title = {1-recall reinforcement learning leading to an optimal equilibrium in potential games with discrete and continuous actions},
  year = {2015},
}

@article{2015:piper
  author = {Thorsten Piper and Stefan Winter and Oliver Schwahn and Suman Bidarahalli and Neeraj Suri},
  journal = {Proc. of ISORC},
  title = {Mitigating Timing Error Propagation in Mixed-Criticality Automotive Systems},
  year = {2015},
}

@inproceedings{Germanus2014
  author = {Daniel Germanus and Stefanie Roos and Thorsten Strufe and Neeraj Suri},
  booktitle = {Proceedings of Conference on Communications and Network Security (CNS)},
  title = {Mitigating Eclipse Attacks},
  year = {2014},
}

@article{2014:veseli
  author = {Fatbardh Veseli and Tsvetoslava Vateva-Gurova and Ioannis Krontiris and Kai Rannenberg and and Neeraj Suri},
  journal = {Proc. of IFIP SEC},
  title = {Towards a Framework for Benchmarking Privacy-ABC Technologies},
  year = {2014},
}

@article{2014:luna
  author = {Jesus Luna and Tsvetoslava Vateva-Gurova and Neeraj Suri and Massimiliano Rak and Alessandra De Benedictis},
  journal = {Proc. of Lecture Notes, Series Communications in Computer and Information Science},
  title = {SecLA-based Negotiation and Brokering of Cloud Resources},
  volume = {453},
  year = {2014},
}

@inproceedings{Klodt2014
  author = {Lukas Klodt and Dominik Haumann and Volker Willert},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  title = {Revisiting Coverage Control in Nonconvex Environments using Visibility Sets},
  year = {2014},
  abstract = {In the context of robotics coverage describes the deployment of mobile sensors or agents in a target area. This paper presents a new solution to coverage in nonconvex environments. We apply a modification to the coverage approach in [1], making use of visibility sets and a contraction of the environment, leading to a change in the bounds of integration. The resulting feedback control is fully distributed, has guaranteed, inherent collision avoidance without separate path planning and reduced communication and computation requirements compared to similar approaches. We also formulate an extension to agents with limited sensing range. Our method works in unknown environments, if all regions are of equal interest. We provide simulation results demonstrating the advantageous properties of the approach.},
}

@inproceedings{MMDCOSS2014AS
  author = {Mohammadreza Mahmudimanesh and Amir Naseri and Neeraj Suri},
  booktitle = {The 10th IEEE International Conference on Distributed Computing in Sensor Systems (DCOSS)},
  title = {Efficient Agile Sink Selection in Wireless Sensor Networks based on Compressed Sensing},
  year = {2014},
}

@inproceedings{MMDCOSS2014RCSC
  author = {Mohammadreza Mahmudimanesh and Neeraj Suri},
  booktitle = {The 10th IEEE International Conference on Distributed Computing in Sensor Systems (DCOSS)},
  title = {Robust Compressive Data Gathering in Wireless Sensor Networks with Linear Topology},
  year = {2014},
}

@inproceedings{MMSECON14
  author = {Mohammadreza Mahmudimanesh and Neeraj Suri,},
  booktitle = {IEEE International Conference on Sensing, Communication and Network (SECON)},
  title = {Agile Sink Selection in Wireless Sensor Networks},
  year = {2014},
}

@inbook{Scholl15:ContikiROS
  author = {Philipp M. Scholl and Martina Brachmann and Silvia Santini and Kristof van Laerhoven},
  booktitle = {Cooperative Robots and Sensor Networks},
  editor = {Anis Koubaa, Abdelmajid Khelil},
  pages = {141--157},
  publisher = {Springer Berlin Heidelberg},
  title = {Integrating Wireless Sensor Nodes in the Robot Operating System},
  year = {2014},
  doi = {http://dx.doi.org/10.1007/978-3-642-55029-4_7},
}

@inproceedings{dCHWH2014
  author = {Rodrigo do Carmo and Justus Hoffmann and Volker Willert and and Matthias Hollick},
  booktitle = {39th IEEE Conference on Local Computer Networks (LCN)},
  month = {September},
  publisher = {IEEE},
  title = {Making Active-Probing-Based Network Intrusion Detection in Wireless Multihop Networks Practical: A Bayesian Inference Approach to Probe Selection},
  year = {2014},
}

@inproceedings{docarmo:wons2014
  author = {Rodrigo do Carmo and Matthias Hollick},
  booktitle = {11th IEEE/IFIP Annual Conference on Wireless On-demand Network Systems and Services (WONS 2014)},
  publisher = {IEEE/IFIP},
  title = {Analyzing Active Probing for Practical Intrusion Detection in Wireless Multihop Networks},
  year = {2014},
  abstract = {Practical intrusion detection in Wireless Multihop Networks (WMNs) is a hard challenge. It has been shown that an active-probing-based network intrusion detection system (AP-NIDS) is practical for WMNs. However, understanding its interworking with real networks is still an unexplored challenge. In this paper, we investigate this in practice. We identify the general functional parameters that can be controlled, and by means of extensive experimentation, we tune these parameters and analyze the trade-offs between them, aiming at reducing false positives, overhead, and detection time. The traces we collected help us to understand when and why the active probing fails, and let us present countermeasures to prevent it.},
}

@inproceedings{secrypt_vateva_2014
  author = {T. Vateva-Gurova and J. Luna and G. Pellegrino and N. Suri},
  booktitle = {International Conference on Security and Cryptography SECRYPT},
  title = {Towards a Framework for Assessing the Feasibility of Side-channel Attacks in Virtualized Environments},
  year = {2014},
  pdf = {secrypt_vateva_2014.pdf},
}

@inproceedings{TatarenkoCDC14
  author = {Tatiana Tatarenko},
  booktitle = {Proceedings of 53rd IEEE Conference on Decision and Control},
  title = {Log-linear learning: Convergence in discrete and continuous strategy potential games},
  year = {2014},
}

@article{2014:vateva
  author = {Tsvetoslava Vateva-Gurova and Jesus Luna and Giancarlo Pellegrino and Neeraj Suri},
  journal = {Proc. of Security and Cryptography (SECRYPT)},
  title = {Towards a Framework for Assessing the Feasibility of Side-channel Attacks in Virtualized Environments},
  year = {2014},
}

@inproceedings{willert2014
  address = {Strasbourg, France},
  author = {Volker Willert and Dominik Haumann and Stefan Gering},
  booktitle = {Proceedings of the IFAC European Control Conference},
  title = {Decentralized Bayesian Consensus over Networks},
  year = {2014},
  abstract = {This paper deals with networked, dynamical multi-agent systems (MAS) trying to reach consensus about their states subject to uncertain data transfer and noisy measurements. For this, an analogy between the deterministic consensus protocol and a Gaussian process is established. First, the consensus problem is modeled as a stochastic process to consider uncertain initial states and noisy information flow over the network. Next, necessary conditions for decentral inference are derived, two decentral approximative inference protocols are developed and the dependency between communication density and approximation error is presented. Furthermore, a provably convergent and computationally efficient Gaussian consensus protocol is realized. Finally, it is shown that taking measurement noise into account the Gaussian consensus protocol naturally extends to a decentralized Kalman filter for consensus systems.},
}

@inproceedings{Wahrburg2013
  address = {Florence, Italy},
  author = {Arne Wahrburg and Dominik Haumann and Volker Willert},
  booktitle = {Proceedings of the 52nd IEEE Conference on Decision and Control (CDC)},
  month = {12},
  pages = {5643--5649},
  title = {Minimum-Variance Fault Isolation Observers for Discrete-Time Linear Systems},
  volume = {52},
  year = {2013},
  abstract = {In this paper, we provide two methods for the observer based fault isolation of discrete-time linear systems. Both rely on designing a single, specifically parametrized fault isolation observer (FIO). In contrast to classical bank of observers approaches, this leads to a low implementation effort. Arising degrees of freedom in systems with redundant measurements are characterized and exploited to optimize robustness of the generated residuals if the system is subject to noise. The first method is based on adding structural constraints to the classical Kalman filter, and the second approach provides a solution based on linear matrix inequalities (LMIs). A comparison is given and the results are applied to an example system.},
  keywords = {fault diagnosis, Kalman filtering, linear system observers},
}

@inproceedings{ichi2013-seeger
  author = {Christian Seeger and Kristof Van Laerhoven and Jens Sauer and Alejandro Buchmann},
  booktitle = {IEEE International Conference on Healthcare Informatics (ICHI 2013)},
  title = {A Publish/Subscribe Middleware for Body and Ambient Sensor Networks that Mediates between Sensors and Applications},
  year = {2013},
}

@article{germanus2013
  author = {Daniel Germanus and Johannes Schwandke and Abdelmajid Khelil and Neeraj Suri},
  journal = { IEEE SmartGridComm Symposium},
  title = {Coral: Reliable and Low-latency P2P Convergecast for Critical Sensor Data Collection},
  year = {2013},
}

@inproceedings{Haumann2013
  address = {Koblenz, Germany},
  author = {Dominik Haumann and Volker Willert and Kim D. Listmann},
  booktitle = {Proceedings of the 4th IFAC Workshop on Distributed Estimation and Control in Networked Systems},
  month = {September},
  number = {1},
  pages = {328--335},
  title = {DisCoverage: From Coverage to Distributed Multi-Robot Exploration},
  volume = {4},
  year = {2013},
  abstract = {DisCoverage transfers the well-known solution to the coverage problem to the exploration problem. Essentially, DisCoverage solves the multi-robot exploration problem through a spatially distributed optimization problem. Our contribution is a new objective function for DisCoverage based on the centroidal search. Each robot continuously creates and optimizes the proposed objective function, obtaining a gradient-based control law that leads into unexplored regions. A proof of convergence is given as well as a simulation and a statistical evaluation demonstrating DisCoverage.},
  doi = {10.3182/20130925-2-DE-4044.00009},
  pdf = {Haumann2013.pdf},
  url = {http://www.ifac-papersonline.net/Detailed/62403.html},
}

@inproceedings{HWL2013
  address = {Salzburg, Austria},
  author = {Dominik Haumann and Volker Willert and Kim D. Listmann},
  booktitle = {Workshop des VDI/VDE GMA FA 1.40 "Theoretische Verfahren der Regelungstechnik"},
  month = {September},
  title = {DisCoverage: Von Coverage zur Multi-Roboter-Exploration},
  year = {2013},
}

@inproceedings{berlin_laerhoven_dcoss2013
  author = {Eugen Berlin and Kristof Van Laerhoven},
  booktitle = {9th IEEE International Conference on Distributed Computing in Sensor Systems (DCOSS 2013)},
  title = {Sensor Networks for Railway Monitoring: Detecting Trains from their Distributed Vibration Footprints},
  year = {2013},
}

@article{gurov2013
  author = {Iliya Gurov and Pablo E. Guerrero and Martina Brachmann and Silvia Santini and Kristof Van Laerhoven and Alejandro Buchmann},
  journal = {11th ACM Conference on Embedded Networked Sensor Systems (SenSys)},
  title = {Poster Abstract: A Site Properties Assessment Framework for Wireless Sensor Networks},
  year = {2013},
  abstract = {Comparing experimental results obtained on dierent wireless sensor network deployments is typically very cumbersome and in most cases unfeasible. This is due to the lack of a methodology to describe the properties of network deployments and the experimental conditions under which experiments have been run. Our work focuses on the design and development of a site properties assessment framework, called SiteWork, that aims at providing the means to quickly, automatically and accurately quantify their properties. This poster abstract describes the preliminary design and evaluation of the basic site properties assessment mechanisms provided by SiteWork.},
}

@article{2013:luna
  author = {Jesus Luna and Tsvetoslava Vateva-Gurova and Neeraj Suri and Massimiliano Rak and Loredana Liccardo},
  journal = {Proc. of the International Conference on Cloud Computing and Services Science (CLOSER)},
  title = {Negotiating and Brokering Cloud Resources based on Security Level Agreements},
  year = {2013},
}

@inproceedings{delfa13Astra
  author = {Juan Manuel Delfa Victoria and Simone Fratini and Nicola Policella and Oskar von Stryk and Yang Gao},
  booktitle = {In Proceedings of the 12th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA)},
  title = {QuijoteExpress - A novel APSI planning system for future space robotic missions},
  year = {2013},
  abstract = {Communications delay, an undeterministic/dynamic environment, science return or cost efficiency are some of the reasons that claim for more autonomy on Space Missions. The main effort of previous Mars Rover missions (i.e., MER) have been focused on-board, where at least three systems have been successfully deployed: Autonomous navigation, SPOTTER (dust-devil & cloud detection) and AEGIS (autonomous data collection). Considering the sophistication of future rover payloads (e.g., Exomars Pasteur & Humboldt) and with the lessons learnt from previous rover missions, an advanced planner/replanner represents one of the main building blocks for enabling technology. This paper discusses a possible advanced planner candidate: QuijoteExpress an heuristic-driven planner based on a evolution of the APSI framework, APSI*. APSI is an ESA owned software framework to develop automated planning and scheduling applications. APSI* allows the definition of complex goals using a planning technique called Hierarchical Task Networks (HTN). The human operator can define in this way a plan in terms of complex goals while the planner is in charge of decomposing them into commands. This technique provides several advantages. First, it represents an improvement on the planner performance, as HTN simplifies the search space. The planner does not need to search anymore how to achieve repetitive tasks. Instead, predefined methods specify the different ways to accomplish complex goals. Second, it also simplifies the modeling which is one of the major problems that engineers need to face to deploy automated tools. Finally, it makes plans easier to understand and validate by humans. QuijoteExpress extends the AP2 planner developed in the frame of the ESA Goal Oriented Autonomous Controller Study (GOAC). It is divided in a strategic planner that leads the search and four tactical planners used to fix the plan. In QuijoteExpress, the problem can be evolved to different layers, being each layer more detailed than the previous one. It tries to extract a solution using an iterative repair technique as follows: First, it repairs the present layer by adding / deleting or moving elements of the plan. Once the layer is valid, the planner decomposes the problem to the next level and repeat the process. Besides the use of HTN, QuijoteExpress present other novelties. By analysing the structure of the problem, it can identify independent parts that will be then processed in parallel. This technique aims to improve the performance and might enable other techniques such as distributed computing. To manage the inherent uncertainty of rover missions, QuijoteExpress replaces the concept of valid plan by sufficient plan. It allows the user to represent problems for which some information is missing and the planner to find solutions for such problems. Finally, we have implemented a hierarchical model of a rover to test the new platform.},
}

@inproceedings{Brachmann2013+Benchmarking
  address = {Rome, Italy},
  author = {Martina Brachmann and Silvia Santini},
  booktitle = {Proceedings of the 11th ACM Conference on Embedded Networked Sensor Systems (SenSys 2013)},
  month = {11},
  title = {Poster Abstract: Towards the Benchmarking of Ultra-Low Latency Communication Protocols for Wireless Sensor and Actuator Networks},
  year = {2013},
  abstract = {Novel protocols that can enable ultra-low latency communication in wireless multihop sensor and actuator networks have recently been presented in the literature. These approaches achieve ultra-low latencies in packet delivery notwithstanding the unreliability of the wireless channel. A systematic methodology to analyze and compare the performance of ultra-low latency communication protocols is however still missing. This work presents our rst steps towards the denition of such a methodology. Building upon this work, we aim at designing and implementing a comprehensive benchmarking framework for ultra-low latency communication protocols.},
  doi = {10.1145/2517351.2517430},
  keywords = {Packet Delivery Time; Wireless Sensor and Actuator Networks; Ultra-low Latency; Real-Time; Benchmarking},
  pdf = {Brachmann2013+Benchmarking.pdf},
}

@article{scholl2013
  author = {Philipp M. Scholl and Brahim El Mahjoub and Silvia Santini and Kristof Van Laerhoven},
  journal = {The 8th International Symposium on Intelligent Systems Techniques for Ad hoc and Wireless Sensor Networks},
  title = {Connecting Wireless Sensor Networks to the Robot Operating System},
  year = {2013},
  abstract = { Robot systems largely depend on embedded systems to operate. The interfaces of those embedded systems, e.g. motor controllers or laser scanners, are often vendor-specific and therefore require a component that translates from/to the Robot Operating System (ROS) Middleware interface. In this work we present an implementation and evaluation of a ROS Middleware client based on the Contiki operating systems, which is suitable for constrained embedded devices, like wireless sensor nodes. We show that in-buffer processing of ROS messages without relying on dynamic memory allocation is possible. That message contents can be accessed conveniently via well-known concepts of the C language (structs) with negligible processing overhead compared to a C++-based client. And that the message-passing middleware concept of ROS fits nicely in Contiki's event-based nature. Furthermore, in order for an environment enriched with wireless sensor networks to help robots in navigating, understanding and manipulating environments a direct integration is mandatory.},
  pdf = {scholl2013.pdf},
}

@inproceedings{doCarmo:2013:DMA:2463183.2463187
  address = {New York, NY, USA},
  author = {Rodrigo do Carmo and and Matthias Hollick},
  booktitle = {Proceedings of the 2nd ACM workshop on Hot topics on wireless network security and privacy},
  pages = {13--18},
  publisher = {ACM},
  series = {HotWiSec '13},
  title = {DogoIDS: a mobile and active intrusion detection system for IEEE 802.11s wireless mesh networks},
  year = {2013},
  abstract = {Wireless Mesh Networks (WMN) are particularly vulnerable to attacks, since they feature constraint nodes, multi-hop communication, and an open wireless communication channel. These features limit the feasibility of the deployment of contemporary Intrusion Detection Systems (IDS): centralized systems fail because there is no strict network boundary, and distributed and/or cooperative systems challenge the limited resources of the nodes. As a result, practical IDSs for WMNs are scarce, and existing systems are limited with respect to detection capabilities. In this paper we present the design, implementation, and evaluation of "DogoIDS": an open source, mobile, active-probing-based intrusion detection system. Exploiting mobility allows to mitigate the limitations of distributed, node-dependent systems. The active nature of the system achieves detection capabilities beyond that of a purely passive system. We show the accuracy and speed of our prototype in a testbed WMN---based on the IEEE 802.11s standard---under realistic attacks.},
  doi = {10.1145/2463183.2463187},
  keywords = {intrusion detection, security, wireless mesh networks},
  url = {http://dl.acm.org/citation.cfm?id=2463183.2463187&coll=DL&dl=ACM&CFID=212604700&CFTOKEN=95170520},
}

@inproceedings{nikitaki2013
  author = {Sofia Nikitaki and Philipp M Scholl and Kristof Van Laerhoven and Panagiotis Tsakalides},
  booktitle = {IEEE 14th Workshop on Signal Processing Advances in Wireless Communications (SPAWC)},
  title = {Localization in Wireless Networks via Laser Scanning and Bayesian Compressed Sensing},
  year = {2013},
}

@inproceedings{kohlbrecher2013opensource
  author = {Stefan Kohlbrecher and Johannes Meyer and Thorsten Graber and Karen Petersen and Oskar von Stryk and Uwe Klingauf},
  booktitle = {17th RoboCup International Symposium},
  title = {Hector Open Source Modules for Autonomous Mapping and Navigation with Rescue Robots},
  year = {2013},
  abstract = {Key abilities for robots deployed in urban search and rescue tasks include autonomous exploration of disaster sites and recognition of victims and other objects of interest. In this paper, we present related open source software modules for the development of such complex capabilities which include hector slam for self-localization and mapping in a degraded urban environment. All modules have been successfully applied and tested originally in the RoboCup Rescue competition. Up to now they have already been re-used and adopted by numerous international research groups for a wide variety of tasks. Recently, they have also become part of the basis of a broader initiative for key open source software modules for urban search and rescue robots.},
  pdf = {kohlbrecher2013opensource.pdf},
}

@inproceedings{sachidananda2013trading
  author = {Vinay Sachidananda and Abdelmajid Khelil and D. Umap and Matthias Majuntke and Neeraj Suri},
  booktitle = { Intl Conf on Networking Sensing and Control (ICNSC)},
  title = {Trading Transport Timeliness and Reliability for Efficiency in Wireless Sensor Networks},
  year = {2013},
  pdf = {sachidananda2013trading.pdf},
  url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6548827},
}

@inproceedings{sachidananda2013sampling
  author = {Vinay Sachidananda and Abdelmajid Khelil and David Noack and Neeraj Suri},
  booktitle = {Wireless On-Demand Network Systems & Services (WONS)},
  title = {Sampling and Transport Co-design in Wireless Sensor Networks},
  year = {2013},
  pdf = {sachidananda2013sampling.pdf},
  url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6578327},
}

@inproceedings{sachidananda2013information
  author = {Vinay Sachidanandan and Abdelmajid Khelil and David Noack and Neeraj Suri},
  booktitle = {Wireless and Mobile Networking Conference (WMNC)},
  title = {Information Quality Aware Co-design of Sampling and Transport in Wireless Sensor Networks},
  year = {2013},
  pdf = {sachidananda2013information.pdf},
  url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6548978},
}

