Dirk Wollherr is currently senior researcher and lecturer (since July 2005) and Privatdozent (since 2013) at the Institute of Automatic Control Engineering, Faculty of Electrical Engineering and Information Technology, Technische Universität München, Munich, Germany. He received the diploma engineer degree in Electrical Engineering in 2000, the Doctor of Engineering degree in Electrical Engineering in 2005 and the Habilitation degree in 2013 from the Technische Universität München, Munich, Germany. From 2001-2004 he has been research assistant at the Control Systems Group, Technische Universität Berlin, Germany. In 2004 he has been granted a research fellowship from the Japanese Society for the Promotion of Science (JSPS) at the Yoshihiko-Nakamura-Lab, The University of Tokyo, Japan. From 2006-2008 Dr. Wollherr has been General Manager of the Cluster of Excellence “Cognition for Technical Systems (CoTeSys)” and since 2005 he is principal investigator, independent junior research group leader, and research area leader within CoTeSys. He has been TUM Carl-von-Linde Junior Fellow, Institute of Advanced Studies from 2010 until 2013. Furthermore, he has been active in dissemination, e.g. Program Co-Chair of the "Workshop on Advanced Robotics and its Social Impacts (ARSO) 2013", General Chair of the German “Robotik 2008” conference and Finance Chair of RO-MAN 2008, as well as in several EU projects, e.g. Robot@CWE, CyberWalk, Movement and IURO. His research interests include automatic control, robotics, autonomous mobile robots, human-robot-interaction, and humanoid walking.
Research Interests
Mobile Robot
SLAM
Navigation in dynamically changing environments
Moving obstacle recognition, motion estimation and path planning in dynamically changing environments
Multi-robot systems
Human-Robot Interaction
Natural and intuitive robot information retrieval from humans
Information validation
Fusion of information from multiple sources, especially fusion of metric sensor data and topologic information from humans
Benciolini, Tommaso; Wollherr, Dirk; Leibold, Marion: Non-Conservative Trajectory Planning for Automated Vehicles by Estimating Intentions of Dynamic Obstacles. IEEE Transactions on Intelligent Vehicles, 2023 more…BibTeX
Brüdigam, Tim; Olbrich, Michael; Wollherr, Dirk; Leibold, Marion: Stochastic Model Predictive Control With a Safety Guarantee for Automated Driving. IEEE Transactions on Intelligent Vehicles 8 (1), 2023, 22-36 more…BibTeX
2022
Gabler, Volker; Wollherr, Dirk: Bayesian optimization with unknown constraints in graphical skill models for compliant manipulation tasks using an industrial robot. Frontiers in Robotics and AI 9, 2022 more…BibTeX
Hoang-Dinh, Khoi; Leibold, Marion; Wollherr, Dirk: A Fast and Close-to-Optimal Receding Horizon Control for Trajectory Generation in Dynamic Environments. Robotics 11 (4), 2022, 72 more…BibTeX
2021
Brüdigam, Tim; Gaßmann, Victor; Wollherr, Dirk; Leibold, Marion: Minimization of Constraint Violation Probability in Model Predictive Control. Int J Robust Nonlinear Control, 2021, 1-33 more…BibTeX
Brüdigam, Tim; Olbrich, Michael; Wollherr, Dirk; Leibold, Marion: Stochastic Model Predictive Control with a Safety Guarantee for Automated Driving. IEEE Transactions on Intelligent Vehicles, 2021, 1-1 more…BibTeX
Brüdigam, Tim; Teutsch, Johannes; Wollherr, Dirk; Leibold, Marion; Buss, Martin: Probabilistic Model Predictive Control for Extended Prediction Horizons. at - Automatisierungstechnik 69 (9), 2021, 759-770 more…BibTeX
Cheng, Xin; Zhang, Yajun; Liu, Huashan; Wollherr, Dirk; Buss, Martin: Adaptive Neural Backstepping Control for Flexible-Joint Robot Manipulator with Bounded Torque Inputs. Neurocomputing 458, 2021, 70-86 more…BibTeX
Huber, Gerold; Wollherr, Dirk; Buss, Martin: A Concise and Geometrically Exact Planar Beam Model for Arbitrarily Large Elastic Deformation Dynamics. Frontiers in Robotics and AI 7, 2021 more…BibTeX
Reichensdörfer, Elias; Odenthal, Dirk; Wollherr, Dirk: On the Frontier Between Kalman Conjecture and Markus-Yamabe Conjecture. IEEE Control Systems Letters 5 (4), 2021, 1309-1314 more…BibTeX
2020
Sedlacek, Tadeas; Odenthal, Dirk; Wollherr, Dirk: Minimum-Time Optimal Control for Vehicles with Active Rear-Axle Steering, Transfer Case and Variable Parameters. Vehicle System Dynamics 0 (0), 2020, 1-29 more…BibTeX
Sedlacek, Tadeas; Odenthal, Dirk; Wollherr, Dirk: Minimum-Time Optimal Control for Battery Electric Vehicles with Four Wheel-Independent Drives Considering Electrical Overloading. Vehicle System Dynamics 0 (0), 2020, 1-25 more…BibTeX
Zhang, Zengjie; Qian, Kun; Schuller, Björn W.; Wollherr, Dirk: An Online Robot Collision Detection and Identification Scheme by Supervised Learning and Bayesian Decision Theory. IEEE Transactions on Automation Science and Engineering, 2020, 1-13 more…BibTeX
2019
Huber, Gerold; Wollherr, Dirk: An Online Trajectory Generator on SE(3) for Human–Robot Collaboration. Robotica, 2019, 1-22 more…BibTeX
Huber, Gerold; Wollherr, Dirk: Efficient Closed-Form Task Space Manipulability for a 7-DOF Serial Robot. Robotics 8 (4), 2019, 98 more…BibTeX
