Publications

2026

Ansgar Howey, Tim Schreiter, Andrey Rudenko, and Achim J. Lilienthal: Perceived Safety of Workers in Encounters with Large Industrial AGVs. International Conference on Robotics and Automation (ICRA) 2026: Workshop Proceedings: 8th Long-term Human Motion Prediction Workshop (LHMP), 2026 more…
Asghari, Parviz; Simon, Anna L.; Lai, Jingyi; Lilienthal, Achim J.; Schindler, Maike: Using webcam eye tracking and AI to determine how students proceed in basic mathematical activities: a study based on a digital adaptive learning system. ZDM – Mathematics Education, 2026 more…
Hilger, Maximilian; Adolfsson, Daniel; Becker, Ralf; Andreasson, Henrik; Lilienthal, Achim J.: CFEAR-Teach-and-Repeat: Fast and Accurate Radar-only Localization. 2026 IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2026 more…
Hilger, Maximilian; Adolfsson, Daniel; Becker, Ralf; Andreasson, Henrik; Lilienthal, Achim J.: Fast and Accurate Radar-only Teach-and-Repeat Localization. 2nd German Robotics Conference, 2026 more…

2025

Asghari, Parviz; Fan, Han; Lilienthal, Achim J.; Simon, Anna L.; Schindler, Maike: DOES WEBCAM EYE TRACKING WORK FOR MATHEMATICS EDUCATION? A CASE STUDY WITH AI-ASSISTED ENHANCED DATA PROCESSING. of the 48th Conference of the International Group for the Psychology of Mathematics Education, 2025 more…
Forte, Paolo; Gupta, Himanshu; Andreasson, Henrik; Köckemann, Uwe; Lilienthal, Achim J.: On Robust Context-Aware Navigation for Autonomous Ground Vehicles. IEEE Robotics and Automation Letters 10 (2), 2025, 1449-1456 more…
Hilger, Maximilian; Adolfsson, Daniel; Becker, Ralf; Andreasson, Henrik; Lilienthal, Achim J.: Detecting Loop Closures in 4D Radar SLAM. 1st German Robotics Conference, 2025 more…
Hilger, Maximilian; Kubelka, Vladimír; Adolfsson, Daniel; Becker, Ralf; Andreasson, Henrik; Lilienthal, Achim J.: Introspective Loop Closure for SLAM with 4D Imaging Radar. 2025 IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2025, 6175-6182 more…
Kaden, Janik; Hilger, Maximilian; Schreiter, Tim; Schaab, Marius; Graichen, Thomas; Rudenko, Andrey; Heinkel, Ulrich; Lilienthal, Achim J.: Collecting Human Motion Data in Large and Occlusion-Prone Environments using Ultra-Wideband Localization. 2025 International Conference on Robotics and Automation (ICRA): 7th Workshop on Long-term Human Motion Prediction (LHMP), 2025 more…
Rüppel, Jens V; Rudenko, Andrey; Schreiter, Tim; Magnusson, Martin; Lilienthal, Achim J: Gaze-supported Large Language Model Framework for Bi-directional Human-Robot Interaction. 2025 34th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2025 more…
Schaab, Marius; Wiedemann, Thomas; Hinsen, Patrick; Lilienthal, Achim J.: Methane Release Rate Estimation Using Model-Based Gas Tomography. IEEE Sensors Letters 9 (9), 2025, 1-4 more…
Schindler, Maike; Kölsch, Mia-Milena; Asghari, Parviz; Simon, Anna Lisa: IT IS TIME: AN EYE-TRACKING STUDY ON CLOCK-READING. of the 48th Conference of the International Group for the Psychology of Mathematics Education, 2025 more…
Schindler, Maike; Shvarts, Anna; Lilienthal, Achim J.: Introduction to eye tracking in mathematics education: interpretation, potential, and challenges. Educational Studies in Mathematics, 2025 more…
Tiago Rodrigues De Almeida, Tim Schreiter, Andrey Rudenko, Luigi Palmieri, Johannes A. Stork and Achim J. Lilienthal: THÖR-MAGNI Act: Actions for Human Motion Modeling in Robot-Shared Industrial Spaces. 2025 20th ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2025 more…
Tim Schreiter, Andrey Rudenko, Jens V. Rüppel, Martin Magnusson and Achim J. Lilienthal: Multimodal Interaction and Intention Communication for Industrial Robots. Robotics Insititute Germany, 2025, more…
Tim Schreiter, Jens V. Rüppel, Rishi Hazra, Andrey Rudenko, Martin Magnusson, and Achim J. Lilienthal: Evaluating Efficiency and Engagement in Scripted and LLM-Enhanced Human-Robot Interactions. 2025 20th ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2025 more…
Wiedemann, Thomas; Scheffler, Martina; Shutin, Dmitriy; Lilienthal, Achim J.: Physics-informed robotic airflow exploration and mapping with a swarm of mobile robots. The International Journal of Robotics Research, 2025 more…