@article{willert2013b
  author = {Volker Willert},
  journal = {at- Automatisierungstechnik},
  number = {4},
  pages = {269-277},
  title = {Machine Vision for Mobile Robots: Virtually-Active Visual Odometry},
  volume = {61},
  year = {2013},
  abstract = {This paper deals with vision-based navigation of autonomous mobile robots. An approach to improve visual odometry algorithms is presented that picks up the idea of actively influencing the image data by actuating elements of an active camera system without using an active camera system effectively. It is shown that via virtual fixations the spatial optical flow pattern can be influenced in such a way that the camera motion computed based on this optical flow is getting more precise. For computation of the camera motion, the active 7-point algorithm is introduced. Based on statistical evaluations it is derived which fixation points are especially suited and a strategy how to choose such suited fixation points is described. A comparison between the presented virtual-active approach and a state of the art visual odometry implementation is given.},
}

@article{Willert2013
  author = {Volker Willert and Stefan Gering and Dominik Haumann},
  journal = {at - Automatisierungstechnik},
  month = {August},
  number = {8},
  pages = {583--595},
  title = {Bayes'sche Consensus-Regelung in dezentralen vernetzten Systemen},
  volume = {61},
  year = {2013},
  abstract = {This paper deals with networked, dynamical multi-agent systems (MAS) trying to reach consensus about their states subject to uncertain data transfer and noisy measurements. For this, an analogy between the consensus protocol and Gaussian belief propagation is established. Modeling the consensus problem as a stochastic process, uncertainties in the initial states and in the information flow can be considered. The requirements for decentral inference are derived, two decentral approximative inference protocols are developed and a Gaussian consensus protocol is realized. Furthermore, the dependency between communication density and approximation error is presented. Finally, it is shown that taking measurement noise into account leads to a decentral design of a Kalman filter for consensus systems.},
  doi = {10.1524/auto.2013.1036},
  url = {http://www.degruyter.com/view/j/auto.2013.61.issue-8/auto.2013.1036/auto.2013.1036.xml},
}

@inproceedings{Andriyenko2012CVPR
  author = {Anton Andriyenko and Konrad Schindler and and Stefan Roth},
  booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
  title = {Discrete-Continuous Optimization for Multi-Target Tracking},
  year = {2012},
  url = {http://www.gris.informatik.tu-darmstadt.de/~aandriye/files/cvpr2012/cvpr2012-anton.pdf},
}

@inproceedings{IHI2012-seeger
  author = {Christian Seeger and Alejandro Buchmann and Kristof Van Laerhoven},
  booktitle = {ACM SIGHIT International Health Informatics Symposium (IHI 2012)},
  note = {To appear.},
  title = {An Event-based BSN Middleware that supports Seamless Switching between Sensor Configurations},
  year = {2012},
  pdf = {IHI2012-seeger.pdf},
}

@inproceedings{dsrds
  author = {Daniel Germanus and Robert Langenberg and Abdelmajid Khelil and Neeraj Suri },
  booktitle = {In Proc. of IEEE Symposium on Reliable Distributed Systems (SRDS), 2012.},
  title = {Susceptibility Analysis of Structured P2P Systems to Localized Eclipse Attacks },
  year = {2012},
}

@inproceedings{HLW2012
  address = {Las Vegas, Nevada},
  author = {Dominik Haumann and and Maximilian Loeffler and and Volker Willert},
  booktitle = {IEEE 9th International Conference on Mobile Ad hoc and Sensor Systems (MASS)},
  month = {October},
  title = {Distributed Kalman Filtering for Noisy Consensus Networks with Time Delays},
  year = {2012},
  abstract = {This work focuses on consensus networks consisting of a group of mobile agents in the presence of noise and time delays. Due to noise, exact consensus is never reached. Hence, we propose fully distributed and local Kalman filters that filter only a subset of all system states while maintaining a filter quality close to a global Kalman filter. Feasibility is guaranteed by communicating measurements through the network, introducing time delays. The overall system stability is analyzed. Simulations demonstrate the performance of the proposed distributed filters.},
  doi = {http://dx.doi.org/10.1109/MASS.2012.6708520},
  url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6708520},
}

@inproceedings{HWW2012
  address = {Dubrovnik, Croatia},
  author = {Dominik Haumann and Volker Willert and Arne Wahrburg},
  booktitle = {Intelligent Control (ISIC), 2012 IEEE International Symposium on},
  month = {October},
  pages = {944--950},
  title = {Kalman Filtering in Mobile Consensus Networks},
  year = {2012},
  abstract = {In this paper, we design a Kalman filter for a mobile sensor network that tries to reach consensus based solely on relative measurements. We show, that this problem cannot be solved with state-of-the-art Kalman consensus filters because such a mobile consensus network is not observable. Hence, we propose a system transformation and the concept of a reference agent to obtain an asymptotically stable and observable system description. Based on the transformed system, we design a central Kalman filter and visualize the factorization details with Dynamic Bayesian Networks (DBN). Then, the Kalman filter is modified to obtain one decentral Kalman filter for each agent that uses delayed measurements propagated through the communication topology. This allows each agent to estimate the whole system state using only information sent by its neighbor agents defined by a communication topology. Simulation results demonstrate our method.},
  doi = {10.1109/ISIC.2012.6398275},
  url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?&arnumber=6398275},
}

@inproceedings{scholz_simpar_2012
  author = {Dorian Scholz and Christophe Maufroy and Stefan Kurowski and Katayon Radkhah and Oskar von Stryk and Andre Seyfarth},
  booktitle = {SIMPAR},
  title = {Simulation and Experimental Evaluation of the Contribution of Biarticular Gastrocnemius Structure to Joint Synchronization in Human-Inspired Three-Segmented Elastic Legs },
  year = {2012},
  abstract = { The humanoid robot BioBiped2 is powered by series elastic actuators (SEA) at the leg joints. As motivated by the human muscle ar- chitecture comprising monoarticular and biarticular muscles, the SEA at joint level are supported by elastic elements spanning two joints. In this study we demonstrate in simulation and in robot experiments, to what extend synchronous joint operation can be enhanced by introducing elas- tic biarticular structures in the leg, reducing the risk of over-extending individual joints. },
  pdf = {scholz_simpar_2012.pdf},
}

@inproceedings{berlin_motifs_ubicomp2012
  author = {Eugen Berlin and Kristof Van Laerhoven},
  booktitle = {14th ACM International Conference on Ubiquitous Computing (UbiComp 2012)},
  publisher = {ACM Press},
  title = {Detecting Leisure Activities with Dense Motif Discovery},
  year = {2012},
  abstract = {This paper proposes an activity inference system that has been designed for deployment in mood disorder research, which aims at accurately and efficiently recognizing selected leisure activities in week-long continuous data. The approach to achieve this relies on an unobtrusive and wrist-worn data logger, in combination with a custom data mining tool that performs early data abstraction and dense motif discovery to collect evidence for activities. After presenting the system design, a feasibility study on weeks of continuous inertial data from 6 participants investigates both accuracy and execution speed of each of the abstraction and detection steps. Results show that our method is able to detect target activities in a large data set with a comparable precision and recall to more conventional approaches, in approximately the time it takes to download and visualize the logs from the sensor.},
}

@inproceedings{berlin_trains_inss2012
  author = {Eugen Berlin and Kristof Van Laerhoven},
  booktitle = {The Ninth International Conference on Networked Sensing Systems (INSS 2012)},
  publisher = {IEEE Press},
  title = {Trainspotting: Combining Fast Features to Enable Detection on Resource-constrained Sensing Devices},
  year = {2012},
  abstract = {This paper focuses on spotting and classifying complex and sporadic phenomena directly on a sensor node, whereby a relatively long sequence of sensor samples needs to be considered at a time. Using fast feature extraction from streaming data that can be implemented on the sensor nodes, we show that on-sensor event classification can be achieved. This approach is of particular interest for wireless sensor networks as it promises to reduce wireless traffic significantly, as only events need to be transmitted instead of potentially large chunks of inertial data. The presented approach characterizes the essence of an event's signal by combining several simple features on low-cost MEMS inertial data. Using a scenario and real data from vibration signatures generated by passing trains, we show how with this approach the classification and the estimation of length for passing trains is possible on miniature nodes placed near the railroad tracks. Experiments show that, at the cost of slightly more local processing, the chosen features produce good train type classification with up to 90% of trains correctly identified.},
}

@article{2012:luna
  author = {Jesus Luna and Hamza Ghani and Tsvetoslava Vateva and Neeraj Suri},
  journal = {Proc. of Security and Cryptography (SECRYPT)},
  title = {Quantitative Assessment of Cloud Security Levels: A Case Study},
  year = {2012},
}

@inproceedings{meyer2012quadrotorsimulation
  author = {Johannes Meyer and Alexander Sendobry and Stefan Kohlbrecher and Uwe Klingauf and Oskar von Stryk},
  booktitle = {Simulation, Modeling, and Programming for Autonomous Robots},
  pages = {400--411},
  publisher = {Springer},
  title = {Comprehensive Simulation of Quadrotor UAVs Using ROS and Gazebo},
  year = {2012},
  abstract = {Quadrotor UAVs have successfully been used both in research and for commercial applications in recent years and there has been signicant progress in the design of robust control software and hardware. Nevertheless, testing of prototype UAV systems still means risk of damage due to failures. Motivated by this, a system for the comprehensive simulation of quadrotor UAVs is presented in this paper. Unlike existing solutions, the presented system is integrated with ROS and the Gazebo simulator. This comprehensive approach allows simultaneous simulation of diverse aspects such as flight dynamics, onboard sensors like IMUs, external imaging sensors and complex environments. The dynamics model of the quadrotor has been parameterized using wind tunnel tests and validated by a comparison of simulated and real flight data. The applicability for simulation of complex UAV systems is demonstrated using LIDAR-based and visual SLAM approaches available as open source software.},
  pdf = {meyer2012quadrotorsimulation.pdf},
}

@inproceedings{delfa12SpaceOps
  author = {Juan Manuel Delfa Victoria and Nicola Policella and Marc Gallant and Alessandro Donati and Reinhold Bertrand and Oskar von Stryk and Yang Gao},
  booktitle = {Proceedings of the 12th International Conference on Space Operations (Spaceops)},
  title = {RoBen: Introducing a Benchmarking Tool for Planetary Rover Planning & Scheduling Algorithms},
  year = {2012},
  abstract = {Automated Planning & Scheduling Systems are nowadays applied in a wide range of spacecraft, from satellites to Mars rovers. The planner is responsible for the generation of valid plans that determine the activities to be performed by the spacecraft, given a set of goals and constraints (the problem), and taking into consideration the status of the spacecraft and environment. Therefore, it represents a critical system that needs to be strictly validated and verified. This paper presents a benchmarking tool called RoBen intended to characterize the performance of timeline planning systems. Using a number of metrics and heuristics, RoBen can generate synthetic problems of a given complexity in order to stress planners at different levels. At the same time, we are looking for properties that could help us to determine when a problem is unsolvable.},
  keywords = {Automated Planning Problem complexity APSI},
  pdf = {delfa12b.pdf},
}

@inproceedings{delfa12a
  author = {Juan Manuel Delfa Victoria and Nicola Policella and Marc Gallant and Oskar von Stryk and Alessandro Donati and Yang Gao},
  booktitle = {In Proceedings of the Performance Metrics for Intelligent Systems (PerMIS) Workshop},
  title = {Metrics for Planetary Rover Planning & Scheduling Algorithms},
  year = {2012},
  abstract = {In addition to its utility in terrestrial-based applications, Automated Planning and Scheduling (P&S) has had a growing impact on space exploration. Such applications require an influx of new technologies to improve performance while not compromising safety. As a result, a reliable method to rapidly assess the effectiveness of new P&S algorithms would be desirable to ensure the fulfillment of all software requirements. This paper introduces RoBen, a mission independent benchmarking tool that provides a standard framework for the evaluation and comparison of P&S algorithms. RoBen considers metrics derived from the model (the system on which the P&S algorithm will operate) as well as user input (e.g., desired problem complexity) to automatically generate relevant problems for quality assessment. A thorough description of the algorithms and metrics used in RoBen is provided, along with the preliminary test results of a P&S algorithm solving RoBen-generated problems.},
  keywords = {Automated Planning Problem complexity APSI},
}

@inproceedings{delfa12c
  author = {Juan Manuel Delfa Victoria and Nicola Policella and Yang Gao and Oskar von Stryk},
  booktitle = {In Proceedings of the ICAPS Planning & Scheduling for Timelines (PSTL)},
  title = {Design Concepts for a new Temporal Planning Paradigm},
  year = {2012},
  abstract = {Throughout the history of space exploration, the complexity of missions has dramatically increased, from Sputnik in 1957 to MSL, a Mars rover mission launched in November 2011 with advanced autonomous capabilities. As a result, the mission plan that governs a spacecraft has also grown in complexity, pushing to the limit the capability of human operators to understand and manage it. However, the effective representation of large plans with multiple goals and constraints still represents a problem. In this paper, a novel approach to address this problem is presented. We propose a new planning paradigm named HTLN, intended to provide a compact and understandable representation of complex plans and goals based on Timeline planning and Hierarchical Temporal Networks.We also present the design of a planner based on HTLN, which enables new planning approaches that can improve the performance of present real-world domains.},
  keywords = {Automated Planning Timeline HTN APSI},
  pdf = {delfa12c.pdf},
}

@inproceedings{EuHoHa2012
  address = {Las Vegas, Nevada},
  author = {Juliane Euler and and Andreas Horn and and Dominik Haumann and and Juergen Adamy and Oskar von Stryk},
  booktitle = {IEEE 9th International Conference on Mobile Ad hoc and Sensor Systems (MASS)},
  month = {October},
  title = {Cooperative N-Boundary Tracking in Large Scale Environments},
  year = {2012},
  abstract = {Monitoring in large scale environments is a typical mission in cooperative robotics. This task requires the exploration of a huge domain by a generally small number of sensor equipped mobile robots. As time restrictions prohibit an exhaustive global search, a sampling strategy is required that allows an efficient spatial mapping of the environment. This paper proposes an adaptive sampling strategy for efficient simultaneous tracking of multiple concentration levels of an atmospheric plume by a team of cooperating unmanned aerial vehicles (UAVs). The approach combines uncertainty and correlation-based concentration estimates to generate sampling points based on already gathered data. The adaptive generation of sampling locations is coupled to a distributed model-predictive controller for planning optimal vehicle trajectories under collision and communication constraints. Simulation results demonstrate that connectivity of all involved vehicles can be maintained and an accurate reconstruction of the plume is obtained efficiently.},
  pdf = {EuHoHa2012.pdf},
  url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6708518},
}

@inproceedings{petersen_ssrr_2012
  author = {Karen Petersen and Oskar von Stryk},
  booktitle = {Proceedings of the 10th IEEE International Symposium on Safety Security and Rescue Robotics (SSRR 2012)},
  title = {Application Independent Supervised Autonomy},
  year = {2012},
  pdf = {petersen_ssrr_2012.pdf},
}

@inproceedings{mrezc
  author = {Mohammadreza Mahmudimanesh and Abdelmajid Khelil and Neeraj Suri },
  booktitle = {In Proc. of IEEE 9th IEEE International Conference on Mobile Ad hoc and Sensor Systems, IEEE MASS 2012. },
  title = {Balanced Spatio-Temporal Compressive Sensing for Multi-hop Wireless Sensor Networks},
  year = {2012},
}

@article{jnode2012
  author = {Philipp M. Scholl and Dawud Gordon and Markus Scholz and Kristof van Laerhoven and Matthias Berning},
  journal = {Short Paper, International Conference on Networked Sensing Systems},
  title = {jNode: a Sensor Network Platform that Supports Distributed Inertial Kinematic Monitoring},
  year = {2012},
}

@article{smoke2012
  author = {Philipp M. Scholl and Kristof van Laerhoven},
  journal = {International Workshop on Extending Seamlessly to the Internet of Things},
  title = {A Feasibility Study of Wrist-Worn Accelerometer Based Detection of Smoking Habits},
  year = {2012},
  abstract = {Cigarette smoking is one of the major causes of lung cancer, and has been linked to a large amount of other cancer types and diseases. Smoking cessation, the only mean to avoid these serious risks, is hindered by the ease to ignore these risks in day-to-day life. In this paper we present a feasibility study with smokers wearing an accelerometer device on their wrist over the course of a week to detect their smoking habits based on detecting typical gestures carried out while smoking a cigarette. We provide a basic detection method that identifies when the user is smoking, with the goal of building a system that provides an individualized risk estimation to increase awareness and motivate smoke cessation. Our basic method detects typical smoking gestures with a precision of 51.2% and shows a user-specific recall of over 70% - creating evidence that an unobtrusive wrist-watch-like sensor can detect smoking.},
}

@article{fast2012
  author = {Philipp M. Scholl and Stefan Kohlbrecher and Vinay Sachidananda and Kristof van Laerhoven},
  journal = {Demo Paper, International Conference on Networked Sensing Systems},
  title = {Fast Indoor Radio-Map Building for RSSI-based Localization Systems},
  year = {2012},
  abstract = {Wireless Indoor localization systems based on RSSI-values typically consist of an offline training phase and online position determination phase. During the offline phase, georeferenced RSSI measurement, called fingerprints, are recorded to build a radiomap of the building. This radiomap is then searched during the position determination phase to estimate another nodes location. Usually the radiomap is build manually, either by users pin-pointing their location on a ready-made floorplan or by moving in pre-specified patterns while scanning the network for RSSI values. This cumbersome process leads to inaccuracies in the radiomap. Here, we propose a system to build the indoor- and radio map simultaneously by using a handheld mapping system employing a laser scanner in an IEEE802.15.4-compatible network. This makes indoor- and radio-mapping for wireless localization less cumbersome, faster and more reliable.},
}

@inproceedings{pkwons
  author = {Piotr Szczytowski and Abdelmajid Khelil and Neeraj Suri},
  booktitle = {In Proc. of the 9th Annual Conference on Wireless On demand Network Systems and Services (WONS)},
  title = {DKM: Distributed k-Connectivity Maintenance in Wireless Sensor Networks},
  year = {2012},
}

@inproceedings{doCarmo:2012:SBN:2387218.2387228
  author = {Rodrigo do Carmo and Marc Werner and and Matthias Hollick},
  booktitle = {Proceedings of the 8h ACM symposium on QoS and security for wireless and mobile networks},
  title = {Signs of a bad neighborhood: a lightweight metric for anomaly detection in mobile ad hoc networks},
  year = {2012},
  abstract = {Anomaly detection in wireless multihop networks is notoriously difficult: the wireless channel causes random errors in transmission and node mobility leads to constantly changing node neighborhoods. The Neighbor Variation Rate (NVR) introduced in this paper is a metric that quantitatively describes how the topology of the neighborhood of a node in a wireless multihop network evolves over time. We analyze the expressiveness of this metric under different speeds of nodes and measuring intervals and we employ it to detect anomalies in the network caused by malicious node activity. We validate our detection model and investigate its parameterization by means of simulation. We build a proof-of-concept and deploy it in a real-world IEEE 802.11s wireless mesh network composed of several static nodes and some mobile nodes. In real-world experiments, we mount attacks against the mesh network and analyze the expressiveness of NVR to characterize these attacks. In addition, we analyze the behavior of NVR when applied to an external dataset obtained from measurements of a real-world dynamic AODV-based mobile ad hoc network. Our results show that our metric is lightweight yet effective for anomaly detection in both stationary and mobile wireless multihop networks.},
  doi = {10.1145/2387218.2387228},
  keywords = {anomaly detection, metric, mobile ad hoc networks},
  url = {http://doi.acm.org/10.1145/2387218.2387228},
}

@inproceedings{community_ssrr_2012
  author = {Stefan Kohlbrecher and Karen Petersen and Gerald Steinbauer and Johannes Maurer and Peter Lepej and Suzana Uran and Rodrigo Ventura and Christian Dornhege and Andreas Hertle and Raymond Sheh and and Johannes Pellenz},
  booktitle = {Proceedings of the 10th IEEE International Symposium on Safety Security and Rescue Robotics (SSRR 2012)},
  title = {Community-Driven Development of Standard Software Modules for Search and Rescue Robots},
  year = {2012},
}

@techreport{2012:rescue_tdp
  author = {Thorsten Graber and Stefan Kohlbrecher and Johannes Meyer and Karen Petersen and Oskar von Stryk and Uwe Klingauf},
  institution = {Technische Universität Darmstadt},
  title = {RoboCupRescue 2012 - Robot League Team Hector Darmstadt (Germany)},
  year = {2012},
  pdf = {2012:rescue_tdp.pdf},
}