Steyer, Sascha; Lenk, Christian; Kellner, Dominik; Tanzmeister, Georg; Wollherr, Dirk: Grid-Based Object Tracking with Nonlinear Dynamic State and Shape Estimation. IEEE Transactions on Intelligent Transportation Systems, 2019, 1–20 more…BibTeX
Turnwald, Annemarie; Wollherr, Dirk: Human-Like Motion Planning Based on Game Theoretic Decision Making. International Journal of Social Robotics 11 (1), 2019, 151-170 more…BibTeX
Zhang, Zengjie; Leibold, Marion; Wollherr, Dirk: Integral Sliding-Mode Observer-Based Disturbance Estimation for Euler-Lagrangian Systems. IEEE Transactions on Control Systems Technology, 2019, 1-13 more…BibTeX
2018
Brüdigam, Tim; Ahmic, Kenan; Leibold, Marion; Wollherr, Dirk: Legible Model Predictive Control for Autonomous Driving on Highways. IFAC-PapersOnLine 51 (20), 2018, 215-221 more…BibTeX
Reichensdörfer, Elias; Odenthal, Dirk; Wollherr, Dirk: On the Stability of Nonlinear Wheel-Slip Zero Dynamics in Traction Control Systems. IEEE Transactions on Control Systems Technology PP, 2018, 1-16 more…BibTeX
Reichensdörfer, Elias; Odenthal, Dirk; Wollherr, Dirk: On the Stability of Nonlinear Wheel-Slip Zero Dynamics in Traction Control Systems. IEEE Transactions on Control Systems Technology PP, 2018, 1-16 more…BibTeX
Steyer, Sascha; Tanzmeister, Georg; Wollherr, Dirk: Grid-Based Environment Estimation Using Evidential Mapping and Particle Tracking. IEEE Transactions on Intelligent Vehicles 3 (3), 2018, 384-396 more…BibTeX
Ögüz, Özgür S.; Pfirrmann, Ben M.; Guo, Mingpan; Wollherr, Dirk: Learning Hand Movement Interaction Control Using RNNs: From HHI to HRI. IEEE Robotics and Automation Letters (RA-L) 3 (4), 2018, 4100-4107 more…BibTeX
Ögüz, Özgür S.; Zhou, Zhehua; Glasauer, Stefan; Wollherr, Dirk: An Inverse Optimal Control Approach to Explain Human Arm Reaching Control Based on Multiple Internal Models. Scientific Reports, Nature PG 8 (1), 2018, 5583 more…BibTeX
Ögüz, Özgür S.; Zhou, Zhehua; Wollherr, Dirk: A Hybrid Framework for Understanding and Predicting Human Reaching Motions. Frontiers in Robotics and AI 5, 2018, 27 more…BibTeX
2017
Carton, Daniel; Olszowy, Wiktor; Wollherr, Dirk; Buss, Martin: Socio-Contextual Constraints for Human Approach with a Mobile Robot. I. J. Social Robotics 9 (2), 2017, 309-327 more…BibTeX
Landsiedel, Christian; Rieser, Verena; Walter, Matthew; Wollherr, Dirk: A Review of Spatial Reasoning and Interaction for Real-World Robotics. Advanced Robotics, 2017 more…BibTeX
Landsiedel, Christian; Wollherr, Dirk: Global Localization of 3D Point Clouds in Building Outline Maps of Urban Outdoor Environments. International Journal of Intelligent Robotics and Applications, 2017 more…BibTeX
Landsiedel, Christian; Wollherr, Dirk: Road Geometry Estimation for Urban Semantic Maps using Open Data. Advanced Robotics, 2017, 1-9 more…BibTeX
2016
Bahram, Mohammad; Hubmann, Constantin; Lawitzky, Andreas; Aeberhard, Michael; Wollherr, Dirk: A Combined Model-and Learning-based Framework for Interaction-aware Maneuver Prediction. IEEE Transactions on Intelligent Transportation Systems 17 (6), 2016, 1538-1550 more…BibTeX
Carton, Daniel; Nitsch, Verena; Meinzer, Dominik; Wollherr, Dirk: Towards Assessing the Human Trajectory Planning Horizon. PLoS ONE 11 (12), 2016 more…BibTeX
Carton, Daniel; Olszowy, Wiktor; Wollherr, Dirk: Measuring the effectiveness of readability for mobile robot locomotion. International Journal of Social Robotics 8 (5), 2016, 721-741 more…BibTeX
Khan, Sheraz; Wollherr, Dirk; Buss, Martin: Modeling Laser Intensities For Simultaneous Localization and Mapping. IEEE Robotics and Automation Letters (RA-L) 1 (2), 2016, 692-699 more…BibTeX
Tanzmeister, Georg; Wollherr, Dirk: Evidential Grid-Based Tracking and Mapping. IEEE Transactions on Intelligent Transportation Systems PP (99), 2016, 1-14 more…BibTeX
Turnwald, Annemarie; Althoff, Daniel; Wollherr, Dirk; Buss, Martin: Understanding Human Avoidance Behavior: Interaction-aware Decision Making based on Game Theory. International Journal of Social Robotics, 2016 more…BibTeX
de Nijs, Roderick; Landsiedel, Christian; Wollherr, Dirk; Buss, Martin: Quadratization and Roof Duality of Markov Logic Networks. Journal of Artificial Intelligence Research 55, 2016, 685-714 more…BibTeX
Buss, Martin; Carton, Daniel; Khan, Sheraz; Kühnlenz, Barbara; Kühnlenz, Kolja; Landsiedel, Christian; de Nijs, Roderick; Turnwald, Annemarie; Wollherr, Dirk: IURO - Soziale Mensch-Roboter-Interaktion in den Straßen von München. at - Automatisierungstechnik 63 (4), 2015, 231-242 more…BibTeX
2014
Khan, Sheraz; Verginis, Chris; Dometios, Athanasios; Tzafestas, Costas; Wollherr, Dirk; Buss, Martin: RMAP: A Rectangular Cuboid Approximation Framework for 3D Environment Mapping. Autonomous Robots 37 (3), 2014, 261-277 more…BibTeX
Tanzmeister, Georg; Friedl, Martin; Wollherr, Dirk; Buss, Martin: Efficient Evaluation of Collisions and Costs using Grid Maps for Autonomous Vehicle Motion Planning. IEEE Transactions on Intelligent Transportation Systems, 2014, 2249-2260 more…BibTeX