2024

Alhashimi, Anas; Adolfsson, Daniel; Andreasson, Henrik; Lilienthal, Achim; Magnusson, Martin: BFAR: improving radar odometry estimation using a bounded false alarm rate detector. Autonomous Robots 48 (8), 2024 more…
Baumanns, Lukas; Pitta-Pantazi, Demetra; Demosthenous, Eleni; Lilienthal, Achim J.; Christou, Constantinos; Schindler, Maike: Pattern-Recognition Processes of First-Grade Students: An Explorative Eye-Tracking Study. International Journal of Science and Mathematics Education 22 (8), 2024, 1663-1682 more…
Broghammer, Fabio; Wiedemann, Thomas; Zhang, Siwei; Dammann, Armin; Gentner, Christian; Djuric, Petar: Self-Organized Sensor Eggs for Decentralized Localization and Sensing on Vulcano Island – A Glimpse into Future Space Exploration with Swarms. 2024 27th International Conference on Information Fusion (FUSION), IEEE, 2024, 1-8 more…
Broghammer, Fabio; Wiedemann, Thomas; Zhang, Siwei; Noack, Benjamin: Simultaneous Gas Exploration and Network Localization with Robotic Swarms. 2024 IEEE International Conference on Acoustics, Speech, and Signal Processing Workshops (ICASSPW), IEEE, 2024, 169-173 more…
Fan, Han; Schaffernicht, Erik; Lilienthal, Achim J.: Identification of Gas Mixtures with Few Labels Using Graph Convolutional Networks. 2024 IEEE International Symposium on Olfaction and Electronic Nose (ISOEN), IEEE, 2024, 1-4 more…
Fan, Hongqi; Lu, Dawei; Jiang, Yanwen; J. Lilienthal, Achim: Extraction of Motion Information from Occupancy Grid Map Using Keystone Transform. Chinese Journal of Information Fusion 1 (1), 2024, 63-78 more…
Gupta, Himanshu; Kotlyar, Oleksandr; Andreasson, Henrik; Lilienthal, Achim J.: Video WeAther RecoGnition (VARG): An Intensity-Labeled Video Weather Recognition Dataset. Journal of Imaging 10 (11), 2024, 281 more…
Gupta, Himanshu; Kotlyar, Oleksandr; Andreasson, Henrik; Lilienthal, Achim J.: Robust Object Detection in Challenging Weather Conditions. 2024 IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), IEEE, 2024, 7508-7517 more…
Hilger, Maximilian; Mandischer, Nils; Corves, Burkhard: RaNDT SLAM: Radar SLAM Based on Intensity-Augmented Normal Distributions Transform. 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2024, 7831-7838 more…
Hinsen, Patrick; Wiedemann, Thomas; Ruiz, Victor Scott Prieto; Shutin, Dmitriy; Lilienthal, Achim J.: Experimental Study of Gas Propagation: Parameter Identification and Analysis in a Wind Tunnel. 2024 IEEE International Symposium on Olfaction and Electronic Nose (ISOEN), IEEE, 2024, 1-3 more…
Neumann, Patrick P.; Hüllmann, Dino; Winkler, Nicolas P.; Lohrke, Heiko; Lilienthal, Achim J.: Outdoor Gas Plume Reconstructions: A Field Study with Aerial Tomography. 2024 IEEE International Symposium on Olfaction and Electronic Nose (ISOEN), IEEE, 2024, 1-3 more…
Palm, Rainer; Lilienthal, Achim J.: Crossing-Point Estimation in Human–Robot Navigation—Statistical Linearization versus Sigma-Point Transformation. Sensors 24 (11), 2024, 3303 more…
Pitta-Pantazi, Demetra; Demosthenous, Eleni; Schindler, Maike; Lilienthal, Achim J.; Christou, Constantinos: Structure sense in students’ quantity comparison and repeating pattern extension tasks: an eye-tracking study with first graders. Educational Studies in Mathematics, 2024 more…
Prieto Ruiz, Victor Scott; Shutin, Dmitriy; Wiedemann, Thomas; Hinsen, Patrick: Physics-Guided Neural Networks for Distributed Sparse Gas Source Localization Using Poisson's Equation and Green's Function Method. 2024 32nd European Signal Processing Conference (EUSIPCO), IEEE, 2024, 2237-2241 more…