@inproceedings{sachidananda2012information
  author = {Vinay Sachidananda and Abdelmajid Khelil and David Noack and Neeraj Suri },
  booktitle = {11th GI/ITG KuVS Fachgespr},
  title = {On Co-modeling the Sampling and Transport in Wireless Sensor Networks},
  year = {2012},
  pdf = {sachidananda2012information.pdf},
}

@inproceedings{vinaysachidananda2012transport
  author = {Vinay Sachidananda and Abdelmajid Khelil and Neeraj Suri},
  booktitle = {European Conference on Wireless Sensor Networks (EWSN)},
  title = {Information Quality Aware Transport for Wireless Sensor Networks},
  year = {2012},
  pdf = {vinaysachidananda2012transport.pdf},
}

@inproceedings{acerwsn
  author = {Abdelmajid Khelil},
  booktitle = {Short paper, Proc. of The 13th IEEE International Conference on e-Health Networking, Application & Services (Healthcom)},
  title = {Pa2Pa: Patient to Patient Communication for Emergency Response Support},
  year = {2011},
}

@inbook{2011:KhelilReinlAyariShaikhSzczytowskiAliSuri_PCN
  author = {Abdelmajid Khelil and Christian Reinl and Brahim Ayari and Faisal Karim Shaikh and Piotr Szczytowski and Azad Ali and Neeraj Suri},
  booktitle = {Pervasive Computing and Networking},
  chapter = {6},
  editor = {Mohammad S. Obaidat and Mieso Denko and Isaac Woungang},
  pages = {71-100},
  publisher = {John Wiley & Sons, Ltd., UK.},
  title = {Wireless Sensor Cooperation for a Sustainable Quality of Information},
  year = {2011},
}

@inbook{khelilbook02
  author = {Abdelmajid Khelil and Faisal Karim Shaikh and Azad Ali and Neeraj Suri and Christian Reinl},
  booktitle = {Delay Tolerant Networks: Protocols and Applications },
  chapter = {Delay-Tolerant Monitoring of Mobility-Assisted Wireless Sensor Networks},
  editor = {Athanasios Vasilakos, Yan Zhang, Thrasyvoulos Spyropoulos},
  pages = {--},
  publisher = {CRC Press, Taylor & Francis Group},
  title = {Delay-Tolerant Monitoring of Mobility-Assisted Wireless Sensor Networks},
  year = {2011},
}

@inproceedings{amapwsn
  author = {Abdelmajid Khelil and Hanbin Chang and Neeraj Suri},
  booktitle = {Proc. of The 30th IEEE International Performance Computing and Communications Conference (IPCCC)},
  title = {Assessing the Comparative Effectiveness of Map Construction Protocols in Wireless Sensor Networks},
  year = {2011},
}

@inproceedings{Andriyenko2011CVPR
  author = {Anton Andriyenko and Konrad Schindler},
  booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
  title = {Multi-target Tracking by Continuous Energy Minimization},
  year = {2011},
  url = {http://www.gris.informatik.tu-darmstadt.de/~aandriye/files/cvpr2011/cvpr2011-anton.pdf},
}

@inproceedings{Andriyenko2011VS
  author = {Anton Andriyenko and Stefan Roth and and Konrad Schindler},
  booktitle = {11th IEEE International Workshop on Visual Surveillance (in conjunction with ICCV)},
  title = {An Analytical Formulation of Global Occlusion Reasoning for Multi-Target Tracking},
  year = {2011},
  url = {http://www.gris.informatik.tu-darmstadt.de/~aandriye/files/vs2011/vs2011-anton.pdf},
}

@inproceedings{adcawsn
  author = {Azad Ali and Abdelmajid Khelil and Piotr Szczytowski and Neeraj Suri},
  booktitle = {the Proc. of ACM International Symposium on Modeling, Analysis and Simulation of Wireless and Mobile Systems (MSWiM)},
  title = {An Adaptive and Composite Spatio-Temporal Data Compression Approach for Wireless Sensor Networks},
  year = {2011},
}

@inproceedings{midsens2011-seeger
  author = {Christian Seeger and Alejandro Buchmann and Kristof Van Laerhoven},
  booktitle = {The sixth international workshop on Middleware Tools, Services and Run-time Support for Networked Embedded Systems (MidSens'11)},
  title = {Wireless Sensor Networks in the Wild: Three Practical Issues after a Middleware Deployment},
  year = {2011},
}

@inproceedings{bodynets2011-seeger
  author = {Christian Seeger and Alejandro Buchmann and Kristof Van Laerhoven},
  booktitle = {Body Area Networks (BodyNets)},
  note = {(Best Paper Award)},
  title = {myHealthAssistant: A Phone-based Body Sensor Network that Captures the Wearer's Exercises throughout the Day (Best Paper Award)},
  year = {2011},
}

@inproceedings{bodynets2011poster-seeger
  author = {Christian Seeger and Alejandro Buchmann and Kristof Van Laerhoven},
  booktitle = {Body Area Networks (BodyNets)},
  title = {Poster Abstract: Adaptive Gym Exercise Counting for myHealthAssistant},
  year = {2011},
}

@inproceedings{HaBrWiLiSi2011
  address = {Shanghai, China},
  author = {Dominik Haumann and Andreas Breitenmoser and Volker Willert and Kim Listmann and Roland Siegwart},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  month = {May},
  pages = {4486--4491},
  title = {DisCoverage for non-convex environments with arbitrary obstacles},
  year = {2011},
  abstract = {DisCoverage is a distributed strategy for frontier-based multi-robot exploration. The robots coordinate by a partition of the environment, and choose their target points by optimizing a locally decomposable objective function. In [9] DisCoverage for convex regions was proposed. In this work, we extend DisCoverage to support arbitrary non-convex real-world environments with obstacles. Therefore, we introduce a transformation of non-convex environments to robot centric star-shaped domains. This results in a general solution with broader applications for exploration and path planning. Simulations as well as experiments with real robots demonstrate the exploration progress.},
  doi = {10.1109/ICRA.2011.5980415},
  pdf = {HaBrWiLiSi2011.pdf},
  url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5980415},
}

@inproceedings{scholz2011
  author = {Dorian Scholz and Stefan Kurowski and Katayon Radkhah and Oskar von Stryk},
  booktitle = {11th IEEE-RAS International Conference on Humanoid Robots},
  title = {Bio-Inspired Motion Control of the Musculoskeletal BioBiped1 Robot Based on a Learned Inverse Dynamics Model},
  year = {2011},
  abstract = {Based on the central hypothesis that a humanoid robot with human-like walking and running performance requires a bio-inspired embodiment of the musculoskeletal functions of the human leg as well as of its control structure, a bio-inspired approach for joint position control of the BioBiped1 robot is presented in this paper. This approach combines feedforward and feedback control running at 1 kHz and 40 Hz, respectively. The feed-forward control is based on an inverse dynamics model which is learned using Gaussian process regression to account for the robot's body dynamics and external influences. For evaluation the learned model is used to control the robot purely feed-forward as well as in combination with a slow feedback controller. Both approaches are compared to a basic feedback PD-controller with respect to their tracking ability in experiments. It is shown, that the combined approach yields good results and outperforms the basic feedback controller when applied to the same set-point trajectories for the leg joints.},
}

@inproceedings{Meyer:2010:WorldModel
  author = {Johannes Meyer and Paul Schnitzspan and Stefan Kohlbrecher and Karen Petersen and Oliver Schwahn and Mykhaylo Andriluka and Uwe Klingauf and Stefan Roth and Bernt Schiele and Oskar von Stryk},
  booktitle = {RoboCup 2010: Robot Soccer World Cup XIV},
  editor = {Ruiz-del-Solar, Javier and Chown, Eric and Ploeger, Paul G.},
  pages = {180 -- 193},
  series = {Lecture Notes in Computer Science, Lecture Notes in Artificial Intelligence},
  title = {A Semantic World Model for Urban Search and Rescue Based on Heterogeneous Sensors},
  year = {2011},
  pdf = {Meyer:2010:WorldModel.pdf},
  url = {https://springerlink3.metapress.com/content/n515v876ll57334l/resource-secured/?target=fulltext.pdf&sid=yyw2tr55m2on31z0hpufyw55&sh=www.springerlink.com},
}

@inproceedings{IFAC2011_KuhnReinlStryk
  author = {Juliane Kuhn and Christian Reinl and Oskar von Stryk},
  booktitle = {Proceedings of the 18th IFAC World Congress},
  title = {Predictive Control for Multi-Robot Observation of Multiple Moving Targets Based on Discrete-Continuous Linear Models},
  year = {2011},
  abstract = {The observation of multiple moving targets by cooperating mobile robots is a key problem in many security, surveillance and service applications. In essence, this problem is characterized by a tight coupling of target allocation and continuous trajectory planning. Optimal control of the multi-robot system generally neither permits to neglect physical motion dynamics nor to decouple or successively process target assignment and trajectory planning. In this paper, a numerically robust and stable model-predictive control strategy for solving the problem in the case of discrete-time double-integrator dynamics is presented. Optimization based on linear mixed logical dynamical system models allows for a flexible weighting of different aspects and optimal control inputs for settings of moderate size can be computed in real-time. By simulating sets of randomly generated situations, one can determine a maximum problem size solvable in real-time in terms of the number of considered robots, targets, and length of the prediction horizon. Based on this information, a decentralized control approach is proposed.},
}

@inproceedings{petersen:2010
  author = {Karen Petersen and Georg Stoll and Oskar von Stryk},
  booktitle = {RoboCup 2010: Robot Soccer World Cup XIV},
  editor = {Ruiz-del-Solar, Javier and Chown, Eric and Ploeger, Paul G.},
  pages = {386 -- 396},
  series = {Lecture Notes in Computer Science, Lecture Notes in Artificial Intelligence},
  title = {A Supporter Behavior for Soccer Playing Humanoid Robots},
  year = {2011},
  pdf = {petersen:2010.pdf},
  url = {https://springerlink3.metapress.com/content/fqqv74t28m65742n/resource-secured/?target=fulltext.pdf&sid=yyw2tr55m2on31z0hpufyw55&sh=www.springerlink.com},
}

@inproceedings{petersen:2011
  author = {Karen Petersen and Oskar von Stryk},
  booktitle = {Proceedings of the Fourth International Conference on Advances in Computer-Human Interactions (ACHI)},
  pages = {228 -- 235},
  title = {Towards a General Communication Concept for Human Supervision of Autonomous Robot Teams},
  year = {2011},
  pdf = {petersen:2011.pdf},
}

@article{2011_petersen_intsys
  author = {Karen Petersen and Oskar von Stryk},
  journal = {International Journal on Advances in Intelligent Systems},
  number = {3 & 4},
  pages = {357 - 369},
  title = {An Event-based Communication Concept for Human Supervision of Autonomous Robot Teams},
  volume = {4},
  year = {2011},
  pdf = {2011_petersen_intsys.pdf},
  url = {http://www.thinkmind.org/index.php?view=article&articleid=intsys_v4_n34_2011_24},
}

@inproceedings{majuntke:opodis2011
  author = {Matthias Majuntke and Dan Dobre and Christian Cachin and Neeraj Suri },
  booktitle = {15th International Conference On Principles Of Distributed Systems (OPODIS), December 13-16, 2011, Toulouse, France},
  title = {Fork-Consistent Constructions From Registers },
  year = {2011},
  abstract = {Users increasingly execute services online at remote providers, but they may have security concerns and not always trust the providers. Fork-consistent emulations offer one way to protect the clients of a remote service, which is usually correct but may suffer from Byzantine faults. They feature linearizability as long as the service behaves correctly, and gracefully degrade to fork-consistent semantics in case the service becomes faulty. This guarantees data integrity and service consistency to the clients. All currently known fork-consistent emulations require the execution of non-trivial computation steps by the service. From a theoretical viewpoint, such a service constitutes a read-modify-write object, representing the strongest object in Herlihy's wait-free hierarchy. A read-modify-write object is much more powerful than a shared memory made of so-called registers, which lie in the weakest class of all shared objects in this hierarchy. In practical terms, it is important to reduce the complexity and cost of a remote service implementation as computation resources are typically more expensive than storage resources. In this paper, we address the fundamental structure of a fork-consistent emulation and ask the question: Can one provide a fork-consistent emulation in which the service does not execute computation steps, but can be realized only by a shared memory? Surprisingly, the answer is yes. Specifically, we provide two such algorithms that can be built only from registers: A fork-linearizable construction of a universal type, in which operations are allowed to abort under concurrency, and a weakly fork-linearizable emulation of a shared memory that ensures wait-freedom when the registers are correct.},
}

@inproceedings{Majuntke_PODC2011
  author = {Matthias Majuntke and Dan Dobre and Neeraj Suri },
  booktitle = {Proc. ACM SIGACT-SIGOPS Symposium on Principles of Distributed Computing (PODC) },
  title = {Brief Announcement: Fork-Consistent Constructions From Registers},
  year = {2011},
  abstract = {So far, all implementations providing fork-consistent semantics are based on objects with read-modify-write capabilities (also termed servers). We propose constructions of fork-consistent shared objects from single-writer multiple-reader (SWMR) read/write base registers, that are strictly weaker than servers. Our shared object constructions provide linearizability if all base registers behave correctly, and gracefully degrade to either fork-linearizability or weak fork-linearizability if any number of registers fails Byzantine. We make the following contributions: (a) A fork-linearizable construction of a universal type where operations are allowed to abort under concurrency, and (b) a weak fork-linearizable implementation of a shared memory that ensures wait-freedom when the registers are correct. },
  url = {http://dx.doi.org/10.1145/1993806.1993837},
}

@inproceedings{ptomwsn
  author = {Piotr Szczytowski and Abdelmajid Khelil and Azad Ali and Neeraj Suri},
  booktitle = {Proc. of The Eighth Annual IEEE Communications Society Conference on Sensor, Mesh, and Ad Hoc Communications and Networks (SECON)},
  title = {TOM: Topology Oriented Maintenance in Sparse Wireless Sensor Networks},
  year = {2011},
}

@inproceedings{slam2011
  author = {Stefan Kohlbrecher and Johannes Meyer and Oskar von Stryk and Uwe Klingauf},
  booktitle = {International Symposium on Safety, Security, and Rescue Robotics},
  month = {November},
  organization = {IEEE},
  pages = {155-160},
  title = {A Flexible and Scalable SLAM System with Full 3D Motion Estimation},
  year = {2011},
  doi = {10.1109/SSRR.2011.6106777},
  pdf = {slam2011.pdf},
}

@techreport{2011:rescue_tdp
  author = {Thorsten Graber and Stefan Kohlbrecher and Johannes Meyer and Karen Petersen and Oskar von Stryk},
  institution = {Technische Universit"{a}t Darmstadt},
  title = {RoboCupRescue 2011 - Robot League Team Hector Darmstadt (Germany)},
  year = {2011},
}

@inproceedings{WojekRothSWchindlerSchiele_2010
  author = { C. Wojek and S. Roth and K. Schindler and B. Schiele},
  booktitle = { European Conference on Computer Vision (ECCV)},
  title = {Monocular 3D Scene Modeling and Inference: Understanding Multi-Object Traffic Scenes},
  year = {2010},
}

@inproceedings{ReChHoScMoSt2010
  author = {A. Reinhardt and D. Christin and M. Hollick and J. Schmitt and P. Mogre and R. Steinmetz},
  booktitle = {Proceedings of the 7th European Conference on Wireless Sensor Networks (EWSN 2010)},
  month = {February},
  pages = {33 - 48},
  title = {{Trimming the Tree: Tailoring Adaptive Huffman Coding to Wireless Sensor Networks}},
  year = {2010},
}

@inproceedings{Reinhardt:2010
  author = {A. Reinhardt and J. Schmitt and F. Zaid and P. Mogre and M. Kropff and R. Steinmetz },
  booktitle = {In Proceedings of the 4th International Conference on Complex, Intelligent and Software Intensive Systems (CISIS-2010)},
  month = {February},
  title = {Towards Seamless Binding of Context-aware Services to Ubiquitous Information Sources},
  year = {2010},
}

@inproceedings{Sendobry:2010:ONS
  author = {Alexander Sendobry and Thorsten Graber and Uwe Klingauf},
  booktitle = {Proceedings of the Unmanned/Unattended Sensors and Sensor Networks, SPIE Security + Defence},
  month = {November},
  organization = {SPIE},
  title = {Purely Optical Navigation with Model Based State Prediction},
  volume = {7833},
  year = {2010},
  pdf = {Sendobry:2010:ONS.pdf},
}

@inproceedings{DiPietro2010
  author = {Andrea Di Pietro and Felipe Huici and Diego Costantini and Saverio Niccolini},
  booktitle = {IEEE Conference on Computer Communications (INFOCOM)},
  title = {DECON: Decentralized Coordination for Large-Scale Flow Monitoring},
  year = {2010},
  pdf = {DiPietro2010.pdf},
}

@inproceedings{DiPietro2010a
  author = {Andrea Di Pietro and Felipe Huici and Diego Costantini and Takahide Sugita and Saverio Niccolini},
  booktitle = {IEEE International Conference on Communications (ICC 2010)},
  title = {Crosstalk: A Scalable Cross-Protocol Monitoring System for Anomaly Detection},
  year = {2010},
  pdf = {DiPietro2010a.pdf},
}

@inproceedings{Reinhardt2010
  author = {Andreas Reinhardt and Diego Costantini and Ralf Steinmetz},
  booktitle = {Proceedings of the 9th GI/ITG KuVS Fachgespraech "Drahtlose Sensornetze"},
  month = {September},
  title = {Describing Packet Payload Structures using Lightweight Semantic Data Type Annotations},
  year = {2010},
  pdf = {Reinhardt2010.pdf},
}

@inproceedings{Andriyenko2010ECCV
  author = {Anton Andriyenko and Konrad Schindler},
  booktitle = {European Conference on Computer Vision (ECCV)},
  title = {Globally Optimal Multi-target Tracking on a Hexagonal Lattice},
  year = {2010},
  url = {http://www.gris.informatik.tu-darmstadt.de/~aandriye/files/eccv2010/eccv2010-anton.pdf},
}

@article{AliKSS10
  author = {Azad Ali and Abdelmajid Khelil and Faisal Karim Shaikh and Neeraj Suri},
  journal = {International Journal of Autonomous and Adaptive Communications Systems (IJAACS)},
  title = {Efficient Predictive Monitoring of Wireless Sensor Networks},
  year = {2010},
}

@inproceedings{Ayari:2010
  author = {Brahim Ayari and Abdelmajid Khelil and Kamel Saffar and Neeraj Suri},
  booktitle = {Proc. of the 11th International Conference on Mobile Data Management (MDM)},
  month = {May},
  pages = {279-280},
  title = {Data-based Agreement for Inter-Vehicle Coordination},
  year = {2010},
}

@inproceedings{AyariKS10
  author = {Brahim Ayari and Abdelmajid Khelil and Neeraj Suri },
  booktitle = {In Proc. of The 11th International Conference on Mobile Data Management (MDM)},
  month = {May},
  pages = {135-144},
  title = {ParTAC: A Partition-Tolerant Atomic Commit Protocol for MANETs},
  year = {2010},
}

@inproceedings{Hentschke2010
  address = {Ancona, Italy},
  author = {C. Hentschke and K. D. Listmann and M.Fliess},
  booktitle = {4th IFAC Symposium on System, Structure and Control},
  month = {September 15-17},
  title = {Secure Communication and Switched Linear Systems: a Module-Theoretic Setting},
  year = {2010},
}

@inproceedings{GoLaKoHoSt2010
  author = {Christian Gottron and Pedro Larbig and Andr{'e} K{"o}nig and Matthias Hollick and Ralf Steinmetz},
  booktitle = {Proceedings of the 35th IEEE Conference on Local Computer Networks (LCN)},
  title = {The Rise and Fall of the AODV Protocol: A Testbed Study on Practical Routing Attacks},
  year = {2010},
}

@inproceedings{Costantini2010
  author = {D. Costantini and A. Reinhardt and P.S. Mogre and R. Steinmetz},
  booktitle = {Proceedings of the 9th GI/ITG KuVS Fachgespraech "Drahtlose Sensornetze"},
  title = {Exploring the Applicability of Participatory Sensing in Emergency Scenarios},
  year = {2010},
  pdf = {Costantini2010.pdf},
}

@inproceedings{dmss_edcc10
  author = {Dan Dobre and Matthias Majuntke and Marco Serafini and Neeraj Suri},
  booktitle = {Eighth European Dependable Computing Conference (EDCC)},
  title = {HP: Hybrid Paxos for WANs},
  year = {2010},
}

