Publications

Preprints

• Vineet Nagrath, Timo Blender, Nayabrasul Shaik, Christian Schlegel, “Industry 4.0 Asset Administration Shell (AAS): Interoperable Skill-Based Service-Robots”. Work-In-Progress. arXiv. August 2022. doi: 10.48550/arXiv.2208.01273

Accepted, to appear

• <<soon to be more>>

Newly Published

• Timo Blender. “Variability management in a robotics software ecosystem based on dependency variability graphs for modeling, composing and resolving multi-dimensional variability spaces”. Open Access Repositorium der Universität Ulm und Technischen Hochschule Ulm. Dissertation. 2023. http://dx.doi.org/10.18725/OPARU-48624

Reviewed Publications

• Vineet Nagrath, Christian Schlegel. “Run-Time Dependency Graph Models for Independently Developed Robotic Software Components”. Computing Conference 2022, July 2022, London, UK. https://doi.org/10.1007/978-3-031-10464-0_62
• Timo Blender and Christian Schlegel, “Dynamic Allocation of Service Robot Resources to an Order Picking Task Considering Functional and Non-Functional Properties”, 2022 IEEE/ACM 4th International Workshop on Robotics Software Engineering (RoSE), 2022, pp. 25-32, doi: 10.1145/3526071.3527518. Download
• Vineet Nagrath, Christian Schlegel, “SmartDG: Modelling System-Level Requirements for Component-Based Robotic Software Systems”. In: Arai, K. (eds) Advances in Information and Communication. FICC 2022. Lecture Notes in Networks and Systems, vol 438. Springer, Cham. https://doi.org/10.1007/978-3-030-98012-2_52
• Vineet Nagrath, Christian Schlegel, “Towards Model Based Electronic Institutions and Contract Regulated Services in a Component Based Robotic Software”. In: Arai, K. (eds) Advances in Information and Communication. FICC 2022. Lecture Notes in Networks and Systems, vol 438. Springer, Cham. https://doi.org/10.1007/978-3-030-98012-2_53
• Vineet Nagrath, Christian Schlegel, “Model-Driven Run-Time Dependency Graphs for Component-Based Robotic Software”. 7th Workshop on Collaboration of Humans, Agents, Robots, Machines and Sensors (CHARMS 2021). Co-located with IEEE Robotic Computing (IRC) 2021, Taichung, Taiwan. Link
• Christian Schlegel, Alex Lotz, Matthias Lutz, Dennis Stampfer, “Composition, Separation of Roles and Model-Driven Approaches as Enabler of a Robotics Software Ecosystem”. In: Cavalcanti A., Dongol B., Hierons R., Timmis J., Woodcock J. (eds) Software Engineering for Robotics. Springer, Cham., 2021. https://doi.org/10.1007/978-3-030-66494-7_3 (Open Access) Download
• Vineet Nagrath, Christian Schlegel, “SmartTS: A Component-based and Model-Driven Approach to Software Testing in Robotic Software Ecosystem”. International Journal of Advanced Computer Science and Applications (IJACSA), pages 11-22, 12 (7), 2021. http://dx.doi.org/10.14569/IJACSA.2021.0120702, (Open Access) Download
• Christian Schlegel, Dennis Stampfer, Alex Lotz, Matthias Lutz, “Robot Programming”. Chapter 8 in book Mechatronics and Robotics: New Trends and Challenges, Marina Indri and Roberto Oboe (editors), CRC Press, 2020. Link
• Nayabrasul Shaik, Matthias Lutz and Christian Schlegel, “2D Localization in Large Areas Using Inexpensive RGBD Camera Augmented With Visual Tags“. In Proc. 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Vienna, Austria, 2020, pp. 613-619, doi: 10.1109/ETFA46521.2020.9211882. Paper
• Timo Blender and Christian Schlegel, “Implementing Resource Adequate Service Robot Behavior by Systematic Management of Non-Functional Properties: An Intralogistics Use Case“. In Proc. 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Vienna, Austria, 2020, pp. 659-666, doi: 10.1109/ETFA46521.2020.9211986. Paper
• Nagrath V., Hariz M., Yacoubi M.A.E. “Adaptive Retraining of Visual Recognition-Model in Human Activity Recognition by Collaborative Humanoid Robots“. In: Arai K., Kapoor S., Bhatia R. (eds) Intelligent Systems and Applications (IntelliSys 2020). Advances in Intelligent Systems and Computing, vol 1251. Springer, Cham. https://doi.org/10.1007/978-3-030-55187-2_12. Paper
