Legacy Publications
2017
| Efficient Coverage of 3D Environments with Humanoid Robots Using Inverse Reachability Maps (Video). S. Oßwald, P. Karkowski, and M. Bennewitz. In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2017. |
| Automatic Ranking of Engagement of a Group of Children ``in the Wild'' Using Emotional States and Deep Pose Features. J. Kim, I. H. Shareef, P. Regier, K. P. Truong, V. Charisi, C. Zaga, M. Bennewitz, G. Englebienne, and V. Evers. In: Proceedings of the Workshop on Creating Meaning with Robot Assistants: The Gap Left by Smart Devices at the IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2017. |
| Learning Foresighted People Following under Occlusions. A. Bayoumi, P. Karkowski, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017. |
| The Synchronized Holonomic Model: A Framework for Efficient Motion Generation. M. Missura, D. Lee, O. von Stryk, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017. |
| Predicting Travel Time from Path Characteristics for Wheeled Robot Navigation. P. Regier, M. Missura, and M. Bennewitz. In: Proceedings of the European Conference on Mobile Robotics (ECMR), 2017. |
| Sensor und Sinnlichkeit – Humanoide Roboter als soziale Interfaces und die Obsoleszenz des Impliziten. T. C. Bächle, P. Regier, and M. Bennewitz In: Medien und implizites Wissen. Themenheft der Zeitschrift „Navigationen“, C. Ernst and J. Schröter (editors), 2017. |
2016
| Real-Time Footstep Planning in 3D Environments. P. Karkowski, S. Oßwald, and M. Bennewitz. In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2016. |
| Foresighted Navigation Through Cluttered Environments. P. Regier, S. Oßwald, P. Karkowski, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016. |
| BI2RRT*: An Optimal Sampling-Based Path Planning Framework for Task-Constrained Mobile Manipulation. F. Burget, M. Bennewitz, and W. Burgard. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016. |
| Speeding-Up Robot Exploration by Exploiting Background Information. S. Oßwald, M. Bennewitz, W. Burgard, and C. Stachniss. In: IEEE Robotics and Automation Letters (RA-L) and in proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2016, DOI: 10.1109/LRA.2016.2520560. |
| Real-Time Footstep Planning Using a Geometric Approach (Video). P. Karkowski and Maren Bennewitz. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2016. |
| Learning Optimal Navigation Actions for Foresighted Robot Behavior During Assistance Tasks. A. Bayoumi and M. Bennewitz. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2016. |
| A User Perspective on the ROVINA Project. V. Ziparo, D. Calisi, G. Grisetti, J. Sarafin, M. Prosmans, L. van Gool, B. Leibe, M. Di Stefano, L. Petti,W. Burgard, F. Nenci, I. Bogoslavskyi, O. Vysotska, M. Bennewitz, and C. Stachniss. In: Conference Proceedings of Heritage and Landscape as Human Values - ICOMOS 18 General Assembly, 2016. |
| World Modeling. W. Burgard, M. Herbert, and M. Bennewitz. In: B. Siciliano and O. Khatib, editors, Handbook of Robotics (2nd edition), Chapter 45, Springer Verlag, 2016. |
2015
| Model-Predictive Control Applied to the HRP-2 Humanoid. J. Koenemann, A. Del Prete, Y. Tassa, E. Todorov, O. Stasse, M. Bennewitz, and N. Mansard. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. |
| Parameters for Motion Strategy Analysis of Parkinson’s Disease Patients. F. Burget, C. Maurer, W. Burgard, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. |
| Efficient Human Following Using Reinforcement Learning. A. Bayoumi and M. Bennewitz. In: Proceedings of the Machine Learning in Planning and Control of Robot Motion Workshop (MLCP) at IROS, 2015. |
| Stance Selection for Humanoid Grasping Tasks by Inverse Reachability Maps. F. Burget and M. Bennewitz. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2015. |
| Whole-Body Self-Calibration via Graph-Optimization and Automatic Configuration Selection. D. Maier and M. Bennewitz. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2015. Code available! |
2014