@inproceedings{HaumannListmannWillert2010
  author = {Dominik Haumann and Kim D. Listmann and Volker Willert},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  month = {may},
  pages = {929--934},
  title = {DisCoverage: A new Paradigm for Multi-Robot Exploration},
  year = {2010},
  abstract = {The main aspect in multi-robot exploration is the efficient coordination of a group of robots. Inspired by previous results on the coverage problem, we propose a novel, frontier-based approach for multi-robot exploration. This approach merges the step of choosing appropriate target points with the step of planning a collision-free path. This is achieved by optimizing an objective function consisting of distance and orientation costs as well as an estimated information gain. The optimization yields motion control laws directly solving the exploration task. Using a Voronoi partition of the environment ensures, that each robot autonomously creates and optimizes the objective function to obtain a collision-free path in a distributed fashion. Simulations demonstrate the effectiveness of our approach.},
  pdf = {HaumannListmannWillert2010.pdf},
  url = {http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5509993},
}

@inproceedings{2010:AbeleBauerPrischanStrykFriedmannHemker
  author = {E. Abele and J. Bauer and M. Pischan and O. von Stryk and M. Friedmann and T. Hemker},
  booktitle = {CIRP 2nd International Conference Process Machine Interactions},
  title = {Prediction of the Tool Displacement for Robot Milling Applications using Co-Simulation of an Industrial Robot and a Removal Process},
  year = {2010},
}

@inproceedings{Zaid2010a
  author = {F. Zaid and D. Costantini and P.S. Mogre and A. Reinhardt and J. Schmitt and R. Steinmetz},
  booktitle = {SenseApp '10: Fifth IEEE International Workshop on Practical Issues in Building Sensor Network Applications (to appear)},
  title = {WBroximity: Mobile Participatory Sensing for WLAN- and Bluetooth-based Positioning},
  year = {2010},
  pdf = {Zaid2010a.pdf},
}

@inproceedings{Zaid10-2
  author = {F. Zaid and J. Schmitt and P.S. Mogre and A. Reinhardt and M. Kropff and R. Steinmetz},
  booktitle = {The Second International Workshop on Information Quality and Quality of Service for Pervasive Computing (IQ2S 2010), colocated with PERCOM 2010},
  title = {Sorting the Wheat from the Chaff: Adaptive Sensor Selection for Context-aware Applications},
  year = {2010},
}

@inproceedings{ShaikhKAS10
  author = {Faisal Karim Shaikh and Abdelmajid Khelil and Azad Ali and Neeraj Suri},
  booktitle = {In Proceedings of the International Wireless Internet Conference (WICON)},
  title = {TRCCIT: Tunable Reliability with Congestion Control for Information Transport in Wireless Sensor Networks},
  year = {2010},
}

@article{deedtun
  author = {Faisal Karim Shaikh and Abdelmajid Khelil and Azad Ali and Neeraj Suri},
  journal = {SI "Scalable Wireless Networks" of the International Journal of Communication Networks and Distributed Systems (IJCNDS). (accepted, to appear)},
  title = {"ReCAIT: Reliable Congestion Aware Information Transport in Wireless Sensor Networks"},
  year = {2010},
}

@inproceedings{ShaikhASKS10
  author = {Faisal Karim Shaikh and Abdelmajid Khelil and Brahim Ayari and Piotr Szczytowski and Neeraj Suri },
  booktitle = {In Proc. of The Third IEEE International Conference on Sensor Networks, Ubiquitous, and Trustworthy Computing (SUTC)},
  title = {Generic Information Transport in Wireless Sensor Networks},
  year = {2010},
}

@inproceedings{Zaid10-1
  author = {Farid Zaid},
  booktitle = {IEEE PERCOM 2010 PhD Forum},
  title = {Towards Robust and Efficient Visibility-aware Sensor-based Mobile Spatial Interaction},
  year = {2010},
}

@article{Zaid2010b
  author = {Farid Zaid and Parag Mogre and Andreas Reinhardt and Diego Costantini and Ralf Steinmetz},
  journal = {Praxis der Informationsverarbeitung und Kommunikation (PIK)},
  title = {iVu.KOM: A Framework for Viewer-centric Mobile Location-based Services},
  year = {2010},
  pdf = {Zaid2010b.pdf},
}

@inproceedings{Meyer2010
  address = {Munich, Germany},
  author = {Johannes Meyer and Armin Strobel},
  booktitle = {41st International Symposium on Robotics (ISR 2010)/ 6th German Conference on Robotics (ROBOTIK 2010)},
  month = {June},
  title = {A Flexible Real-Time Control System for Autonomous Vehicles},
  year = {2010},
  pdf = {Meyer2010.pdf},
}

@inproceedings{Radkhah:2010c
  address = {Nagoya, Japan},
  author = {K. Radkhah and D. Scholz and A. Anjorin and M. Rath and O. von Stryk},
  booktitle = {13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR2010)},
  month = {Aug. 31 - Sep. 03},
  pages = {to appear},
  title = {Simple yet Effective Technique for Robust Real-Time Instability Detection for Humanoid Robots Using Minimal Sensor Input},
  year = {2010},
  abstract = {Legged locomotion of autonomous humanoid robots is advantageous but also challenging since it inherently suffers from high posture instability. External disturbances such as collisions with other objects or robots in the environment can cause a robot to fall. Many of the existing approaches for instability detection and falling prevention include a large number of sensors resulting in complex multi-sensor data fusion and are not decoupled from the walking motion planning. Such methods can not simply be integrated into an existing low-level controller for real-time motion generation and stabilization of a humanoid robot. A procedure that is both easily implementable using a minimal number of affordable sensors and capable of reliable detection of posture instabilities is missing to date. We propose a simple, yet reliable balance control technique consisting of a filtering module for the used data from two-axes-gyroscopes and -accelerometers located at the trunk, an instability classification algorithm, and a lunge step module. The modules are implemented on our humanoid robots which participate at the yearly RoboCup competitions in the humanoid kid-size league of soccer playing robots. Experimental results show that the approach is suited for real-time operation during walking. },
}

@inproceedings{radkhah_ISR:2010
  address = {Munich, Germany},
  author = {K. Radkhah and M. Maus and D. Scholz and A. Seyfarth and O. von Stryk},
  booktitle = {41st International Symposium on Robotics (ISR 2010)/ 6th German Conference on Robotics (ROBOTIK 2010)},
  month = {Jun 7-9},
  pages = {696-703},
  title = {Towards Human-Like Bipedal Locomotion with Three-Segmented Elastic Legs},
  year = {2010},
}

@inproceedings{Radkhah:2010e
  author = {K. Radkhah and S. Kurowski and T. Lens and O. von Stryk},
  booktitle = {Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010)},
  pages = {to appear},
  publisher = {Springer},
  title = {Compliant Robot Actuation by Feedforward Controlled Emulated Spring Stiffness},
  year = {2010},
  abstract = {Existing legged robots lack energy-inefficiency, performance and adaptivity when confronted with situations that animals cope with on a routine basis. Bridging the gap between artificial and natural systems requires not only better sensorimotor and learning capabilities but also a corresponding motion apparatus and intelligent actuators. Current actuators with online adaptable compliance pose high requirements on software control algorithms and sensor systems. We present a novel actuation mechanism and technique that allows for a virtual stiffness change of a deployed extended series elastic actuator without posing high energy requirements. The performance limits of the approach are assessed by comparing to an active and a passive compliant methodology. For this purpose we use a 2-degrees-of-freedom arm with and without periodic load representing a 2-segmented leg with and without ground contact. The simulation results indicate that the method is suited for the use in legged robots.},
}

@article{2010:IJMMS-Radkhah-etal
  author = {K. Radkhah and T. Hemker and O. von Stryk},
  journal = {International Journal of Mechatronics and Manufacturing Systems},
  number = {3/4},
  pages = {187-209},
  title = {Self-Calibration for Industrial Robots with Rotational Joints},
  volume = {3},
  year = {2010},
}

@inproceedings{Radkhah:2010d
  author = {K. Radkhah and T. Lens and A. Seyfarth and O. von Stryk},
  booktitle = {Proc. 2010 IEEE International Conference on Biomedical Robotics and Biomechatronics},
  pages = {to appear},
  title = {On the Influence of Elastic Actuation and Monoarticular Structures in Biologically Inspired Bipedal Robots},
  year = {2010},
  abstract = {Implementing the intrinsically compliant and energy-efficient leg behavior found in humans for humanoid robots is a challenging task. Control complexity and energy requirements are two major obstacles for the design of legged robots. Past projects revealed that the control complexity can be drastically reduced by designing mechanically intelligent systems with self-stabilization structures. Breaking through the latter obstacle can be achieved by the development and use of compliant actuators. Mechanical elasticity and its online adaptation in legged systems are generally accepted as the technologies to achieve human-like mobility. However, elastic actuation does not necessarily result in energy-efficient systems. We show that mechanical elasticity, although being worthwhile, can have negative effects on the performance of drives. We present a methodology that introduces both elasticity and energy-efficiency to a bipedal model. To this end, we report on the influence of monoarticular structures and demonstrate that these structures have the potential to both take us a step further toward the goal of realizing human-like locomotion and reduce the energy consumption. },
}

@inproceedings{Listmann2010
  address = {Salzburg, Austria},
  author = {K.D. Listmann},
  booktitle = {Workshop des VDI/VDE GMA FA 1.40 " Theoretische Verfahren der Regelungstechnik"},
  month = {September},
  title = {Synchronisierung linearer Systeme},
  year = {2010},
}

@article{ListmannAdamyWoolsey2010
  author = {K.D. Listmann and J. Adamy and C.A. Woolsey},
  journal = {at - Automatisierungstechnik},
  month = {August},
  number = {8},
  pages = {425-434},
  title = {(Joint VT-TUD) - Backstepping for Synchronization of Nonlinear Dynamical Systems},
  volume = {58},
  year = {2010},
}

@inproceedings{Andriluka2010
  author = {M. Andriluka and P. Schnitzspan and J. Meyer and S. Kohlbrecher and K. Petersen and Oskar von Stryk and S. Roth and B. Schiele},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan},
  month = {October},
  pages = {1740 - 1747 },
  title = {Vision Based Victim Detection from Unmanned Aerial Vehicles},
  year = {2010},
  pdf = {Andriluka2010.pdf},
}

@inproceedings{Kropff2010
  author = {M. Kropff and W. Ellermeier and V. Thio and F. Kattner and M. Gr"af and R. Steinmetz},
  booktitle = {Neue Arbeits- und Lebenswelten gestalten: 56. Kongress der Gesellschaft f. Arbeitswissenschaft},
  month = {March},
  title = {Bedarf f"ur ein sensorbasiertes, computergest"utztes St"orungs-Management-System},
  year = {2010},
}

@inproceedings{serafini-PODC-10
  author = {Marco Serafini and Dan Dobre and Matthias Majuntke and Peter Bokor and Neeraj Suri},
  booktitle = {PODC'10: Twenty-Ninth Annual ACM SIGACT-SIGOPS Symposium on Principles of Distributed Computing },
  title = {Eventually Linearizable Shared Object},
  year = {2010},
}

@inproceedings{serafini-LADIS-2010
  author = {Marco Serafini and Flavio Junqueira},
  booktitle = {LADIS'10: Proc. of ACM SIGOPS/SIGACT Workshop on Large Scale Distributed Systems and Middleware},
  title = {Weak Consistency as a Last Resort},
  year = {2010},
}

@inproceedings{serafini_DSN_2010
  author = {Marco Serafini and Peter Bokor and Dan Dobre and Matthias Majuntke and Neeraj Suri},
  booktitle = {Proc. of the IEEE Int'l Conf. on Dependable Systems and Networks (DSN)},
  title = {Scrooge: Reducing the Costs of Fast Byzantine Replication in Presence of Unresponsive Replicas},
  year = {2010},
}

@article{serafini_TDSC_2010
  author = {Marco Serafini and Peter Bokor and Neeraj Suri and Jonny Vinter and Astrit Ademaj and Wolfgang Brandstaetter and Fulvio Tagliabo' and Jens Koch},
  journal = {IEEE Transactions on Dependable and Secure Computing},
  title = {Application-Level Diagnostic and Membership Protocols for Generic Time-Triggered Systems},
  year = {2010},
}

@inbook{Fritz10CoSy
  author = {Mario Fritz and Mykhaylo Andriluka and Sanja Fidler and Michael Stark and Ales Leonardis and Bernt Schiele},
  booktitle = {Cognitive Systems},
  chapter = {-},
  editor = {Henrik I. Christensen and Geert-Jan Kruijff and Aaron Sloman and Jeremy Wyatt},
  pages = {-},
  publisher = {Springer},
  title = {Categorical Perception},
  year = {2010},
}

@inproceedings{BarczykJostKastelanLynchListmann2010
  address = {Baltimore, USA},
  author = {Martin Barczyk and Michael Jost and David Kastelan and Alan F. Lynch and Kim D. Listmann},
  booktitle = {Proceedings of the 2010 American Control Conference},
  pages = {4439-4444},
  title = {An Experimental Validation of Magnetometer Integration into a GPS-Aided Helicopter UAV Navigation System},
  year = {2010},
}

@inproceedings{2010:SIMPAR_Friedmann_etal
  author = {Martin Friedmann and Karen Petersen and Oskar von Stryk},
  booktitle = {Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010)},
  title = {Evaluation and Enhancement of Common Simulation Methods for Robotic Range Sensors},
  year = {2010},
}

@inproceedings{MahmudKS10
  author = {Mohammadreza Mahmudimanesh and Abdelmajid Khelil and Neeraj Suri},
  booktitle = {In Proc. of The Third IEEE International Conference on Sensor Networks, Ubiquitous, and Trustworthy Computing (SUTC)},
  pages = {50-57},
  title = {Reordering for Better Compressibility: Efficient Spatial Sampling in Wireless Sensor Networks},
  year = {2010},
}

@inproceedings{Andriluka:2010:VictimUAV
  author = {Mykhaylo Andriluka and Paul Schnitzspan and Johannes Meyer and Stefan Kohlbrecher and Karen Petersen and Oskar von Stryk and Stefan Roth and Bernt Schiele},
  booktitle = {International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan},
  month = {October},
  title = {Vision Based Victim Detection from Unmanned Aerial Vehicles},
  year = {2010},
  comment = {to appear},
}

@techreport{2010:rescue_tdp
  author = {Mykhaylo Andriluka and Stefan Kohlbrecher and Johannes Meyer and Karen Petersen and Paul Schnitzspan and Oskar von Stryk},
  institution = {Technische Universit"{a}t Darmstadt},
  title = {RoboCupRescue 2010 - Robot League Team Hector Darmstadt (Germany)},
  year = {2010},
  pdf = {2010:rescue_tdp.pdf},
}

@inproceedings{andriluka10cvpr
  author = {Mykhaylo Andriluka and Stefan Roth and Bernt Schiele},
  booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
  title = {Monocular 3D Pose Estimation and Tracking by Detection},
  year = {2010},
}

@article{MoGrHoSt2010
  author = {Parag S. Mogre and Kalman Graffi and Matthias Hollick and Ralf Steinmetz},
  journal = {Wireless Communications and Mobile Computing, Special Issue: Architectures and Protocols for Wireless Mesh, Ad Hoc, and Sensor Networks},
  note = {accepted for publication, to appear},
  number = {x},
  title = {{A Security Framework for Wireless Mesh Networks}},
  volume = {x},
  year = {2010},
}

@article{MoHeHoSt2010
  author = {Parag S. Mogre and Nico d'Heureuse and Matthias Hollick and Ralf Steinmetz},
  journal = {Wireless Communications and Mobile Computing, Special Issue: Architectures and Protocols for Wireless Mesh, Ad Hoc, and Sensor Networks},
  note = {accepted for publication, to appear},
  number = {x},
  title = {{CORE: Centrally Optimized Routing Extensions for Efficient Bandwidth Management and Network Coding in the IEEE 802.16 MeSH Mode}},
  volume = {x},
  year = {2010},
}

@inproceedings{schnitzspan10cvpr
  author = {Paul Schnitzspan and Stefan Roth and Bernt Schiele},
  booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
  title = {Automatic Discovery of Meaningful Object Parts with Latent CRFs},
  year = {2010},
}

@inproceedings{Bokor-FORTE-2010
  author = {Peter Bokor and Marco Seraï¬�ni and Neera j Suri},
  booktitle = {FORTE'10: Proc. of Formal Techniques for Networked and Distributed Systems },
  title = {Eï¬�cient Models for Model Checking Message-Passing Distributed Protocols},
  year = {2010},
}

@inproceedings{PiotrKS10
  author = {Piotr Szczytowski and Abdelmajid Khelil and Neeraj Suri },
  booktitle = {In Proc. of The Third IEEE International Conference on Sensor Networks, Ubiquitous, and Trustworthy Computing (SUTC)},
  title = {ASample: Adaptive Spatial Sampling in Wireless Sensor Networks},
  year = {2010},
}

@inproceedings{PiotrKS2010
  author = {Piotr Szczytowski and Abdelmajid Khelil and Neeraj Suri},
  booktitle = {IEEE symposium on Computers and Communications (ISCC)},
  title = {Localized Energy Hole Profiling in Wireless Sensor Networks},
  year = {2010},
}

@article{piotrmap
  author = {Piotr Szczytowski and Abdelmajid Khelil and Neeraj Suri},
  journal = {In the Academy Publisher Journal of Networks (JNW). (accepted, to appear)},
  title = {"Map-based Support for Wireless Sensor Network Simulation"},
  year = {2010},
}

@inproceedings{SzczytowskiINSS2010
  author = {Piotr Szczytowski and Faisal Karim Shaikh and Vinay Sachidananda and Abdelmajid Khelil and Neeraj Suri},
  booktitle = {Proc. International Conference on Networked Sensing Systems (INSS), Demo Session},
  title = {Mobility Assisted Adaptive Sampling in Wireless Sensor Networks},
  year = {2010},
}

@inproceedings{FraLisHauWil2010
  address = {Darmstadt, Germany},
  author = {Sebastian Frank and Kim Listmann and Dominik Haumann and Volker Willert},
  booktitle = {Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010)},
  month = {11},
  pages = {399--410},
  publisher = {Springer},
  title = {Performance Analysis for Multi-Robot Exploration Strategies},
  year = {2010},
  abstract = {In this note, we compare four different exploration strategies and analyze the performance in terms of exploration time and amount of exploration per time step. In order to provide a suitable reference for comparison, we derive a upper bound for the theoretically achievable increase of explored area per time step. The comparison itself is done using a comprehensive empirical evaluation resulting in statistically significant performance differences.},
  keywords = {multi-robot exploration, coordination, distributed optimization},
  url = {http://www.springerlink.com/content/yw03146742lr5625/},
}

@inproceedings{Graber:2010:ONS
  address = {Braunschweig},
  author = {Thorsten Graber and Alexander Sendobry},
  booktitle = {International Micro Air Vehicle Conference and Flight Competition (IMAV)},
  month = {July},
  organization = {German Institute of Navigation},
  title = {A Theoretical Approach to a pure Optical Navigation System},
  year = {2010},
  pdf = {Graber:2010:ONS.pdf},
}

@inproceedings{vinqoi
  author = {Vinay Sachidananda and Abdelmajid Khelil and Neeraj Suri },
  booktitle = {The International Conference on Information Quality (ICIQ)},
  title = {Quality of Information in Wireless Sensor Networks: A Survey},
  year = {2010},
  keywords = {QoI, Data, WSNs},
  url = {http://mitiq.mit.edu/ICIQ/Documents/IQ%20Conference%202010/Papers/2C1_IQinWirelessSensorNetworks.pdf},
}

@inproceedings{SacCosRei2010
  address = {Darmstadt, Germany},
  author = {Vinay Sachidananda and Diego Costantini and Christian Reinl and Dominik Haumann and Karen Petersen and Parag S. Mogre and Abdelmajid Khelil},
  booktitle = {Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010)},
  month = {11},
  pages = {133--143},
  publisher = {Springer},
  title = {Simulation and Evaluation of Mixed-Mode Environments: Towards Higher Quality of Simulations},
  year = {2010},
  pdf = {SacCosRei2010.pdf},
  url = {http://www.springerlink.com/content/u7687341mu650r26/},
}

@inproceedings{HaumannListmannAdamy2009
  address = {Stuttgart},
  author = {A. Dominik Haumann and Kim D. Listmann and Juergen Adamy},
  booktitle = {Workshop on Network Induced Constraints in Control (NESTCOC)},
  title = {DisCoverage: Distributed Optimization for Multi-Robot Exploration},
  year = {2009},
  abstract = {Frontier-based multi-robot exploration faces the challenge of assigning appropriate target points for each robot such that all robots explore different parts of the environment. Existing strategies first determine those target points and then plan paths to reach the destinations, which reflects two consecutive steps. This article introduces DisCoverage: A new, distributed exploration strategy that merges both steps into a single one.},
  keywords = {multi-robot exploration, distributed optimization, coverage problem},
  owner = {A. Dominik Haumann},
  pdf = {HaumannListmannAdamy2009.pdf},
}

