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@techreport{tenorth10roboearth,
title = {{Deliverable D5.2: The RoboEarth Language -- Language Specification}},
author = {Moritz Tenorth and Michael Beetz},
year = {2010},
institution = {FP7-ICT-248942 RoboEarth},
number = {D5.2},
bib2html_pubtype = {Other},
bib2html_groups = {K4C, ProbCog},
bib2html_funding = {CoTeSys},
bib2html_rescat = {Representation, Learning, Reasoning},
bib2html_domain = {Assistive Household},
abstract = {This document describes the current state of implementation of the RoboEarth representation language. This language is designed for two main purposes. First, it should allow to represent all information a robot needs to perform a reasonably complex task. This includes information about (1) Plans, which consist of the actions a task is composed of, ordering constraints among them, monitoring and failure handling, as well as action parameters like objects, locations, grasp types; (2) Objects, especially types, dimensions, states, and other properties, but also locations of specific objects a robot has detected, and object models that can be used for recognition; and the (3) Environment, including maps for self-localization as well as poses of objects like pieces of furniture. The second main task of the RoboEarth language is to allow a robot to decide on its own if a certain piece of information is useful to it. That means, a robot must be able to check if an action description contains a plan for the action it would like to do, if it meets all requirements to perform this action, and if it has the sensors needed to use an object recognition model. Using the semantic descriptions in the RoboEarth language, a robot can perform the checks using logical inference.
}}
@inproceedings{kunze11srdl,
author = {Lars Kunze and Tobias Roehm and Michael Beetz},
title = {Towards Semantic Robot Description Languages},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
month = {May, 9--13},
year = {2011},
pages = {5589--5595},
address = {Shanghai, China},
bib2html_pubtype = {Conference Paper},
bib2html_groups = {K4C},
bib2html_funding = {CoTeSys},
bib2html_rescat = {Representation, Reasoning},
bib2html_domain = {Assistive Household}
}
@article{waibel11roboearth,
title={{RoboEarth - A World Wide Web for Robots}},
author={Markus Waibel and Michael Beetz and Raffaello D'Andrea and Rob Janssen and Moritz Tenorth and Javier Civera and Jos Elfring and Dorian G\'alvez-L\'opez and Kai H\"aussermann and J.M.M. Montiel and Alexander Perzylo and Bj\"orn Schie{\ss}le and Oliver Zweigle and Ren\'e van de Molengraft},
journal={Robotics \& Automation Magazine},
volume={18},
number={2},
pages = {69--82},
year={2011},
publisher={IEEE},
bib2html_pubtype = {Journal},
bib2html_groups = {K4C},
bib2html_funding = {},
bib2html_rescat = {Perception, Models, Reasoning},
bib2html_domain = {Assistive Household},
}
@phdthesis {tenorth2011PhD,
author = {Moritz Tenorth},
title = {Knowledge Processing for Autonomous Robots},
year = {2011},
school = {Technische Universit\"at M\"unchen},
bib2html_pubtype = {PhD Thesis},
bib2html_rescat = {Perception, Models, Representation, Learning, Reasoning},
bib2html_groups = {K4C},
bib2html_funding = {CoTeSys, RoboEarth},
bib2html_domain = {Assistive Household},
bib2html_keywords = {Knowledge representation, Robotics, Action recognition},
pdf = {http://mediatum.ub.tum.de/doc/1079930/1079930.pdf},
url = {http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:91-diss-20111125-1079930-1-7}
}
@inproceedings{tenorth12roboearth,
author = {Moritz Tenorth and Alexander Clifford Perzylo and Reinhard Lafrenz and Michael Beetz},
title = {{The RoboEarth language: Representing and Exchanging Knowledge about Actions, Objects, and Environments}},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
year = {2012},
month = {May 14--18},
address = {St. Paul, MN, USA},
note = {Best Cognitive Robotics Paper Award.},
bib2html_pubtype = {Conference Paper},
bib2html_groups = {K4C, Cogman},
bib2html_funding = {RoboEarth},
bib2html_rescat = {Representation, Reasoning},
bib2html_domain = {Assistive Household}
}
@inproceedings{tenorth12springsymp,
author = {Moritz Tenorth and Michael Beetz},
title = {Knowledge Processing for Autonomous Robot Control},
booktitle = {{AAAI Spring Symposium on Designing Intelligent Robots: Reintegrating AI}},
year = {2012},
month = {March 26--28},
address = {Stanford, CA, USA},
bib2html_pubtype = {Conference Paper},
bib2html_groups = {K4C},
bib2html_funding = {RoboEarth},
bib2html_rescat = {Representation, Reasoning},
bib2html_domain = {Assistive Household}
}
@misc{roboearth-video-icra12,
