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Publications

2023

Viewpoint Push Planning for Mapping of Unknown Confined Spaces (Video). N. Dengler, S. Pan, V. Kalagaturu, R. Menon, M. Dawood, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023. Code available!
NBV-SC: Next Best View Planning based on Shape Completion for Fruit Mapping and Reconstruction (Video). R. Menon, T. Zaenker, N. Dengler, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.
Graph-Based View Motion Planning for Fruit Detection (Video). T. Zaenker, J. Rückin, R. Menon, M. Popovic, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023. Code available!
Learning Depth Vision-Based Personalized Robot Navigation From Dynamic Demonstrations in Virtual Reality (Video). J. de Heuvel, N. Corral, B. Kreis, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.
DawnIK: Decentralized Collision-Aware Inverse Kinematics Solver for Heterogeneous Multi-Arm Systems (Video). S. Marangoz, R. Menon, N. Dengler, and M. Bennewitz. ArXiv preprint, submitted for publication.
One-Shot View Planning for Fast and Complete Unknown Object Reconstruction (Video). S. Pan, H. Hu, H. Wei, N. Dengler, T. Zaenker, and M. Bennewitz. ArXiv preprint, submitted for publication. Code available!
Handling Sparse Rewards in Reinforcment Learning Using Model Predictive Control (Video). M. Dawood, N. Dengler, J. de Heuvel, and M. Bennewitz. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2023. Presentation available!
Fruit Tracking Over Time Using High-Precision Point Clouds. A. Riccardi, S. Kelly, E. Marks, F. Magistri, T. Guadagnino, J. Behley, M. Bennewitz, and C. Stachniss. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2023.
On the Use of Torque Measurement in Centroidal State Estimation. S. Khorshidi, A. Gazar, N. Rotella, M. Naveau, L. Righetti, M. Bennewitz, M. Khadiv. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2023.
RoboCup 2022 Adult Size Winner NimbRo: Upgraded Perception, Capture Steps Gait, and Phase-Based In-Walk Kicks. D.Pavlichenko, G. Ficht, A. Amini, M. Hosseini, R. Memmesheimer, A. Villar-Corrales, S.M. Schulz, M. Missura, M. Bennewitz, and S. Behnke. In: Robocup 2022: Robot World Cup XXV. LNCS Springer-Verlag, 2023.
Learning Depth Vision-Based Personalized Robot Navigation Using Latent State Representations. J. de Heuvel, N. Corral, B. Kreis, and M. Bennewitz. In: CVPR 2023 Workshop on 3D Vision and Robotics, 2023. Presentation available!
Viewpoint Push Planning for Mapping of Unknown Confined Spaces (Video). N. Dengler, S. Pan, V. Kalagaturu, R. Menon, M. Dawood, and M. Bennewitz. IEEE ICRA Workshop on Embracing Contacts, 2023.
Subgoal-Driven Navigation in Dynamic Environments Using Attention-Based Deep Reinforcement Learning (Video). J. de Heuvel, W. Shi, X. Zeng, and M. Bennewitz. ArXiv preprint, submitted for publication.
Reactive Correction of Object Placement Errors for Robotic Arrangement Tasks (Video). B. Kreis, R. Menon, B. K. Adinarayan, J. de Heuvel, and M. Bennewitz. In: Proceedings of the International Conference on Intelligent Autonomous Systems (IAS), 2023.

