Institute of Computer Science — Knowledge-Based Systems Research Group
	Joachim Hertzberg, Publications

Selection of my major publications. Papers with German titles are—unsurprisingly—in German. A more complete list until 2000, ordered by categories and including abstracts, can be found under this link.
For those who prefer a view from the outside: Google Scholar (current h-index 32), Microsoft Academic Search, CiteSeer, DBLP.

Note (May 2008) about links to full versions of older papers (before 2004): Some or many of the links involving URLs containing "ais" or "fhg" or "gmd" no longer work. I will fix this some time. If you wish to obtain the respective paper, please write me an email.

Forthcoming

• ...

• Stephan Scheuren, Stefan Stiene, Ronny Hartanto, Joachim Hertzberg, Max Reinecke. Spatio-temporally Constrained Planning for Cooperative Vehicles in a Harvesting Scenario. KI – Künstliche Intelligenz, 27(4), 2013, in press.

• Iman Awaad, Gerhard K. Kraetzschmar, Joachim Hertzberg. Affordance-Based Reasoning in Robot Task Planning. Planning and Robotics (PlanRob) Workshop at 23rd Intl. Conf. Automated Planning and Scheduling (ICAPS), Rome, June 10-14, 2013

• Joachim Hertzberg. Kognitive Robotik. in: A. Stephan, S. Walter (eds.): Handbuch Kognitionswissenschaft, Chap. II.2.1. Stuttgart (Metzler), to appear (2013)

2013

• Thomas Wiemann, Kai Lingemann, Joachim Hertzberg. Automatic Map Creation for Environment Modelling in Robotic Simulators Proc. 27th European Conference on Modelling and Simulation (ECMS 2013), May 27-30, 2013

• S. Rockel, B. Neumann, J. Zhang, K.S.R. Dubba, A.G. Cohn, S. Konecny, M. Mansouri, F. Pecora, A. Saffiotti, M. Günther, S. Stock, J. Hertzberg, A.M. Tome, A. Pinho, L. Seabra Lopes, S. von Riegen, L. Hotz. An Ontology-based Multi-level Robot Architecture for Learning from Experiences. AAAI Spring Symposium 2013 on Designing Intelligent Robots: Reintegrating AI II

• Sven Albrecht, Thomas Wiemann, Joachim Hertzberg, Hans Werner Guesgen, Stephen R. Marsland. From Object Recognition to Activity Interpretation and Back, Based on Point Cloud Data KI – Künstliche Intelligenz, Special Issue Symbol Grounding, 27(2):161-167, 2013. DOI: 10.1007/s13218-013-0244-5

• Susanne Biundo-Stephan, Hans Werner Guesgen, Joachim Hertzberg, Stephen R. Marsland (eds.). Interpreting Observed Actions (Dagstuhl Seminar 12491). Dagstul Report Online Publication Server [DROPS page, DOI 10.4230/DagRep.2.12.1].

• Stephan Scheuren, Joachim Hertzberg, Stefan Stiene, Ronny Hartanto. Infield Path Planning for Autonomous Unloading Vehicles. Proc. 33. Jahrestagung Gesellschaft für Informatik in der Land-, Forst- und Ernährungswirtschaft (GIL 2013), Potsdam, Feb 20-21, 2013.

2012

• Stephan Scheuren, Stefan Stiene, Ronny Hartanto, Joachim Hertzberg. Approximating Reference Trajectories for Autonomous Vehicles using Motion Primitives. Proc. 22nd Conf. Autonomous Mobile Systems (AMS 2012), September 26-28 2012, Stuttgart, pp. 109-117

• Martin Günther, Joachim Hertzberg, Masoumeh Mansouri, Federico Pecora, Alessandro Saffiotti. Hybrid Reasoning in Perception: A Case Study. 10th Intl. IFAC Symp. Robot Control (SYROCO 2012), Sep 5-7, 2012, Dubrovnik. [DOI: 10.3182/20120905-3-HR-2030.00180]

• Jens Poppenborg, Sigrid Knust, and Joachim Hertzberg. Online scheduling of flexible job-shops with blocking and transportation. European J. of Industrial Engineering 6(4):497-518, 2012. [Publisher Link]

• Thomas Wiemann, Kai Lingemann, Andreas Nüchter, and Joachim Hertzberg. A Toolkit for Automatic Generation of Polygonal Maps -- Las Vegas Reconstruction. In: Proc. 7th German Conf. on Robotics (ROBOTIK 2012), München, VDE Verlag, 2012, pp. 446-451

• Joachim Hertzberg, Kai Lingemann, Andreas Nüchter. Mobile Roboter. Eine Einführung aus Sicht der Informatik. Springer, 2012. [Web page] [Springer page]

• Kim Oliver Rinnewitz, Sven Karl Schalk, Thomas Wiemann, Kai Lingemann, and Joachim Hertzberg Das Las Vegas Reconstruction Toolkit. In: Luhmann/Müller (eds.): Photogrammetrie, Laserscanning, Optische 3D-Messtechnik. Beiträge der Oldenburger 3D-Tage, 2012.

2011

• Jochen Sprickerhof, Kai Lingemann, Andreas Nüchter, Joachim Hertzberg. A Heuristic Loop Closing Technique for Large-Scale 6D SLAM. Automatika 52(3):199-222, 2011, Special Issue Selected papers from the 4th European Conference on Mobile Robotics, [Get Paper][Get Videos]

• Joachim Hertzberg. Unter Modulbuchhaltern und Sprintstudierenden – Wer studiert heute KI? Und warum? in. Künstl. Intell. 25(4):321-323, 2011, DOI 10.1007/s13218-011-0124-9 [Springer Link]

• Markus Quirin, Joachim Hertzberg, Julius Kuhl, and Achim Stephan. Could Positive Affect Help Engineer Robot Control Systems? J. Cognitive Processing 12(4):375-378, 2011. DOI: 10.1007/s10339-011-0401-4 [online (Springer Verlag)]

• Martin Günther, Thomas Wiemann, Sven Albrecht, and Joachim Hertzberg. Model-based object recognition from 3D laser data. In: KI 2011: Advances in Artificial Intelligence. 34th Annual German Conference on AI, October 2011, Berlin. Springer (LNAI 7006), pp. 99-110, 2011

• Stephan Scheuren, Stefan Stiene, Ronny Hartanto, Joachim Hertzberg, and Max Reinicke. The Problem of Spatio-temporally Constrained Motion Planning for Cooperative Vehicles. In: Proc. 26. Workshop Planen, Scheduling und Konfigurieren, Entwerfen (PuK-2011), October 2011, Berlin.