@inproceedings{KoSeHoSt2009
  author = {A. K{"o}nig and D. Seither and M. Hollick and R. Steinmetz},
  booktitle = {Proceedings of the 52th Annual IEEE Global Telecommunications Conference (IEEE GLOBECOM 2009), Hawaii, USA},
  month = {Dezember},
  title = {{An Analytical Model of Routing, Misbehavior, and Countermeasures in Mobile Ad Hoc Networks}},
  year = {2009},
}

@inproceedings{KoHoLiSt2009
  author = {A. K{"o}nig and M. Hollick and C. Linck and R. Steinmetz},
  booktitle = {Procedings of the Third IEEE International Workshop on Wireless Mesh and Ad Hoc Networks (IEEE WiMAN 2009), Montreal, Canada},
  month = {June},
  pages = {537--544},
  publisher = {IEEE Computer Society Press},
  title = {{On the Implications of Adaptive Transmission Power for Assisting MANET Security}},
  year = {2009},
}

@inproceedings{KoHoSt2009
  author = {A. K{"o}nig and M. Hollick and R. Steinmetz},
  booktitle = {Procedings of the IEEE International Conference on Communications (IEEE ICC 2009), Dresden, Germany},
  month = {June},
  pages = {1--5},
  publisher = {IEEE Computer Society Press},
  title = {{A Stochastic Analysis of Secure Joint Decision Processes in Peer-to-Peer Systems}},
  year = {2009},
}

@inbook{khelil0904
  author = {A. Khelil and F. K. Shaikh and P. Szczytowski and B. Ayari and N. Suri},
  booktitle = {Autonomic Communication},
  chapter = {--},
  editor = {A. Vasilakos, M. Parashar, S. Karnouskos, W. Pedrycz },
  pages = {--},
  publisher = {Springer-Verlag, Berlin/Heidelberg/New York},
  title = {Map-based Design for Autonomic Wireless Sensor Networks},
  year = {2009},
}

@inproceedings{ReHoSt2009
  author = {A. Reinhardt and M. Hollick and R. Steinmetz},
  booktitle = {Proceedings of the Sixth Annual IEEE Communications Society Conference on Sensor, Mesh and Ad Hoc Communications and Networks (IEEE SECON 2009), Rome, Italy},
  month = {June},
  note = {DOI 10.1109/SAHCN.2009.5168975},
  pages = {1--9},
  publisher = {IEEE Communications Society},
  title = {{Stream-oriented Lossless Packet Compression in Wireless Sensor Networks}},
  year = {2009},
}

@inproceedings{Zinnen:2009
  author = {A. Zinnen and C. Wojek and B. Schiele},
  booktitle = {International Symposium on Location and Context Awareness (LoCA)},
  title = {Multi Activity Recognition based on Bodymodel-Derived Primitives},
  year = {2009},
}

@inproceedings{khelil0903
  author = {Abdelmajid Khelil and Faisal Karim Shaikh and Azad Ali and Neeraj Suri},
  booktitle = {Sixth Annual Conference on Wireless On demand Network Systems and Services (WONS),},
  title = {gMAP: Efficient Construction of Global Maps for Mobility-Assisted Wireless Sensor Networks},
  year = {2009},
  abstract = {Wireless Sensor Networks are seeing increasing usage in several applications such as military, rescue and surveillance scenarios. Typical for such scenarios is that mobile nodes cooperate side-by-side with stationary sensor nodes to monitor the area of interest and to support the core network operations such as data transport. Global maps of the sensor field, such as temperature and residual energy maps, are of high interest for both users and network designers. However, the map construction can become very inefficient if it requires an extensive intervention of the resource-limited sensor nodes. In this work, we present gMAP, an extremely efficient mobility assisted approach to construct global maps. In gMAP (a) sensor nodes do not need to process readings of other nodes and (b) require to communicate a minimal number of messages compared to all existing approaches. This is achieved by opportunistically exploiting node mobility to collect data of interest, keeping sensor nodes transmit only their own readings on-demand to a mobile node in their transmission area.},
  pdf = {khelil0903.pdf},
}

@techreport{a3me:classification
  address = {Fachbereich Informatik, Darmstadt, Germany},
  author = {Arthur Herzog and Alejandro Buchmann},
  institution = {Technische Universitaet Darmstadt},
  month = {aug},
  number = {1878},
  title = {Predefined Classification for Mixed Mode Environments},
  type = {Technical Report},
  year = {2009},
  abstract = {In this paper we describe the classification we developed for Agent-based Middleware for Mixed Mode Environments (A3ME). In these environments we have some specific requirements and constrains so most existing ontologies are not appropriate. Therefore we first specify the requirements and constraints for the classification and in the second part we introduce the new classification.},
  owner = {herzog},
  url = {http://tuprints.ulb.tu-darmstadt.de/1878/},
}

@inproceedings{AKSS09
  author = {Azad Ali and Abdelmajid Khelil and Faisal Karim Shaikh and and Neeraj Suri },
  booktitle = {Proc. of Autonomics},
  title = {MPM: Map based Predictive Monitoring for Wireless Sensor Networks},
  year = {2009},
  abstract = {We present the design of a Wireless Sensor Networks (WSN) level event prediction framework to monitor the network and its operational environment to support proactive self* actions. For example, by monitoring and subsequently predicting trends on network load or sensor nodes energy levels, the WSN can proactively initiate self-reconfiguration. We propose a Map based Predictive Monitoring (MPM) approach where a selected WSN attribute is first profiled as WSN maps, and based on the maps history, predicts future maps using time series modeling. The "attribute" maps are created using a gridding technique and predicted maps are used to detect events using our regioning algorithm. The proposed approach is also a general framework to cover multiple application domains. For proof of concept, we show MPM's enhanced ability to also accurately "predict" the network partitioning, accommodating parameters such as shape and location of the partition with a very high accuracy and efficiency.},
  pdf = {AKSS09.pdf},
}

@article{schiele09hf
  author = {Bernt Schiele and Christian Wojek},
  journal = {Handbuch Fahrerassistenzsysteme},
  title = {Kamerabasierte Fussg{"a}ngerdetektion},
  year = {2009},
}

@inproceedings{schiele09icra
  author = {Bernt Schiele and Mykhaylo Andriluka and Nikodem Majer and Stefan Roth and Christian Wojek},
  booktitle = {IEEE ICRA 2009 Workshop on People Detection and Tracking},
  title = {Visual People Detection: Different Models, Comparison and Discussion},
  year = {2009},
}

@article{brahim0109
  author = {Brahim Ayari and Abdelmajid khelil and Neearj Suri},
  journal = {Journal of Software - SEUS 2008 special issue},
  title = {Exploring Delay-Aware Transactions in Heterogenous Mobile Environments},
  year = {2009},
}

@article{2009:ReinlGlockerStryk_AT
  author = {Christian Reinl and Markus Glocker and Oskar von Stryk},
  journal = {AT-Automatisierungstechnik},
  month = {Jun},
  number = {6},
  pages = {296-305},
  title = {Optimalsteuerung kooperierender Mehrfahrzeugsysteme (Optimal Control of Cooperative Multi-Vehicle Systems)},
  volume = {57},
  year = {2009},
  abstract = {Nichtlineare hybride dynamische Systemmodelle kooperativer Optimalsteuerungs- probleme erm"oglichen eine enge und formale Kopplung von diskreter und kontinuier- licher Zustandsdynamik, d.h. von dynamischer Rollen-, Aktionszuweisung mit wechselnder physikalischer Fahrdynamik. In den resultierenden gemischt-ganzzahligen Mehrphasen-Optimalsteuerungsproblemen k"onnen Beschr"ankungen an diskrete und kontinuierliche Zustands- und Steuervariablen ber"ucksichtigt werden, z.B. Formations- oder Kommunikationsanforderungen. Zwei numerische Verfahren werden untersucht: ein Dekompositionsansatz mit Branch-and-Bound und direktem Kollokationsverfahren sowie die Approximation durch gro{ss}e, gemischt-ganzzahlige lineare Optimierungsaufgaben. Die Verfahren werden auf exemplarische Problemstellungen angewendet: Die simultane Wegpunktreihenfolge- und Trajektorienoptimierung von Luftfahrzeugen sowie die Optimierung von Rollenverteilung und Trajektorien im Roboterfu{ss}ball. // Nonlinear hybrid dynamical systems for modeling optimal cooperative control enable a tight and formal coupling of discrete and continuous state dynamics, i.e. of dynamic role and task assignment with switching dynamics of motions. In the resulting mixed-integer multi-phase optimal control problems constraints on the discrete and continuous state and control variables can be considered, e.g., formation or communication requirements. Two numerical methods are investigated: a decomposition approach using branch-and- bound and direct collocation methods as well as an approximation by large-scale, mixed-integer linear problems. Both methods are applied to example problems: the optimal simultaneous waypoint sequencing and trajectory planning of a team of aerial vehicles and the optimization of role distribution and trajectories in robot soccer.},
  doi = {10.1524/auto.2009.0778},
  url = {http://www.atypon-link.com/OLD/doi/pdfplus/10.1524/auto.2009.0778},
}

@inproceedings{2009_ReinlVonStryk_GMA140
  author = {Christian Reinl and Oskar von Stryk},
  booktitle = {Workshop des VDI/VDE-GMA-Fachausschusses 1.40 "Theoretische Verfahren der Regelungstechnik''},
  title = {MILP-basierte Optimalsteuerung kooperativer Multi-Vehikel-Systeme},
  year = {2009},
  pdf = {2009_ReinlVonStryk_GMA140.pdf},
}

@inproceedings{wojek:2009
  author = {Christian Wojek and Stefan Walk and Bernt Schiele},
  booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
  title = {Multi-Cue Onboard Pedestrian Detection},
  year = {2009},
}

@inproceedings{dinu0901
  author = {Constantin Sarbu and Nachiappan Nagappan and Neeraj Suri},
  booktitle = {Proc. of The First International Workshop on Software Technologies for Future Dependable Distributed Systems (STFSSD)},
  title = {On Equivalence Partitioning of Code Paths inside OS Kernel Components},
  year = {2009},
}

@inproceedings{dmss_sss09
  author = {Dan Dobre and Matthias Majuntke and Marco Serafini and Neeraj Suri},
  booktitle = {The 11th International Symposium on Stabilization, Safety, and Security of Distributed Systems (SSS)},
  title = {Efficient Robust Storage Using Secret Tokens},
  year = {2009},
}

@inproceedings{Costantini2009
  author = {Diego Costantini and Paolo Bellavista and Saverio Niccolini},
  booktitle = {IEEE International Conference on Communications (ICC 2009)},
  title = {PreQuEst: a Scalable and Proactive Quality Enrichment for Presence Services},
  year = {2009},
  pdf = {Costantini2009.pdf},
}

@inproceedings{Berlinetal:2009:Sensys
  author = {Eugen Berlin and Pablo Guerrero and Arthur Herzog and Daniel Jacobi and Kristof van Laerhoven and Alejandro Buchmann and Bernt Schiele and Bernt},
  booktitle = {SenSys '09: ACM Conference on Embedded Networked Sensor Systems},
  month = {November},
  title = {Whac-A-Bee - A Sensor Network Game},
  year = {2009},
}

@inproceedings{SKS09
  author = {Faisal Karim Shaikh and Abdelmajid Khelil and Neeraj Suri },
  booktitle = {Proc. of The International Conference on Wireless Networks (ICWN)},
  title = {AReIT: Adaptable Reliable Information Transport for Service Availability in Wireless Sensor Networks },
  year = {2009},
  abstract = {The reliable delivery of services in service oriented architectures often entails the underlying basis of having well structured system and communication network models. With the rapid proliferation of ad-hoc mode of communication, such as Wireless Sensor Networks (WSNs), the reliable delivery of services increasingly encounters new communication and also network perturbation challenges. Empirically the core of service delivery in WSN is information transport from the sensor nodes to the service via a sink node. In this work we classify the different services provided by the WSNs, and provide a reliable information transport protocol (AReIT) for enhanced service delivery. AReIT exploits the spatial and temporal redundancies inside the WSN to provide efficient adaptation for changing service requirement and evolving network conditions. Simulation results show that AReIT provides tunable reliability allowing to save expensive retransmissions while maintaining the reliability level desired by the service.},
  pdf = {SKS09.pdf},
}

@inproceedings{Zaid:2009
  author = {Farid Zaid and Rainer Berbner and Ralf Steinmetz},
  booktitle = {In Proceeding of Kommunikation in Verteilten Systemen 2009 - KiVS 2009},
  title = {Leveraging the BPEL Event Model to Support QoS-aware Process Execution},
  year = {2009},
  abstract = {Business processes executed using compositions of distributed Web Services are susceptible to different fault types. The Web Services Business Process Execution Language (BPEL) is widely used to execute such processes. While BPEL provides fault handling mechanisms to handle functional faults like invalid message types, it still lacks a flexible native mechanism to handle non-functional exceptions associated with violations of QoS levels that are typically specified in a governing Service Level Agreement (SLA). In this paper, we present an approach to complement BPELÃ��Ã�¢Ã�¯Ã�¿Ã�½Ã�¯Ã�¿Ã�½s fault handling, where expected QoS levels and necessary recovery actions are specified in declarative manner in form of Event-Condition-Action (ECA) rules. Our main contribution is leveraging BPELÃ��Ã�¢Ã�¯Ã�¿Ã�½Ã�¯Ã�¿Ã�½s standard event model which we use as an event space for the created ECA rules. We validate the potential of our approach by an extension to an open source BPEL engine.},
  keywords = {Web Services, Business Processes, QoS, ECA Rules, Adaptability},
}

@inproceedings{Listmann2009a
  address = {Salzburg},
  author = {K. Listmann},
  booktitle = {Workshop des VDI/VDE-GMA-Fachausschusses 1.40 "Theoretische Verfahren der Regelungstechnik''},
  pages = {1-35},
  title = {Synchronisierung Nichtlinearer Dynamischer Systeme: Passivitaet und Backstepping },
  year = {2009},
  pdf = {Listmann2009a.pdf},
}

@inproceedings{ListmannWoolsey2009
  author = {K. Listmann and C.A. Woolsey},
  booktitle = {48th IEEE Conference on Decision and Control and Chinese Control Conference},
  title = {(Joint TUD-VT) - Output Synchronization of Chained Form Systems},
  year = {2009},
}

@inproceedings{ListmannWoolseyAdamy2009
  author = {K. Listmann and C.A. Woolsey and J. Adamy},
  booktitle = {Proceedings of the European Control Conference 2009},
  pages = {2450-2455},
  title = {(Joint TUD-VT) - Passivity-based Coordination of Multi-Agent Systems: A Backstepping Approach},
  year = {2009},
  comment = {Joint TUD-VT publication},
}

@inproceedings{radkhah_Robio:2009
  address = {Guilin, Guangxi, China},
  author = {K. Radkhah and S. Kurowski and O. von Stryk},
  booktitle = {Proc. 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)},
  month = {Dec 19-23},
  pages = {598-603},
  title = {Design Considerations for a Biologically Inspired Compliant Four-Legged Robot },
  year = {2009},
  abstract = {In this paper we summarize some basic principles of legged locomotion in animals and then discuss the application of the principles to the design and fabrication of a four-legged robot. The here presented model combines ideas for better locomotion of robots both in the biologically inspired, mechanically intelligent structure and in the bionic controller. The movement of the legs is triggered by bionic drives with a setup similarly to biological muscles. The robot is characterized by several different gaits and an animal like locomotion without using feedback control. It has four legs, each having three joints of which two are actuated. During the development we also paid attention to the technical realization of the model. Special techniques to reduce the weight of the robot such as the achievement of different motions by changing the spring stiffness by means of intelligent control instead of an additional motor were also focused on during the development. Two novel features of our four-legged concept comprise the possibility of easily changing the spring stiffness deployed in the bionic drives of the joints and the way of this adjustment which requires neither complex computation nor additional motor. This feature allows the smooth transition to different gaits without necessarily having to change the controller parameters.},
  url = {http://ieeexplore.ieee.org/search/freesrchabstract.jsp?tp=&arnumber=5420606&queryText%3Drobio+Design+Considerations+for+a+Biologically+Inspired+Compliant+Four-Legged+Robot%26openedRefinements%3D*%26searchField%3DSearch+All},
}

@inproceedings{radkhahetal:2009
  address = {Singapore, Singapore},
  author = {K. Radkhah and T. Hemker and M. Friedmann and O. von Stryk},
  booktitle = {Proc. 2009 IEEE/ASME Conference on Advanced Intelligent Mechatronics (AIM)},
  month = {Jul. 14 - Jul. 17},
  pages = {124-129},
  title = {Towards the deployment of industrial robots as measurement instruments - An extended forward kinematic model incorporating geometric and nongeometric effects},
  year = {2009},
  abstract = {In the area of mounting and spot-welding of body-in-white, absolutely accurate robots are installed as measuring instruments, replacing expensive coordinate and other external measuring machines. Measurement technologies based on industrial robots play an increasingly important role. Such applications require highly accurate robots. Prior to deployment of highly accurate robot, however, it needs to be ensured that the implemented robot model fits the real model. Robot calibration can offer a significant opportunity to improve the positioning accuracy and to cut production costs. Existing calibration approaches fail to capture geometric and elastic effects occurring in the robot forward kinematics. Therefore, in this work an extended forward kinematic model incorporating both geometric and elastic effects has been developed in which the positioning accuracy of a manipulator, with or without an accurate internal robot model in the robot controller, is improved.},
  url = {http://ieeexplore.ieee.org/Xplore/login.jsp?url=http%3A%2F%2Fieeexplore.ieee.org%2Fiel5%2F5211950%2F5229709%2F05230028.pdf%3Farnumber%3D5230028&authDecision=-203},
}

@inproceedings{Listmann2009
  address = {Dagstuhl},
  author = {K.D. Listmann},
  booktitle = {Gemeinsamer Workshop der Informatik-Graduiertenkollegs},
  title = {Synchronization of Networks of Nonlinear Dynamical Systems},
  year = {2009},
  pdf = {Listmann2009.pdf},
}

@inproceedings{ListmannMasalawalaAdamy2009
  author = {K.D. Listmann and M.V. Masalawala and J. Adamy},
  booktitle = {Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {3886-3891},
  title = {Consensus for Formation Control of Nonholonomic Mobile Robots},
  year = {2009},
}

@article{2009:RAS-FPvS
  author = {M. Friedmann and K. Petersen and O. von Stryk},
  journal = {Robotics and Autonomous Systems},
  pages = {786-795},
  title = {Adequate motion simulation and collision detection for soccer playing humanoid robots},
  volume = {57},
  year = {2009},
  abstract = {In this paper a humanoid robot simulator based on the multi-robot simulation framework (MuRoSimF) is presented. Among the unique features of this simulator is the scalability in the level of physical detail in both the robot"s motion and sensing systems. It facilitates the development of control software for humanoid robots which is demonstrated for several scenarios from the RoboCup Humanoid Robot League. Different requirements exist for a humanoid robot simulator. E.g., testing of algorithms for motion control and postural stability require high fidelity of physical motion properties whereas testing of behavior control and role distribution for a robot team requires only a moderate level of detail for real-time simulation of multiple robots. To meet such very different requirements often different simulators are used which makes it necessary to model a robot multiple times and to integrate different simulations with high-level robot control software. MuRoSimF provides the capability of exchanging the simulation algorithms used for each robot transparently, thus allowing a trade-off between computational performance and fidelity of the simulation. It is therefore possible to choose different simulation algorithms which are adequate for the needs of a given simulation experiment, for example, motion simulation of humanoid robots based on kinematical, simplified dynamics or full multi-body system dynamics algorithms. In this paper also the sensor simulation capabilities of MuRoSimF are revised. The methods for motion simulation and collision detection and handling are presented in detail including an algorithm which allows the real-time simulation of the full dynamics of a 21 DOF humanoid robot. Merits and drawbacks of the different algorithms are discussed in the light of different simulation purposes. The simulator performance is measured and illustrated in various examples, including comparison with experiments of a physical humanoid robot.},
  doi = {10.1016/j.robot.2009.03.008},
  url = {http://dx.doi.org/10.1016/j.robot.2009.03.008},
}

@techreport{2009:dd_tdp
  author = {M. Friedmann and K. Petersen and S. Petters and K. Radkhah and D. Scholz and D. Thomas and O. von Stryk},
  institution = {Technische UniversitÃ�¤t Darmstadt},
  title = {Darmstadt Dribblers: Team Description for Humanoid KidSize League of RoboCup 2009},
  year = {2009},
  abstract = {This paper describes the hardware and software design of the kidsize humanoid robot systems of the Darmstadt Dribblers in 2009. The robots are used as a vehicle for research in control of locomotion and behavior of autonomous humanoid robots and robot teams with any degrees of freedom and many actuated joints. The Humanoid League of RoboCup provides an ideal testbed for such aspects of dynamics in motion and autonomous behavior as the problem of generating and maintaining statically or dynamically stable bipedal locomotion is predominant for all types of vision guided motions during a soccer game. A modular software architecture as well as further technologies have been developed for e�cient and e�ective implementation and test of modules for sensing, planning, behavior, and actions of humanoid robots.},
}