2022

3D Polygonal Mapping for Humanoid Robot Navigation (Video). A. Roychoudhury, M. Missura, and M. Bennewitz. In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2022.
Learning Goal-Directed Non-Prehensile Pushing in Cluttered Scenes (Video). N. Dengler, D. Großklaus, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022. Presentation and Code available!
*Fast-Replanning Motion Control for Non-Holonomic Vehicles with Aborted A (Video).** M. Missura, A. Roychoudhury, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022. Presentation and Code available!
Learning Personalized Human-Aware Robot Navigation Using Virtual Reality Demonstrations from a User Study. J. de Heuvel, N. Corral, L. Bruckschen, and M. Bennewitz. In: Proceedings of the IEEE International on Human & Robot Interactive Communication (RO-MAN), 2022. Presentation available!
Fruit Mapping with Shape Completion for Autonomous Crop Monitoring. S. Marangoz, T. Zaenker, R. Menon, and M. Bennewitz. In: Proceedings of the IEEE International Conference on Automation Science and Engineering (CASE), 2022.
Sensor-Based Navigation Using Hierarchical Reinforcement Learning (Video). C. Gebauer, N. Dengler, and M. Bennewitz. In: Proceedings of the International Conference on Intelligent Autonomous Systems (IAS-17), LNNS Springer-Verlag, Vol. 577, 2023.
Deep Reinforcement Learning for Next-Best-View Planning in Agricultural Applications. X. Zeng, T. Zaenker, and M. Bennewitz. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2022. Code available!
Enhanced Spatial Attention Graph for Motion Planning in Crowded, Partially Observable Environments (Video). W. Shi, Y. Zhou, X. Zeng, S. Li, and M. Bennewitz. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2022.
Working with Robots: Design and Evaluation of an introductory Computer Science Teaching Unit with Educational Robots. K. Bungert, P. Müller, M. Bennewitz, and L. Bruckschen. In: Proceedings of the European Conference on Education (ECE), 2022.
Learning Goal-Directed Non-Prehensile Pushing (Video). N. Dengler, D. Großklaus, and M. Bennewitz. IEEE ICRA Workshop on Reinforcement Learning for Contact-Rich Manipulation, 2022.
Teaching Personalized Robot Navigation through Virtual Reality Demonstrations: A Learning Framework and User Study. J. de Heuvel, N. Corral, L. Bruckschen, and M. Bennewitz. IEEE ICRA Workshop on Social Robot Navigation, 2022.
Towards Hierarchical Hybrid Architectures for Human-Swarm Interaction. J. Hasbach and M. Bennewitz. Extended abstract, Conference on Artificial Life (ALIFE), 2022.
Robot Swarms as Embodied Extensions of Humans. J. Hasbach and M. Bennewitz. In: Proceedings of the Int. Workshop on Embodied Intelligence 2021, IOP Conf. Series: Materials Science and Engineering, 2022.

2021

Combining Local and Global Viewpoint Planning for Fruit Coverage. T. Zaenker, C. Lehnert, C. McCool, and M. Bennewitz. In: Proceedings of the European Conference on Mobile Robots (ECMR), 2021.
Online Object-Oriented Semantic Mapping and Map Updating. N. Dengler, T. Zaenker, F. Verdoja, and M. Bennewitz. In: Proceedings of the European Conference on Mobile Robots (ECMR), 2021. Code available!
Viewpoint Planning for Fruit Size and Position Estimation. T. Zaenker, C. Smitt, C. McCool, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021. Code available!
Plane Segmentation Using Depth-Dependent Flood Fill. A. Roychoudhury, M. Missura, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021. Code available!
Human-Aware Robot Navigation Based on Learned Cost Values from User Studies. K. Bungert, L. Bruckschen, S. Krumpen, W. Rau, M. Weinmann, M. Bennewitz. In: Proceedings of the IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2021.
*Fast Footstep Planning with Aborting A (Video).** M. Missura and M. Bennewitz. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2021.
Plane Segmentation in Organized Point Clouds Using Flood Fill. A. Roychoudhury, M. Missura, and M. Bennewitz. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2021.
PATHoBot: A Robot for Glasshouse Crop Phenotyping and Intervention. C. Smitt, M. Halstead, T. Zaenker, M. Bennewitz, and C. McCool. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2021, https://arxiv.org/abs/2010.16272.
The Design of Self-Organizing Human-Swarm Intelligence. J. Hasbach and M. Bennewitz. In: Adaptive Behavior, 2021, https://doi.org/10.1177/1059712311017550.
The Pitfall of More Powerful Autoencoders in Lidar-Based Navigation. C. Gebauer and M. Bennewitz. https://arxiv.org/abs/2102.02127