• Sven Albrecht, Thomas Wiemann, Martin Günther, Joachim Hertzberg. Matching CAD Object Models in Semantic Mapping Proc. ICRA 2011 Workshop Semantic Perception, Mapping and Exploration, Shanghai, China, May 2011

• Florian Otte, Johannes Zimmermann, Jochen Sprickerhof, Kai Lingemann, Thomas Wiemann, and Joachim Hertzberg. Automatisiertes Auffinden und Auffüllen von Scanschatten in 3D-Laserscans. Proc. Oldenburger 3D-Tage 2011, Feb 2011.

2010

• Joachim Hertzberg, Sven Albrecht, Martin Günther, Kai Lingemann, Jochen Sprickerhof, Thomas Wiemann. From Semantic Mapping to Anchored Knowledge Bases (Abstract). Proc. 10th Biannual Meeting German Soc. Cognitive Science (KogWis 2010), Symposium Adaptivity of Hybrid Cognitive Systems, Oct 3-6, Potsdam, Germany

• Thomas Wiemann, Andreas Nüchter, Kai Lingemann, Stefan Stiene, Joachim Hertzberg. Automatic Construction of Polygonal Maps from Point Cloud Data. Proc. 8th IEEE Intl. Workshop on Safety, Security, and Rescue Robotics (SSRR-2010), Jul 26-30, 2010, Bremen, Germany

• Jan Wülfing, Joachim Hertzberg, Kai Lingemann, Andreas Nüchter, Stefan Stiene, Thomas Wiemann. Towards Real Time Robot 6D Localization in a Polygonal Indoor Map Based on 3D ToF Camera Data. Proc. 7th IFAC Symposium on Intelligent Autonomous Vehicles (IAV 2010), Sep 6-8, 2010, Lecce, Italy. [Online Version (DOI 10.3182/20100906-3-IT-2019.00018) from IFAC-PapersOnLine site]

• Joachim Hertzberg, Kai Lingemann, Christopher Lörken, Andreas Nüchter, Stefan Stiene, Thomas Wiemann. 3D-Roboterkartenbau in Osnabrück. KI – Künstliche Intelligenz, 24(3):245-248, Special Issue Simultaneous Localization and Mapping, 2010. DOI: 10.1007/s13218-010-0032-4. [Springer Link]

• Erik Schulenburg, Norbert Elkmann, Markus Fritzsche, Joachim Hertzberg, Stefan Stiene. LISA: Auf dem Weg zur sicheren Assistenzrobotik. KI – Künstliche Intelligenz 24(1):69-73, 2010. DOI: 10.1007/s13218-010-0013-7. [Springer Link]

2009

• Simone Frintrop, Andreas Nüchter, Kai Pervölz, Hartmut Surmann, Sara Mitri, and Joachim Hertzberg. Attentive Classification. Intl. J. Applied Artificial Intelligence in Engineering Systems 1(1):47-66, 2009 [Journal Issue]

• Stefan May, David Droeschel, Dirk Holz, Stefan Fuchs, Ezio Malis, Andreas Nüchter, and Joachim Hertzberg. 3D Mapping with Time-of-Flight Cameras. J. Field Robotics 26(11-12):934-965, 2009. [Get Paper (JFR site)]

• Jochen Sprickerhof, Andreas Nüchter, Kai Lingemann, Joachim Hertzberg. An Explicit Loop Closing Technique for 6D SLAM. in Proc. 4th European Conf. Mobile Robots (ECMR-09), Mlini/Dubrovnik, Croatia, September 2009, pp.229-234.

• Ronny Hartanto and Joachim Hertzberg. On the Benefit of Fusing DL Reasoning with HTN Planning. KI 2009. (32nd Annl. German Conf. on AI, Paderborn, Germany, September 2009, Proceedings), Springer (LNAI 5803), pp.41-48, 2009. [Get Paper]

• Stefan Stiene and Joachim Hertzberg. Virtual Range Scan for Avoiding 3D Obstacles Using 2D Tools. Proc. 14th Intl. Conf. Advanced Robotics (ICAR-2009), Munich, June 2009. [Get Paper]

• Martin Magnusson, Andreas Nüchter, Christopher Lörken, Achim, J. Lilienthal, and Joachim Hertzberg. Evaluation of 3D registration reliability and speed -- A comparison of ICP and NDT. Proc. 2009 IEEE Intl. Conf. Robotics and Automation (ICRA'09), Kobe, Japan, May 2009, pp 3907-3912.