Rudenko, Irina; Rudenko, Andrey; Lilienthal, Achim J.; Arras, Kai O.; Bruno, Barbara: The Child Factor in Child–Robot Interaction: Discovering the Impact of Developmental Stage and Individual Characteristics. International Journal of Social Robotics 16 (8), 2024, 1879-1900 more…
Ruiz, Victor Prieto; Hinsen, Patrick; Wiedemann, Thomas; Shutin, Dmitriy; Christof, Constantin: Gas Source Localization Using Physics-Guided Neural Networks. 2024 IEEE International Symposium on Olfaction and Electronic Nose (ISOEN), IEEE, 2024, 1-3 more…
Schreiter, Tim; Rodrigues de Almeida, Tiago; Zhu, Yufei; Gutierrez Maestro, Eduardo; Morillo-Mendez, Lucas; Rudenko, Andrey; Palmieri, Luigi; Kucner, Tomasz P; Magnusson, Martin; Lilienthal, Achim J: THÖR-MAGNI: A large-scale indoor motion capture recording of human movement and robot interaction. The International Journal of Robotics Research, 2024 more…
Schreiter, Tim; Rudenko, Andrey; Magnusson, Martin; Lilienthal, Achim J.: Human Gaze and Head Rotation during Navigation, Exploration and Object Manipulation in Shared Environments with Robots. 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN), IEEE, 2024, 1258-1265 more…
Shutin, Dmitriy; Prieto Ruiz, Victor Scott; Wiedemann, Thomas; Hinsen, Patrick; Dammann, Armin: Cramer-Rao Lower Bound for a Gas Source Localization Based on Poisson's Equation. 2024 IEEE Workshop on Signal Processing Systems (SiPS), IEEE, 2024, 77-82 more…
Shutin, Dmitriy; Wiedemann, Thomas; Hinsen, Patrick: Detection and Estimation of Gas Sources With Arbitrary Locations Based on Poisson's Equation. IEEE Open Journal of Signal Processing 5, 2024, 359-373 more…
Sun, Shuo; Mielle, Malcolm; Lilienthal, Achim J.; Magnusson, Martin: 3QFP: Efficient neural implicit surface reconstruction using Tri-Quadtrees and Fourier feature Positional encoding. 2024 IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2024, 4036-4044 more…
Sun, Shuo; Mielle, Malcolm; Lilienthal, Achim J.; Magnusson, Martin: High-Fidelity SLAM Using Gaussian Splatting with Rendering-Guided Densification and Regularized Optimization. 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2024, 10476-10482 more…
Tim Schreiter, Rishi Hazra, Jens V. Rüppel, Andrey Rudenko: Bidirectional Intent Communication: A Role for Large Foundation Models. 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Workshop: Large Language Models in the RoMan Age, 2024 more…
Wiedemann, Thomas; Hinsen, Patrick; Ruiz, Victor Prieto; Shutin, Dmitriy; Lilienthal, Achim J.: Domain Knowledge Assisted Gas Tomography. 2024 IEEE International Symposium on Olfaction and Electronic Nose (ISOEN), IEEE, 2024, 1-3 more…
Winkler, Nicolas P.; Kotlyar, Oleksandr; Schaffernicht, Erik; Matsukura, Haruka; Ishida, Hiroshi; Neumann, Patrick P.; Lilienthal, Achim J.: Super-resolution for Gas Distribution Mapping. Sensors and Actuators B: Chemical 419, 2024, 136267 more…
Winkler, Nicolas P.; Neumann, Patrick P.; Schaffernicht, Erik; Lilienthal, Achim J.: Gas Distribution Mapping With Radius-Based, Bi-directional Graph Neural Networks (RABI-GNN). 2024 IEEE International Symposium on Olfaction and Electronic Nose (ISOEN), IEEE, 2024, 1-3 more…
Zhu, Yufei; Fan, Han; Rudenko, Andrey; Magnusson, Martin; Schaffernicht, Erik; Lilienthal, Achim J.: LaCE-LHMP: Airflow Modelling-Inspired Long-Term Human Motion Prediction By Enhancing Laminar Characteristics in Human Flow. 2024 IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2024, 11281-11288 more…
de Almeida, Tiago Rodrigues; Zhu, Yufei; Rudenko, Andrey; Kucner, Tomasz P.; Stork, Johannes A.; Magnusson, Martin; Lilienthal, Achim J.: Trajectory Prediction for Heterogeneous Agents: A Performance Analysis on Small and Imbalanced Datasets. IEEE Robotics and Automation Letters 9 (7), 2024, 6576-6583 more…