2020

Predicting Human Navigation Goals based on Bayesian Inference and Activity Regions. L. Bruckschen, K. Bungert, N. Dengler, and M. Bennewitz. In: Robotics and Autonomous Systems (RAS), 2020, https://doi.org/10.1016/j.robot.2020.103664.
Deep Reinforcement Learning for Navigation in Cluttered Environments. P. Regier, L. Gesing, and M. Bennewitz. In: Proceedings of the International Conference on Machine Learning and Applications (CMLA), 2020.
Penalized Bootstrapping for Reinforcement Learning in Robot Control. C. Gebauer and M. Bennewitz. In: Proceedings of the International Conference on Machine Learning and Applications (CMLA), 2020.
Polygonial Perception for Mobile Robots (Video). M. Missura, A. Roychoudhury, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020. Code available!
Human-Aware Robot Navigation by Long-Term Movement Prediction (Video). L. Bruckschen, K. Bungert, N. Dengler, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.
Where Can I Help? Human-Aware Placement of Service Robots. L. Bruckschen, K. Bungert, M. Wolter, S. Krumpen, M. Weinmann, R. Klein, and M. Bennewitz. In: Proceedings of the IEEE Conference on Robot and Human Interactive Communication (RO-MAN), 2020.
Robots in Education: Influence on Learning Experience and Design Considerations. K. Bungert, L. Bruckschen, K. Müller, and M. Bennewitz. In: Proceedings of the European Conference on Education (ECE), 2020.
On the Importance of Adaptive Operator Training in Human-Swarm Interaction. J. Hasbach and M. Bennewitz. In: Proceedings of the International Conference on Human-Computer Interaction (HCII), 2020, https://doi.org/10.1007/978-3-030-50788-6_23.
Gradient and Log-based Active Learning for Semantic Segmentation of Crop and Weed for Agricultural Robots. R. Sheikh, A. Milioto, P. Lottes, C. Stachniss, M. Bennewitz, and T. Schultz. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2020.
Classifying Obstacles and Exploiting Class Information for Humanoid Navigation through Cluttered Environments (Video). P. Regier, A. Milioto, C. Stachniss, and M. Bennewitz. In: International Journal of Humanoid Robotics (IJHR), Vol. 17 (2), 2020, https://doi.org/10.1142/S0219843620500139.
Capture Steps: Robust Walking for Humanoid Robots (Video). M. Missura, M. Bennewitz, and S. Behnke. In: International Journal of Humanoid Robotics (IJHR), 2020, http://dx.doi.org/10.1141/S021983619500324.
Sensoren. T.C. Bächle, P. Regier, and M. Bennewitz. In: Handbuch Historische Technikanthropologie, M. Heßler and K. Liggieri (editors), Nomos, 2020.

2019

Bonn Activity Maps: Dataset Description. J. Tanke, O.-H. Kwon, P. Stotko, R.A. Rosu, M. Weinmann, H. Errami, S. Behnke, M. Bennewitz, R. Klein, A. Weber, A. Yao, and J. Gall. https://arxiv.org/abs/1912.06354, 2019.
Applying the Popov-Vereshchagin Hybrid Dynamics Solver for Teleoperation under Instantaneous Constraints. P. Kulkarni, S. Schneider, M. Bennewitz, D. Schulz, and P. Plöger. In: Proceedings of the International Conferences on Advanced Robotics (ICAR), 2019. Selected as one of the best papers!
Detection of Generic Human-Object Interactions in Video Streams (Video). L. Bruckschen, S. Amft, J. Tanke, J. Gall, and M. Bennewitz. In: Proceedings of the International Conference on Social Robotics (ICSR), 2019.
Human Motion Prediction Based on Object Interactions (Video). L. Bruckschen, N. Dengler, and M. Bennewitz. In: Proceedings of the European Conference on Mobile Robots (ECMR), 2019. Selected as one of the best papers!
Improving Navigation with the Social Force Model by Learning a Neural Network Controller in Pedestrian Crowds. P. Regier, I. Shareef, and M. Bennewitz. In: Proceedings of the European Conference on Mobile Robots (ECMR), 2019.
Prediction Maps for Real-Time 3D Footstep Planning in Dynamic Environments (Video). P. Karkowski and M. Bennewitz. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2019.
Predictive Collision Detection for the Dynamic Window Approach (Video). M. Missura and M. Bennewitz. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2019.
Speeding Up Person Finding Using Hidden Markov Models (Video). A. Bayoumi, P. Karkowski, and M. Bennewitz. In: Robotics and Autonomous Systems, 2019, DOI: https://doi.org/10.1016/j.robot.2019.02.001.