2008

• Joachim Hertzberg and Alessandro Saffiotti (eds.). Special Issue 56(11):857-1014 Semantic Knowledge in Robotics of J. Robotics and Autonomous Systems, November 2008

• Joachim Hertzberg and Alessandro Saffiotti. Editorial: Using Semantic Knowledge in Robotics. J. Robotics and Autonomous Systems, Special Issue Semantic Knowledge in Robotics 56(11):875-877, 2008. [ScienceDirect Link]

• Andreas Nüchter and Joachim Hertzberg. Towards Semantic Maps for Mobile Robots. J. Robotics and Autonomous Systems, Special Issue on Semantic Knowledge in Robotics 56(11):915-926, 2008. [ScienceDirect Link]

• Joachim Hertzberg, Karsten Morisse, and Thomas Schüler. Robotik-Schulstunden als Mittel der Informatik-Hochschulausbildung: Eine Fallstudie. In: B. Schwarze et al. (eds.): Gender und Diversity in den Ingenieurwissenschaften und Informatik. Bielefeld (Universitätsverlag Webler) 2008, pp.86-100 [Get Draft Version (PDF)] [Book link]

• Thomas Schüler, Joachim Hertzberg, and Karsten Morisse. Organisation von Robotik-Schulstunden im Informatikstudium. In: Tagungsband logOS 2008. Lernen Organisation Gesellschaft. Das eCampus-Symposium der Osnabrücker Hochschulen. Osnabrück, Oktober 2008, pp.97-101

• Martin Magnusson, Andreas Nüchter, Christopher Lörken, Achim, J. Lilienthal, and Joachim Hertzberg. 3D Mapping the Kvarntorp Mine -- A Field Experiment for Evaluation of 3D Scan Matching Algorithms. Proc. Workshop "3D-Mapping" at IEEE Intl. Conf. Intelligent Robots and Systems (IROS '08) Nice, France, September 2008.

• Ronny Hartanto and Joachim Hertzberg. Fusing DL Reasoning with HTN Planning. In: KI 2008: Advances in Artificial Intelligence. 31st Annual German Conference on AI, Proceedings, Kaiserslautern, September 2008. Springer Verlag (LNAI 5243), 2008, pp.62-69 [Get Paper (PDF)]

• Andreas Nüchter, Kai Lingemann, and Joachim Hertzberg. Evaluating a 3D Camera for RoboCup Rescue. in Proc. SICE Annual Conf. 2008: Intl. Conf. Instrumentation, Control and Information Technology (SICE2008), Tokyo, Japan, August, 2008.

• Dorit Bormann, Jan Elseberg, Kai Lingemann, Andreas Nüchter, and Joachim Hertzberg. The Efficient Extension of Globally Consistent Scan Matching to 6 DoF. in Proc. 4th Internatl. Symp. 3D Data Processing, Visualization and Transmission (3DPVT), June 18-20, 2008, Georgia Tech., pp.29-36. [Get Paper] [Get Video]

• Joachim Hertzberg and Raja Chatila: AI Reasoning Methods for Robotics. in: B. Siciliano and O. Khatib (eds.): Springer Handbook of Robotics, Ch.9, pp.207-223. Springer 2008
  (The Handbook received the PROSE Award for Excellence in Physics & Mathematical Sciences 2008 by the Association of American Publishers)

• Christopher Lörken and Joachim Hertzberg. Grounding Planning Operators by Affordances. in: Proc. Intl. Conf. Cognitive Systems (CogSys 2008), April 2-4 2008, Karlsruhe, p. 79-84 (CD Proceedings) [Get Paper]

• Oliver Wulf, Andreas Nüchter, Joachim Hertzberg, and Bernardo Wagner. Benchmarking Urban Six-Degree-of-Freedom Simultaneous Localization and Mapping. Journal of Field Robotics (JFR) 25(3):148-163, 2008. [Get Videos] [Get Paper]

• Dorit Borrmann, Jan Elseberg, Kai Lingemann, Andreas Nüchter and Joachim Hertzberg. Globally consistent 3D mapping with scan matching. Journal of Robotics and Autonomous Systems, 56(2):130-142, 2008. [ScienceDirect Link]

• Erich Rome, Lucas Paletta, Erol Sahin, Georg Dorffner, Joachim Hertzberg, Ralph Breithaupt, Gerald Fritz, Jörg Irran, Florian Kintzler, Christopher Lörken, Stefan May, and Emre Ugur. The MACS project: An Approach to Affordance-inspired Robot Control. In Towards Affordance-Based Robot Control. Proceedings of Dagstuhl Seminar 06231, Dagstuhl Castle, Germany, June 5-9, 2006, Springer (LNAI vol. 4760), pp. 173-210, 2008. [Springer Link]

• Joachim Hertzberg, Kai Lingemann, Christopher Lörken, Andreas Nüchter, and Stefan Stiene. Does it help a robot navigate to call navigability an affordance?. In Towards Affordance-Based Robot Control. Proceedings of Dagstuhl Seminar 06231, Dagstuhl Castle, Germany, June 5-9, 2006, Springer (LNAI vol. 4760), pp. 16-26, 2008. [Get Paper Draft] [Springer Link]

• Erich Rome, Joachim Hertzberg, Georg Dorffner (Eds.): Towards Affordance-based Robot Control. Proceedings of Dagstuhl Seminar 06231, Dagstuhl Castle, Germany, June 5-9, 2006. Springer (LNAI vol. 4760), 2008. [Springer link]

2007

• Oliver Wulf, Andreas Nüchter, Joachim Hertzberg, and Bernardo Wagner. Ground Truth Evaluation of Large Urban 6D SLAM. In Proc. 2007 IEEE/RSJ Intl. Conf Intelligent Robots and Systems (IROS '07), San Diego, CA, USA, October 2007, p.650-657.

