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% Publications of Maldonado % Encoding: utf-8 @InProceedings{Rusu06UbiCompPoster, author = {Radu Bogdan Rusu and Alexis Maldonado and Michael Beetz and Matthias Kranz and Lorenz M{\"o}senlechner and Paul Holleis and Albrecht Schmidt}, title = {Player/Stage as Middleware for Ubiquitous Computing}, booktitle = {Proceedings of the 8th Annual Conference on Ubiquitous Computing (Ubicomp 2006), Orange County California, September 17-21}, year = {2006}, abstract = { The effective development and deployment of comprehensive and heterogeneous ubiquitous computing applications is hindered by the lack of a comprehensive middleware infrastructure: interfaces to sensors are company specific and sometimes even product specific. Typically, these interfaces also do not sustain the development of robust systems that make use of sensor data fusion. In this paper, we propose the use of Player/Stage, a middleware commonly used as a defacto standard by the robotics community, as the backbone of a heterogeneous ubiquitous system. Player/Stage offers many features needed in ubicomp, mostly because dealing with uncertainty and many different sensor and actuator systems has been a long term problem in robotics as well. We emphasize they key features of the Player/Stage project, and show how ubicomp devices can be integrated into the system, as well as how existing devices can be used. On top of that, we present our sensor-enabled AwareKitchen environment which makes use of automatic data analysis algorithms integrated as drivers in the Player/Stage platform. All our work is released as open source software under the Player/Stage package, of which we are active developers. }, bib2html_pubtype = {Others}, bib2html_rescat = {Activity Recognition, Robotics}, bib2html_groups = {IAS}, bib2html_keywords = {Ubiquitous computing middleware, Player/Stage, sensor fusion}, } @InProceedings{Rusu06UbiSys, author = {Matthias Kranz and Radu Bogdan Rusu and Alexis Maldonado and Michael Beetz and Albrecht Schmidt}, title = {A Player/Stage System for Context-Aware Intelligent Environments}, booktitle = {Proceedings of UbiSys'06, System Support for Ubiquitous Computing Workshop, at the 8th Annual Conference on Ubiquitous Computing (Ubicomp 2006), Orange County California, September 17-21, 2006}, year = {2006}, bib2html_pubtype = {Refereed Workshop Paper}, bib2html_rescat = {Activity Recognition, Robotics}, bib2html_groups = {IAS}, bib2html_keywords = {Ubiquitous computing, Player/Stage, sensor fusion, AwareKitchen}, abstract = { We propose Player/Stage, a well-known platform widely used in robotics, as middleware for ubiquitous computing. Player/Stage provides uniform interfaces to sensors and actuators and allows the computational matching of input and output. Player/Stage exactly addresses the issues of dealing with heterogeneous hardware but currently only with a focus towards robotics. We show how to integrate ubiquitous computing platforms into Player/Stage and propose Player/Stage as middleware for ubiquitous computing projects.}, } @InProceedings{Bee06camera, AUTHOR = {Michael Beetz and Jan Bandouch and Suat Gedikli and Nico von Hoyningen-Huene and Bernhard Kirchlechner and Alexis Maldonado}, TITLE = {Camera-based Observation of Football Games for Analyzing Multi-agent Activities}, booktitle = {Proceedings of the Fifth International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS)}, year = {2006}, bib2html_pubtype ={Refereed Conference Paper}, bib2html_rescat ={Game analysis}, bib2html_groups ={IAS, FIPM, Aspogamo}, bib2html_funding ={FIPM}, bib2html_domain = {Soccer Analysis}, bib2html_keywords ={}, abstract = {This paper describes a camera-based observation system for football games that is used for the automatic analysis of football games and reasoning about multi-agent activity. The observation system runs on video streams produced by cameras set up for TV broadcasting. The observation system achieves reliability and accuracy through various mechanisms for adaptation, probabilistic estimation, and exploiting domain constraints. It represents motions compactly and segments them into classified ball actions.