• Matthias Rollenhagen, Matthias Lutz, Nayabrasul Shaik, Kevin Andrews, Sebastian Steinau, Manfred Reichert, Christian Schlegel, C. (2019). “Towards Flexible Process Automation – An Approach for Flexible Service Robot Adaptation and Allocation“. In Proceedings of the 3rd International Conference on Industrial Automation, Robotics and Control Engineering (IARCE ’19). ACM, New York, NY, USA. ISBN 978-1-4503-6529-1. Paper
• Marco Bonini, Augusto Urru, Sebastian Steinau, Selcuk Ceylan, Matthias Lutz, Jan Schuhmacher, Kevin Andrews, Harry Halfar, Stefan Kunaschk, Asadul Haque, Vinu Nair, Matthias Rollenhagen, Nayabrasul Shaik, Manfred Reichert, Norbert Bartneck, Christian Schlegel, Vera Hummel and Wolfgang Echelmeyer. “Automation of Intralogistic Processes through Flexibilisation – A Method for the Flexible Configuration and Evaluation of Systems of Systems.” In 15th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2018), July 29-31, 2018, Porto, Portugal.
• Matthias Lutz, Juan F. Inglés-Romero, Dennis Stampfer, Alex Lotz, Cristina Vicente-Chicote and Christian Schlegel. “Managing Variability as a Means to Promote Composability: A Robotics Perspective.” In New Perspectives on Information Systems Modeling and Design, ed. António Miguel Rosado da Cruz and Maria Estrela Ferreira da Cruz, 274-295 (2019), doi:10.4018/978-1-5225-7271-8.ch012. Paper
• Cristina Vicente-Chicote, Juan F. Inglés-Romero, Jesús Martínez, Dennis Stampfer, Alex Lotz, Matthias Lutz and Christian Schlegel. “A Component-Based and Model-Driven Approach to Deal with Non-Functional Properties through Global QoS Metrics.” ModComp’18 – 5th International Workshop on Interplay of Model-Driven and Component-Based Software Engineering (in conjunction with ACM/IEEE 21st Int. Conf. on Model Driven Engineering Languages and Systems (MODELS), Copenhagen, Denmark. Paper
• Lotz, A., Hamann, A., Lange, R., Heinzemann, C., Staschulat, J., Kesel, V., Stampfer, D., Lutz, M., and Schlegel, C. Combining Robotics Component-Based Model-Driven Development with a Model-Based Performance Analysis. In IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2016, San Francisco, CA, USA. Paper
• Timo Blender, Thiemo Buchner, Benjamin Fernandez, Benno Pichlmaier and Christian Schlegel, “Managing a Mobile Agricultural Robot Swarm for a Seeding Task“. In Proc. Industrial Electronics Society, IECON 2016 – 42nd Annual Conference of the IEEE, Florence, Italy, October 24-27, 2016. Paper
• Matthias Lutz, Christian Verbeek and Christian Schlegel. “Towards a Robot Fleet for Intra-Logistic Tasks: Combining Free Robot Navigation with Multi-Robot Coordination at Bottlenecks“. In Proc. of the 21th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Berlin, September 6-9, 2016. Electronic ISBN: 978-1-5090-1314-2, DOI: 10.1109/ETFA.2016.7733602. Paper
• Dennis Stampfer, Alex Lotz, Matthias Lutz and Christian Schlegel. “The SmartMDSD Toolchain: An Integrated MDSD Workflow and Integrated Development Environment (IDE) for Robotics Software“. Special Issue on Domain-Specific Languages and Models in Robotics, Journal of Software Engineering for Robotics (JOSER), 7(1), 3-19 ISSN: 2035-3928, July 2016. Paper
• Alex Lotz, Arne Hamann, Ingo Lütkebohle, Dennis Stampfer, Matthias Lutz, Christian Schlegel. Modeling Non-Functional Application Domain Constraints for Component-Based Robotics Software Systems. In 6th International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob-15), Hamburg, October, 2015. Paper
• Timo Blender and Christian Schlegel. Motion Control for Omni-Drive Servicerobots Under Kinematic, Dynamic and Shape Constraints. In Proc. of the 20th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Luxembourg, September 8-11, 2015. Paper