• Stefan Stiene and Joachim Hertzberg, Sicheres Navigieren in dynamischen Umgebungen mit 3D-Kollisionsvermeidung. In K. Berns, T. Luksch (eds.): Autonome Mobile Systeme 2007. 20. Fachgespräch, Kaiserslautern, 18./19. Oktober 2007 Berlin (Springer) 2007, p. 68-74

• Andreas Nüchter, Kai Lingemann, Joachim Hertzberg, and Hartmut Surmann, 6D SLAM -- 3D Mapping Outdoor Environments. Journal of Field Robotics (JFR), Special Issue on Quantitative Performance Evaluation of Robotic and Intelligent Systems, 24(8-9):699-722, 2007. [Get Paper]

• Joachim Hertzberg, Michael Beetz, Roman Englert (Eds.): KI 2007: Advances in Artificial Intelligence. 30th Annual German Conference on AI, KI 2007. Osnabrück, Germany, September 2007. Proceedings. Springer (LNAI vol. 4667), 2007. [online information, Springer link]

• Andreas Bartel, Frank Meyer, Christopher Sinke, Thomas Wiemann, Andreas Nüchter, Kai Lingemann, and Joachim Hertzberg. Real-Time Outdoor Trail Detection on a Mobile Robot. In Proc. 13th IASTED Intl. Conf. Robotics and Applications, p.477-482, Würzburg, Germany, August 2007. [Get Paper and Videos]

• Andreas Nüchter, Kai Lingemann, and Joachim Hertzberg. 6D SLAM with Cached k-d tree Search. In Proc. 13th IASTED Intl. Conf. Robotics and Applications, p.181-186, Würzburg, Germany, August 2007.

• Andreas Nüchter, Kai Lingemann, and Joachim Hertzberg. Cached k-d tree search for ICP algorithms. In Proc. 6th IEEE Intl. Conf. Recent Advances in 3D Digital Imaging and Modeling (3DIM '07), IEEE Computer Society Press, p.419-426, Montreal, Canada, August 2007. [Get Paper (PDF)] [HTML Version]

• Stefan Stiene, Andreas Nüchter, Kai Lingemann, and Joachim Hertzberg. An Experiment in Semantic Correction of Sensor Data, (Poster) in Proc. Workshop on Semantic Information in Robotics at the IEEE International Conference Robotics and Automation (ICRA '07), Rome, Italy, April 2007. [Get Paper (PDF)]

• Andreas Nüchter, Kai Lingemann and Joachim Hertzberg. 6D SLAM with Kurt3D, Robotics Today, Society of Manufacturing Engineers, First Quarter, Vol. 20, No. 1, April, 2007. [Get Paper (PDF)]

• Johannes Steger, Robert Märtin, Kai Lingemann, Andreas Nüchter, Joachim Hertzberg, and Peter König. Laser range scans of natural scenes for the evaluation of stereo- matching algorithms. Poster at ICVS Workshop From Computational Cognitive Neuroscience to Computer Vision (CCNCV '07) Bielefeld, Germany, March 2007.

• Johannes Steger, Robert Märtin, Kai Lingemann, Andreas Nüchter, Joachim Hertzberg, and Peter König. Assessing stereo matching algorithms using ground-truth disparity maps of natural scenes, (Poster), in Proceedings of the 7th Meeting of the German Neuroscience Society / 31th Göttingen Neurobiology Conference, Neuroforum 2007, Göttingen, Germany, 2007.

• Lars Kunze, Kai Lingemann, Andreas Nüchter, and Joachim Hertzberg. Salient Visual Features to Help Close the Loop in 6D SLAM, in Proceedings of the ICVS Workshop on Computational Attention & Applications (WCAA '07), Bielefeld, Germany, March 2007. [Get Paper (PDF)]

• Joachim Hertzberg. Embodying AI -- GOFAI Goes Robotics, in Proc. Interdisciplinary College 2007 (IK-2007), Günne, Germany, March 2007; pages 369-384

2006

• Andreas Nüchter, Kai Lingemann and Joachim Hertzberg. 6D SLAM with Kurt3D, in Robotic 3D Environment Cognition, Workshop at the International Conference Spatial Cognition, Bremen, Germany 2006. [Get Paper (PDF)]

• Andreas Nüchter, Kai Lingemann, Joachim Hertzberg, and Hartmut Surmann. 6D SLAM -- Mapping Outdoor Environments, in Proc.s Intl. Workshop on Safety, Security and Rescue Robotics (SSRR '06), (CDROM Proceedings), Gaithersburg, Maryland, USA, August 2006,

• Kai Lingemann, Andreas Nüchter, Joachim Hertzberg, Oliver Wulf, Bernardo Wagner, Kai Pervölz, Hartmut Surmann, and T. Christaller. RoboCupRescue2006 -- Robot League, Deutschland1 (Germany), in Team Description Papers, Rescue Robot League Competition, (CDROM Proceedings), Bremen, Germany, June 2006. [Get Paper (PDF)]

• Sven Albrecht, Joachim Hertzberg, Kai Lingemann, Andreas Nüchter, Jochen Sprickerhof, Stefan Stiene. Device Level Simulation of Kurt3D Rescue Robots, in Third Intl. Workshop on Synthetic Simulation and Robotics to Mitigate Earthquake Disaster (SRMED 2006). CDROM Proceedings, June 2006. [Get Paper, PDF] [Paper, HTML]

• Stefan Stiene, Kai Lingemann, Andreas Nüchter, and Joachim Hertzberg. Contour-based Object Detection in Range Images, in Proc. Third Intl. Symposium on 3D Data Processing, Visualization and Transmission (3DPVT'06), June 2006. [Get Paper]

• Andreas Nüchter, Kai Lingemann, and Joachim Hertzberg. Extracting Drivable Surfaces in Outdoor 6D SLAM, in Proc. 37nd Intl. Symposium on Robotics (ISR'06) and 4th German Conf. Robotik 2006, Munich, Germany, 2006. [Get Paper (PDF)] [Get Paper (HTML)] [Get Surface Animation (DivX)] [Get Marching Cubes Representation (DivX)]

• Andreas Nüchter, Kai Lingemann, Joachim Hertzberg, Oliver Wulf, Bernardo Wagner, Kai Pervölz, Hartmut Surmann, Thomas Christaller. The RoboCup Rescue Team Deutschland1, KI – Künstliche Intelligenz vol. 2006(2):24-29, May 2006. [Get Paper (PDF)]

