@TECHREPORT{2012:rescue_tdp,
  author = {Thorsten Graber and Stefan Kohlbrecher and Johannes Meyer and Karen Petersen and Oskar von Stryk and Uwe Klingauf},
  title = {RoboCupRescue 2012 - Robot League Team Hector Darmstadt (Germany)},
  year = {2012},
  institution = {Technische Universität Darmstadt},
  abstract = {This paper describes the approach used by Team Hector Darmstadt for participation in the 2012 RoboCup Rescue League competition. Participating in the RoboCup Rescue competition since 2009, the members of Team Hector Darmstadt focus on exploration of disaster sites using autonomous Unmanned Ground Vehicles (UGVs). The team has been established as part of a PhD program funded by the German Research Foundation at TU Darmstadt and combines expertise from Computer Science and Mechanical Engineering. We give an overview of the complete system used to solve the problem of reliably finding victims in harsh USAR environments. This includes hardware as well as software solutions and diverse topics like locomotion, SLAM, pose estimation, human robot interaction and victim detection. As a contribution to the RoboCup Rescue community, major parts of the used software have been released and documented as open source software for ROS.},
}

@TECHREPORT{2012:dd_tdp,
  author = {J. Kuhn and S. Kohlbrecher and K. Petersen and D. Scholz and J. Wojtusch and O. von Stryk},
  title = {Team Description for Humanoid KidSize League of RoboCup 2012 },
  year = {2012},
  institution = {Technische Universität Darmstadt},
  abstract = {This paper describes the hardware and software design and developments of the kidsize humanoid robot systems of the Darmstadt Dribblers in 2012. The robots are used as a vehicle for research in humanoid robotics and teams of cooperating, autonomous robots. The Humanoid League of RoboCup provides an ideal testbed for investigation of topics like stability, control and versatility of humanoid locomotion, behavior control of autonomous humanoid robots and robot teams with many degrees of freedom and many actuated joints, perception and world modeling based on very limited human-like, external sensing abilities as well as benchmarking of autonomous robot performance. The methodologies developed by the Darmstadt Dribblers to address reflex and cognitive control layers, image processing, perception, world modeling, behavior and motion control, robot simulation, monitoring, debugging and bio-inspired humanoid robot bodyware are briefly discussed. },
}

@INPROCEEDINGS{KohlbrecherMeyerStrykKlingaufFlexibleSlamSystem2011,
  author = {S. Kohlbrecher and J. Meyer and O. von Stryk and U. Klingauf},
  title = {A Flexible and Scalable SLAM System with Full 3D Motion Estimation},
  year = {2011},
  month = {November},
  booktitle = {Proc. IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)},
  organization = {IEEE},
  abstract = {For many applications in Urban Search and Rescue (USAR) scenarios robots need to learn a map of unknown environments. We present a system for fast online learning of occupancy grid maps requiring low computational resources. It combines a robust scan matching approach using a LIDAR system with a 3D attitude estimation system based on inertial sensing. By using a fast approximation of map gradients and a multi-resolution grid, reliable localization and mapping capabilities in a variety of challenging environments are realized. Multiple datasets showing the applicability in an embedded hand-held mapping system are provided. We show that the system is sufficiently accurate as to not require explicit loop closing techniques in the considered scenarios. The software is available as an open source package for ROS.},
}

@INPROCEEDINGS{2011:KohlbrecherStumpfVonStryk_WsHumSoc,
  author = {S. Kohlbrecher and A. Stumpf and O. von Stryk},
  title = {Grid-Based Occupancy Mapping and Automatic Gaze Control for Soccer Playing Humanoid Robots},
  year = {2011},
  month = {Oct. 26th - Oct. 28th},
  address = {Bled},
  booktitle = {Proc. 6th Workshop on Humanoid Soccer Robots at the 2011 IEEE-RAS Int. Conf. on Humanoid Robots},
  keywords = {World Modeling, RoboCup, Probabilistic Robotics, State Estimation},
  abstract = {With advances in walking abilities of autonomous soccer playing humanoid robots, the world modeling and state estimation problem moves into focus, as only sufficiently accurate and robust modeling allows to leverage improved locomotion capabilities. A novel approach for dense grid-based obstacle mapping in dynamic environments with an additional application for automatic gaze control is presented in this paper. It is applicable for soccer playing humanoid robots with external sensing limited to human-like vision and strongly limited onboard computing abilities. The proposed approach allows fusion of information from different sources and efficiently provides a single consistent and robust world state estimate despite strong robot hardware limitations.},
}