2013
Bätz, Georg; Weber, Bernhard; Scheint, Michael; Wollherr, Dirk; Buss, Martin: Dynamic Contact Force/Torque Observer: Sensor Fusion for Improved Interaction Control. International Journal of Robotics Research, 2013 more…BibTeX
Kühnlenz (Gonsior), Barbara; Sosnowski, Stefan; Buß, Malte; Wollherr, Dirk; Kühnlenz, Kolja; Buss, Martin: Increasing Helpfulness towards a Robot by Emotional Adaption to the User. International Journal of Social Robotics (IJSR) 5 (4), 2013, 457-476 more…BibTeX
2012
Althoff, Daniel; Kuffner, James J.; Wollherr, Dirk; Buss, Martin: Safety Assessment of Robot Trajectories for Navigation in Uncertain and Dynamic Environments. Autonomous Robots 32 (Special Issue on Motion Safety for Robots), 2012, 285-302 more…BibTeX
Gonsior, Barbara; Landsiedel, Christian; Mirnig, Nicole; Sosnowski, Stefan; Strasser, Ewald; Zlotowski, Jakub; Buss, Martin; Kühnlenz, Kolja; Tscheligi, Manfred; Weiss, Astrid; Wollherr, Dirk: Impacts of Multimodal Feedback on Efficiency of Proactive Information Retrieval from Task-Related HRI. Journal of Advanced Computational Intelligence and Intelligent Informatics, Special Issue on Cognitive Infocommunications 16 (2), 2012, 313-326 more…BibTeX
Rohrmüller, Florian; Wollherr, Dirk; Buss, Martin: MuRoCo: A Framework for Capability- and Situation-Aware Coalition Formation in Cooperative Multi-Robot Systems. Journal of Intelligent & Robotic Systems 67 (Online First (DOI 10.1007/s10846-012-9654-0)), 2012, 339-370 more…BibTeX
2011
Althoff, Daniel; Kuffner, James J.; Wollherr, Dirk; Buss, Martin: Safety Assessment of Robot Trajectories for Navigation in Uncertain and Dynamic Environments. Autonomous Robots Special Issue on Motion Safety for Robots), 2011, 1-17 more…BibTeX
Bätz, Georg; Scheint, Michael; Wollherr, Dirk: Towards Dynamic Manipulation for Humanoid Robots: Experiments and Design Aspects. International Journal of Humanoid Robots, 2011 more…BibTeX
Lidoris, Georgios; Rohrmüller, Florian; Wollherr, Dirk; Buss, Martin: System Interdependence Analysis For Autonomous Robots. The International Journal of Robotics Research 30, 2011, 601-614 more…BibTeX
2010
Mühlbauer, Quirin; Xu, Tingting; Bauer, Andrea; Klasing, Klaas; Lidoris, Georgios; Rohrmüller, Florian; Sosnowski, Stefan; Kühnlenz, Kolja; Wollherr, Dirk; Buss, Martin: Wenn Roboter nach dem Weg fragen / Navigation by natural human-Robot Interaction. at - Automatisierungstechnik 58 (11), 2010, 647--656 more…BibTeX
Rambow, Matthias; Rohrmüller, Florian; Kourakos, Omiros; Brscic, Drazen; Wollherr, Dirk; Hirche, Sandra; Buss, Martin: A Framework for Information Distribution, Task Execution and Decision Making in Multi-Robot Systems. IEICE Transactions on Information and Systems E93-D 6, 2010, 1352--1360 more…BibTeX
2009
Bauer, Andrea; Klasing, Klaas; Lidoris, Georgios; Mühlbauer, Quirin; Rohrmüller, Florian; Sosnowski, Stefan; Xu, Tingting; Kühnlenz, Kolja; Wollherr, Dirk; Buss, Martin: The Autonomous City Explorer: Towards Natural Human-Robot Interaction in Urban Environments. International Journal of Social Robotics 1 (2), 2009, 127-140 more…BibTeX
2008
Bauer, A.; Wollherr, D.; Buss, M.: Human-Robot Collaboration: A Survey. International Journal of Humanoid Robotics (IJHR) 5 (4), 2008, 47-66 more…BibTeX
2007
Buss, M.; Beetz, M.; Wollherr, D.: CoTeSys - Cognition for Technical Systems. International Journal of Assistive Robotics and Mechatronics 8 4, 2007, 25-36 more…BibTeX
2006
Wollherr, Dirk: Online Posture Correction for Humanoid Walking Robots. at - Automatisierungstechnik 8, 2006, 396-404 more…BibTeX
2003
Wollherr, D.; Buss, M.: Cost Oriented Virtual Reality and Realtime Control System Architecture. Robotica 21, 2003, 289--294 more…BibTeX
2002
Marezcek, J.; Wollherr, D.; Buss, M.; Schmidt, G.: Überschlagsvermeidung bei Kraftfahrzeugen durch Invarianzregelung. at - Automatisierungstechnik 50 (2), 2002, 70-78 more…BibTeX
Books
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Book Chapters
Gabler, Volker; Maier, Korbinian; Endo, Satoshi; Wollherr, Dirk: Haptic Object Identification for Advanced Manipulation Skills. In: Biomimetic and Biohybrid Systems. Springer International Publishing, 2020 more…BibTeX
Wollherr, Dirk; Khan, Sheraz; Landsiedel, Christian; Buss, Martin: The Interactive Urban Robot IURO: Towards Robot Action in Human Environments. In: Experimental Robotics. Springer, 2015, 277-291 more…BibTeX
Bätz, Georg; Wollherr, Dirk; Kühnlenz, Kolja; Buss, Martin: Robot Basketball: A New Challenge for Real-Time Control. In: Advances in Real-Time Systems. Springer, 2011 more…BibTeX
Klasing, Klaas; Wollherr, Dirk; Buss, Martin: Joint Dominance Coefficients: A Sensitivity-based Measure for Ranking Robotic Degrees of Freedom. In: Kröger, T.; Wahl, F.M. (Ed.): Advances in Robotics Research. Springer, 2009, 1-10 more…BibTeX
Bätz, Georg; Sobotka, Marion; Wollherr, Dirk; Buss, Martin: Robot Basketball: Ball Dribbling - A Modified Juggling Task. In: T. Kröger, F. M. Wahl (Ed.): Advances in Robotics Research. Springer, 2009, 323-334 more…BibTeX