2005

• Hartmut Surmann, Kai Pervölz, Andreas Nüchter, Kai Lingemann, Joachim Hertzberg, and Matthias Hennig. Simultaneous Mapping and Localization of Rescue Environments in it - Information Technology 47(5):282-291 (2005), Oldenbourg press, October 2005. (Note: The paper is an extended version of the SSRR 2005 best paper awarded paper "Mapping of Rescue Environments with Kurt3D")

• Kai Lingemann, Hartmut Surmann, Andreas Nüchter, and Joachim Hertzberg. Verfahren zur Ermittlung der Position und Orientierung eines navigierenden Systems. Offenlegungsschrift DE 10 2004 015 111 A1 2005.10.20, Deutsches Patentamt. Offenlegungstag 20.10.2005

• Kai Lingemann, Andreas Nüchter, Joachim Hertzberg, and Hartmut Surmann. About the Control of High Speed Mobile Indoor Robots, in Proceedings of the Second European Conference on Mobile Robotics (ECMR '05), Ancona, Italy, September 2005, p.218-223. [Get Paper and Video]

• Ronny Hartanto and Joachim Hertzberg. Offering Existing AI Planners as Web Services, in GI Workshop Planen und Konfigurieren (PuK 2005), Koblenz, Germany, September 2005[Get Paper (PDF)].

• Joachim Hertzberg, Kai Lingemann, and Andreas Nüchter. USARSIM -- Game-Engines in der Robotik-Lehre, in A. B. Cremers et al. (eds.): Informatik 2005 -- Informatik LIVE, vol.1 (Beiträge der 35. Jahrestagung der Gesellschaft für Informatik, Bonn, Germany, September 2005). Gesellschaft für Informatik, Bonn 2005, pp.158-162. [Get Paper (PDF)].

• Andreas Nüchter, Kai Lingemann, Joachim Hertzberg, and Hartmut Surmann. Heuristic-Based Laser Scan Matching for Outdoor 6D SLAM, in KI 2005: Advances in Artificial Intelligence. 28th Annual German Conference on AI, Proceedings. Springer (Berlin) LNAI vol. 3698, pp.304-319. Koblenz, Germany, September 2005. [Get Paper and Video]

• Andreas Nüchter, Kai Lingemann, Joachim Hertzberg, and Hartmut Surmann. Accurate Object Localization in 3D Laser Range Scans, in Proc. 12th Intl. Conf Advanced Robotics (ICAR '05), pp.665-672, Seattle, USA, July 2005, [Get Paper (PDF)] [Get Paper (HTML)].

• Andreas Nüchter, Kai Lingemann, Joachim Hertzberg, and Hartmut Surmann. 6D SLAM with Approximate Data Association, in Proc. 12th Intl. Conf. Advanced Robotics (ICAR '05), pp.242-249, Seattle, USA, July 2005, [Get Paper (PDF)] [Get Paper (HTML)].

• Andreas Nüchter, Oliver Wulf, Kai Lingemann, Joachim Hertzberg, Bernardo Wagner, and Hartmut Surmann, 3D Mapping with Semantic Knowledge, in Proc. RoboCup International Symposium 2005, Osaka, Japan, July 2005, [Get Paper (PDF)] [Get Paper (HTML)].

• Hartmut Surmann, Kai Lingemann, Andreas Nüchter, Matthias Hennig, Kai Pervölz, Oliver Wulf, Joachim Hertzberg, Bernardo Wagner, and Thomas Christaller. RoboCupRescue - Robot League Team, Team Deutschland1 (Germany) Team Description Paper, Rescue Robot League Competition, (CDROM Proceedings) (RoboCup 2005), Osaka, Japan, July 2005, (6th place), [Get Paper (PDF)].

• Andreas Nüchter, Kai Lingemann, Joachim Hertzberg, Hartmut Surmann, Kai Pervölz, Matthias Hennig, K. R. Tiruchinapalli, Rainer Worst, and Thomas Christaller, Mapping of Rescue Environments with Kurt3D, in Proc. Intl. Workshop on Safety, Security and Rescue Robotics (SSRR '05), pp.158-163, Kobe, Japan, June 2005, (best paper award) [Get Paper (PDF)].

• Kai Lingemann, Andreas Nüchter, Joachim Hertzberg, and Hartmut Surmann. High-Speed Laser Localization for Mobile Robots, Journal Robotics and Autonomous Systems, 51(4):275-296, 2005. [ScienceDirect link] [Get Paper (PDF)]