} } @InProceedings{stulp07seamless, author = {Freek Stulp and Wolfram Koska and Alexis Maldonado and Michael Beetz}, title = {Seamless Execution of Action Sequences}, booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)}, year = {2007}, pages = {3687-3692}, bib2html_pubtype = {Refereed Conference Paper}, bib2html_rescat = {Models, Learning, Planning, Action}, bib2html_groups = {AGILO}, bib2html_funding = {AGILO}, bib2html_keywords = {}, abstract = { One of the most notable and recognizable features of robot motion is the abrupt transitions between actions in action sequences. In contrast, humans and animals perform sequences of actions efficiently, and with seamless transitions between subsequent actions. This smoothness is not a goal in itself, but a side-effect of the evolutionary optimization of other performance measures. In this paper, we argue that such jagged motion is an inevitable consequence of the way human designers and planners reason about abstract actions. We then present subgoal refinement, a procedure that optimizes action sequences. Subgoal refinement determines action parameters that are not relevant to why the action was selected, and optimizes these parameters with respect to expected execution performance. This performance is computed using action models, which are learned from observed experience. We integrate subgoal refinement in an existing planning system, and demonstrate how requiring optimal performance causes smooth motion in three robotic domains. } } @InProceedings{Matthias07TEI, author = {Matthias Kranz and Alexis Maldonado and Benedikt Hoernler and Radu Bogdan Rusu and Michael Beetz and Gerhard Rigoll and Albrecht Schmidt}, title = {{A Knife and a Cutting Board as Implicit User Interface - Towards Context-Aware Kitchen Utilities}}, booktitle = {Proceedings of First International Conference on Tangible and Embedded Interaction 2007, TEI 2007, February 15-17 Baton Rouge, Louisiana, USA}, year = {2007}, bib2html_pubtype = {Refereed Conference Paper}, bib2html_rescat = {Activity Recognition}, bib2html_groups = {IAS}, } @InProceedings{Matthias07INSS, author = {Matthias Kranz and Alexis Maldonado and Radu Bogdan Rusu and Benedikt Hoernler and Gerhard Rigoll and Michael Beetz and Albrecht Schmidt}, title = {Sensing Technologies and the Player-Middleware for Context-Awareness in Kitchen Environments}, booktitle = {Proceedings of Fourth International Conference on Networked Sensing Systems, June 6 - 8, 2007, Braunschweig, Germany}, year = {2007}, bib2html_pubtype = {Refereed Conference Paper}, bib2html_rescat = {Activity Recognition}, bib2html_groups = {IAS}, } @InProceedings{Rusu07ICRA_NRS, author = {Radu Bogdan Rusu and Alexis Maldonado and Michael Beetz and Brian Gerkey}, title = {{Extending Player/Stage/Gazebo towards Cognitive Robots Acting in Ubiquitous Sensor-equipped Environments}}, booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) Workshop for Network Robot Systems, 2007, April 14, Rome, Italy}, year = {2007}, abstract = {Standardized middleware for autonomous robot control has proven itself to enable faster deployment of robots, to make robot control code more interchangeable, and experiments easier to replicate. Unfortunately, the support provided by current middleware is in most cases limited to what current robots do: navigation. However, as we tackle more ambitious service robot applications, more comprehensive middleware support is needed. We increasingly need the middleware to support ubiquitous sensing infrastructures, robot manipulation tasks, and cognitive capabilities. In this paper we describe and discuss current extensions of the Player/Stage/Gazebo (P/S/G) middleware, one of the most widespread used robot middlewares, of which we are active developers, that satisfy these requirements.