@inproceedings{khelil0901
  author = {M. Mahmudimanesh and A. Khelil and N. Yazdani},
  booktitle = {First International Workshop on Wireless Sensor Networks Architectures, Simulation and Programming (WASP)},
  pages = {75-84},
  title = {Map-based Compressive Sensing Model for Wireless Sensor Network Architecture, A Starting Point},
  year = {2009},
  abstract = {Sub-Nyquist sampling techniques for Wireless Sensor Networks (WSN) are gaining increasing attention as an alternative method to capture natural events with desired quality while minimizing the number of active sensor nodes. Among those techniques, Compressive Sensing (CS) approaches are of special interest, because of their mathematically concrete foundations and efficient implementations. We describe how the geometrical representation of the sampling problem can influence the effectiveness and efficiency of CS algorithms. In this paper we introduce a Map-based model which exploits redundancy attributes of signals recorded from natural events to achieve an optimal representation of the signal.},
  pdf = {khelil0901.pdf},
}

@phdthesis{2009:FriedmannDiss
  author = {Martin Friedmann},
  month = {Nov. 30},
  school = {Technische Universität Darmstadt},
  title = {Simulation of Autonomous Robot Teams With Adaptable Levels of Abstraction},
  year = {2009},
  url = {http://tuprints.ulb.tu-darmstadt.de/2113/},
}

@inproceedings{mdss_opodis09
  author = {Matthias Majuntke and Dan Dobre and Marco Serafini and Neeraj Suri},
  booktitle = {13th International Conference On Principle Of DIstributed Systems (OPODIS)},
  title = {Abortable Fork-Linearizable Storage},
  year = {2009},
}

@techreport{2009:rescue_tdp
  author = {Mykhaylo Andriluka and Martin Friedmann and Stefan Kohlbrecher and Johannes Meyer and Karen Petersen and Christian Reinl and Peter Schauss and Paul Schnitzspan and Armin Strobel and Dirk Thomas and Oskar von Stryk},
  institution = {Technische Universit"{a}t Darmstadt},
  title = {RoboCupRescue 2009 - Robot League Team: Darmstadt Rescue Robot Team (Germany)},
  year = {2009},
  abstract = {Abstract. The Darmstadt Rescue Robot Team is a new team established from a PhD program funded by the German Research Foundation at TU Darmstadt. It combines expertise from Computer Science and Mechanical Engineering. Several team members have already contributed in the past to highly successful teams in the RoboCup four-legged and humanoid leagues. },
  pdf = {2009:rescue_tdp.pdf},
}

@inproceedings{Andriluka:2009
  author = {Mykhaylo Andriluka and Stefan Roth and Bernt Schiele},
  booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
  title = {Pictorial Structures Revisited: People Detection and Articulated Pose Estimation},
  year = {2009},
}

@incollection{MoHoScZiSt2008
  author = {P. S. Mogre and M. Hollick and C. Schwingenschl{"o}gl and A. Ziller and R. Steinmetz},
  booktitle = {WiMAX Evolution: Emerging Technologies and Applications},
  editor = {Marcos Katz and Frank H.P. Fitzek},
  month = {January},
  note = {ISBN: 978-0470696804},
  pages = {145--162},
  publisher = {Wiley},
  title = {WiMAX Mesh Architectures and Network Coding},
  year = {2009},
}

@inproceedings{MoHoGaSt2009
  author = {P. S. Mogre and M. Hollick and J. Diaz Gandia and R. Steinmetz},
  booktitle = {Proceedings of the Sixth International ICST Conference on Heterogeneous Networking for Quality, Reliability, Security and Robustness (ICST QSHINE 2009), Las Palmas de Gran Canaria, Spain},
  month = {November},
  publisher = {Springer},
  title = {{A Proportionally Fair Centralized Scheduler Supporting Spatial Minislot Reuse for IEEE 802.16 Mesh Networks}},
  year = {2009},
}

@inproceedings{MoHoStDaSe2009
  author = {P. S. Mogre and M. Hollick and R. Steinmetz and V. Dadia and S. Sengupta},
  booktitle = {Proceedings of the 34th IEEE Conference on Local Computer Networks (IEEE LCN 2009), Zurich, Switzerland},
  month = {October},
  publisher = {IEEE Communications Society},
  title = {{Distributed Bandwidth Reservation Strategies to Support Efficient Bandwidth Utilization and QoS on a Per-Link Basis in IEEE 802.16 Mesh Networks}},
  year = {2009},
}

@inproceedings{MoHoDiSt2009
  author = {P. S. Mogre and M. Hollick and S. Dimitrov and R. Steinmetz},
  booktitle = {Proceedings of the 34th IEEE Conference on Local Computer Networks (IEEE LCN 2009), Zurich, Switzerland},
  month = {October},
  publisher = {IEEE Communications Society},
  title = {{Incorporating Spatial Reuse into Algorithms for Bandwidth Management and Scheduling in IEEE 802.16j Relay Networks}},
  year = {2009},
}

@inproceedings{SeBaVoHo2009
  author = {P. Serrano and A. Banchs and L. Vollero and M. Hollick},
  booktitle = {Proceedings of the Sixth International ICST Conference on Heterogeneous Networking for Quality, Reliability, Security and Robustness (ICST QSHINE 2009), Las Palmas de Gran Canaria, Spain},
  month = {November},
  publisher = {Springer},
  title = {{Throughput and Energy Efficiency in IEEE 802.11 WLANs: Friends or Foes?}},
  year = {2009},
}

@inproceedings{schnitzspan:2009
  author = {Paul Schnitzspan and Mario Fritz and Stefan Roth and Bernt Schiele},
  booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
  title = {Discriminative Structure Learning of Hierarchical Representations for Object Detection},
  year = {2009},
}

@inproceedings{serafini_DISC_2009
  author = {Peter Bokor and Marco Serafini and Helmut Veith and Neeraj Suri},
  booktitle = {Proc. of Int'l Symp. on Distributed Computing (DISC)},
  title = {Efficient Model Checking of Fault-tolerant Distributed Protocols Using Symmetry Reduction (Brief Announcement)},
  year = {2009},
}

@inproceedings{serafini_ICFEM_2009
  author = {Peter Bokor and Marco Serafini and Neeraj Suri},
  booktitle = {Proc. of Int'l Conf. on Formal Engineering Methods (ICFEM)},
  title = {Role-Based Reduction of Fault-Tolerant Distributed Protocols with Language Support},
  year = {2009},
}

@inproceedings{dollar:2009
  author = {Piotr Dollar and Christian Wojek and Pietro Perona and Bernt Schiele},
  booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR) },
  title = {Pedestrian Detection: A Benchmark},
  year = {2009},
}

@inproceedings{kelil0902
  author = {Piotr Szczytowski and Abdelmajid Khelil and Neeraj Suri},
  booktitle = {Proc. of The 2nd International Workshop on OMNeT++},
  title = {MAP++: Support for Map-Based WSN Modeling and Design with OMNeT++},
  year = {2009},
  pdf = {kelil0902.pdf},
}

@inproceedings{PSKS09
  author = {Piotr Szczytowski and Abdelmajid Khelil and Neeraj Suri},
  booktitle = {Proc. of International Symposium on Performance Evaluation of Computer and Telecommunication Systems (SPECTS) },
  title = {Map-Based Modeling and Design of Wireless Sensor Networks with OMNeT++},
  year = {2009},
}

@proceedings{2008_GKMM_SSchool
  editor = {Christian Reinl and Karen Petersen and Oskar von Stryk},
  month = {August},
  title = {Summer School "Monitoring and Coordination Across Networked Autonomous Entities"},
  year = {2008},
  abstract = {Heterogeneous networks of sensors and unmanned vehicles open avenues for a class of novel applications. Tasks ranging from environmental monitoring to user support within emergency-response scenarios require fundamental, multidisciplinary research, typically spanning Computer Science, Electrical Engineering and Mechanical Engineering topics. The overall goal is to enable the transition towards a cooperative, adaptive and responsive monitoring using networked, autonomous entities. The solutions will comprise an array of devices ranging from inexpensive, tiny, low power sensor nodes, through unmanned autonomous vehicles, and all the way up to resource rich, powerful command stations. The heterogeneity in communication mechanisms, processing capabilities and inherent mobility of the different devices has been defined to be the Mixed-Mode Environment. Goals: This international summer school sets out to survey the state of the art in several highly important subareas of the above research domains. The lectures and tutorials will be held by renowned speakers from academia and industry. The summer school will also provide a good opportunity to get to know other academic, industry and government researchers working in this field, to meet distinguished scholars, and to establish contacts that may lead to research collaborations in the future. This 5-day event will feature a number of different activities like lectures, hands-on tutorials, reading sessions and social events. The summer school is organized by the Research Training Group Cooperative, Adaptive and Responsive Monitoring in Mixed Mode Environments, funded by the German Research Foundation, DFG, under grant GRK 1362 and endorsed by the EURON SIG on Cooperative Robotics.},
  pdf = {2008_GKMM_SSchool.pdf},
  url = {http://tuprints.ulb.tu-darmstadt.de/1091/},
}

@inproceedings{2008-Kropf-etal-MMULATOR
  address = {Heidelberg},
  author = { Matthias Kropff and Christian Reinl and Kim Listmann and Karen Petersen and Katayon Radkhah and Faisal Karim Shaikh and Arthur Herzog and Armin Strobel and Daniel Jacobi and Oskar von Stryk},
  booktitle = {Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2008)},
  editor = {Stefano Carpin et al.},
  month = {November},
  number = {5325},
  pages = {41-52},
  publisher = {Springer},
  series = {Lecture Notes in Artificial Intelligence},
  title = {MM-ulator: Towards a Common Evaluation Platform for Mixed Mode Environments},
  year = {2008},
  abstract = {We investigate the interaction of mobile robots, relying on information provided by heterogeneous sensor nodes, to accomplish a mission. Cooperative, adaptive and responsive monitoring in Mixed-Mode Environments (MMEs) raises the need for multi-disciplinary research initiatives. To date, such research initiatives are limited since each discipline focusses on its domain specific simulation or testbed environment. Existing evaluation environments do not respect the interdependencies occurring in MMEs. As a consequence, holistic validation for development, debugging, and performance analysis requires an evaluation tool incorporating multi-disciplinary demands. In the context of MMEs, we discuss existing solutions and highlight the synergetic benefits of a common evaluation tool. Based on this analysis we present the emph{MM-ulator}: a novel architecture for an evaluation tool incorporating the necessary diversity for multi-agent hard-/software-in-the-loop simulation in a modular and scalable way.},
  pdf = {2008-Kropf-etal-MMULATOR.pdf},
  url = {http://www.springerlink.com/content/62ph40794m636833/?p=72406ae46a8d4364bc570589871af29d&pi=7},
}

@inproceedings{Hohm:2008
  author = {A. Hohm and C. Wojek and B. Schiele and H. Winner},
  booktitle = {FISITA 2008 World Automotive Congress},
  title = {Multi-Level Sensorfusion and Computer-Vision Algorithms within a Driver Assistance System for Avoiding Overtaking-Accidents},
  year = {2008},
}

@inproceedings{KoGoHoSt2008
  author = {A. K{"o}nig and C. Gottron and M. Hollick and R. Steinmetz},
  booktitle = {Procedings of 4th IEEE International Workshop on Wireless and Sensor Networks Security (IEEE WSNS 2008), Atlanta, USA},
  month = {September},
  publisher = {IEEE Computer Society Press},
  title = {{Harnessing Delay Tolerance to Increase Delivery Ratios in Mobile Ad Hoc Networks with Misbehaving Nodes}},
  year = {2008},
}

@article{KoHoKrSt2008
  author = {A. K{"o}nig and M. Hollick and T. Krop and R. Steinmetz},
  journal = {Security and Communication Networks (SCN)},
  month = {December},
  note = {{ISSN 1939-0114 (Print), 1939-0122 (Online)}},
  number = {3},
  pages = {271--288},
  title = {{GeoSec - Quarantine Zones for Mobile Ad hoc Networks}},
  volume = {2},
  year = {2008},
}

@inproceedings{khelil2008
  author = {Abdelmajid Khelil and Faisal Karim Shaikh and Brahim Ayari and Neeraj Suri},
  booktitle = {The 2nd ACM International Conference on Autonomic Computing and Communication Systems (AUTONOMICS)},
  title = {MWM: A Map-based World Model for Event-driven Wireless Sensor Networks },
  year = {2008},
  abstract = {A prominent functionality of a Wireless Sensor Network (WSN) is environmental monitoring. For this purpose the WSN creates a model for the real world by using abstractions to parse the collected data. Being cross-layer and application-oriented, most of WSN research does not allow for a widely accepted abstraction. A few approaches such as database-oriented and publish/subscribe provide acceptable abstractions by reducing application dependency and hiding communication details. Unfortunately, these approaches ignore the spatial correlation of sensor readings and still address single sensor nodes. In this work we present a novel approach based on a world model" that exploits the spatial correlation of sensor readings and represents them as a collection of regions called maps. Maps are a natural way for the presentation of the physical world and its physical phenomena over space and time. Our Map-based World Model (MWM) abstracts from low-level communication issues and supports general applications by allowing for efficient event detection, prediction and queries. In addition our MWM unifies the monitoring of physical phenomena with network monitoring which maximizes its generality. Using two case studies we highlight the simplicity and also the versatility of the proposed architecture. From our approach we deduce a general modeling and design methodology for WSNs.},
  pdf = {khelil2008.pdf},
}

@inproceedings{RKHS08
  author = {Andreas Reinhardt and Matthias Kropff and Matthias Hollick and Ralf Steinmetz},
  booktitle = {Proceedings of the Third IEEE International Workshop on Practical Issues in Building Sensor Network Applications (SenseApp 2008)},
  title = {Designing a Sensor Network Testbed for Smart Heterogeneous Applications.},
  year = {2008},
}

@inproceedings{somov2008self
  author = {Andrey Somov and Vinay Sachidananda and Roberto Passerone },
  booktitle = {International Workshop on Self-Organizing Systems},
  title = {A Self-Powered Module with Localization and Tracking System for Paintball },
  year = {2008},
  pdf = {somov2008self.pdf},
  url = {http://link.springer.com/chapter/10.1007%2F978-3-540-92157-8_16},
}

@inproceedings{herzog:2008:a3me
  address = {Valencia, Spain},
  author = {Arthur Herzog and Daniel Jacobi and Alejandro Buchmann},
  booktitle = {The Second International Conference on Mobile Ubiquitous Computing, Systems, Services and Technologies (UBICOMM 2008)},
  month = {oct},
  pages = {191 - -196},
  publisher = {IEEE Computer Society Press},
  title = {A3ME An Agent-Based Middleware Approach for Mixed Mode Environments},
  year = {2008},
  abstract = {In this paper we introduce a new agent-based approach for middleware in mixed mode environments. Mixed mode environments have different dimensions of heterogeneity: devices with widely differing capabilities, different software, and different communication technologies. To deal with these, each node in the network is seen as an independent entity: a device agent. These device agents are abstractions of the network nodes and they offer services corresponding to nodes' capabilities and also use services offered by other agents. Interoperability is achieved through an agent interaction interface. For the description of device types, capabilities and services a predefined but extensible ontology is used. This approach combines and adopts results from the areas of multi agent systems and heterogeneous ad hoc networks.},
  doi = {10.1109/UBICOMM.2008.78},
  owner = {herzog},
  pdf = {herzog:2008:a3me.pdf},
}

@inproceedings{ayari2008
  author = {Brahim Ayari and Abdelmajid Khelil and Neeraj Suri},
  booktitle = {Proc. of The 6th IFIP Workshop on Software Technologies for Future Embedded & Ubiquitous Systems (SEUS)},
  title = {Delay-Aware Mobile Transactions },
  year = {2008},
  abstract = {In the expanding e-society, mobile embedded systems are increasingly used to support transactions such as for banking, stock or database applications. Such systems entail a range of heterogeneous entities - both the embedded devices and the networks connecting them. While these systems are exposed to frequent and varied perturbations, the support of atomic distributed transactions is still a fundamental requirement to achieve consistent decisions. Guaranteeing atomicity and high performance in traditional fixed wired networks is based on the assumption that faults like node and link failures occur rarely. This assumption is not supported in current and future mobile embedded systems where the heterogeneity and mobility often result in link and node failures as a dominant operational scenario. In order to continue guaranteeing strict atomicity while providing for high efficiency (low resource blocking time and message overhead) and acceptable commit rate, transactional fault-tolerance techniques need to be revisited perhaps at the cost of transaction execution time. In this paper, a comprehensive classification of perturbations and their impact on the design of mobile transactions is provided. In particular we argue for the delay-awareness of mobile transactions to allow for the fault-tolerance mechanisms to ensure resilience to the various and frequent perturbations.},
  pdf = {ayari2008.pdf},
}

@inproceedings{brahim2008
  author = {Brahim Ayari and Abdelmajid Khelil and Neeraj Suri and Eugen Bleim},
  booktitle = {Proc. of The 2nd International Conference on E-Medical Systems (E-Medisys'08)},
  title = {Implementation and Evaluation of Delay-Aware and Fault-Tolerant Mobile Transactions},
  year = {2008},
  abstract = {Pervasive healthcare is an emerging discipline, where mobile embedded systems are increasingly used to support transactions. Such systems entail a range of heterogeneous entities - both the embedded devices and the networks connecting them. While these systems are exposed to frequent and varied perturbations, the support of atomic distributed transactions is still a fundamental requirement to achieve consistent decisions. Guaranteeing atomicity and high performance in traditional fixed wired networks is based on the assumption that faults like node and link failures occur rarely. This assumption is not supported in current and future mobile healthcare embedded systems where the heterogeneity and mobility often result in link and node failures as a dominant operational scenario. In this paper we summarize our work to provide for atomic commit protocols for mobile environments where consistency can not be compromised, for example healthcare systems. We present the implementation and experimental evaluation of a commit protocol showing its suitability for healthcare environments.},
  pdf = {brahim2008.pdf},
}

@inproceedings{wojek:2008
  author = {C. Wojek and B. Schiele},
  booktitle = {European Conference on Computer Vision (ECCV)},
  title = {A Dynamic Conditional Random Field Model for Joint Labeling of Object and Scene Classes},
  year = {2008},
}

@inproceedings{wojekdagma:2008
  author = {C. Wojek and B. Schiele},
  booktitle = {30th DAGM Symposium (DAGM 2008)},
  title = {A Performance Evaluation of Single and Multi-Feature People Detection},
  year = {2008},
}

@inproceedings{wojekdagmb:2008
  author = {C. Wojek and G. Dorko and A. Schulz and B. Schiele},
  booktitle = {30th DAGM Symposium (DAGM 2008)},
  title = {Sliding-Windows for Rapid Object Class Localization: a Parallel Technique},
  year = {2008},
}

@inproceedings{ReinlRuhStolzenburgStryk_2008
  author = {Christian Reinl and Florian Ruh and Frieder Stolzenburg and Oskar von Stryk},
  booktitle = {Proceedings of the AAMAS08-Workshop on Formal models and methods for multi-robot systems},
  month = {May},
  title = {Multi-Robot Systems Optimization and Analysis Using MILP and CLP},
  year = {2008},
  abstract = {Formal methods for multi-robot system analysis, especially logic-based methods, operate on discrete models. Optimization methods for simultaneous trajectory and task allocation, namely mixed integer dynamic optimization, operate on hybrid dynamical models which take into account a model of the motion dynamics of the physical robot. In this paper, ongoing work towards a coherent treatment of both approaches is described. A benchmark problem from robot soccer is introduced and used as an illustrative example.},
  keywords = {Multi-robot systems; discrete and hybrid system techniques; state machine descriptions; logic-based methods; mixed integer linear programming; constraint logic programming},
  pdf = {ReinlRuhStolzenburgStryk_2008.pdf},
}

@inproceedings{dinu0208
  author = {Constantin Sarbu and Andreas Johansson and Neeraj Suri },
  booktitle = {5th International Service Availability Symposium (ISAS)},
  title = {Execution Path Profiling for OS Device Drivers: Viability and Methodology},
  year = {2008},
}

@inproceedings{dinu0108
  author = {Constantin Sarbu and Andreas Johansson and Neeraj Suri and Nachi Nagappan},
  booktitle = {The 19th International Symposium on Software Reliability Engineering (ISSRE)},
  title = {Profiling the Operational Behavior of OS Device Drivers },
  year = {2008},
}

@inproceedings{DanLADIS
  author = {Dan Dobre and Matthias Majuntke and Neeraj Suri},
  booktitle = {Proc. of Large-Scale Distributed Systems and Middleware (LADIS)},
  title = {Low-latency Access to Robust Amnesic Storage},
  year = {2008},
}