Lidoris, G.; Wollherr, D.; Buss, M.: 6: Bayesian Framework for State Estimation and Robot Behaviour Selection in Dynamic Environments. In: Greedy Algorithms. IN-TECH, 2008 more…BibTeX
Kühnlenz, K.; Lidoris, G.; Wollherr, D.; Buss, M.: On Foveated Gaze Control and Combined Gaze and Locomotion Planning. In: Filho, A. C. de Pina (Ed.): Humanoid Robots. New Developments. Advanced Robotic Systems Int. and I-Tech Education and Publishing, 2007 more…BibTeX
Beetz, M.; Buss, M.; Wollherr, D.: Cognitive Technical Systems - What Is the Role of Artificial Intelligence? In: , 2007 more…BibTeX
Benciolini, Tommaso; Brüdigam, Tim; Wollherr, Dirk; Leibold, Marion: Linear Safety Constraints for Urban Automated Driving: a Case Differentiation. 15th International Symposium on Advanced Vehicle Control (AVEC22), 2022 more…BibTeX
Fink, Michael; Brüdigam, Tim; Wollherr, Dirk; Leibold, Marion: Constraint Violation Probability Minimization for Norm-Constrained Linear Model Predictive Control. 2022 European Control Conference (ECC), 2022, 839-846 more…BibTeX
Gabler, Volker; Huber, Gerold; Wollherr, Dirk: A Force-Sensitive Grasping Controller Using Tactile Gripper Fingers and an Industrial Position-Controlled Robot. 2022 International Conference on Robotics and Automation (ICRA), IEEE, 2022 more…BibTeX
2021
Bari, Salman; Gabler, Volker; Wollherr, Dirk: MS2MP: A Min-Sum Message Passing Algorithm for Motion Planning. IEEE International Conference on Robotics and Automation (ICRA 2021), IEEE, 2021 more…BibTeX
Brüdigam, Tim; Capone, Alexandre; Hirche, Sandra; Wollherr, Dirk; Leibold, Marion;: Gaussian processbased stochastic model predictive control for overtaking in autonomous racing. 2021 IEEE International Conference on Robotics and Automation (ICRA) Workshop on Opportunities and Challenges with Autonomous Racing, 2021 more…BibTeX
Brüdigam, Tim; Prader, Daniel; Wollherr, Dirk; Leibold, Marion: Model Predictive Control with Models of Different Granularity and a Non-uniformly Spaced Prediction Horizon. American Control Conference (ACC), 2021 more…BibTeX
Brüdigam, Tim; Zhan, Jie; Wollherr, Dirk; Leibold, Marion: Collision Avoidance with Stochastic Model Predictive Control for Systems with a Twofold Uncertainty Structure. Accepted to the 24rd IEEE International Conference on Intelligent Transportation Systems, 2021 more…BibTeX
Huber, Gerold; Wollherr, Dirk: Globally Optimal Online Redundancy Resolution for Serial 7-DoF Kinematics Along SE(3) Trajectories. International Conference on Robotics and Automation (ICRA), 2021 more…BibTeX
2020
Brüdigam, Tim; Teutsch, Johannes; Wollherr, Dirk; Leibold, Marion: Combined Robust and Stochastic Model Predictive Control for Models of Different Granularity. 21st IFAC World Congress, 2020 more…BibTeX
Brüdigam, Tim; di Luzio, Fulvio; Pallottino, Lucia; Wollherr, Dirk; Leibold, Marion: Grid-Based Stochastic Model Predictive Control for Trajectory Planning in Uncertain Environments. 2020 23rd IEEE International Conference on Intelligent Transportation Systems, 2020 more…BibTeX
Reichensdörfer, Elias; Odenthal, Dirk; Wollherr, Dirk: Engine-Based Input-Output Linearization for Traction Control Systems. 21st IFAC World Congress, 2020 more…BibTeX
Sedlacek, Tadeas; Odenthal, Dirk; Wollherr, Dirk: Convexification of Semi-Activity Constraints Applied to Minimum-time Optimal Control for Vehicles with Semi-active Limited-slip Differential. Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, SciTePress, 2020 more…BibTeX
2019
Reichensdörfer, Elias; Degel, Wolfgang; Odenthal, Dirk; Wollherr, Dirk: Nonlinear Traction Control Design, Stability Analysis and Experiments for Vehicles with On-Demand 4WD Torque Bias Systems. 2019 IEEE 58th Conference on Decision and Control (CDC), 2019 more…BibTeX
Reichensdörfer, Elias; Odenthal, Dirk; Wollherr, Dirk: Automated Nonlinear Control Structure Design by Domain of Attraction Maximization with Eigenvalue and Frequency Domain Specifications. Informatics in Control, Automation and Robotics: 15th International Conference, ICINCO 2018, Porto, Portugal, July 29-31, 2018, Revised Selected Papers, Springer, 2019 more…BibTeX
2018
Brüdigam, Tim; Olbrich, Michael; Leibold, Marion; Wollherr, Dirk: Combining Stochastic and Scenario Model Predictive Control to Handle Target Vehicle Uncertainty in an Autonomous Driving Highway Scenario. 2018 21st International Conference on Intelligent Transportation Systems (ITSC), 2018, 1317-1324 more…BibTeX
Reichensdörfer, Elias; Odenthal, Dirk; Wollherr, Dirk: Nonlinear Control Structure Design using Grammatical Evolution and Lyapunov Equation based Optimization. Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, SciTePress, 2018 more…BibTeX
Steyer, Sascha; Tanzmeister, Georg; Lenk, Christian; Dallabetta, Vinzenz; Wollherr, Dirk: Data Association for Grid-Based Object Tracking Using Particle Labeling. 2018 21st International Conference on Intelligent Transportation Systems (ITSC), 2018 more…BibTeX
2017
Dinh, Khoi Hoang; Weiler, Philipp; Sobotka (Leibold), Marion; Wollherr, Dirk: Fast and Close to Optimal Trajectory Generation for Articulated Robots in Reaching Motions. 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2017 more…BibTeX