@TECHREPORT{2011:rescue_tdp,
  author = {Thorsten Graber and Stefan Kohlbrecher and Johannes Meyer and Karen Petersen and Oskar von Stryk},
  title = {RoboCupRescue 2011 - Robot League Team Hector Darmstadt (Germany)},
  year = {2011},
  institution = {Technische Universität Darmstadt},
  abstract = {The team Hector Darmstadt has been established from a PhD program funded by the German Research Foundation at TU Darmstadt.It combines expertise from Computer Science and Mechanical Engineering. The team successfully participates in the RoboCup Rescue League since 2009, with a focus on autonomous robots. Several team members have already contributed in the past to highly successful teams in the RoboCup Four-Legged and Humanoid League and in UAV competitions.},
}

@TECHREPORT{2011:dd_tdp,
  author = {M. Friedmann and J. Kuhn and S. Kohlbrecher and K. Petersen and D. Scholz and D. Thomas and J. Wojtusch and O. von Stryk},
  title = {Darmstadt Dribblers - Team Description for Humanoid KidSize League of RoboCup 2011},
  year = {2011},
  institution = {Technische Universität Darmstadt},
  abstract = {This paper describes the hardware and software design and developments of the kidsize humanoid robot systems of the Darmstadt Dribblers in 2011. The robots are used as a vehicle for research in humanoid robotics and teams of cooperating, autonomous robots. The Humanoid League of RoboCup provides an ideal testbed for investigation of topics like stability, control and versatility of humanoid locomotion, behavior control of autonomous humanoid robots and robot teams with many degrees of freedom and many actuated joints, perception and world modeling based on very limited human-like, external sensing abilities as well as benchmarking of autonomous robot performance. The methodologies developed by the Darmstadt Dribblers to address reflex and cognitive control layers, image processing, perception, world modeling, behavior and motion control, robot simulation, monitoring and debugging are briefly discussed.},
}

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

@TECHREPORT{2010:rescue_tdp,
  author = {Mykhaylo Andriluka and Stefan Kohlbrecher and Johannes Meyer and Karen Petersen and Paul Schitzspan and Oskar von Stryk},
  title = {RoboCupRescue 2010 - Robot League Team Hector Darmstadt (Germany)},
  year = {2010},
  institution = {Technische Universität Darmstadt},
}

@INPROCEEDINGS{2010:KohlbrecherVonStryk_WsHumSoc,
  author = {S. Kohlbrecher and O. von Stryk},
  title = {Modeling Observation Uncertainty for Soccer Playing Humanoid Robots},
  year = {2010},
  month = {Dec. 6 - Dec. 8},
  address = {Nashville},
  booktitle = {Proc. 5th Workshop on Humanoid Soccer Robots at the 2010 IEEE-RAS Int. Conf. on Humanoid Robots},
  keywords = {World Modeling, RoboCup, Probabilistic Robotics, State Estimation},
  abstract = {In recent years, humanoid robot soccer robots have shown increasingly robust and fast locomotion, making perception, world modeling and behavior control important. In this paper, we present the world modeling approach of the Darmstadt Dribblers humanoid robot team, which won the competitions in the RoboCup Humanoid KidSize League in 2009 and 2010. The paper focuses on modeling observation uncertainties originating from different contributing factors centrally in one module. This allows different state estimators to use this data in a consistent way, independently of the specific state estimation approach used.},
}

@INPROCEEDINGS{andriluka:2010_iros,
  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},
  title = {Vision Based Victim Detection from Unmanned Aerial Vehicles},
  year = {2010},
  month = {Oct. 18 - 22},
  booktitle = {Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
}

@TECHREPORT{2010:dd_tdp,
  author = {M. Friedmann and T. Hemker and S. Kohlbrecher and K. Petersen and S. Petters and K. Radkhah and M. Risler and D. Scholz and D. Thomas and O. von Stryk},
  title = {Darmstadt Dribblers - Team Description for Humanoid KidSize League of RoboCup 2010},
  year = {2010},
  institution = {Technische Universität Darmstadt},
  abstract = {This paper describes the hardware and software design of the kidsize humanoid robot systems of the Darmstadt Dribblers in 2010. 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 ecient and eective implementation and test of modules for sensing, planning, behavior, and actions of humanoid robots.},
}

@TECHREPORT{2009:rescue_tdp,
  author = {Micha Andriluka and Martin Friedmann and Stefan Kohlbrecher and Johannes Meyer and Karen Petersen and Christian Reinl and Peter Schau{\ss} and Paul Schnitzspan and Armin Strobel and Dirk Thomas and Oskar von Stryk},
  title = {RoboCupRescue 2009 - Robot League Team: Darmstadt Rescue Robot Team (Germany)},
  year = {2009},
  institution = {Technische Universität Darmstadt},
  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. },
}