2023

Adolfsson, Daniel; Magnusson, Martin; Alhashimi, Anas; Lilienthal, Achim J.; Andreasson, Henrik: Lidar-Level Localization With Radar? The CFEAR Approach to Accurate, Fast, and Robust Large-Scale Radar Odometry in Diverse Environments. IEEE Transactions on Robotics 39 (2), 2023, 1476-1495 more…
Asghari, Parviz; Schindler, Maike; Lilienthal, Achim J.: Eye Tracking Auto-Correction Using Domain Information. In: Lecture Notes in Computer Science. Springer Nature Switzerland, 2023 more…
Gupta, Himanshu; Andreasson, Henrik; Lilienthal, Achim J.; Kurtser, Polina: Robust Scan Registration for Navigation in Forest Environment Using Low-Resolution LiDAR Sensors. Sensors 23 (10), 2023, 4736 more…
Gupta, Himanshu; Andreasson, Henrik; Magnusson, Martin; Julier, Simon; Lilientha, Achim J.: Revisiting Distribution-Based Registration Methods. 2023 European Conference on Mobile Robots (ECMR), IEEE, 2023, 1-6 more…
Gupta, Himanshu; Lilienthal, Achim J.; Andreasson, Henrik; Kurtser, Polina: NDT‐6D for color registration in agri‐robotic applications. Journal of Field Robotics 40 (6), 2023, 1603-1619 more…
Kucner, Tomasz Piotr; Magnusson, Martin; Mghames, Sariah; Palmieri, Luigi; Verdoja, Francesco; Swaminathan, Chittaranjan Srinivas; Krajník, Tomáš; Schaffernicht, Erik; Bellotto, Nicola; Hanheide, Marc; Lilienthal, Achim J: Survey of maps of dynamics for mobile robots. The International Journal of Robotics Research 42 (11), 2023, 977-1006 more…
Schreiter, Tim; Morillo-Mendez, Lucas; Chadalavada, Ravi T.; Rudenko, Andrey; Billing, Erik; Magnusson, Martin; Arras, Kai O.; Lilienthal, Achim J.: Advantages of Multimodal versus Verbal-Only Robot-to-Human Communication with an Anthropomorphic Robotic Mock Driver. 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), IEEE, 2023, 293-300 more…
Shutin, Dmitriy; Wiedemann, Thomas; Hinsen, Patrick: Distributed Superresolution Gas Source Localization Based on Poisson Equation. 2023 IEEE 9th International Workshop on Computational Advances in Multi-Sensor Adaptive Processing (CAMSAP), IEEE, 2023, 371-375 more…
Zhu, Yufei; Rudenko, Andrey; Kucner, Tomasz P.; Palmieri, Luigi; Arras, Kai O.; Lilienthal, Achim J.; Magnusson, Martin: CLiFF-LHMP: Using Spatial Dynamics Patterns for Long- Term Human Motion Prediction. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2023 more…