Gabler, Volker; Stahl, Tim; Huber, Gerold; Ögüz, Özgür S.; Wollherr, Dirk: A Game-Theoretic Approach for Adaptive Action Selection in Close Distance Human-Robot-Collaboration. 2017 IEEE International Conference on Robotics and Automation (ICRA) Singapore, May 29 - June 3, 2017, IEEE, 2017 more…BibTeX
Huber, Gerold; Gabler, Volker; Wollherr, Dirk: An Online Trajectory Generator on SE(3) with Magnitude Constraints. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017 more…BibTeX
Kobayashi, Yuichi; Matsumoto, Takeshi; Takano, Wataru; Wollherr, Dirk; Gabler, Volker: Motion Recognition by Natural Language Including Success and Failure of Tasks for Co-Working Robot with Human. 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Sheraton Arabella Park Hotel, Munich, Germany, July 3-7, 2017, IEEE, 2017 more…BibTeX
Reichensdörfer, Elias; Odenthal, Dirk; Wollherr, Dirk: Grammatical Evolution of Robust Controller Structures Using Wilson Scoring and Criticality Ranking. European Conference on Genetic Programming, 2017 more…BibTeX
Steyer, Sascha; Tanzmeister, Georg; Wollherr, Dirk: Object Tracking Based on Evidential Dynamic Occupancy Grids in Urban Environments. Proceedings of the 2017 IEEE Intelligent Vehicles Symposium, 2017 more…BibTeX
Stiens, Kai; Keilhacker, Johannes; Tanzmeister, Georg; Wollherr, Dirk: Local Elevation Mapping for Automated Vehicles using Lidar Ray Geometry and Particle Filters. 2017 IEEE Intelligent Vehicles Symposium (IV), 2017, 481-486 more…BibTeX
Sun, Yiyong; Zhang, Zengjie; Sobotka (Leibold), Marion; Hayat, Rameez; Wollherr, Dirk; Buss, Martin: Protective Control for Robot Manipulator by Sliding Mode based Disturbance Reconstruction Approach. 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2017 more…BibTeX
Weiß, Roman; Großmann, Benjamin; Sobotka (Leibold), Marion; Schlegl, Thomas; Wollherr, Dirk: Modeling and Nonlinear Control of Antagonistically Actuating Pneumatic Artificial Muscles. 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2017 more…BibTeX
Zhu, Huaijiang; Gabler, Volker; Wollherr, Dirk: Legible Action Selection in Human-Robot Collaboration. 26th IEEE International Symposium on Robot and Human Interactive Communication, (RO-MAN) 2017, Lisbon, Portugal August 28 - September 1, 2017, IEEE, 2017 more…BibTeX
Ögüz, Özgür S.; Sari, Ömer C.; Dinh, Khoi Hoang; Wollherr, Dirk: Progressive Stochastic Motion Planning for Human-Robot Interaction. 2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2017 more…BibTeX
2016
Stiens, Kai; Tanzmeister, Georg; Wollherr, Dirk: Local elevation mapping based on low mounted lidar sensors with narrow vertical field of view. 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC), 2016 more…BibTeX
Ögüz, Özgür S.; Gabler, Volker; Huber, Gerold; Zhou, Zhehua; Wollherr, Dirk: Hybrid Human Motion Prediction for Action Selection within Human-Robot Collaboration. Experimental Robotics - The 15th International Symposium on Experimental Robotics, {ISER} 2016, October 3-6, 2016, Tokyo, Japan, 2016 more…BibTeX
2015
Dinh, Khoi H.; Ögüz, Özgür S.; Huber, Gerold; Gabler, Volker; Wollherr, Dirk: An Approach to Integrate Human Motion Prediction into Local Obstacle Avoidance in Close Human-Robot Collaboration. 2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO), 2015, 1-6 more…BibTeX
Khan, Sheraz; Wollherr, Dirk: IBuILD: Incremental Bag of Binary Words for Appearance Based Loop Closure Detection. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2015, 2132-2139 more…BibTeX
Khan, Sheraz; Wollherr, Dirk; Buss, Martin: Adaptive Rectangular Cuboids for 3D Mapping. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2015 more…BibTeX
Landsiedel, Christian; Wollherr, Dirk: Augmenting and Reasoning in Semantically Enriched Maps Using Open Data. Proceedings of the Workshop on Spatial Reasoning and Interaction for Real-World Robotics at IROS 2015, 2015IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)more…BibTeX
Turnwald, Annemarie; Eger, Sebastian; Wollherr, Dirk: Investigating Similarity Measures for Locomotor Trajectories Based on the Human Perception of Differences in Motions. Proceedings of the IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), 2015 more…BibTeX
2014
Bahram, Mohammad; Wolf, Anton; Aeberhard, Michael; Wollherr, Dirk: A Prediction-based Reactive Driving Strategy for Highly Automated Driving Function on Freeways. Intelligent Vehicles Symposium Proceedings, 2014, 400-406 more…BibTeX
Carton, Daniel; Turnwald, Annemarie; Olszowy, Wiktor; Buss, Martin; Wollherr, Dirk: Using Penalized Spline Regression to calculate Mean Trajectories including Confidence Intervals of Human Motion Data. Proceedings of the IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), 2014, 76-81 more…BibTeX
Lawitzky, Andreas; Nicklas, Anselm; Wollherr, Dirk; Buss Martin: Determining States of Inevitable Collision using Reachability Analysis. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2014, 4142-4147 more…BibTeX