author = {Daniel {Di~Marco} and Andreas Koch and Oliver Zweigle and
Kai H\"aussermann and Bj\"orn Schie\ss le and Paul Levi and
Dorian Galvez Lopez and Luis Riazuelo and Javier Civera and
J.M.M Montiel and Moritz Tenorth and Alexander Clifford Perzylo
and Markus Waibel and Marinus Jacobus Gerardus van de Molengraft},
title = {Creating and using RoboEarth object models},
howpublished = {IEEE International Conference on Robotics and Automation (ICRA)},
year = {2012},
month = {May 14--18},
address = {St. Paul, MN, USA},
bib2html_pubtype = {Video},
bib2html_groups = {EnvMod, CoP, K4C},
bib2html_funding = {RoboEarth},
bib2html_domain = {Assistive Household},
bib2html_rescat = {Perception, Models, Representation},
}
@inproceedings{cogsys12semantic_mapping,
author = {Michael Beetz and Moritz Tenorth and Dejan Pangercic and Benjamin Pitzer},
title = {Semantic Object Maps for Household Tasks},
booktitle = {5th International Conference on Cognitive Systems (CogSys 2012)},
year = {2012},
bib2html_pubtype = {Poster},
bib2html_groups = {EnvMod, K4C},
bib2html_funding = {CoTeSys, RoboEarth},
bib2html_rescat = {Perception, Representation},
bib2html_domain = {Assistive Household},
}
@inproceedings{cogsys12cram,
author = {Michael Beetz and Lorenz M\"osenlechner and Moritz Tenorth and Thomas R\"uhr},
title = {CRAM -- a Cognitive Robot Abstract Machine},
booktitle = {5th International Conference on Cognitive Systems (CogSys 2012)},
year = {2012},
bib2html_pubtype = {Poster},
bib2html_groups = {Cogito, K4C},
bib2html_funding = {CoTeSys, RoboEarth},
bib2html_rescat = {Perception, Representation},
bib2html_domain = {Assistive Household},
}
@inproceedings{ias12execution,
author = {Daniel di Marco and Moritz Tenorth and Kai H{\"a}ussermann and Oliver Zweigle and Paul Levi},
title = {RoboEarth Action Recipe Execution},
booktitle = {12th International Conference on Intelligent Autonomous Systems},
year = {2012},
bib2html_pubtype = {Conference Paper},
bib2html_groups = {K4C},
bib2html_funding = {RoboEarth},
bib2html_rescat = {Representation, Reasoning},
bib2html_domain = {Assistive Household}
}
@inproceedings{ias12exchange,
author = {Moritz Tenorth and Michael Beetz},
title = {Exchange of Action-related Information among Autonomous Robots},
booktitle = {12th International Conference on Intelligent Autonomous Systems},
year = {2012},
bib2html_pubtype = {Conference Paper},
bib2html_groups = {K4C},
bib2html_funding = {RoboEarth},
bib2html_rescat = {Representation, Reasoning},
bib2html_domain = {Assistive Household}
}
@inproceedings{tenorth12actionreasoning,
title={A Unified Representation for Reasoning about Robot Actions, Processes, and their Effects on Objects},
author={Moritz Tenorth and Michael Beetz},
booktitle={{2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}},
year={2012},
month = {October, 7--12},
address = {Vilamoura, Portugal},
bib2html_pubtype = {Conference Paper},
bib2html_groups = {K4C},
bib2html_funding = {RoboEarth,RoboHow},
bib2html_rescat = {Representation, Reasoning},
bib2html_domain = {Assistive Household}
}
@inproceedings{tenorth12networked,
title={Towards a Networked Robot Architecture\\ for Distributed Task Execution and Knowledge Exchange},
author={Moritz Tenorth and Koji Kamei and Satoru Satake and Takahiro Miyashita and Norihiro Hagita},
booktitle={Third International Workshop on Standards and Common Platforms for Robotics (SCPR 2012), in conjunction with SIMPAR 2012},
year={2012},
month = {November 5},
address = {Tsukuba, Japan},
bib2html_pubtype = {Workshop Paper},
bib2html_groups = {K4C},
bib2html_funding = {RoboEarth,UNR},
bib2html_rescat = {Representation, Reasoning},
bib2html_domain = {Assistive Household}
}
@Article{tenorth13tase,
author = {Moritz Tenorth and Alexander Clifford Perzylo and Reinhard Lafrenz and Michael Beetz},
title = {{Representation and Exchange of Knowledge about Actions, Objects, and Environments in the RoboEarth Framework}},
journal = {IEEE Transactions on Automation Science and Engineering (T-ASE)},
year = {2013},
bib2html_pubtype = {Journal},
bib2html_groups = {K4C},
bib2html_funding = {RoboEarth,RoboHow},
bib2html_rescat = {Knowledge,Learning,Models},
bib2html_domain = {Assistive Household},
note = {Accepted for publication.}
}
@inproceedings{tenorth13partialorder,
author = {Moritz Tenorth and Fernando De la Torre and Michael Beetz},
title = {Learning Probability Distributions over Partially-Ordered Human Everyday Activities},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
year = {2013},
month = {May 6--10},
address = {Karlsruhe, Germany},
bib2html_groups = {ProbCog, K4C},
bib2html_funding = {RoboEarth,RoboHow,CogWatch},
note = {Accepted for publication.}
}