}, bib2html_pubtype = {Refereed Workshop Paper}, bib2html_rescat = {Robotics}, bib2html_groups = {IAS}, } @InProceedings{beetz07assistive, author = {Michael Beetz and Jan Bandouch and Alexandra Kirsch and Alexis Maldonado and Armin M{\"u}ller and Radu Bogdan Rusu}, title = {The Assistive Kitchen --- A Demonstration Scenario for Cognitive Technical Systems}, booktitle = {Proceedings of the 4th COE Workshop on Human Adaptive Mechatronics (HAM)}, year = {2007}, bib2html_pubtype ={Workshop Paper}, bib2html_rescat ={Planning,Learning,Action,Perception,Models,Reasoning}, bib2html_groups ={Cogito,Memoman,Cogman}, abstract = { This paper introduces the Assistive Kitchen as a comprehensive demonstration and challenge scenario for technical cognitive systems. We describe its hardware and software infrastructure. Within the Assistive Kitchen application, we select particular domain activities as research subjects and identify the cognitive capabilities needed for perceiving, interpreting, analyzing, and executing these activities as research foci. We conclude by outlining open research issues that need to be solved to realize the scenarios successfully.} } @InProceedings{beetz08assistive, author = {Michael Beetz and Freek Stulp and Bernd Radig and Jan Bandouch and Nico Blodow and Mihai Dolha and Andreas Fedrizzi and Dominik Jain and Uli Klank and Ingo Kresse and Alexis Maldonado and Zoltan Marton and Lorenz M{\"o}senlechner and Federico Ruiz and Radu Bogdan Rusu and Moritz Tenorth}, title = {{The Assistive Kitchen -- A Demonstration Scenario for Cognitive Technical Systems}}, booktitle = {IEEE 17th International Symposium on Robot and Human Interactive Communication (RO-MAN), Muenchen, Germany}, pages = {1-8}, year = {2008}, bib2html_pubtype = {Conference Paper}, bib2html_rescat = {Perception, Planning, Learning}, bib2html_groups = {Memoman, Cogito, EnvMod, Cogman, K4C, ProbCog}, bib2html_funding = {CoTeSys}, bib2html_domain = {Assistive Household}, note = {Invited paper.}, } @InProceedings{schuboe08subsequent, author = {Anna Schub\"o and Alexis Maldonado and Sonja Stork and Michael Beetz}, title = {Subsequent Actions Influence Motor Control Parameters of a Current Grasping Action}, booktitle = {IEEE 17th International Symposium on Robot and Human Interactive Communication (RO-MAN), Muenchen, Germany}, year = {2008}, bib2html_pubtype = {Conference Paper}, bib2html_rescat = {Action}, bib2html_groups = {Cogman}, bib2html_funding = {CoTeSys}, bib2html_domain = {Assistive Household}, } @inCollection{wykowska09howhumans, author = {Wykowska, Agnieszka and Maldonado, Alexis and Beetz, Michael and Schuboe, Anna}, affiliation = {Department of Experimental Psychology, Ludwig Maximilians Universit\"at, M\"unchen, Germany}, title = {How Humans Optimize Their Interaction with the Environment: The Impact of Action Context on Human Perception}, booktitle = {Progress in Robotics}, series = {Communications in Computer and Information Science}, editor = {Kim, Jong-Hwan and Ge, Shuzhi Sam and Vadakkepat, Prahlad and Jesse, Norbert and Al Manum, Abdullah and Puthusserypady K, Sadasivan and R\"uckert, Ulrich and Sitte, Joaquin and Witkowski, Ulf and Nakatsu, Ryohei and Braunl, Thomas and Baltes, Jacky and Anderson, John and Wong, Ching-Chang and Verner, Igor and Ahlgren, David}, publisher = {Springer Berlin Heidelberg}, isbn = {978-3-642-03986-7}, keyword = {Computer Science}, pages = {162-172}, volume = {44}, url = {http://dx.doi.org/10.1007/978-3-642-03986-7_19}, note = {10.1007/978-3-642-03986-7_19}, year = {2009} } @Article{Beetz09AR, author = {Michael Beetz and Freek Stulp and Piotr Esden-Tempski and Andreas Fedrizzi and Ulrich Klank and Ingo Kresse and Alexis Maldonado and Federico Ruiz}, title = {Generality and Legibility in Mobile Manipulation}, journal = {Autonomous Robots Journal (Special Issue on Mobile Manipulation)}, year = {2010}, volume = {28}, number = {1}, pages = {21--44}, bib2html_groups = {IAS, Cogman}, bib2html_pubtype = {Journals}, bib2html_rescat = {Mobile Manipulation}, bib2html_domain = {Assistive Household}, } @InProceedings{stulp09compact, author = {Freek Stulp and Ingo Kresse and Alexis Maldonado and Federico Ruiz and Andreas Fedrizzi and Michael Beetz}, title = {Compact Models of Human Reaching Motions for Robotic Control in Everyday Manipulation Tasks}, booktitle = {Proceedings of the 8th International Conference on Development and Learning (ICDL).