@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. },
}

@ARTICLE{petersen_intsys2011,
  author = {Karen Petersen and Oskar von Stryk},
  title = {An Event-based Communication Concept for Human Supervision of Autonomous Robot Teams},
  journal = {International Journal on Advances in Intelligent Systems},
  year = {2011},
  volume = {4},
  number = {3 & 4},
  pages = {357 - 369},
  url = {http://www.thinkmind.org/index.php?view=article&articleid=intsys_v4_n34_2011_24},
}

@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{petersen:2011,
  author = {Karen Petersen and Oskar von Stryk},
  title = {Towards a General Communication Concept for Human Supervision of Autonomous Robot Teams},
  year = {2011},
  pages = {228 -- 235},
  booktitle = {Proceedings of the Fourth International Conference on Advances in Computer-Human Interactions (ACHI)},
}

@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},
}

@INPROCEEDINGS{petersen:2010,
  author = {K. Petersen and G. Stoll and O. von Stryk},
  title = {A Supporter Behavior for Soccer Playing Humanoid Robots},
  year = {2011},
  pages = {386 -- 396},
  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/fqqv74t28m65742n/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{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.},
}

@INPROCEEDINGS{2010:SIMPAR_Friedmann_etal,
  author = {Martin Friedmann and Karen Petersen and Oskar von Stryk},
  title = {Advanced simulation of distance sensors for mobile robots},
  year = {2010},
  volume = {6472},
  pages = {63-74},
  publisher = {Springer},
  series = {Lecture Notes in Artificial Intelligence},
  booktitle = {Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010)},
  abstract = {Distance sensors are an important class of external sensors used in many autonomous robots. Thus it is of importance to provide proper simulation for these sensors to enable software-in-the-loop testing of a robot"s control software. Two dierent methods for distance calculation are commonly applied for the simulation of such sensors, namely reading back the depth buer from 3D renderings and the calculation of ray-object-intersections. Many simulators impose restrictions on either method, none of the widely used robot simulators reviewed in this paper currently considers material dependent simulation of the distances measured. In this paper extended versions of both methods are presented which provide additional information on the object perceived by distance sensors. Several methods for incorporating distance- and object-information into a complete distance-sensor simulation-module are discussed. Implementations of either method are compared for their performance depending on the sensor resolution on dierent computer systems. These measurements show, that the break even of the methods strongly depends on the hardware, thus stressing the importance of providing either method in a robot simulation in a transparent way in order to obtain optimal performance of the simulation.},
}

@INPROCEEDINGS{2010:SIMPAR_Sachidananda_Etal,
  author = {Vinay Sachidananda and Diego Costantini and Christian Reinl and Dominik Haumann and Karen Petersen and Parag S. Mogre and Abdelmajid Khelil},
  title = {Simulation and Evaluation of Mixed-Mode Environments: Towards Higher Quality of Simulations},
  year = {2010},
  pages = {133 - 143},
  publisher = {Springer},
  booktitle = {Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010)},
}

@TECHREPORT{2009:dd_tdp,
  author = {M. Friedmann and K. Petersen and S. Petters and K. Radkhah and Dorian Scholz and D. Thomas and O. von Stryk},
  title = {Darmstadt Dribblers: Team Description for Humanoid KidSize League of RoboCup 2009},
  year = {2009},
  institution = {Technische Universität Darmstadt},
  abstract = {This paper describes the hardware and software design of the kidsize humanoid robot systems of the Darmstadt Dribblers in 2009. The robots are used as a vehicle for research in control of locomotion and behavior of autonomous humanoid robots and robot teams with any 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 efficient and effective implementation and test of modules for sensing, planning, behavior, and actions of humanoid robots. },
}