• Christian Schlegel, Alex Lotz, Matthias Lutz, Dennis Stampfer, Juan F. Inglés-Romero, and Cristina Vicente-Chicote. “Model-driven software systems engineering in robotics: Covering the complete life-cycle of a robot“, in Journal IT – Information Technology: Methods and Applications of Informatics and Information Technology, Volume 57, Issue 2, Pages 85–98, ISSN (Online) 2196-7032, ISSN (Print) 1611-2776, DOI: 10.1515/itit-2014-1069, DE GRUYTER, March 2015. Paper
• Matthias Lutz, Dennis Stampfer, Alex Lotz, Christian Schlegel. Service Robot Control Architectures for Flexible and Robust Real-World Task Execution: Best Practices and Patterns. Workshop Roboter-Kontrollarchitekturen, Informatik 2014, Springer LNI der GI, ISBN 978-3-88579-626-8, Stuttgart, September 2014. Paper
• Siegfried Hochdorfer, Heiko Neumann and Christian Schlegel. Landmark Rating and Selection for SLAM in Dynamic Environments. In Proc. International Conference on Intelligent Autonomous Systems (IAS13), July 15-18, 2014, Padova, Italy. Paper
• Alex Lotz, Juan F. Ingles-Romero, Dennis Stampfer, Matthias Lutz, Cristina Vicente-Chicote and Christian Schlegel. “Towards a Stepwise Variability Management Process for Complex Systems – A Robotics Perspective“, in International Journal of Information System Modeling and Design (IJISMD 2014), DOI: 10.4018/ijismd.2014070103, 5(3):55-74, 2014. Paper
• Dennis Stampfer, Christian Schlegel. “Dynamic State Charts: composition and coordination of complex robot behavior and reuse of action plots“, in Journal of Intelligent Service Robotics, 7(2), pp. 53–65, Springer Berlin Heidelberg, ISSN 1861-2776, 2014. Paper
• Christian Schlegel, Alex Lotz, Matthias Lutz, Dennis Stampfer, Juan F. Inglés-Romero, Cristina Vicente-Chicote. Model-Driven Software Systems Engineering in Robotics: Covering the Complete Life-Cycle of a Robot. Workshop Roboter-Kontrollarchitekturen, Informatik 2013, Springer LNI der GI, Koblenz, September 2013. Paper Slides
• Alex Lotz, Juan F. Inglés-Romero, Cristina Vicente-Chicote, Christian Schlegel. Managing run-time variability in robotics software by modeling functional and non-functional behavior. In Selmin Nurcan, Henderik A. Proper, Pnina Soffer, John Krogstie, Rainer Schmidt, Terry Halpin, and Ilia Bider, editors. BPMDS and EMMSAD, volume 147 of Lecture Notes in BIP, pages 441-455. Springer, 2013. ISBN 978-3-642-38483-7. Paper
• Matthias Lutz, Dennis Stampfer, Christian Schlegel. Probabilistic object recognition and pose estimation by fusing multiple algorithms. In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), Karlsruhe, Germany, May, 2013.
• Dennis Stampfer, Christian Schlegel. Dynamic state charts: Composition and coordination of complex robot behavior and reuse of action plots. In Proc. IEEE Int. Conf. on Technologies for Practical Robot Applications (TePRA). Woburn, MA, USA, April 2013. ISBN 978-1-4673-6224-5.
• Juan F. Inglés-Romero, Alex Lotz, Cristina Vicente-Chicote, Christian Schlegel. Dealing with Run-Time Variability in Service-Robotics: Towards a DSL for Non-Functional Properties. 3rd International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob-12), Proceedings of SIMPAR 2012 Workshop, Emanuele Menegatti (Ed.), Tsukuba, Japan, November 2012, ISBN 978-88-95872-01-0
• Dennis Stampfer, Matthias Lutz, Christian Schlegel. Informed Active Perception with an Eye-in-hand Camera for Multi Modal Object Recognition. Proc. IEEE IROS 2012 Workshop on Active Semantic Perception (ASP’12), ISBN 978-972-8822-26-2, Vilamoura, Algarve (Portugal), 2012.
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• Alex Lotz, Andreas Steck, Christian Schlegel. Analyzing Solution Quality of Anytime Bag of Words Object Classification for a Service Robot. Proc. IEEE Int. Conf. on Technologies for Practical Robot Applications (TePRA), Pages 1-6, Woburn, Massachusetts, USA, ISBN 978-1-4673-0854-0, 2012.
• Matthias Lutz, Dennis Stampfer, Siegfried Hochdorfer, Christian Schlegel. Probabilistic Fusion of Multiple Algorithms for Object Recognition at Information Level. Proc. IEEE Int. Conf. on Technologies for Practical Robot Applications (TePRA), Pages 139-144, Woburn, Massachusetts, USA, ISBN 978-1-4673-0854-0, 2012.