@inproceedings{dan0108
  author = {Dan Dobre and Matthias Majuntke and Neeraj Suri},
  booktitle = {Internationnal Conference On Principles Of DIstributed Systems},
  title = {On the Time-Complexity of Robust and Amnesic Storage},
  year = {2008},
}

@inproceedings{jacobi2008:scopesdemo
  address = {Zurich, Switzerland},
  author = {Daniel Jacobi and Pablo E. Guerrero and Ilia Petrov and Alejandro Buchmann},
  booktitle = {Adjunct Proceedings of 3rd European Conference on Smart Sensing and Context (EuroSSC08)},
  editor = {Bullig, Andreas},
  month = {October},
  pages = {40 -- 42},
  title = {Structuring Sensornetworks with Scopes},
  year = {2008},
  abstract = {Historically, wireless sensor network architectures assume that all nodes participate in a single global task. However, it is logical to think that sensor networks will be exploited by multiple, concurrent applications. In this demonstration we present the concept of Scopes, a powerful programming abstraction that allows to dynamically partition the set of nodes into groups according to certain criteria and to address a group as a whole to perform operations on them.},
  owner = {jacobi},
  pdf = {jacobi2008:scopesdemo.pdf},
  url = {http://www.lulu.com/content/4284519},
}

@inproceedings{shaikhFK2008
  author = {Faisal Karim Shaikh and Abdelmajid Khelil and Neeraj Suri },
  booktitle = {IEEE International Symposium on a World of Wireless, Mobile and Multimedia Networks (WOWMOM)},
  title = {A Comparative study of Data Transport Protocols in Wireless Sensor Networks (WSN)},
  year = {2008},
  abstract = {Several proposals describing transport layer protocols for sensor networks appear in the literature. As each proposal is typically evaluated in the context of carefully selected parameters and scenarios, the benefits can be subjective. Also, given the limited details available of different proposals, it is difficult for developers of sensor network applications to select from the range of alternative transport protocols. This paper develops a common basis for evaluation of varied proposals. We first classify and review the existing protocols and evaluate them by measuring their performance in terms of responsiveness and efficiency in a conformal simulation environment and for a wide range of operational conditions. Common sources of poor performance are identified. Based on this experience, a set of design principles for the designers of applications and future transport protocols is presented.},
  pdf = {shaikhFK2008.pdf},
}

@article{ScHoRoSt2008
  author = {J. Schmitt and M. Hollick and C. Roos and R. Steinmetz},
  journal = {Mobile Networks and Applications (MONET), Special Issue on Ambient Media and Systems},
  month = {December},
  note = {{ISSN 1383-469X (Print), 1572-8153 (Online)}},
  number = {6},
  pages = {583--598},
  title = {{Adapting the User Context in Realtime: Tailoring Online Machine Learning Algorithms to Ambient Computing}},
  volume = {13},
  year = {2008},
}

@inproceedings{radkhah:2008
  address = {Takamatsu, Japan},
  author = {K. Radkhah and T. Hemker and O. von Stryk},
  booktitle = {Proc. 2008 IEEE International Conference on Mechatronics and Automation (ICMA)},
  month = {Aug. 05 - Aug. 08},
  pages = {864-869},
  title = {A Novel Self-Calibration Method for Industrial Robots Incorporating Geometric and Nongeometric Effects},
  year = {2008},
  abstract = {We propose a novel problem formulation for the solution of the nonlinear least squares appearing in the static calibration of the parameters of an industrial robot with rotational joints. A further contribution of the presented work is the use of an extended forward kinematic model incorporating both geometric and nongeometric parameters. These novelties facilitate the use of industrial robots as measurement systems. Both the automobile and the general industry are interested in the use of highly accurate robots that can be deployed as measurement instruments, e.g. for noticing incorrectly welded points early in the production process. Existing approaches are disadvantageous because of (1) the use of additional external measurement systems, and (2) the difficult, time-consuming, and cost-intensive determination of the robot base. Instead of absolute measurement data, we make use of relative measurement data by means of a camera attached to the robot flange. In tests based on data generated from simulation of a real experimental setup, we obtain absolute accuracies after calibration better than $pm$ unit[100]{$mu$m}. This work lays the foundations for a cost-minimal and effective realization of a robot as a measurement instrument.},
  url = {http://ieeexplore.ieee.org/Xplore/login.jsp?url=http%3A%2F%2Fieeexplore.ieee.org%2Fiel5%2F4796186%2F4798708%2F04798870.pdf%3Farnumber%3D4798870&authDecision=-203},
}

@inproceedings{serafini_FISITA_2008
  author = {Kohei Sakurai and Masahiro Matsubara and Marco Serafini and Neeraj Suri},
  booktitle = {Proceedings of FISITA World Automotive Congress},
  title = {Dependable and Cost-Effective Architecture for X-by-Wire Systems with Membership Middleware},
  year = {2008},
}

@inproceedings{VuNaHo2008
  author = {L. Vu and K. Nahrstedt and M. Hollick},
  booktitle = {Proceedings of 5th Annual International Conference on Mobile and Ubiquitous Systems: Computing, Networking and Services (MobiQuitous 2008), Dublin, Ireland},
  month = {July},
  pages = {online},
  title = {{Exploiting Schelling Behavior for Improving Data Accessibility in Mobile Peer-to-Peer Networks}},
  year = {2008},
}

@article{2008:IJHR-Friedmann-etal
  author = {M. Friedmann and J. Kiener and S. Petters and H. Sakamoto and D. Thomas and O. von Stryk},
  journal = {International Journal of Humanoid Robotics},
  month = {September},
  number = {3},
  pages = {417-436},
  title = {Versatile, high-quality motions and behavior control of a humanoid soccer robot},
  volume = {5},
  year = {2008},
  abstract = {Autonomous soccer games represent an extraordinary challenge for autonomous humanoid robots which must act fast and stable while carrying all needed onboard computers, sensors and batteries. In this paper, the development and system integration of hardware and software modules of the 55 cm tall, autonomous humanoid soccer robot Bruno is described to cope with this challenge. Altough based on a "minimalistic" design which only uses gyroscopes in the hip but not foot-ground contact sensors for control of balance, versatile and high-quality walking motions have been developed. Fast forward walking of about 1.5 km/h has been obtained using an efficient sequential surrogate optimization method and walking through uneven terrain with a newly designed passively compliant foot sole. Further modules of the software and control architecture which are needed for an adaptive selection of different motions and autonomous robot behavior are briefly described. Experimental results are reported which have been obtained under the conditions of a live competition. The robot"s hardware is mainly based on standard components which can therefore be easily adapted by new designers as no comparable, standard humanoid robot platforms are available.},
  pdf = {2008:IJHR-Friedmann-etal.pdf},
  url = {http://www.worldscinet.com/cgi-bin/details.cgi?id=voliss:ijhr_0503&type=toc},
}

@techreport{2008:dd_tdp
  author = {M. Friedmann and K. Petersen and S. Petters and K. Radkhah and D. Thomas and O. von Stryk},
  institution = {Technische Universit"at Darmstadt},
  title = {Darmstadt Dribblers: Team Description for Humanoid KidSize League of RoboCup 2008},
  year = {2008},
  abstract = {This paper describes the hardware and software design of the kidsize humanoid robot systems of the Darmstadt Dribblers in 2008. The robots are used as a vehicle for research in control of locomotion and behavior of autonomous humanoid robots and robot teams with many degrees of freedom and many actuated joints. The Humanoid League of RoboCup provides an ideal testbed for such aspects of dynamics in motion and autonomous behavior as the problem of generating and maintaining statically or dynamically stable bipedal locomotion is predominant for all types of vision guided motions during a soccer game. A modular software architecture as well as further technologies have been developed for efficient and effective implementation and test of modules for sensing, planning, behavior, and actions of humanoid robots. },
}

@inproceedings{2008:SIMPAR-WS-Friedmann-etal
  address = {Venice (Italy)},
  author = {M. Friedmann and S. Petters and M. Risler and H. Sakamoto and D. Thomas and O. von Stryk},
  booktitle = {Workshop Proceedings of SIMPAR 2008, Intl. Conf. on Simulation, Modeling and Programming for Autonomous Robots},
  editor = {Emanuele Menegatti},
  month = {November 3-4},
  pages = {570-579},
  title = {New Autonomous, Four-Legged and Humanoid Robots for Research and Education},
  year = {2008},
  abstract = {Prototype models of new, fully programmable, autonomous four-legged and humanoid robots are presented as powerful standard platforms for research and education. They are based on an open and modular concept for hardware and software and exhibit a multitude of interfaces, sensors and powerful motion capabilities.},
  pdf = {2008:SIMPAR-WS-Friedmann-etal.pdf},
  url = {http://www.simpar-conference.org/},
}

@inproceedings{2008:RislervonStryk
  address = {Estoril, Portugal},
  author = {M. Risler and O. von Stryk},
  booktitle = {AAMAS08-Workshop on Formal Models and Methods for Multi-Robot Systems},
  month = {May 12-16},
  title = {Formal behavior specification of multi-robot systems using hierarchical state machines in XABSL},
  year = {2008},
  abstract = {This paper presents the latest developments of the Extensible Agent Behavior Specication Language (XABSL), a modular and scalable tool for engineering complex multiagent behavior. It is based on hierarchical finite state machines. By the new extensions the development of cooperative multi agent behavior is supported through language elements which allow to conveniently specify how the state machines of multiple agents interact. Basic properties of XABSL are illustrated in direct comparison with Petri Net Plans and the COLBERT language using examples of basic robot behavior. More complex examples from robot soccer are used to illustrate the new extensions of XABSL. The complete system is available online on the XABSL website (http://www.xabsl.de).},
  pdf = {2008:RislervonStryk.pdf},
}

@inproceedings{serafini-eurosys2008
  author = {Marco Serafini and Neeraj Suri},
  booktitle = {EuroSys 2008 Doctoral Workshop},
  title = {Trust Characterization for Dependable Distributed Systems},
  year = {2008},
}

@inproceedings{MarcoLADIS
  author = {Marco Serafini and Neeraj Suri},
  booktitle = {Proc. of Large-Scale Distributed Systems and Middleware (LADIS)},
  title = {Reducing the Costs of Large-Scale BFT Replication},
  year = {2008},
}

@inproceedings{2008:SIMPAR-FriedmannPetersenvonStryk
  address = {Venice, Italy},
  author = {Martin Friedmann and Karen Petersen and Oskar von Stryk},
  booktitle = {Proc. 1st Intl. Conf. on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2008)},
  editor = {S. Carpin et al.},
  month = {November},
  note = {Best Paper Award},
  number = {5325},
  pages = {29-40},
  publisher = {Springer},
  series = {Lecture Notes in Artificial Intelligence},
  title = {Simulation of multi-robot teams with flexible level of detail},
  year = {2008},
  abstract = {A key methodology for the development of autonomous robots is testing using simulated robot motion and sensing systems. An important issue when simulating teams of heterogeneous autonomous robots is performance versus accuracy. In this paper the multi-robot-simulation framework (MuRoSimF) is presented which allows the flexible and transparent exchange and combination of the algorithms used for the simulation of motion and sensing systems of each individual robot in a scenario with individual level of realism. It has already been used successfully for the simulation of several types of legged and wheeled robots equipped with cameras and laser scanners. In this paper the core functionalities of MuRoSimF are presented. Existing algorithms for simulation of the robotsâ�� motions are revised. Newly added features including the execution of the simulation on multi core CPUs and two different algorithms for the simulation of laser scanners are presented. The performance of these features is tested in an urban scenario using wheeled robots.},
  pdf = {2008:SIMPAR-FriedmannPetersenvonStryk.pdf},
}

@inproceedings{Andriluka:CVPR08
  author = {Mykhaylo Andriluka and Stefan Roth and Bernt Schiele},
  booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR'08)},
  title = {People-Tracking-by-Detection and People-Detection-by-Tracking},
  year = {2008},
}

@inproceedings{MHS+08
  author = {Parag Mogre and Matthias Hollick and Matthias Kropff and Ralf Steinmetz and Christian SchwingenschlÃ�¶gl},
  booktitle = {In IEEE Proceedings of the 1st IEEE International Workshop on Wireless Network Coding (IEEE WiNC 2008) co-located with IEEE SECON 2008},
  title = {A Note on Practical Deployment Issues for Network Coding in the IEEE 802.16 MeSH Mode.},
  year = {2008},
}

@inproceedings{schnitzspan:08
  author = {Paul Schnitzspan and Mario Fritz and Bernt Schiele},
  booktitle = {Europoean Conference on Computer Vision (ECCV 2008), October},
  title = {Hierarchical Support Vector Random Fields: Joint Training to Combine Local and Global Features},
  year = {2008},
  pdf = {schnitzspan:08.pdf},
}

@inproceedings{Bokor2008
  author = {Peter Bokor and Sandeep Shukla and Andras Pataricza and Neeraj Suri},
  booktitle = {AFM},
  title = {(Joint TUD-VT publication) - Strengthened State Transitions for Complete Invariant Verification in Practical Depth-Induction },
  year = {2008},
  abstract = {Bounded Model Checking (BMC) is often able to handle thousands of system variables by encoding the system and its properties via symbolic formulas and using satisfiability (SAT) solvers for verification. To further ease the verification of state invariants, BMC is augmented with a general induction rule called k-induction; however, this sacrifices completeness. Invariant strengthening, a method proposed to overcome this problem, often requires user intervention which limits its general applicability. This paper presents a systematic method which is able to prove every property that is provable with standard k-induction and, in addition, further properties that the standard technique is unable to prove might be provable as well. Our case studies demonstrate the benefit of our approach with respect to plain k-induction. The main idea is to constrain the state transition relation in a way that the space of reachable states remains unchanged and k-induction is more likely to succeed. We show an implementation of our technique where the user needs only to extend the guard conditions with invariants obtained from the system's specification. This is always possible if the schedule of the executed transitions is (partially) known a-priori.},
  comment = {Joint TUD-VT paper},
  pdf = {Bokor2008.pdf},
}

@inproceedings{Perko:2008
  author = {R. Perko and C. Wojek and B. Schiele and A. Leonardis},
  booktitle = {International Workshop on Attention in Cognitive Systems (WAPCV 2008)},
  title = {Probabilistic combination of visual context based attention and object detection},
  year = {2008},
}

@inproceedings{2008-Petters-etal-Testing-Simpar
  author = {S. Petters and D. Thomas and M. Friedmann and O. von Stryk},
  booktitle = {Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2008)},
  editor = {S. Carpin et al.},
  month = {November},
  number = {5325},
  pages = {183-194},
  publisher = {Springer},
  series = {Lecture Notes in Artificial Intelligence},
  title = {Multilevel testing of control software for teams of autonomous mobile robots},
  year = {2008},
  abstract = {Developing control software for teams of autonomous mobile robots is a challenging task, which can be facilitated using frameworks with ready to use components. But testing and debugging the resulting system as teached in modern software engineering to be free of errors and tolerant to sensor noise in a real world scenario is to a large extend beyond the scope of current approaches. In this paper multilevel testing strategies using the developed frameworks RoboFrame and MuRoSimF are presented. Testing incorporating automated tests, online and offline analysis and software-in-the-loop (SIL) tests in combination with real robot hardware or an adequate simulation are highly facilitated by the two frameworks. Thus the efficiency of validation of complex real world applications is improved. In this way potential errors can be identified early in the development process and error situations in real world operations can be reduced significantly.},
  pdf = {2008-Petters-etal-Testing-Simpar.pdf},
  url = {http://dx.doi.org/10.1007/978-3-540-89076-8_20},
}

@inproceedings{khelil0107
  author = {Abdelmajid Khelil and Neeraj Suri},
  booktitle = {The Third Latin-American Symposium on Dependable Computing (LADC)},
  title = {Gossiping: Adaptive and Reliable Broadcasting in MANETs},
  year = {2007},
}

@inproceedings{andreas0107
  author = {Andreas Johansson and Brendan Murphy and Neeraj Suri},
  booktitle = {The 18th IEEE International Symposium on Software Reliability Engineering (ISSRE)},
  title = {On the Impact of Injection Triggers for OS Robustness Evaluation},
  year = {2007},
}

@inproceedings{2007-ReonlVonStryk-ROBOMAT
  author = {Christian Reinl and Oskar von Stryk},
  booktitle = {Proceedings of the Workshop on Robotics and Mathematics (RoboMat 2007)},
  editor = {Centro Internacional de Mathematica},
  month = {Sept. 17-19},
  pages = {145 - 151},
  title = {Optimal Control of Cooperative Multi-Robot Systems Using Mixed-Integer Linear Programming},
  year = {2007},
  abstract = {A new planning method for optimal control of multi-robot systems is discussed which accounts for the (continuous) physical locomotion dynamics of the robots and its tight coupling to the distribution and allocation of (discrete) subtasks to the robots to fulfill a joint mission. The point of departure is a nonlinear and nonconvex hybrid optimal control problem (HOCP) formulation which incorporates a detailed hybrid automaton model. Because of the many difficulties involved in solving this problem like large computational times and the lack of good or global convergence properties it is transcribed into a mixed-integer linear program (MILP). This can be solved much more efficiently using existing algorithms. The proposed approach is outlined for an example problem of cooperative soccer robots. The MILP solution itself may serve either as a good initial solution estimate for a method addressing the nonlinear HOCP or may later become the kernel of a model predictive control method for cooperative multi-robot systems. Despite the promising results obtained so far a variety of open questions yet remains to be answered including the "best" way of transcribing HOCP to MILP with respect to both computational efficiency and good HOCP solution approximation.},
  pdf = {2007-ReonlVonStryk-ROBOMAT.pdf},
  url = {http://labvis.isr.uc.pt/robomat/papers/T2_3.pdf},
}

@inproceedings{2007-ReinlVonStryk_ROBOCOMM
  author = {Christian Reinl and Oskar von Stryk},
  booktitle = {Proceedings of the 2007 First International Conference on Robot Communication and Coordination},
  organization = {ICST},
  title = {Optimal Control of Multi-Vehicle-Systems Under Communication Constraints Using Mixed-Integer Linear Programming},
  year = {2007},
  abstract = {A new planning method for optimal cooperative control of heterogeneous multi-vehicle systems is investigated which enables to account for each vehicle's nonlinear physical motion dynamics in a structured environment as well as for connectivity constraints of wireless communication. A general formulation as nonlinear hybrid optimal control problem (HOCP) is presented. A transformation technique is proposed to reduce the large computational efforts for solving HOCPs towards a future online application of this approach. Hereby the general problem is transcribed to a linearized mixed-integer linear programming problem (MILP) which can be solved much more efficiently. The proposed approach is successfully applied to the numerical solution of a representative, cooperative monitoring problem involving heterogeneous vehicles and conditions.},
  pdf = {2007-ReinlVonStryk_ROBOCOMM.pdf},
}

@inproceedings{dms_ladis07
  author = {Dan Dobre and Matthias Majuntke and Neeraj Suri},
  booktitle = {Large-Scale Distributed Systems and Middleware (LADIS)},
  title = {Latency-Efficient Atomic Broadcast for WANs},
  year = {2007},
}

@inproceedings{FaisalKS
  author = {Faisal Karim Shaikh and Abdelmajid Khelil and Neeraj Suri},
  booktitle = {The Fifteen Euromicro Conference on Parallel, Distributed and Network-based Processing (PDP)},
  pages = {395-402},
  title = {On Modeling the Reliability of Data Transport in Wireless Sensor Networks},
  year = {2007},
  abstract = {Data transport is a core function for Wireless Sensor Networks (WSNs) with different applications having varied requirements on the reliability and timeliness of data delivery. While node redundancy, inherent in WSNs, increases the fault tolerance, no guarantees on reliability levels can be assured. Furthermore, the frequent failures within WSNs impact the observed reliability over time and make it more challenging to achieve the desired reliability. Unfortunately, a framework for modeling reliability of data transport protocols in WSNs is currently missing. The existence of such a framework would simplify evaluation, comparison and also adaptation of these protocols. We formulate the problem of data transport in a WSN as a set of operations carried out on raw data. The operations aim at filtering the raw data to streamline its reliable transport towards the sink. Based on this formulation we systematically define a reliability framework. This paper argues for the usefulness of the reliability framework by classifying existing transport protocols and comparing their reliability.},
  pdf = {FaisalKS.pdf},
}

@inproceedings{ShaikhKS02
  author = {Faisal Karim Shaikh and Abdelmajid Khelil and Neeraj Suri },
  booktitle = {European Conference on Wireless Sensor Networks (EWSN)},
  title = {Meeting the Evolving Reliability Requirements for WSN Applications},
  year = {2007},
  abstract = {Data transport (DT) is a core function for Wireless Sensor Networks (WSNs) with different applications running on the same WSN, and having varied requirements on the reliability of data delivery. Furthermore, application requirements may evolve over time. Given that the DT reliability is a function of the continuously changing network properties and protocol parameters, a framework for online adaptation of DT reliability is a major contribution to meet the evolving application requirements for different network conditions. In this poster we sketch a novel approach that relies on the Reliability Block Diagrams to realize such a framework},
  pdf = {ShaikhKS02.pdf},
}