Tanzmeister, Georg; Thomas, Julian; Wollherr, Dirk; Buss, Martin: Grid-based Mapping and Tracking in Dynamic Environments using a Uniform Evidential Environment Representation. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2014, 6090-6095 more…BibTeX
Tanzmeister, Georg; Wollherr, Dirk; Buss, Martin: Environment-based Trajectory Clustering to Extract Principal Directions for Autonomous Vehicles. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014, 667-673 more…BibTeX
Turnwald, Annemarie; Olszowy, Wiktor; Wollherr, Dirk; Buss, Martin: Interactive Navigation of Humans from a Game Theoretic Perspective. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2014, 703-708 more…BibTeX
Wollherr, Dirk; Khan, Sheraz; Landsiedel, Christian; Buss, Martin: The Interactive Urban Robot IURO: Towards Robot Action in Human Environments. Proceedings of the International Symposium on Experimental Robotics (ISER), 2014 more…BibTeX
2013
Landsiedel, Christian; de Nijs, Roderick; Kühnlenz, Kolja; Wollherr, Dirk; Buss, Martin: Route Description Interpretation on Automatically Labeled Robot Maps. Proceedings of the IEEE International Conference on Robotics and Automation, 2013 more…BibTeX
Lawitzky, Andreas; Althoff, Daniel; Passenberg, Carolin; Tanzmeister, Georg; Wollherr, Dirk; Buss, Martin: Interactive Scene Prediction for Automotive Applications. Proceedings of the IEEE Intelligent Vehicles Symposium (IV), 2013Best PhD Student Paper Award Second Prizemore…BibTeX
Lawitzky, Andreas; Wollherr, Dirk; Buss, Martin: Energy Optimal Control to Approach Traffic Lights. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013 more…BibTeX
Tanzmeister, Georg; Friedl, Martin; Lawitzky, Andreas; Wollherr, Dirk; Buss, Martin: Road Course Estimation in Unknown, Structured Environments. Proceedings of the IEEE Intelligent Vehicles Symposium (IV), 2013, 630 - 635 more…BibTeX
Tanzmeister, Georg; Friedl, Martin; Wollherr, Dirk; Buss, Martin: Path Planning on Grid Maps with Unknown Goal Poses. Proceedings of the IEEE Intelligent Transportation Systems Conference (ITSC), 2013 more…BibTeX
2012
Althoff, Daniel; Buss, Martin; Lawitzky, Andreas; Werling, Moritz; Wollherr, Dirk: On-line Trajectory Generation for Safe and Optimal Vehicle Motion Planning. Autonome Mobile Systeme, 2012 more…BibTeX
Althoff, Daniel; Werling, Moritz; Kaempchen, Nico; Wollherr, Dirk; Buss, Martin: Lane-based Safety Assessment of Road Scenes using Inevitable Collision States. Proceedings of the IEEE Intelligent Vehicles Symposium, 2012 more…BibTeX
Carton, Daniel; Turnwald, Annemarie; Kühnlenz, Kolja; Wollherr, Dirk; Buss, Martin: Proactive Human Approach in Dynamic Environments. Proceedings of the International Conference on Intelligent Robots and Systems (IROS Video), 2012 more…BibTeX
Carton, Daniel; Turnwald, Annemarie; Wollherr, Dirk; Buss, Martin: Proactively Approaching Pedestrians with an Autonomous Mobile Robot in Urban Environments. Proceedings of the 13th International Symposium on Experimental Robotics (ISER), 2012 more…BibTeX
Gonsior, Barbara; Buß, Malte; Sosnowski, Stefan; Wollherr, Dirk; Kühnlenz, Kolja; Buss, Martin: Towards Transferability of Theories on Prosocial Behavior from Social Psychology to HRI. Proceedings of the IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO), 2012 more…BibTeX
Gonsior, Barbara; Sosnowski, Stefan; Buß, Malte; Wollherr, Dirk; Kühnlenz, Kolja: An Emotional Adaption Approach to increase Helpfulness towards a Robot. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2012 more…BibTeX
Khan, Sheraz; Mitsou, Nikos; Wollherr, Dirk; Tzafestas, Constantinos: An Optimization Approach for 3D Environment Mapping using Normal Vector Uncertainty. Proceedings of the IEEE International Conference on Control, Automation, Robotics and Vision, 2012 more…BibTeX
Khan, Sheraz; Wollherr, Dirk; Buss, Martin: PIRF3D: Online Spatial and Appearance based Loop Closure. Proceedings of the IEEE International Conference on Control, Automation, Robotics and Vision, 2012 more…BibTeX
Lawitzky, Andreas; Wollherr, Dirk; Buss, Martin: Maneuver-based Risk Assessment for High-Speed Automotive Scenarios. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012 more…BibTeX
Mirnig, Nicole; Gonsior, Barbara; Sosnowski, Stefan; Landsiedel, Christian; Wollherr, Dirk; Weiss, Astrid; Tscheligi, Manfred: Feedback Guidelines for Multimodal Human-Robot Interaction: How Should a Robot Give Feedback When Asking for Directions? Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man), 2012 more…BibTeX
Mitsou, Nikos; Nijs, Roderick de; Lenz, David; Frimberger, Johannes; Wollherr, Dirk; Kühnlenz, Kolja: Online Semantic Mapping of Urban Environments. Proceedings of the Spatial Cognition VIII, 2012 more…BibTeX
2011
Althoff, Daniel; Brand, Christoph N.; Wollherr, Dirk; Buss, Martin: Computing Unions of Inevitable Collision States and Increasing Safety to Unexpected Obstacles. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011 more…BibTeX
Althoff, Daniel; Wollherr, Dirk; Buss, Martin: Safety Assessment of Trajectories for Navigation in Uncertain and Dynamic Environments. Proceedings of the IEEE International Conference on Robotics and Automation, 2011 more…BibTeX