2018

Classifying Obstacles and Exploiting Knowledge about Classes for Efficient Humanoid Navigation (Video). P. Regier, A. Milioto, P. Karkowski, C. Stachniss, and M. Bennewitz. In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2018. Selected as one of the outstanding papers!
Minimal Construct: Efficient Shortest Path Finding for Mobile Robots in Polygonal Maps. M. Missura, D. D. Lee, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018.
GPU-Accelerated Next-Best-View Exploration of Articulated Scenes (Video). S. Oßwald and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018. Code available!
A Combined RGB and Depth Descriptor for SLAM with Humanoids. R. Sheikh, S. Oßwald, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018. Code available!
People Finding under Visibility Constraints using Graph-Based Motion Prediction. A. Bayoumi, P. Karkowski, and M. Bennewitz. In: Proceedings of the International Conference on Intelligent Autonomous Systems (IAS-15), 2018.
Efficient Coverage of Unstructured Environments. E. Khsheibun, N. Kohler, and M. Bennewitz. In: Proceedings of the International Conference on Intelligent Autonomous Systems (IAS-15), 2018. Selected as one of the best papers!
Die Maschine als Partner? Verbale und non-verbale Kommunikation mit einem humanoiden Roboter. C. Thimm, P. Regier, I.C. Cheng, A. Jo, M. Lippemeier, K. Rutkosky, M. Bennewitz, and P. Nehls. In: Die Maschine: Freund oder Feind? Mensch und Technologie im digitalen Zeitalter. C. Thimm and C.T. Baechle (editors), Springer, 2018.

2017

Efficient Coverage of 3D Environments with Humanoid Robots Using Inverse Reachability Maps (Video). S. Oßwald, P. Karkowski, and M. Bennewitz. In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2017.
Automatic Ranking of Engagement of a Group of Children ``in the Wild'' Using Emotional States and Deep Pose Features. J. Kim, I. H. Shareef, P. Regier, K. P. Truong, V. Charisi, C. Zaga, M. Bennewitz, G. Englebienne, and V. Evers. In: Proceedings of the Workshop on Creating Meaning with Robot Assistants: The Gap Left by Smart Devices at the IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2017.
Learning Foresighted People Following under Occlusions. A. Bayoumi, P. Karkowski, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.
The Synchronized Holonomic Model: A Framework for Efficient Motion Generation. M. Missura, D. Lee, O. von Stryk, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.
Predicting Travel Time from Path Characteristics for Wheeled Robot Navigation. P. Regier, M. Missura, and M. Bennewitz. In: Proceedings of the European Conference on Mobile Robotics (ECMR), 2017.
Sensor und Sinnlichkeit – Humanoide Roboter als soziale Interfaces und die Obsoleszenz des Impliziten. T. C. Bächle, P. Regier, and M. Bennewitz In: Medien und implizites Wissen. Themenheft der Zeitschrift „Navigationen“, C. Ernst and J. Schröter (editors), 2017.

2016

Real-Time Footstep Planning in 3D Environments. P. Karkowski, S. Oßwald, and M. Bennewitz. In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2016.
Foresighted Navigation Through Cluttered Environments. P. Regier, S. Oßwald, P. Karkowski, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.
*BI²RRT: An Optimal Sampling-Based Path Planning Framework for Task-Constrained Mobile Manipulation**. F. Burget, M. Bennewitz, and W. Burgard. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.
Speeding-Up Robot Exploration by Exploiting Background Information. S. Oßwald, M. Bennewitz, W. Burgard, and C. Stachniss. In: IEEE Robotics and Automation Letters (RA-L) and in proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2016, DOI: 10.1109/LRA.2016.2520560.
Real-Time Footstep Planning Using a Geometric Approach (Video). P. Karkowski and Maren Bennewitz. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2016.
Learning Optimal Navigation Actions for Foresighted Robot Behavior During Assistance Tasks. A. Bayoumi and M. Bennewitz. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2016.
A User Perspective on the ROVINA Project. V. Ziparo, D. Calisi, G. Grisetti, J. Sarafin, M. Prosmans, L. van Gool, B. Leibe, M. Di Stefano, L. Petti,W. Burgard, F. Nenci, I. Bogoslavskyi, O. Vysotska, M. Bennewitz, and C. Stachniss. In: Conference Proceedings of Heritage and Landscape as Human Values - ICOMOS 18 General Assembly, 2016.
World Modeling. W. Burgard, M. Herbert, and M. Bennewitz. In: B. Siciliano and O. Khatib, editors, Handbook of Robotics (2nd edition), Chapter 45, Springer Verlag, 2016.