@inproceedings{shaikhKS0702
  author = {Faisal Karim Shaikh and Abdelmajid Khelil and Neeraj Suri},
  booktitle = {International Symposium on Modeling, Analysis and Simulation of Wireless and Mobile Systems (MSWiM)},
  title = {Poster - A Comparative Study of Data Transport Protocols in Wireless Sensor Networks},
  year = {2007},
}

@article{majuntke2007
  author = {Felix Freiling and Matthias Majuntke and Neeraj Mittal},
  journal = {The 13th International European Conference on Parallel and Distributed Computing (Euro-Par '07)},
  title = {On Detecting Termination in the Crash-Recovery Model},
  year = {2007},
  pdf = {majuntke2007.pdf},
}

@techreport{SKHS07
  author = {Johannes Schmitt and Matthias Kropff and Matthias Hollick and Ralf Steinmetz},
  institution = {KOM-TR-2007-08},
  title = {The Virtual Assistant: Framework and Algorithms for User-Adaptive Communication Management},
  year = {2007},
}

@inproceedings{radkhah:2007
  address = {San Diego, CA},
  author = {K. Radkhah and D. Kulic and E. Croft},
  booktitle = {Proc. 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  month = {Oct. 29 - Nov. 2},
  pages = {3842 - 3847},
  title = {Dynamic Parameter Identification for the CRS A460 Robot},
  year = {2007},
  abstract = {Dynamic Parameter Identification is a useful tool for developing and evaluating robot control strategies. However, a multi degree of freedom robot arm has many parameters, and the process of determining them is challenging. Much research has been done in this area and experimental methods have been applied on several robot arms. To our knowledge, there is currently no set of inertial parameters, either by modelling or by estimation, available for the CRS A460/A465 arm, a popular laboratory table top robot. In this paper we review and compare a number of methods for dynamic parameter identification and for generating trajectories suitable for estimating the identifiable dynamic parameters of a given robot. We then present a step by step process for dynamic parameter identification of a serial manipulator, and demonstrate this process by experimentally identifying the dynamic parameters of the CRS A460 robot.},
  url = {http://ieeexplore.ieee.org/Xplore/login.jsp?url=http%3A%2F%2Fieeexplore.ieee.org%2Fiel5%2F4398943%2F4398944%2F04399314.pdf%3Farnumber%3D4399314&authDecision=-203},
}

@inproceedings{2007:AMS-Friedmannetal
  address = {Kaiserslautern},
  author = {M. Friedmann and S. Petters and M. Risler and H. Sakamoto and D. Thomas and O. von Stryk},
  booktitle = {Autonome Mobile Systeme 2007},
  editor = {K. Berns and T. Luksch},
  month = {18 - 19 Oct.},
  pages = {254 - 260},
  publisher = {Springer Verlag},
  series = {Informatik aktuell},
  title = {A new, open and modular platform for research in autonomous four-legged robots},
  year = {2007},
  abstract = {In this paper the design goals for a new, open and modular, four-legged robot platform are described that was developed in reaction to the open call for a standard platform issued by the RoboCup Federation in 2006. The new robot should have similar motion and sensing capabilities like the previously used Sony AIBO plus several new ones. The hardware and software should be open, modular and reconfigurable. The robot should be resonably priced and allow annually upgrades.},
  pdf = {2007:AMS-Friedmannetal.pdf},
}

@article{Serafini:TDSC07
  author = {Marco Serafini and Andrea Bondavalli and Neeraj Suri },
  journal = {IEEE Transactions on Secure and Dependable Computing},
  month = {Oct.},
  number = {4},
  title = {On-Line Diagnosis and Recovery: On the Choice and Impact of Tuning Parameters},
  volume = {4},
  year = {2007},
  abstract = {A sequenced process of Fault Detection followed by the erroneous node's Isolation and system Reconfiguration (node exclusion or recovery), that is, the FDIR process, characterizes the sustained operations of a fault-tolerant system. For distributed systems utilizing message passing, a number of diagnostic (and associated FDIR) approaches, including our prior algorithms, exist in literature and practice. Invariably, the focus is on proving the completeness and correctness (all and only the faulty nodes are isolated) for the chosen fault model, without explicitly segregating permanent from transient faulty nodes. To capture diagnostic issues related to the persistence of errors (transient, intermittent, and permanent), we advocate the integration of count-and-threshold mechanisms into the FDIR framework. Targeting pragmatic system issues, we develop an adaptive online FDIR framework that handles a continuum of fault models and diagnostic protocols and comprehensively characterizes the role of various probabilistic parameters that, due to the count-and-threshold approach, influence the correctness and completeness of diagnosis and system reliability such as the fault detection frequency. The FDIR framework has been implemented on two prototypes for automotive and aerospace applications. The tuning of the protocol parameters at design time allows a significant improvement with respect to prior design choices.},
  pdf = {Serafini:TDSC07.pdf},
}

@inproceedings{Serafini:SRDS07
  author = {Marco Serafini and Neeraj Suri},
  booktitle = {Proc. of the IEEE Int'l Symp. on Reliable Distributed Systems (SRDS)},
  title = {The Fail-Heterogeneous Architectural Model},
  year = {2007},
  abstract = {Fault tolerant distributed protocols typically utilize a ho- mogeneous fault model, either fail-crash or fail-Byzantine, where all processors are assumed to fail in the same man- ner. In practice, due to complexity and evolvability rea- sons, only a subset of the nodes can actually be designed to have a restricted, fail-crash failure mode, provided that they are free of design faults. Based on this consideration, we propose a fail-heterogeneous architectural model for dis- tributed systems which considers two classes of nodes: (a) full-fledged execution nodes, which can be fail-Byzantine, and (b) lightweight, validated coordination nodes, which can only be fail-crash. To illustrate the model we intro- duce HeterTrust as a practical trustworthy service replica- tion protocol. It has a low latency overhead, requires few execution nodes with diversified design, and prevents in- truded servers from disclosing confidential data. We also discuss applications of the model to DoS attacks mitigation and to group membership.},
  pdf = {Serafini:SRDS07.pdf},
}

@inproceedings{Serafini:DSN07
  author = {Marco Serafini and Neeraj Suri and Jonny Vinter and Astrit Ademaj and Wolfgang Brandsaetter and Fulvio Tagliabo' and Jens Koch},
  booktitle = { Proc. of the IEEE Int'l Conf. on Dependable Systems and Networks (DSN-DCCS)},
  title = {A Tunable Add-On Diagnostic Protocol for Time-Triggered Systems},
  year = {2007},
  abstract = {We present a tunable diagnostic protocol for generic time-triggered (TT) systems to detect crash and send/receive omission faults. Compared to existing diagnostic and membership protocols for TT systems, it does not rely on the single-fault assumption and tolerates malicious faults. It runs at the application level and can be added on top of any TT system (possibly as a middleware component) without requiring modifications at the system level. The information on detected faults is accumulated using a penalty/reward algorithm to handle transient faults. After a fault is detected, the likelihood of node isolation can be adapted to different system configurations, including those where functions with different criticality levels are integrated. Using actual automotive and aerospace parameters, we experimentally demonstrate the transient fault handling capabilities of the protocol.},
  pdf = {Serafini:DSN07.pdf},
}

@inproceedings{2007:RCS-FriedmannPetersenvonStryk
  address = {Atlanta, GA, USA},
  author = {Martin Friedmann and Karen Petersen and Oskar von Stryk},
  booktitle = {RoboCup Symposium 2007},
  month = {July 9-10},
  pages = {to appear},
  publisher = {Springer-Verlag},
  title = {Tailored real-time simulation for teams of humanoid robots},
  year = {2007},
  abstract = {Developing and testing the key modules of autonomous humanoid soccer robots (e.g., for vision, localization, and behavior control) in software-in-the-loop (SIL) experiments, requires real-time simulation of the main motion and sensing properties. These include humanoid robot kinematics and dynamics, the interaction with the environment, and sensor simulation, especially the camera properties. To deal with an increasing number of humanoid robots per team the simulation algorithms must be very efficient. In this paper, the simulator framework MuRoSimF (Multi-Robot-Simulation-Framework) is presented which allows the exible and transparent integration of different simulation algorithms with the same robot model. These include several algorithms for simulation of humanoid robot motion kinematics and dynamics (with O(n) runtime complexity), collision handling, and camera simulation including lens distortion. A simulator for teams of humanoid robots based on MuRoSimF is presented. A unique feature of this simulator is the scalability of the level of detail and complexity which can be chosen individually for each simulated robot and tailored to the requirements of a specific SIL test. Performance measurements are given for real-time simulation on a moderate laptop computer of up to six humanoid robots with 21 degrees of freedom, each equipped with an articulated camera.},
  pdf = {2007:RCS-FriedmannPetersenvonStryk.pdf},
}

@inproceedings{2007:FriedmannPetersenVonStryk_WsHumSoc
  address = {Pittsburgh, PA, USA},
  author = {Martin Friedmann and Karen Petersen and Oskar von Stryk},
  booktitle = {Proc. 2nd Workshop on Humanoid Soccer Robots at the 2007 IEEE-RAS Int. Conf. on Humanoid Robots},
  month = {Nov. 29 - Dec. 1},
  title = {Adequate Motion Simulation and Collision Detection for Soccer Playing Humanoid Robots},
  year = {2007},
  abstract = {In this paper a humanoid robot simulator built with the Multi-Robot-Simulation-Framework (MuRoSimF) is presented. Among the unique features of the this simulator is the scalability in the level of physical detail in both the robotâ��s motion and sensing systems. It facilitates the development of control software for humanoid robots which is demonstrated for several scenarios from the RoboCup Humanoid Robot League. Different requirements exist for a humanoid robot simulator. E.g., testing of algorithms for motion control and postural stability require high fidelity of physical motion properties where as testing of behavior control and role distribution for a robot team requires only a moderate level of detail for real-time simulation of multiple robots. To meet such very different requirements often different simulators are used which makes it neccessary to model a robot multiple times and to integrate different simulations with high-level robot control software. MuRoSimF provides the capability of exchanging the simulation algorithms used for each robot transparently, thus allowing a trade-off between computational performance and fidelity of the simulation. It is therefore possible to choose different simulation algorithms which are adequate for the needs of a given simulation experiment, for example, motion simulation of humanoid robots based on kinematical, simplified dynamics or full multibody system dynamics algorithms. In this paper the sensor simulation capabilities of MuRoSimF are revised and the algorithms for motion simulation and collision detection and handling are presented in detail. An algorithm is presented which allows the real time simulation of the full dynamics of a 21 DOF humanoid robot. Special consideration is given to the merits and drawbacks of the different algorithms depending on the scenario. The simulationâ��s performance is measured and comparisons with the experimental performance of the humanoid robots are given.},
  pdf = {2007:FriedmannPetersenVonStryk_WsHumSoc.pdf},
  url = {http://www.humanoidsoccer.org/ws07/program.html},
}

@inproceedings{andriluka07asmda
  address = {Crete, Greece},
  author = {Mykhaylo Andriluka and Lorenz Weizs\"acker and Thomas Hofmann},
  booktitle = {Proceedings of "12th International Conference on Applied Stochastic Models and Data Analysis"},
  month = {May},
  title = {Multi-class Classification with Dependent Gaussian Processes},
  year = {2007},
  abstract = {We present a novel multi-output Gaussian process model for multi-class classification. We build on the formulation of Gaussian processes via convolution of white Gaussian noise processes with a parameterized kernel and present a new class of multi-output covariance functions. The latter allow for greater flexibility in modelling relationships between outputs while being parsimonious with regard to the number of model parameters. We apply the model to multi-class Gaussian process classification using a sparse approximation based on the informative vector framework and investigate, both analytically as well as empirically, a scenario where our multi-class classifier performs better than combining independently trained binary classifiers.},
  pdf = {andriluka07asmda.pdf},
}

@inproceedings{MoHoSt2007
  author = {P. S. Mogre and M. Hollick and R. Steinmetz},
  booktitle = {Proceedings of the 17th International Workshop on Network and Operating Systems Support for Digital Audio & Video (NOSSDAV 2007), Urbana-Champaign, IL, USA},
  month = {June},
  pages = {online},
  title = {{QoS in Wireless Mesh Networks: Challenges, Pitfalls and Roadmap to its Realization (Keynote Paper)}},
  year = {2007},
}

@inproceedings{guerrero:07:workflow
  address = {New York, NY, USA},
  author = {Pablo Guerrero and Daniel Jacobi and Alejandro Buchmann},
  booktitle = {DMSN '07: Proceedings of the 4th International Workshop on Data Management for Sensor Networks},
  month = {September},
  publisher = {ACM Press},
  title = {Workflow Support for Wireless Sensor and Actor Networks},
  year = {2007},
  abstract = {As initial challenges of wireless sensor and actor networks (WSANs) are overcome, their application possibilities evolve. For these applications to move mainstream, efficient programming methods are required which can be used by domain experts. So far, the question of how can WSANs be efficiently programmed remains unanswered. In this paper we examine proposed middleware approaches, and show that they have focused on data extraction rather than in-network actuation. We thus propose the usage of workflows as a means to define the logic that orchestrates the network activity, and introduce a language to express WSAN interactions. At this time, a concrete system is not given, but the paper discusses the relevant aspects towards one, and poses many questions for future research.},
  doi = {http://doi.acm.org/10.1145/1286380.1286389},
  owner = {Guerrero},
  pdf = {guerrero:07:workflow.pdf},
}

@inproceedings{serafini:HASE07
  author = {Peter Bokor and Marco Serafini and Aron Sisak and Andras Pataricza and Neeraj Suri},
  booktitle = {Proc. of the IEEE Int'l Symp. on High Assurance Systems Engineering (HASE)},
  title = {Sustaining Property Verification of Synchronous Dependable Protocols over Implementation},
  year = {2007},
  abstract = {It is often considered that a protocol that has been verified for its dependability properties at the protocol level maintains these proven properties over its implementation. Focussing on synchronous protocols, we demonstrate that this assumption can easily be fallacious using the example of an existing formally verified diagnostic protocol as implemented onto the targeted time-triggered architecture (TTA). The cause is identified as the overlap mismatch across the computation and communication phases in TTA, which does not match the system assumptions of the protocol. To address this mismatch problem, we develop the concept of a generic alignment (co-ordination) layer to implement the desired communication assumptions. The strength of this approach is that the verification of this alignment layer ensures that the formally proved properties of a protocol also hold over their implementation.},
  pdf = {serafini:HASE07.pdf},
}

@inproceedings{Karova2007
  address = {San Diego, USA},
  author = {Tobias Rodemann and Kalina Karova and Frank Joublin and Christian Goerick},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages = {2015 - 2020 },
  title = {Purely Auditory Online-Adaptation of Auditory-Motor Maps},
  year = {2007},
}

@inproceedings{2006:IFAC-MVS-Friedmann-etal
  address = {Salvador, Brazil},
  author = {M. Friedmann and J. Kiener and S. Petters and D. Thomas and O. von Stryk},
  booktitle = {Proc. 1st IFAC Workshop on Multivehicle Systems},
  month = {October 2-3},
  pages = {51-56},
  title = {Reusable architecture and tools for teams of lightweight heterogeneous robots},
  year = {2006},
  abstract = {The software framework RoboFrame has been designed to meet the special requirements for teams of lightweight autonomous heterogeneous robot systems. Due to platform abstraction and modern object oriented design, it allows the reuse of components of common robot control software. It can also efficiently be implemented on new platforms and enables different control architectures for different tasks. For the exemplary application in autonomous robot soccer teams configurable and portable algorithms for vision, world modeling, behavior and motion control have been developed on top of the framework. For debugging, controlling and monitoring, an extendable graphical user interface and a generic simulator package have been implemented around the framework. Based on these instruments, different applications for homogeneous and heterogeneous robot teams can be realized in short time.},
  pdf = {2006:IFAC-MVS-Friedmann-etal.pdf},
}

@inproceedings{2006:ROBIO-Friedmannetal
  address = {Kunming, China},
  author = {M. Friedmann and J. Kiener and S. Petters and D. Thomas and O. von Stryk},
  booktitle = {Proc. IEEE International Conference on Robotics and Biomimetics (ROBIO)},
  month = {December 17-20},
  pages = {613-618},
  title = {Modular software architecture for teams of cooperating, heterogeneous robots},
  year = {2006},
  abstract = {For teams of cooperating autonomous lightweight robots with challenging dynamical locomotion properties a platform independent modular software architecture and platform independent modules for sensor data processing, planning and motion control have been developed. The software architecture allows high level communication between modules on different abstraction levels of the control architecture within one robot system as well as communication between different and heterogeneous robots and computers using wireless network. Very different behavior control paradigms may be realized on the basis of the developed architecture. The application to teams of cooperating small and medium size humanoid robots is investigated in this paper. Scenarios for inter robot communication and cooperative task accomplishment are described.},
  pdf = {2006:ROBIO-Friedmannetal.pdf},
}

@inproceedings{2006:HumanoidsSoccerWS-DarmstadtDribblersandHajimeTeam
  address = {Genoa, Italy},
  author = {M. Friedmann and J. Kiener and S. Petters and H. Sakamoto and D. Thomas and O. von Stryk},
  booktitle = {Proc. Workshop on Humanoid Soccer Robots of the 2006 IEEE-RAS Int. Conf. on Humanoid Robots},
  month = {Dec. 4-6},
  pages = {9-16},
  title = {Versatile, high-quality motions and behavior control of humanoid soccer robots},
  year = {2006},
  abstract = {Many different and high-quality humanoid otions have been developed based on a tailored, 55cm tall humanoid robot kinematics and design using 21 servo motors and inertial sensors for stabilization. These include fast forward walking of about 1.5 km/h in permanent operation, multidirectional walking capabilities, a variety of standard and spectacular kicks, standing up motions as well as motions displaying an emotional state of the robot. While all robot motions are executed in real-time on a controller board an adaptive selection of different motions and autonomous robot behavior are controlled by hierarchical state machine executed on an onboard Pocket PC. Information about the current state of the dynamic environment in a soccer game is obtained from two directed cameras with wide and narrow angles. During RoboCup 2006 the robot demonstrated the fastest walking of all kid- and teen-size humanoid robots on regular terrain as well as in the rough terrain challenge. Also a large variety of different motions as well as individual and team behaviors during successful autonomous soccer games have been demonstrated including the scoring of a goal with the first autonomously performed backheel kick of a humanoid robot.},
  pdf = {2006:HumanoidsSoccerWS-DarmstadtDribblersandHajimeTeam.pdf},
  url = {http://www.dei.unipd.it/~emg/whs2006/schedule.html},
}

@inproceedings{IFAC_MVS_GlockerReinlStryk
  author = {M. Glocker and C. Reinl and O. von Stryk},
  booktitle = {Proc. 1st IFAC-Symposium on Multivehicle Systems},
  title = {Optimal task allocation and dynamic trajectory planning for multi-vehicle systems using nonlinear hybrid optimal control},
  year = {2006},
}

@inproceedings{2006:IROSLoetzschRislerJuengel
  address = {Beijing, China},
  author = {M. L{"o}zsch and M. Risler and M. J{"u}ngel},
  booktitle = {Proceedings of IEEE/RSJ International Conference of Intelligent Robots and Systems (IROS)},
  month = {October 9-15},
  pages = {5124-5129},
  title = {XABSL - A Pragmatic Approach to Behavior Engineering},
  year = {2006},
  abstract = {This paper introduces the Extensible Agent Behavior Specification Language (XABSL) as a pragmatic tool for engineering the behavior of autonomous agents in complex and dynamic environments. It is based on hierarchies of finite state machines (FSM) for action selection and supports the design of longterm and deliberative decision processes as well as of short-term and reactive behaviors. A platform-independent execution engine makes the language applicable on any robotic platform and together with a variety of visualization, editing and debugging tools, XABSL is a convenient and powerful system for the development of complex behaviors. The complete source code can be freely downloaded from the XABSL website (http://www.informatik.huberlin.de/ki/XABSL/). The language has been successfully applied on many robotic platforms, mainly in the domain of RoboCup robot soccer. It gave the GermanTeam the crucial advantage over other teams to become the 2004 and 2005 world champion in the Four-Legged League and helped the team CoPS Stuttgart to become third in the Middle Size League in 2004.},
  pdf = {2006:IROSLoetzschRislerJuengel.pdf},
}

@inproceedings{kiener05
  author = {J. Kiener and S. Petters and D. Thomas and M. Friedmann und O. von Stryk},
  booktitle = {Autonome Mobile Systeme 2005 },
  title = {Architektur und Komponenten f{"u}r ein heterogenes Team kooperierender, autonomer humanoider Roboter},
  year = {2005},
}