@ARTICLE{2009:RAS-FPvS,
  author = {M. Friedmann and K. Petersen and O. von Stryk},
  title = {Adequate motion simulation and collision detection for soccer playing humanoid robots},
  journal = {Robotics and Autonomous Systems},
  year = {2009},
  volume = {57},
  pages = {786-795},
  doi = {10.1016/j.robot.2009.03.008},
  url = {http://dx.doi.org/10.1016/j.robot.2009.03.008},
  abstract = {In this paper a humanoid robot simulator based on the multi-robot simulation framework (MuRoSimF) is presented. Among the unique features of this simulator is the scalability in the level of physical detail in both the robot"s motion and sensing systems. It facilitates the development of control software for humanoid robots which is demonstrated for several scenarios from the RoboCup Humanoid Robot League. Different requirements exist for a humanoid robot simulator. E.g., testing of algorithms for motion control and postural stability require high fidelity of physical motion properties whereas testing of behavior control and role distribution for a robot team requires only a moderate level of detail for real-time simulation of multiple robots. To meet such very different requirements often different simulators are used which makes it necessary to model a robot multiple times and to integrate different simulations with high-level robot control software. MuRoSimF provides the capability of exchanging the simulation algorithms used for each robot transparently, thus allowing a trade-off between computational performance and fidelity of the simulation. It is therefore possible to choose different simulation algorithms which are adequate for the needs of a given simulation experiment, for example, motion simulation of humanoid robots based on kinematical, simplified dynamics or full multi-body system dynamics algorithms. In this paper also the sensor simulation capabilities of MuRoSimF are revised. The methods for motion simulation and collision detection and handling are presented in detail including an algorithm which allows the real-time simulation of the full dynamics of a 21 DOF humanoid robot. Merits and drawbacks of the different algorithms are discussed in the light of different simulation purposes. The simulator performance is measured and illustrated in various examples, including comparison with experiments of a physical humanoid robot.},
}

@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. },
}

@TECHREPORT{2008:dd_tdp,
  author = {M. Friedmann and K. Petersen and S. Petters and K. Radkhah and D. Thomas and O. von Stryk},
  title = {Darmstadt Dribblers: Team Description for Humanoid KidSize League of RoboCup 2008},
  year = {2008},
  institution = {Technische Universität Darmstadt},
  abstract = {This paper describes the hardware and software design of the kidsize humanoid robot systems of the Darmstadt Dribblers in 2008. 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 efficient and effective implementation and test of modules for sensing, planning, behavior, and actions of humanoid robots. },
}

@INPROCEEDINGS{2008:SIMPAR-FriedmannPetersenvonStryk,
  author = {M. Friedmann and K. Petersen and O. von Stryk},
  title = {Simulation of multi-robot teams with flexible level of detail},
  year = {2008},
  number = {5325},
  pages = {29-40},
  month = {November},
  note = {Best Paper Award},
  publisher = {Springer},
  editor = {S. Carpin et al.},
  series = {Lecture Notes in Artificial Intelligence},
  address = {Venice, Italy},
  booktitle = {Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2008)},
  url = {http://dx.doi.org/10.1007/978-3-540-89076-8_7},
  abstract = {A key methodology for the development of autonomous robots is testing using simulated robot motion and sensing systems. An important issue when simulating teams of heterogeneous autonomous robots is performance versus accuracy. In this paper the multi-robot-simulation framework (MuRoSimF) is presented which allows the flexible and transparent exchange and combination of the algorithms used for the simulation of motion and sensing systems of each individual robot in a scenario with individual level of realism. It has already been used successfully for the simulation of several types of legged and wheeled robots equipped with cameras and laser scanners. In this paper the core functionalities of MuRoSimF are presented. Existing algorithms for simulation of the robots’ motions are revised. Newly added features including the execution of the simulation on multi core CPUs and two different algorithms for the simulation of laser scanners are presented. The performance of these features is tested in an urban scenario using wheeled robots.},
}

@INPROCEEDINGS{2008-Kropf-etal-MMULATOR,
  author = {Matthias Kropff and Christian Reinl and Kim Listmann and Karen Petersen and Katayon Radkhah and Faisal Karim Shaikh and Arthur Herzog and Armin Strobel and Daniel Jacobi and Oskar von Stryk},
  title = {MM-ulator: Towards a Common Evaluation Platform for Mixed Mode Environments},
  year = {2008},
  number = {5325},
  pages = {41-52},
  month = {November},
  publisher = {Springer},
  editor = {S. Carpin et al.},
  series = {Lecture Notes in Artificial Intelligence},
  booktitle = {Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2008)},
  url = {http://www.springerlink.com/content/62ph40794m636833/?p=72406ae46a8d4364bc570589871af29d&pi=7},
  abstract = {We investigate the interaction of mobile robots, relying on information provided by heterogeneous sensor nodes, to accomplish a mission. Cooperative, adaptive and responsive monitoring in Mixed-Mode Environments (MMEs) raises the need for multi-disciplinary research initiatives. To date, such research initiatives are limited since each discipline focusses on its domain specific simulation or testbed environment. Existing evaluation environments do not respect the interdependencies occurring in MMEs. As a consequence, holistic validation for development, debugging, and performance analysis requires an evaluation tool incorporating multi-disciplinary demands. In the context of MMEs, we discuss existing solutions and highlight the synergetic benefits of a common evaluation tool. Based on this analysis we present the concept of the MM-ulator: a novel architecture for an evaluation tool incorporating the necessary diversity for multi-agent hard-/software-in-the-loop simulation in a modular and scalable way.},
}