2015

Model-Predictive Control Applied to the HRP-2 Humanoid. J. Koenemann, A. Del Prete, Y. Tassa, E. Todorov, O. Stasse, M. Bennewitz, and N. Mansard. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.
Parameters for Motion Strategy Analysis of Parkinson’s Disease Patients. F. Burget, C. Maurer, W. Burgard, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.
Efficient Human Following Using Reinforcement Learning. A. Bayoumi and M. Bennewitz. In: Proceedings of the Machine Learning in Planning and Control of Robot Motion Workshop (MLCP) at IROS, 2015.
Stance Selection for Humanoid Grasping Tasks by Inverse Reachability Maps. F. Burget and M. Bennewitz. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2015.
Whole-Body Self-Calibration via Graph-Optimization and Automatic Configuration Selection. D. Maier and M. Bennewitz. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2015. Code available!

2014

Mobile Manipulation in Cluttered Environments with Humanoids: Integrated Perception, Task Planning, and Action Execution (Video). A. Hornung, S. Boettcher, C. Dornhege, A. Hertle, J. Schlagenhauf, and M. Bennewitz. In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2014.
Using Visual and Auditory Feedback for Instrument-Playing Humanoids (Video). D. Maier, R. Zohouri, and M. Bennewitz. In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2014.
Special Issue on Progress and Open Problems in Motion Planning and Navigation for Humanoids. Guest editors O. Stasse and M. Bennewitz. Int. Journal of Humanoid Robotics, vol. 11, 2014.
Mobile Manipulation with Humanoids in Cluttered Environments. A. Hornung, S. Boettcher, C. Dornhege, A. Hertle, J. Schlagenhauf, and M. Bennewitz. In: IROS Workshop on Robots in Clutter: Perception and Interaction in Clutter, 2014.
Real-time Imitation of Human Whole-Body Motions by Humanoids (Video). J. Koenemann, Felix Burget, and M. Bennewitz. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2014.
Towards a Closed-Loop System for Real-Time Calibration of Neural Stimulation Parameters using Motion Data. F. Burget, M. Cenciarini, B. Meier, H. Bast, M. Bennewitz, W. Burgard, and C. Maurer. In Proceedings of the ICRA Workshop on Wearable Robotics for Motion Assistance and Rehabilitation (RoboAssist), 2014.
Monte Carlo Localization for Humanoid Robot Navigation in Complex Indoor Environments. A. Hornung, S. Oßwald, D. Maier, and M. Bennewitz. In: International Journal of Humanoid Robotics (IJHR), 2014, DOI: 10.1142/S0219843614410023

2013

Integrated Perception, Mapping, and Footstep Planning for Humanoid Navigation Among 3D Obstacles (Video). D. Maier, C. Lutz, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.
Vision-based Humanoid Navigation Using Self-Supervised Obstacle Detection. D. Maier, C. Stachniss, and M. Bennewitz. In: International Journal of Humanoid Robotics, DOI: 10.1142/S0219843613500163, 2013.
Autonomous Biped Navigation Through Clutter. D. Maier, C. Lutz, and M. Bennewitz. In: Proceedings of the RSS Workshop on Robots in Clutter: Preparing Robots for the Real World, 2013.
Whole-Body Motion Planning for Manipulation of Articulated Objects (Video). F. Burget, A. Hornung, and M. Bennewitz. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2013.
Search-Based Footstep Planning. A. Hornung, D. Maier, and M. Bennewitz. In: Proceedings of the ICRA Workshop on Progress and Open Problems in Motion Planning and Navigation for Humanoids, 2013.
OctoMap: An Efficient Probabilistic 3D Mapping Framework Based on Octrees. A. Hornung, K.M. Wurm, M. Bennewitz, C. Stachniss, and W. Burgard. In: Autonomous Robots, DOI: 10.1007/s10514-012-9321-0, 2013.