• Dennis Stampfer, Matthias Lutz, Christian Schlegel. Information Driven Sensor Placement for Robust Active Object Recognition based on Multiple Views. Proc. IEEE Int. Conf. on Technologies for Practical Robot Applications (TePRA), Pages 133-138, Woburn, Massachusetts, USA, ISBN 978-1-4673-0854-0, 2012.
• Christian Schlegel, Andreas Steck, Alex Lotz.Robotic Software Systems: From Code-Driven to Model-Driven Software Development. In Ashish Dutta, editor, Robotic Systems – Applications, Control and Programming. Pages 473-502. InTech, ISBN 978-953-307-941-7, 2012.
• Christian Schlegel, Andreas Steck, Alex Lotz.Model-Driven Software Development in Robotics: Communication Patterns as Key for a Robotics Component Model. In Daisuke Chugo and Sho Yokota, editors, Introduction to Modern Robotics. Pages 119-150. iConcept Press, 978-0980733068 (Hard Cover) / 978-1463789428 (Paperback), 2012
• Dennis Stampfer, Christian Schlegel. Modellierung und Reuse komplexer Verhalten als Bausteine mit Dynamic State Charts am Beispiel der Servicerobotik. In Konferenz Embedded Software Engineering (ESE), Pages 511-515, Sindelfingen, December 5.-9., ISBN 978-3-8343-2405-4, 2011.
• Andreas Steck, Alex Lotz, Christian Schlegel. Model-driven engineering and run-time model-usage in service robotics. In Proc. of the Tenth ACM Int. Conference on Generative Programming and Component Engineering (GPCE), Portland, Oregon, USA, October, 2011.
• Andreas Steck, Christian Schlegel. Managing execution variants in task coordination by exploiting design-time models at run-time. In Proc. IEEE/RSJ Int. Conf. on Robotics and Intelligent Systems (IROS), San Francisco, USA, September, 2011.
• Alex Lotz, Andreas Steck, Christian Schlegel. Runtime Monitoring of Robotics Software Components: Increasing Robustness of Service Robotic Systems. In Proc. 15th Int. Conf. on Advanced Robotics, Tallinn, Estland, 2011.
• Matthias Lutz, Siegfried Hochdorfer, Christian Schlegel. Global Localization using Multiple Hypothesis Tracking: A real-world Approach. Proc. IEEE Int. Conf. on Technologies for Practical Robot Applications (TePRA), Pages 127-132, Woburn, Massachusetts, USA, ISBN 978-1-61284-480-0, 2011
• Andreas Steck, Christian Schlegel. Resource Awareness und Quality of Service in der Servicerobotik durch Modellgetriebene Softwareentwicklung. Embedded Software Engineering Kongress (ESE), Pages 607-610, December 7-9, Sindelfingen, ISBN 978-3-8343-2404-7, 2010
• Christian Schlegel, Andreas Steck, Davide Brugali, Alois Knoll. Design Abstraction and Processes in Robotics: From Code-Driven to Model-Driven Engineering. In 2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), Pages 324-335, Darmstadt, Springer LNAI 6472, ISBN-10 3-642-17318-7, 2010
• Andreas Steck, Christian Schlegel. SmartTCL: An Execution Language for Conditional Reactive Task Execution in a Three Layer Architecture for Service Robots. In Proc. of SIMPAR 2010 Workshops (International Workshop on Dynamic languages for RObotic and Sensors systems (DYROS)), 2nd Intl. Conf. on Simulation, Modeling, and Programming for Autonomous Robots, Pages 274-277, Darmstadt, ISBN 978-3-00-032863-3, 2010.
• Matthias Lutz, Andreas Steck, Christian Schlegel. Person Following through Cluttered Environments using Probabilistic Methods and Fast Local Obstacle Avoidance. The 3rd Israeli Conference on Robotics (ICR 2010), November 10-11, 2010, Herzlia, Israel
• Andreas Steck, Christian Schlegel. Towards Quality of Service and Resource Aware Robotic Systems through Model-Driven Software Development. In 1st International Workshop on Domain-Specific Languages and models for ROBotic Systems (DSLRob’10), 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), October 18-22, 2010, Taipei, Taiwan