| Mobile Manipulation in Cluttered Environments with Humanoids: Integrated Perception, Task Planning, and Action Execution (Video). A. Hornung, S. Boettcher, C. Dornhege, A. Hertle, J. Schlagenhauf, and M. Bennewitz. In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2014. |
| Using Visual and Auditory Feedback for Instrument-Playing Humanoids (Video). D. Maier, R. Zohouri, and M. Bennewitz. In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2014. |
| Special Issue on Progress and Open Problems in Motion Planning and Navigation for Humanoids. Guest editors O. Stasse and M. Bennewitz. Int. Journal of Humanoid Robotics, vol. 11, 2014. |
| Mobile Manipulation with Humanoids in Cluttered Environments. A. Hornung, S. Boettcher, C. Dornhege, A. Hertle, J. Schlagenhauf, and M. Bennewitz. In: IROS Workshop on Robots in Clutter: Perception and Interaction in Clutter, 2014. |
| Real-time Imitation of Human Whole-Body Motions by Humanoids (Video). J. Koenemann, Felix Burget, and M. Bennewitz. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2014. |
| Towards a Closed-Loop System for Real-Time Calibration of Neural Stimulation Parameters using Motion Data. F. Burget, M. Cenciarini, B. Meier, H. Bast, M. Bennewitz, W. Burgard, and C. Maurer. In Proceedings of the ICRA Workshop on Wearable Robotics for Motion Assistance and Rehabilitation (RoboAssist), 2014. |
| Monte Carlo Localization for Humanoid Robot Navigation in Complex Indoor Environments. A. Hornung, S. Oßwald, D. Maier, and M. Bennewitz. In: International Journal of Humanoid Robotics (IJHR), 2014, DOI: 10.1142/S0219843614410023 |
2013
| Integrated Perception, Mapping, and Footstep Planning for Humanoid Navigation Among 3D Obstacles (Video). D. Maier, C. Lutz, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013. |
| Vision-based Humanoid Navigation Using Self-Supervised Obstacle Detection. D. Maier, C. Stachniss, and M. Bennewitz. In: International Journal of Humanoid Robotics, DOI: 10.1142/S0219843613500163, 2013. |
| Autonomous Biped Navigation Through Clutter. D. Maier, C. Lutz, and M. Bennewitz. In: Proceedings of the RSS Workshop on Robots in Clutter: Preparing Robots for the Real World, 2013. |
| Whole-Body Motion Planning for Manipulation of Articulated Objects (Video). F. Burget, A. Hornung, and M. Bennewitz. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2013. |
| Search-Based Footstep Planning. A. Hornung, D. Maier, and M. Bennewitz. In: Proceedings of the ICRA Workshop on Progress and Open Problems in Motion Planning and Navigation for Humanoids, 2013. |
| OctoMap: An Efficient Probabilistic 3D Mapping Framework Based on Octrees. A. Hornung, K.M. Wurm, M. Bennewitz, C. Stachniss, and W. Burgard. In: Autonomous Robots, DOI: 10.1007/s10514-012-9321-0, 2013. |
2012
| Real-Time Navigation in 3D Environments Based on Depth Camera Data (Video). D. Maier, A. Hornung, and M. Bennewitz. In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2012. |
| Anytime Search-Based Footstep Planning with Suboptimality Bounds. A. Hornung, A. Dornbush, M. Likhachev, and M. Bennewitz. In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2012. |
| Improved Proposals for Highly Accurate Localization Using Range and Vision Data (Video). S. Oßwald, A. Hornung, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. |
| Appearance-Based Traversability Classification in Monocular Images Using Iterative Ground Plane Estimation (Video).D. Maier and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. |
| NAO Walking Down a Ramp Autonomously (Video).C. Lutz, F. Atmanspacher, A. Hornung, and M. Bennewitz. In: Video Abstract Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. |
| Navigation in Three-Dimensional Cluttered Environments. A. Hornung, M. Phillips, E. G. Jones, M. Bennewitz, M. Likhachev, and S. Chitta. In: Proceedings of the Workshop on Robots in Clutter: Manipulation, Perception and Navigation in Human Environments at Robotics: Science and Systems Conference (RSS), 2012. |
| Accurate 6D Localization in Multi-Level Environments. S. Oßwald, A. Hornung, and M. Bennewitz. In: Extended Abstracts of Spatial Cognition (SC), 2012. |