2004

• S. Frintrop, A. Nüchter, H. Surmann, and J. Hertzberg:
  Saliency-based Object Recognition in 3D Data.
  In: Proc. IEEE/RSJ Intl. Conf. Intelligent Robots and Systems (IROS'04), Sendai, Japan, Sept. 2004, pp.2167-2172.
  Full paper in PDF.
• K. Lingemann, H. Surmann, A. Nüchter, and J. Hertzberg:
  Indoor and Outdoor Localization for Fast Mobile Robots.
  In: Proc. IEEE/RSJ Intl. Conf. Intelligent Robots and Systems (IROS'04), Sendai, Japan, Sept. 2004, pp.2185-2190.
  [Full paper in PDF
• A. Nüchter, H. Surmann, K. Lingemann, and J. Hertzberg:
  6D SLAM -- Preliminary Report on closing the loop in Six Dimensions.
  In: M. I. Ribeiro and J. Santos-Victor (eds.): Proc. 5th IFAC Symposium on Intelligent Autonomous Vehicles (IAV2004), Lissabon, Portugal, July 2004
  Full paper in PDF
• E. Solda, R. Worst, and J. Hertzberg:
  Poor Man's Gyro-based Location.
  In: M. I. Ribeiro and J. Santos-Victor (eds.): Proc. 5th IFAC Symposium on Intelligent Autonomous Vehicles (IAV2004), Lisbon, Portugal, July 2004
  Full paper in PDF
• K. Pervölz, A. Nüchter, H. Surmann, and J. Hertzberg:
  Automatic Reconstruction of Textured 3D Maps.
  In: Proc. Robotik 2004, VDI-Berichte 1841, pp. 215--222, Munich, Germany, June 2004
  Full paper in PDF
• R. Worst, B. Klaassen, H. Surmann, and J. Hertzberg:
  Robots out of Office.
  In: Proc. IEEE Intl. Workshop Safety, Security, and Rescuce Robotics, SSRR2004, Bonn, Germany, May 24-26, 2004
• R. Hartanto, F. Schönherr, M. Mock, J. Hertzberg:
  Target-oriented mobile robot behaviors for office navigation tasks.
  In: Proc. 2nd IEEE Workshop Software Technologies for Future Embedded and Ubiquitous computing Systems (WSTFEUS 2004), pp.104--108, May 2004
  Full paper in PDF
• A. Nüchter, H. Surmann, K. Lingemann, J. Hertzberg, and S. Thrun:
  6D SLAM with an Application in Autonomous Mine Mapping.
  In: IEEE 2004 Intl. Conf. Robotics and Automation (ICRA-2004), pp.1998--2003, April 2004
  Full paper in PDF
• D. Giel, S. Frey, A. Thelen, J. Bongartz, P. Hering, A. Nüchter, H. Surmann, K. Lingemann, and J. Hertzberg:
  Ultra-fast holographic recording and automatic 3D scan matching of living human faces.
  In: Workshop Medical Robotics, Navigation, and Visualization (MRNV 2004), April 2004
• A. Nüchter, H. Surmann, J. Hertzberg:
  Automatic Classification of Objects in 3D Laser Range Scans.
  In: Proc. 8th Conf. Intelligent Autonomous Systems (IAS-8), Amsterdam, The Netherlands, IOS Press, pp.963--970, 2004
  Full paper in PDF
• Th. Belker, M. Hammel, and J. Hertzberg:
  Plan Projection under the APPEAL Robot Control Architecture.
  In: Proc. 8th Conf. Intelligent Autonomous Systems (IAS-8), Amsterdam, The Netherlands, IOS Press, pp.809-817, 2004
  Full paper in PDF

2003

• H. Surmann, A. Nüchter, J. Hertzberg:
  An Autonomous Mobile Robot with a 3D Laser Range Finder for 3D Exploration and Digitalization of Indoor Environments.
  J. Robotics and Autonomous Systems 45 (2003) pp. 181-198
  Full paper in PDF
• J. Hertzberg, A. Ritter, A. Bredenfeld, J. Mayer, P. Schöll, F. Schönherr, H. Staab, R. Worst:
  Agententechnologie zur Integration heterogener Systeme am Beispiel eines Prototypen für ein Kommissioniersystem
  In: SPS/IPC/DRIVES 2003 (R.D. Schraft, G. Brandenburg, K. Bender, eds)
  VDE-Verlag, 2003, pp.423--431.
  Full paper in PDF
• A. Nüchter, H. Surmann, K. Lingemann, and J. Hertzberg:
  Semantic Scene Analysis of Scanned 3D Indoor Environments
  In: Proc. 8th Intl. Fall Workshop Vision, Modelling, and Visualization 2003 (VMV '03), Munich, Germany, November 2003
  IOS Press 2003, pp.215--222.
  Full paper in PDF
• A. Nüchter, H. Surmann, J. Hertzberg:
  Automatic Model Refinement for 3D Reconstruction with Mobile Robots
  In: Proc. 4th IEEE Intl. Conf. Recent Advances in 3D Digital Imaging and Modeling (3DIM '03), Banff, Canada, October 2003.
  IEEE Computer Society Press, 2003, pp.394-401.
  Full paper in PDF
• A. Nüchter, H. Surmann, K. Lingemann, J. Hertzberg:
  Consistent 3D Model Construction with Autonomous Mobile Robots
  in: A. Günter et al. (eds.): KI 2003: Advances in Artificial Intelligence. 26th Annual German Conference on AI, Hamburg, Germany, September 2003, Proceedings
  Springer LNAI vol. 2821, 2003, pp.550-564
  Full paper in PDF
• H.W. Guesgen, J. Hertzberg, R. Lobb, A. Mantler:
  Buffering Fuzzy Maps in GIS
  In J. Spatial Cognition and Computation, (Special Issue on Spatial Vagueness, Uncertainty and Granularity) 3(2&3):207-222, 2003
  Full paper in PDF
• T. Belker, M. Hammel, J. Hertzberg:
  Learning to Optimize Mobile Robot Navigation Based on HTN Plans
  in: Proc. IEEE International Conference on Robotics and Automation (ICRA 2003)
  IEEE, 2003, pp.4136-4141
  Full paper in PDF
• A. Nüchter, H. Surmann, J. Hertzberg:
  Planning Robot Motion for 3D Digitalization of Indoor Environments.
  In: Proc. 11th Int. Conf. on Advanced Robotics (ICAR-03), Coimbra, Portugal, June 2003, pp.222-227
  Full paper in PDF

2002

• M. Beetz, J. Hertzberg, M. Ghallab, M. Pollack (eds.): Advances in Plan-Based Control of Robotic Agents. International Seminar, Dagstuhl Castle, October 2001. Revised Papers. Springer (LNAI 2466), 2002.

• F. Schönherr, J. Hertzberg:
  The DD&P Robot Control Architecture: A Preliminary Report.
  in: M. Beetz et al. (eds.): Advances in Plan-Based Control of Robotic Agents.
  Springer (LNAI 2466), pp.249-269, 2002.
  Full paper in PDF

• M. Ghallab, J. Hertzberg, P. Traverso (eds.): Proc. 6th Intl. Conf. Artificial Intelligence Planning and Scheduling (AIPS 2002). AAAI Press, 2002.