• Siegfried Hochdorfer, Christian Schlegel. 6 DoF SLAM using a ToF Camera: The challenge of a continuously growing number of landmarks. The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), October 18-22, 2010, Taipei, Taiwan
• Siegfried Hochdorfer, Christian Schlegel. Landmark Rating and Selection: Considering the Observability Regions. The 11th Int. Conf. on Intelligent Autonomous Systems (IAS-11), Ottawa, Canada, IOS Press, ISBN 978-1-60750-612-6, 2010
• Manuel Wopfner, Jonas Brich, Siegfried Hochdorfer, Christian Schlegel. Mobile Manipulation in Service Robotics: Scene and Object Recognition with Manipulator-Mounted Laser Ranger. ISR / ROBOTIK 7.-9. June 2010, Munich
• Siegfried Hochdorfer, Matthias Lutz, Christian Schlegel. Bearing-Only SLAM in everyday environments using Omnidirectional Vision. IEEE ICRA 2010 Workshop on Omnidirectional Vision, Anchorage, AK, 2010.
• Andreas Steck, Dennis Stampfer, Christian Schlegel. Software-Engineering in der Servicerobotik – Der Weg zum modellgetriebenen Softwareentwurf. Embedded Software-Engineering Kongress (ESE), Sindelfingen, 2009
• Andreas Steck, Dennis Stampfer, Christian Schlegel. Modellgetriebene Softwareentwicklung für Robotiksysteme. Fachgespräch Autonome Mobile Systeme (AMS), Karlsruhe, 2009
• Siegfried Hochdorfer, Matthias Lutz, Christian Schlegel. Lifelong Localization of a Mobile Service-robot in Everyday Indoor Environment Using Omnidirectional Vision. Proc. IEEE Int. Conf. on Technologies for Practical Robot Applications (TePRA), Woburn, Massachusetts, USA, 2009
• Siegfried Hochdorfer, Christian Schlegel. Landmark rating and selection according to localization coverage: Addressing the challenge of lifelong operation of SLAM in service robots. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), St. Louis, Missouri, USA, 2009
• Siegfried Hochdorfer, Christian Schlegel. Towards a robust Visual SLAM Approach: Addressing the Challenge of life-long Operation. Proc. 14th Int. Conf. on Advanced Robotics (ICAR), Munich, 2009
• Christian Schlegel, Thomas Haßler, Alex Lotz, Andreas Steck. Robotic Software Systems: From Code-Driven to Model-Driven Designs. Proc. 14th Int. Conf. on Advanced Robotics (ICAR), Munich, 2009
• Christian Schlegel, Siegfried Hochdorfer. Localization and Mapping for Service Robots: Bearing-Only SLAM with an Omnicam. In Advances in Service Robotics. IN-TECH, ISBN 978-953-7619-02-2, 2008.
• Christian Schlegel. The Challenge of Real-Time Robotics Behavior: An Applied Research Perspective. In Proc. SDIR-III, IEEE ICRA 2008, Pasadena, 2008.
• Siegfried Hochdorfer, Christian Schlegel. “Towards a robust Visual SLAM Approach: Addressing the Challenge of life-long Operation”. ”In Proc. 14th Int. Conf. on Advanced Robotics (ICAR)”, Munich, 2009.
• Siegfried Hochdorfer, Christian Schlegel. “Bearing-Only SLAM with an Omnicam: Robust Selection of SIFT Features for Service Robots”. ”In 20. Fachgespräch Autonome Mobile Systeme (AMS)”, Seiten 8-14. Informatik aktuell, Springer, Kaiserslautern, Oktober 2007.
• Christian Schlegel, Siegfried Hochdorfer. “Bearing-Only SLAM with an Omnicam – An Experimental Evaluation for Service Robotics Applications”. ”In 19. Fachgespräch Autonome Mobile Systeme (AMS)”, Seiten 99-106. Springer, Stuttgart, 2005.

Other Publications

• Zeljko Loncaric, Christian Schlegel and Matthias Lutz. “Module für autonome kooperative und kollaborative Roboter.” In Elektronik Praxis – Embedded System Development + IOT II,Vogel Verlag, 42-44, September 2018. Download
• 06.02.2019 Mensch, Roboter! https://www.it-zoom.de/mobile-business/e/mensch-roboter-21968/
• Christian Schlegel. Servicerobotik 1: Dienstleistung setzt Ortskenntnis voraus. In Forschungswerk, Seiten 40-43, ISBN 978-3-9810998-2-9, Hochschule Ulm, 2009
• Christian Schlegel. Servicerobotik 2: Das Problem Softwarekomplexität ist lösbar, In Forschungswerk, Seiten 44-47, ISBN 978-3-9810998-2-9, Hochschule Ulm, 2009
• Poster Bearing-Only SLAM deutsch
• Poster Bearing-Only SLAM englisch