}, year = {2009}, bib2html_pubtype = {Conference Paper}, bib2html_rescat = {Learning}, bib2html_groups = {Cogman}, bib2html_funding = {CoTeSys}, bib2html_domain = {Assistive Household}, } @InProceedings{Li09Robio, author = {Jun Li and Alexis Maldonado and Michael Beetz and Anna Schuboe}, title = {Obstacle avoidance in a pick-and-place task}, booktitle = {Proceedings of the 2009 IEEE Conference on Robotics and Biomimetics}, month = {December 19-23}, year = {2009}, address = {Guilin, Guangxi, China}, bib2html_pubtype = {Conference Paper}, bib2html_rescat = {Perception, Models}, bib2html_groups = {Cogman}, bib2html_funding = {CoTeSys}, bib2html_domain = {Assistive Household}, } @InProceedings{Wykowska09Fira, author = { Agnieszka Wykowska and Alexis Maldonado and Michael Beetz and Anna Schuboe}, title = { How humans optimize their interaction with the environment: The impact of action context on human perception.}, booktitle = { Progress in Robotics. Proceedings of the FIRA RoboWorld Congress }, month = { August 16-20 }, year = {2009}, address = {Incheon, Korea}, bib2html_pubtype = {Conference Paper}, bib2html_rescat = {Perception, Models}, bib2html_groups = {Cogman}, bib2html_funding = {CoTeSys}, bib2html_domain = {Assistive Household}, } @article{wykowska10humansoptimize, author = {Wykowska, Agnieszka and Maldonado, Alexis and Beetz, Michael and Schuboe, Anna}, affiliation = {Department of Experimental Psychology, Ludwig Maximilians Universit\"at, M\"unchen, Germany}, title = {How Humans Optimize Their Interaction with the Environment: The Impact of Action Context on Human Perception}, journal = {International Journal of Social Robotics}, publisher = {Springer Netherlands}, issn = {1875-4791}, keyword = {Engineering}, pages = {1-9}, url = {http://dx.doi.org/10.1007/s12369-010-0078-3}, note = {10.1007/s12369-010-0078-3}, year = {2010} } @InProceedings{maldonado10nomodelgrasping, author = {Alexis Maldonado and Ulrich Klank and Michael Beetz}, title = {Robotic grasping of unmodeled objects using time-of-flight range data and finger torque information}, booktitle = {2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, month = {October 18-22}, year = {2010}, pages = {2586--2591}, address = {Taipei, Taiwan}, bib2html_pubtype = {Conference Paper}, bib2html_rescat = {Action, Perception}, bib2html_groups = {Cogman}, bib2html_funding = {CoTeSys}, bib2html_domain = {Assistive Household} } @inproceedings{icra11perception-manipulation, author = {Michael Beetz and Ulrich Klank and Alexis Maldonado and Dejan Pangercic and Thomas R\"uhr}, title = {Robotic Roommates Making Pancakes - Look Into Perception-Manipulation Loop}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA), Workshop on Mobile Manipulation: Integrating Perception and Manipulation}, month = {May, 9--13}, year = {2011}, pages = {529--536}, bib2html_pubtype = {Workshop Paper}, bib2html_groups = {EnvMod, Cogman, CoP}, bib2html_funding = {CoTeSys}, bib2html_rescat = {Action, Perception}, bib2html_domain = {Assistive Household} } @inproceedings{pancakes11humanoids, author = {Michael Beetz and Ulrich Klank and Ingo Kresse and Alexis Maldonado and Lorenz M\"osenlechner and Dejan Pangercic and Thomas R\"uhr and Moritz Tenorth}, title = {{Robotic Roommates Making Pancakes}}, booktitle = {11th IEEE-RAS International Conference on Humanoid Robots}, year = {2011}, month = {October, 26--28}, address = {Bled, Slovenia}, bib2html_pubtype = {Conference Paper}, bib2html_groups = {EnvMod, CoP, Cogito, K4C, Cogman}, bib2html_funding = {CoTeSys}, bib2html_domain = {Assistive Household}, bib2html_rescat = {Action, Perception, Reasoning, Planning, Models, Representation}, } @inproceedings{klank12validation, author = {Ulrich Klank and Lorenz M\"osenlechner and Alexis Maldonado and Michael Beetz}, title = {Robots that Validate Learned Perceptual Models}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, year = {2012}, month = {May 14--18}, address = {St. Paul, MN, USA}, bib2html_pubtype = {Conference Paper}, bib2html_groups = {Cop, Cogito}, bib2html_funding = {CoTeSys}, bib2html_rescat = {Representation, Reasoning}, bib2html_domain = {Assistive Household} } @inproceedings{maldonado12improving, author = {Alexis Maldonado and Humberto Alvarez-Heredia and Michael Beetz}, title = {Improving robot manipulation through fingertip perception}, booktitle = {IEEE International Conference on Intelligent Robots and Systems (IROS)}, year = {2012}, month = {October 7--11}, address = {Vilamoura, Algarve, Portugal}, bib2html_pubtype = {Conference Paper}, bib2html_groups = {Cogman}, bib2html_funding = {CoTeSys}, bib2html_rescat = {Manipulation}, bib2html_domain = {Assistive Household} }