Bergh, Michael Van den; Carton, Daniel; de Nijs, Roderick; Mitsou, Nikos; Landsiedel, Christian; Kühnlenz, Kolja; Wollherr, Dirk; Gool, Luc J. Van; Buss, Martin: Real-time 3D Hand Gesture Interaction with a Robot for Understanding Directions from Humans. 20th IEEE International Symposium on Robot and Human Interactive Communication, {RO-MAN} 2011, Atlanta, Georgia, USA, July 31 - August 3, 2011, 2011 more…BibTeX
Buss, Martin; Carton, Daniel; Gonsior, Barbara; Kühnlenz, Kolja; Landsiedel, Christian; Mitsou, Nikos; Nijs, Roderick de; Złotowski, Jakub; Sosnowski, Stefan; Strasser, Ewald; Tscheligi, Manfred; Weiss, Astrid; Wollherr, Dirk: Towards Proactive Human-Robot Interaction in Human Environments. Proceedings of the International Conference on Cognitive Infocommunications, 2011 more…BibTeX
Gonsior (Kühnlenz), Barbara; Landsiedel, Christian; Glaser, Antonia; Wollherr, Dirk; Buss, Martin: Dialog Strategies for Handling Miscommunication in Task-Related HRI. IEEE International Symposium on Robot and Human Interactive Communication, 2011 more…BibTeX
Gonsior (Kühnlenz), Barbara; Sosnowski, Stefan; Mayer, Christoph; Blume, Jiirgen; Radig, Bernd; Wollherr, Dirk; Kühnlenz, Kolja: Improving Aspects of Empathy and Subjective Performance for HRI through Mirroring Facial Expressions. Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication, 2011 more…BibTeX
Lawitzky, Andreas; Althoff, Daniel; Wollherr, Dirk; Buss, Martin: Dynamic Window Approach for Omnidirectional Robots with Polygonal Shape. IEEE International Conference on Robotics and Automation, 2011video submissionmore…BibTeX
Mitsou, Nikos; Ntoutsi, Irene; Wollherr, Dirk; Tzafestas, Costas; Kriegel, Hans-Peter: Revealing Cluster Formation Over Huge Volatile Robotic Data. Workshop on Domain Driven Data Mining at IEEE International Conference on Data Mining, 2011 more…BibTeX
Nijs, Roderick de; Julia, Miguel; Mitsou, Nikos; Gonsior (Kühnlenz), B.; Kühnlenz, Kolja; Wollherr, Dirk; Buss, Martin: Following Route Graphs in Urban Environments. IEEE International Symposium on Robot and Human Interactive Communication, 2011 more…BibTeX
2010
Althoff, Daniel; Althoff, Matthias; Wollherr, Dirk; Buss, Martin: Probabilistic Collision State Checker for Crowded Environments. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2010 more…BibTeX
Althoff, Matthias; Althoff, Daniel; Wollherr, Dirk; Buss, Martin: Safety Verification of Autonomous Vehicles for Coordinated Evasive Maneuvers. Proceedings of the IEEE Intelligent Vehicles Symposium, 2010 more…BibTeX
Bätz, Georg; Mettin, Uwe; Schmidts, Alexander; Scheint, Michael; Wollherr, Dirk; Shiriaev, Anton S.: Ball Dribbling with an Underactuated Continuous-Time Control Phase: Theory & Experiments. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010 more…BibTeX
Bätz, Georg; Yaqub, Arhan; Wollherr, Dirk; Buss, Martin: Dynamic Manipulation: Nonprehensile Ball Catching. Proceedings of the 18th IEEE Mediterranean Conference on Control and Automation, 2010 more…BibTeX
Gonsior, Barbara; Wollherr, Dirk; Buss, Martin: Towards a Dialog Strategy for Handling Miscommunication in Human-Robot Dialog. Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication, 2010 more…BibTeX
Mettin, Uwe; Shiriaev, Anton S.; Bätz, Georg; Wollherr, Dirk: Ball Dribbling with an Underactuated Continuous-Time Control Phase. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2010 more…BibTeX
Rohrmüller, Florian; Kourakos, Omiros; Rambow, Matthias; Brscic, Drazen; Wollherr, Dirk; Hirche, Sandra; Buss, Martin: Interconnected Performance Optimization in Complex Robotic Systems. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010 more…BibTeX
Weiss, Astrid; Igelsböck, Judith; Tscheligi, Manfred; Bauer, Andrea; Kühnlenz, Kolja; Wollherr, Dirk; Buss, Martin: Robots Asking for Directions: The Willingness of Passers-by to Support Robots. International Conference on Human-Robot Interaction (HRI), 2010 more…BibTeX
2009
Althoff, Daniel; Kourakos, Omiros; Lawitzky, Martin; Mörtl, Alexander; Rambow, Matthias; Rohrmüller, Florian; Brščić, Dražen; Wollherr, Dirk; Hirche, Sandra; Buss, Martin: A Flexible Architecture for Real-time Control in Multi-robot Systems. Proceedings of the Third International Workshop on Human Centered Robotic Systems '09 (Cognitive Systems Monographs), Springer, 2009 more…BibTeX
Bauer, Andrea; Gonsior, Barbara; Wollherr, Dirk; Buss, Martin: Heuristic Rules for Human-Robot Interaction Based on Principles from Linguistics - Asking for Directions. AISB Convention - Symposium on New Frontiers in Human-Robot Interaction, 2009, 24-30 more…BibTeX
Bauer, Andrea; Klasing, Klaas; Xu, Tingting; Sosnowski, Stefan; Lidoris, Georgios; Mühlbauer, Quirin; Zhang, Tianguang; Rohrmüller, Florian; Kühnlenz, Kolja; Wollherr, Dirk; Buss, Martin: The Autonomous City Explorer Project (Video). Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2009, 1595-1596 more…BibTeX