• R. Breithaupt, J. Dahnke, K. Zahedi, J. Hertzberg, F. Pasemann:
  Robo-Salamander – An approach for the benefit of both robotics and biology.
  in: Ph. Bedaud (ed.): 5th international Conference on Climbing and Walking Robots (CLAWAR-2002) pp. 55-62
  Full paper in PDF
• J. Hertzberg, H. Jaeger, F. Schönherr:
  Learning to Ground Fact Symbols in Behavior-Based Robots
  In: F. van Harmelen (ed.): ECAI 2002. Proceeedings of the 15th European Conference on Artificial Intelligence IOS Press, Amsterdam, 2002, pp. 708-712
  Full paper in PDF
• W. Baum, A. Bredenfeld, M. Hans, J. Hertzberg, A. Ritter, F. Schönherr, T. Christaller, R. Schraft:
  Integrating Heterogeneous Robot and Software Components by Agent Technology
  In: Robotik 2002: Leistungsstand -- Anwendungen -- Visionen --Trends. Tagung Ludwigsburg, 19./20. Juni 2002.. Düsseldorf (VDI-Verlag, VDI-Berichte vol. 1679) 2002, pp.655-660.
  Full paper in PDF
• J. Fischer, R. Breithaupt, M. Bode, J. Hertzberg:
  Diva: A self-organizing world model
  In: S. Nahavandi (ed.): Proc. Autonomous Intelligent Systems (ICAIS 2002).
  Full paper in PDF

2001

• F. Schönherr, M. Cistelecan, J. Hertzberg, Th. Christaller:
  Using Behavior Activation Value Histories for Updating Symbolic Facts. In: Anchoring Symbols to Sensor Data in Single and Multiple Robot Systems: Papers from the 2001 AAAI Fall Symposium, (S. Coradeschi and A. Saffiotti, eds.), AAAI Press, pp. 9-16, North Falmouth, MA, USA, November 2001.
  Full paper in PDF
• F. Schönherr, M. Cistelecan, J. Hertzberg, Th. Christaller:
  Extracting Situation Facts from Activation Value Histories in Behavior-Based Robots.
  In: KI-2001: Advances in Artificial Intelligence (Joint German/Austrian Conference on AI, Proceedings) Springer (LNAI Vol.2174) (F. Baader, G. Brewka, and T. Eiter eds.), pp. 305-319, Vienna, Austria, September 2001.
  Full paper in PDF (129 kB)
• A. Arghir, J. Hertzberg:
  Keep It Simple, Hybrid! -- A Case Study in Autonomous Office Courier Robot Control.
  In: M. Devy (ed.): Proc. 9th International Symposium on Intelligent Robotic Systems (SIRS 2001), 18-20 July 2001, Toulouse, France, pp. 25-33.
  Full paper in PDF
• M. Hassel, J. Hertzberg:
  Sensor Fusion for Localizing a Mobile Robot Outside of Buildings.
  In: M. Devy (ed.): Proc. 9th International Symposium on Intelligent Robotic Systems (SIRS 2001), 18-20 July 2001, Toulouse, France, pp. 477-484.
  Full paper in PDF
• L. Paletta, S. Frintrop, J. Hertzberg:
  Robust localization using context in omnidirectional imaging.
  In: 2001 IEEE Intl. Conf. on Robotics and Automation (ICRA2001) (May 21-26, 2001, Seoul, Korea), pp. 2072-2077
  Full paper in PDF (555 kB)
• H. W. Guesgen, J. Hertzberg:
  Algorithms for buffering fuzzy raster maps.
  In: Proc. 14th Intl. FLAIRS Conference (FLAIRS-2001) (May 21-23, 2001, Key West, Florida), pp. 542-546, 2001
  Full paper in PDF (149 kB)
• H. Surmann, K. Lingemann, A. Nüchter, J. Hertzberg:
  A 3D laser range finder for autonomous mobile robots.
  In: Proc. 32nd Intl. Symp. on Robotics (ISR2001) (19-21 April 2001, Seoul, Korea), S. 153-158.
  Full paper, PDF version (2.9 MB)
• J. Hertzberg and F. Schönherr:
  Concurrency in the DD&P Robot Control Architecture.
  In: Proc. Int. NAISO Cong. Information Science Innovations (ISI'2001), March 17-21, 2001, Dubai,pp. 1079-1085
  Full paper in PDF

2000 (Some)

• H. Streich, A. Schmitz, J. Hertzberg, and F. Kirchner:
  Implementierung der höheren Steuerung einer mehrsegmentigen autonomen Kanalroboterplattform.
  Robotik 2000: Leistungsstand -- Anwendungen -- Visionen --Trends. Tagung Berlin, 29./30. Juni 2000. Düsseldorf (VDI-Verlag) 2000, pp.209-214.
  Full paper in PDF

1999 (Some)

• F. Schönherr, J. Hertzberg, and W. Burgard:
  Probabilistic Mapping of Unexpected Objects by a Mobile Robot.
  In: Proc. IEEE/RSJ Int. Conf. Intell. Robots and Systems (IROS'99), IEEE Press 1999, vol.1, pp. 474-481.
  Full paper in PDF
• J. Hertzberg, F. Kirchner, U. Licht, E. Rome F. Schönherr, and T. Christaller:
  MAKRO -- Bau einer mehrsegmentigen autonomen Kanalroboterplattform.
  in: Pipeline Integrity -- Uneingeschränkte Verfügbarkeit und unbegrenzte Nutzungsdauer von Rohrleitungen und Rohrnetzen? (J. Lenz, ed.) Vulkan-Verlag, 1999, pp.504-513
  Full paper in PDF
• E. Rome, J. Hertzberg, Th. Christaller, F. Kirchner, and U. Licht:
  Towards Autonomous Sewer Robots: The MAKRO Project.
  in: J. Urban Water 1:57-70, 1999
• J. Hertzberg:
  Planning.
  in: J.G. Webster (ed.): Wiley Encyclopedia of Electrical and Electronics Engineering. Wiley, 1999, vol. 16, pp. 493-504
  Full paper in electronic format available from the publisher. Consult the Encyclopedia of Electrical and Electronics Engineering home page.