@INPROCEEDINGS{2007:RCS-FriedmannPetersenvonStryk,
  author = {M. Friedmann and K. Petersen and O. von Stryk},
  title = {Tailored real-time simulation for teams of humanoid robots},
  year = {2008},
  volume = {5001},
  pages = {425-432},
  publisher = {Springer-Verlag},
  editor = {U. Visser and F. Ribeiro and T. Ohashi and F. Dellaert},
  series = {Lecture Notes in Computer Science/Artificial Intelligence},
  address = {Berlin/Heidelberg},
  booktitle = {RoboCup 2007: Robot Soccer World Cup XI},
  doi = {http://www.springerlink.com/content/41251kv140217484/},
  url = {http://www.springer.com/computer/artificial/book/978-3-540-68846-4},
  abstract = {Developing and testing the key modules of autonomous humanoid soccer robots (e.g., for vision, localization, and behavior control) in software-in-the-loop (SIL) experiments, requires real-time simulation of the main motion and sensing properties. These include humanoid robot kinematics and dynamics, the interaction with the environment, and sensor simulation, especially the camera properties. To deal with an increasing number of humanoid robots per team the simulation algorithms must be very efficient. In this paper, the simulator framework MuRoSimF (Multi-Robot-Simulation-Framework) is presented which allows the flexible and transparent integration of different simulation algorithms with the same robot model. These include several algorithms for simulation of humanoid robot motion kinematics and dynamics (with O(n) runtime complexity), collision handling, and camera simulation including lens distortion. A simulator for teams of humanoid robots based on MuRoSimF is presented. A unique feature of this simulator is the scalability of the level of detail and complexity which can be chosen individually for each simulated robot and tailored to the requirements of a specific SIL test. Performance measurements are given for real-time simulation on a moderate laptop computer of up to six humanoid robots with 21 degrees of freedom, each equipped with an articulated camera.},
}

@INPROCEEDINGS{2007:FriedmannPetersenVonStryk_WsHumSoc,
  author = {M. Friedmann and K. Petersen and O. v. Stryk},
  title = {Adequate Motion Simulation and Collision Detection for Soccer Playing Humanoid Robots},
  year = {2007},
  month = {Nov. 29 - Dec. 1},
  address = {Pittsburgh, PA, USA},
  booktitle = {Proc. 2nd Workshop on Humanoid Soccer Robots at the 2007 IEEE-RAS Int. Conf. on Humanoid Robots},
  url = {http://www.humanoidsoccer.org/ws07/program.html},
  abstract = {In this paper a humanoid robot simulator built with the Multi-Robot-Simulation-Framework (MuRoSimF) is presented. Among the unique features of the this simulator is the scalability in the level of physical detail in both the robot’s motion and sensing systems. It facilitates the development of control software for humanoid robots which is demonstrated for several scenarios from the RoboCup Humanoid Robot League. Different requirements exist for a humanoid robot simulator. E.g., testing of algorithms for motion control and postural stability require high fidelity of physical motion properties where as testing of behavior control and role distribution for a robot team requires only a moderate level of detail for real-time simulation of multiple robots. To meet such very different requirements often different simulators are used which makes it neccessary to model a robot multiple times and to integrate different simulations with high-level robot control software. MuRoSimF provides the capability of exchanging the simulation algorithms used for each robot transparently, thus allowing a trade-off between computational performance and fidelity of the simulation. It is therefore possible to choose different simulation algorithms which are adequate for the needs of a given simulation experiment, for example, motion simulation of humanoid robots based on kinematical, simplified dynamics or full multibody system dynamics algorithms. In this paper the sensor simulation capabilities of MuRoSimF are revised and the algorithms for motion simulation and collision detection and handling are presented in detail. An algorithm is presented which allows the real time simulation of the full dynamics of a 21 DOF humanoid robot. Special consideration is given to the merits and drawbacks of the different algorithms depending on the scenario. The simulation’s performance is measured and comparisons with the experimental performance of the humanoid robots are given.},
}