Bauer, Andrea; Wollherr, Dirk; Buss, Martin: Information Retrieval System for Human-Robot Communication – Asking for Directions. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2009, 4150-4155 more…BibTeX
Bätz, Georg; Lee, Kwang-Kyu; Wollherr, Dirk; Buss, Martin: Robot Basketball: A Comparison of Ball Dribbling with Visual and Force/Torque Information. Proc. IEEE International Conference on Robotics and Automation (ICRA), 2009 more…BibTeX
Klasing, Klaas; Althoff, Daniel; Wollherr, Dirk; Buss, Martin: Comparison of Surface Normal Estimation Methods for Range Sensing Applications. Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA), 2009 more…BibTeX
Klasing, Klaas; Wollherr, Dirk; Buss, Martin: Realtime Segmentation of Range Data Using Continuous Nearest Neighbors. Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA), 2009 more…BibTeX
Lidoris, G.; Rohrmüller, F.; Wollherr, D.; Buss, M.: The Autonomous City Explorer (ACE) Project - Mobile Robot Navigation in Highly Populated Urban Environments. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2009 more…BibTeX
Rohrmüller, F.; Lidoris, G.; Wollherr, D.; Buss, M.: System Interdependence Analysis For Autonomous Mobile Robots. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009 more…BibTeX
2008
Klasing, K.,; G. Lidoris,; A. Bauer,; Rohrmüller, F.; D. Wollherr,; Buss., M.: The Autonomous City Explorer: Towards Semantic Navigation in Urban Environments. Proceedings of the 1st International Workshop on Cognition for Technical Systems, 2008 more…BibTeX
Klasing, K.; Wollherr, D.; Buss, M.: A Clustering Method for Efficient Segmentation of 3D Laser Data. Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA), 2008 more…BibTeX
Lee, K.K.; Bätz, G.; Wollherr, D.: Basketball Robot: Ball-on-Plate with Pure Haptics. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2008 more…BibTeX
Lee, K.K.; Achhammer, A.; Drexler, S.; Wollherr, D.: Basketball Robot: Ball-on-Plate System without Visual Information. Proceedings of the IFAC World Congress, 2008 more…BibTeX
Lidoris, G.; Wollherr, D.; Buss, M.: Bayesian State Estimation and Behavior Selection for Autonomous Robotic Exploration in Dynamic Environments. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2008 more…BibTeX
Rohrmüller, F.; Althoff, M; Wollherr, D.; Buss, M.: Probabilistic Mapping of Dynamic Obstacles Using Markov Chains for Replanning in Dynamic Environments. Proc. of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS08), 2008 more…BibTeX
Weiss, A.; Bernhaupt, R.; Tscheligi, M.; Wollherr, D.; Kühnlenz, K.; Buss, M.: A Methodological Variation for Acceptance Evaluation of Human-Robot Interaction in Public Places. Proceedings of the International Symposium on Robot and Human Interactive Communication (RO-MAN), 2008 more…BibTeX
2007
Buss, M.; Beetz, M.; Wollherr, D.: CoTeSys - Cognition for Technical Systems. Proceedings of the 4th COE Workshop on Human Adaptive Mechatronics (HAM), 2007 more…BibTeX
Buss, M.; Beetz, M.; Wollherr, D.: CoTeSys - Cognition for Technical Systems. Proceedings of the 4th COE Workshop on Human Adaptive Mechatronics (HAM), 2007 more…BibTeX
Klasing, K.; Wollherr, D.; Buss, M.: Cell-based Probabilistic Roadmaps (CPRM) for Efficient Path Planning in Large Environments. Proceedings of the 2007 International Conference on Advanced Robotics (ICAR), 2007 more…BibTeX
Lidoris, G.; Klasing, K.; Bauer, A.; Xu, T.; Kühnlenz, K.; Wollherr, D.; Buss, M.: The Autonomous City Explorer Project: Aims and System Overview. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007 more…BibTeX
Lidoris, G.; Kühnlenz, K.; Wollherr, D.; Buss, M.: Combined Trajectory Planning and Gaze Direction Control for Robotic Exploration. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2007 more…BibTeX
2006
Lidoris, G.; Kühnlenz, K.; Wollherr, D.; Buss, M.: Information-Based Gaze Direction Planning Algorithm for SLAM. Proc. of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2006 more…BibTeX
2004
Wollherr, Dirk; Buss, Martin: Posture Modification for Biped Humanoid Robots Based on Jacobian Method. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004 more…BibTeX
2001
Mareczek, J; Wollherr, D.; Buss, M.; Schmidt G.: Rollover Avoidance of Steerable Vehicles with Invariance Control. Proceedings of the 2001 European Control Conference (ECC), 2001, 3522–3527 more…BibTeX
Wollherr, D.; Mareczek, J.; Buss, M.; Schmidt, G.: Rollover Avoidance for Steerable Vehicles by Invariance Control. Book of Abstracts of the European Control Conference, (ECC'01), 2001, 3522-3527 more…BibTeX
Technical Reports
D. Brščić, M. Eggers, F. Rohrmüller, O. Kourakos, S. Sosnowski, D. Althoff, M. Lawitzky, A. Mörtl, M. Rambow, V. Koropouli, J.R. Medina Hernández, X. Zang, W. Wang, D. Wollherr, K. Kühnlenz, C. Mayer, T. Kruse, A. Kirsch, J. Blume, A. Bannat, T. Rehrl, F. Wallhoff, T. Lorenz, P. Basili, C. Lenz, T. Röder, G. Panin, W. Maier, S. Hirche, M. Buss, M. Beetz, B. Radig, A. Schubö, S. Glasauer, A. Knoll, E. Steinbach , Multi Joint Action in CoTeSys - setup and challenges , Technische Universität München & Ludwig-Maximilians-Universität München , Munich, Germany , 2010 .