1998 (Some)

• J. Hertzberg, H. Jaeger, Ph. Morignot, U.R. Zimmer:
  A Framework for Plan Execution in Behavior-Based Robots.
  in: Proc. of the 1998 IEEE Int. Symp. on Intell. Control (ISIC-98); Gaithersburg, MD, Sept. 1998, pp.8-13
  Full Paper in PDF
• J. Hertzberg, Th. Christaller, F. Kirchner, U. Licht and E. Rome:
  Sewer Robotics.
  in: From Animals to Animats 5 -- Proc. 5th Intl. Conf. on Simulation of Adaptive Behavior (SAB-98) (R. Pfeifer, B. Blumberg, J.-A. Meyer, and S.W. Wilson, eds.), MIT Press 1998, pp.427-436
  Full paper in PDF
• J. Hertzberg, Th. Christaller, F. Kirchner, U. Licht and E. Rome:
  MAKRO -- Serviceroboter im Kanalbetrieb.
  in: J. Lenz (ed.): Globalisierung der Märkte und internationale Arbeitsteilung - auch im Rohrleitungsbau? Vulkan-Verlag, 1998, pp. 643-652
  Full paper in PDF

1997 (Some)

• F. Kirchner and J. Hertzberg:
  A Prototype Study of an Autonomous Robot Platform for Sewerage System Maintenance.
  in: J. Autonomous Robots 4(4):319-331, 1997
  Postscript Source (ps.gz, 1700 KB)
• K. Berns, Th. Christaller, R. Dillmann, J. Hertzberg, W. Ilg, M. Kemmann, E. Rome, and H. Stapelfeldt:
  LAOKOON -- Lernfähige autonome kooperierende Kanalroboter.
  in: KI 11(2):28-32, 1997
  Postscript Source (ps.gz)

1996 (Some)

• J. Hertzberg and F. Kirchner:
  Landmark-Based Autonomous Navigation in Sewerage Pipes.
  in: Proceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT `96), IEEE Press, 1996, pp. 68-73.
  Postscript Source (ps.gz, 1150 KB)
• R. Weißschnur, J. Hertzberg, and H.W. Guesgen:
  In Search of a Perfect Boltzmann Machine for CSPs.
  In: Proc. FLAIRS-96, Key West, Florida, 1996, pp. 35-39.
• H.W. Güsgen and J. Hertzberg:
  Spatial Persistence.
  J. Appl. Intell. (Special Issue on Spatial and Temporal Reasoning) 6(1):11-28, 1996
  Postscript Source (ps.gz, 227 KB)
• J. Sauer, A. Günter, and J. Hertzberg (eds.):
  Beiträge zum 10. Workshop ``Planen und Konfigurieren''.
  infix-Verlag (Proceedings in AI vol. 3), Sankt Augustin, 1996
• J. Hertzberg:
  On Building a Planning Tool Box.
  In: M. Ghallab and A. Milani (eds.): New Directions in in AI Planning. (Proc. EWSP'95). IOS Press, 1996, pp. 3-18
  Postscript Source (ps.gz, 66 KB)

Before 1996 (Some)

• J. Hertzberg:
  How to Plan under Uncertainty, and Use a Logical Action Model, too.
  In: H. Bunke, T. Kanade, and H. Noltemeyer (eds.): Modelling and Planning for Sensor Based Intelligent Robot Systems. Singapore (World Scientific, Machine Perception and Artificial Intelligence vol. 21) 1995, pp. 160-175
  Postscript Source (ps.gz, 62 KB)
• J. Hertzberg and S. Thiébaux:
  Turning an Action Formalism into a Planner---A Case Study.
  J. Logic and Computation 4(5):617-654, 1994.
• S. Thiébaux, J. Hertzberg, W. Shoaff, and M. Schneider:
  A Stochastic Model of Actions and Plans for Anytime Planning under Uncertainty.
  Int. J. of Intelligent Systems 9, 1994.
• G. Brewka and J. Hertzberg:
  How to Do Things with Worlds: On Formalizing Actions and Plans.
  J. Logic and Computation 3(5):517-532, 1993
• H.W. Guesgen and J. Hertzberg:
  A Constraint-Based Approach to Spatiotemporal Resoning.
  J. Appl. Intell. 3:71-90, 1993
• E. Rutten and J. Hertzberg:
  Temporal Planner = Nonlinear Planner + Time Map Manager.
  AI Communications 6(1):18-26, 1993
• S. Thiébaux and J. Hertzberg:
  A Semi-Reactive Planner Based on a Possible Models Action Formalization.
  In: J. Hendler (ed.): Artificial Intelligence Planning Systems: Proceedings of the First International Conference (AIPS92). Morgan Kaufmann, 1992, pp. 228-235
• H.W. Güsgen and J. Hertzberg:
  A Perspective of Constraint Based Reasoning.
  Berlin (Springer, LNAI vol. 597) 1992

• J. Hertzberg (ed.): European Workshop on Planning. EWSP '91, Sankt Augustin, FRG, March 1991, Proceedings. Springer Verlag (Lecture Notes in AI vol. 522), 1991

• J. Hertzberg and A. Horz:
  Towards a Theory of Conflict Detection and Resolution in Nonlinear Plans.
  In: Proc. IJCAI-89, 1989, pp. 937-942.
• J. Hertzberg:
  Planen. Einführung in die Planerstellungsmethoden der Künstlichen Intelligenz.
  Mannheim (BI Wissenschaftsverlag), 1989
• H.W. Güsgen and J. Hertzberg:
  Some Fundamental Properties of Local Constraint Propagation.
  Artif. Intell. 36:237-247, 1988

Last changed: 2013-May-29