| Adaptive Level-of-Detail Planning for Efficient Humanoid Navigation. A. Hornung and M. Bennewitz. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2012. |
| Navigation in Three-Dimensional Cluttered Environments for Mobile Manipulation (Video). A. Hornung, M. Phillips, E. G. Jones, M. Bennewitz, M. Likhachev, and S. Chitta. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2012. |
| Whole-Body Imitation of Human Motions with a Nao Humanoid (Video). J. Koenemann and M. Bennewitz. In: Video Abstract Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2012, second place best video award. |
2011
| Integrated Perception and Navigation in Complex Indoor Environments. M. Bennewitz, D. Maier, A. Hornung, and C. Stachniss. In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2011. Invited presentation at the workshop on Humanoid service robot navigation in crowded and dynamic environments. |
| From 3D Point Clouds to Climbing Stairs: A Comparison of Plane Segmentation Approaches for Humanoids (Video). S. Oßwald, J.-S. Gutmann, A. Hornung, and M. Bennewitz. In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2011. |
| Autonomous Climbing of Spiral Staircases with Humanoids (Video). S. Oßwald, A. Görög, A. Hornung, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011. |
| Towards Navigation in Three-Dimensional Cluttered Environments. A. Hornung, E. G. Jones, S. Chitta, M. Bennewitz, M. Phillips, and M. Likhachev. In: Proceedings of The PR2 Workshop: Results, Challenges and Lessons Learned in Advancing Robots with a Common Platform at the the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011. |
| Self-supervised Obstacle Detection for Humanoid Navigation Using Monocular Vision and Sparse Laser Data (Video). D. Maier, M. Bennewitz, and C. Stachniss. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2011. |
| Humanoid Navigation with Dynamic Footstep Plans (Video). J. Garimort, A. Hornung, and M. Bennewitz. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2011. |
| Gait Optimization of Humanoids Based on Human Data. S. Wehner and M. Bennewitz. In: AUTOMATIKA - Journal for Control, Measurement, Electronics, Computing and Communications, 2011. |
2010
| Efficient Vision-based Navigation - Learning about the Influence of Motion Blur. A. Hornung, M. Bennewitz, and H. Strasdat. In: Autonomous Robots, Vol. 29, Number 2, 2010. |
| Humanoid Robot Localization in Complex Indoor Environments. A. Hornung, Kai M. Wurm, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010. |
| Modeling the World Around Us :: An Efficient 3D Representation for Personal Robotics Publication Type. W. Burgard, K. Wurm, M. Bennewitz, C. Stachniss, A. Hornung, R.B. Rusu, and K. Konolige. In: Proceedings of the Workshop on Defining and Solving Realistic Perception Problems in Personal Robotics at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010. |
| Learning Reliable and Efficient Navigation with a Humanoid. S. Oßwald, A. Hornung, and M. Bennewitz. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2010. |
| Learning Efficient Vision-based Navigation. A. Hornung, M. Bennewitz, and W. Burgard. In: Extended Abstract Proceedings of the International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2010. |
| Learning Adaptive Navigation Strategies for Resource-Constrained Systems. A. Hornung, M. Bennewitz, C. Stachniss, H. Strasdat, S.Oßwald, and W. Burgard In: Proceedings of the 3rd International Workshop on Evolutionary and Reinforcement Learning for Autonomous Robot Systems (ERLARS), 2010. |
| Robust and Adaptive Navigation with Humanoid Robots. A. Hornung and M. Bennewitz. In: Extended Abstract Proceedings of the Workshop on Motion Planning: From Theory to Practice at Robotics: Science and Systems Conference (RSS), 2010. |
| Octomap: A probabilistic, flexible, and compact 3D map representation for robotic systems. K.M. Wurm, A. Hornung, M. Bennewitz, C. Stachniss, and W. Burgard. In: Proceedings of the ICRA Workshop on Best Practice in 3D Perception and Modeling for Mobile |
Older publications can be found here