2012

Real-Time Navigation in 3D Environments Based on Depth Camera Data (Video). D. Maier, A. Hornung, and M. Bennewitz. In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2012.
Anytime Search-Based Footstep Planning with Suboptimality Bounds. A. Hornung, A. Dornbush, M. Likhachev, and M. Bennewitz. In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2012.
Improved Proposals for Highly Accurate Localization Using Range and Vision Data (Video). S. Oßwald, A. Hornung, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
Appearance-Based Traversability Classification in Monocular Images Using Iterative Ground Plane Estimation (Video).D. Maier and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
NAO Walking Down a Ramp Autonomously (Video).C. Lutz, F. Atmanspacher, A. Hornung, and M. Bennewitz. In: Video Abstract Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
Navigation in Three-Dimensional Cluttered Environments. A. Hornung, M. Phillips, E. G. Jones, M. Bennewitz, M. Likhachev, and S. Chitta. In: Proceedings of the Workshop on Robots in Clutter: Manipulation, Perception and Navigation in Human Environments at Robotics: Science and Systems Conference (RSS), 2012.
Accurate 6D Localization in Multi-Level Environments. S. Oßwald, A. Hornung, and M. Bennewitz. In: Extended Abstracts of Spatial Cognition (SC), 2012.
Adaptive Level-of-Detail Planning for Efficient Humanoid Navigation. A. Hornung and M. Bennewitz. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2012.
Navigation in Three-Dimensional Cluttered Environments for Mobile Manipulation (Video). A. Hornung, M. Phillips, E. G. Jones, M. Bennewitz, M. Likhachev, and S. Chitta. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2012.
Whole-Body Imitation of Human Motions with a Nao Humanoid (Video). J. Koenemann and M. Bennewitz. In: Video Abstract Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2012, second place best video award.

2011

Integrated Perception and Navigation in Complex Indoor Environments. M. Bennewitz, D. Maier, A. Hornung, and C. Stachniss. In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2011. Invited presentation at the workshop on Humanoid service robot navigation in crowded and dynamic environments.
From 3D Point Clouds to Climbing Stairs: A Comparison of Plane Segmentation Approaches for Humanoids (Video). S. Oßwald, J.-S. Gutmann, A. Hornung, and M. Bennewitz. In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2011.
Autonomous Climbing of Spiral Staircases with Humanoids (Video). S. Oßwald, A. Görög, A. Hornung, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.
Towards Navigation in Three-Dimensional Cluttered Environments. A. Hornung, E. G. Jones, S. Chitta, M. Bennewitz, M. Phillips, and M. Likhachev. In: Proceedings of The PR2 Workshop: Results, Challenges and Lessons Learned in Advancing Robots with a Common Platform at the the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.
Self-supervised Obstacle Detection for Humanoid Navigation Using Monocular Vision and Sparse Laser Data (Video). D. Maier, M. Bennewitz, and C. Stachniss. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2011.
Humanoid Navigation with Dynamic Footstep Plans (Video). J. Garimort, A. Hornung, and M. Bennewitz. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2011.
Gait Optimization of Humanoids Based on Human Data. S. Wehner and M. Bennewitz. In: AUTOMATIKA - Journal for Control, Measurement, Electronics, Computing and Communications, 2011.

2010

Efficient Vision-based Navigation - Learning about the Influence of Motion Blur. A. Hornung, M. Bennewitz, and H. Strasdat. In: Autonomous Robots, Vol. 29, Number 2, 2010.
Humanoid Robot Localization in Complex Indoor Environments. A. Hornung, Kai M. Wurm, and M. Bennewitz. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010.
Modeling the World Around Us :: An Efficient 3D Representation for Personal Robotics Publication Type. W. Burgard, K. Wurm, M. Bennewitz, C. Stachniss, A. Hornung, R.B. Rusu, and K. Konolige. In: Proceedings of the Workshop on Defining and Solving Realistic Perception Problems in Personal Robotics at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010.
Learning Reliable and Efficient Navigation with a Humanoid. S. Oßwald, A. Hornung, and M. Bennewitz. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2010.
Learning Efficient Vision-based Navigation. A. Hornung, M. Bennewitz, and W. Burgard. In: Extended Abstract Proceedings of the International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2010.
Learning Adaptive Navigation Strategies for Resource-Constrained Systems. A. Hornung, M. Bennewitz, C. Stachniss, H. Strasdat, S.Oßwald, and W. Burgard In: Proceedings of the 3rd International Workshop on Evolutionary and Reinforcement Learning for Autonomous Robot Systems (ERLARS), 2010.
Robust and Adaptive Navigation with Humanoid Robots. A. Hornung and M. Bennewitz. In: Extended Abstract Proceedings of the Workshop on Motion Planning: From Theory to Practice at Robotics: Science and Systems Conference (RSS), 2010.
Octomap: A probabilistic, flexible, and compact 3D map representation for robotic systems. K.M. Wurm, A. Hornung, M. Bennewitz, C. Stachniss, and W. Burgard. In: Proceedings of the ICRA Workshop on Best Practice in 3D Perception and Modeling for Mobile

2009

Learning Efficient Policies for Vision-based Navigation. A. Hornung, H. Strasdat, M. Bennewitz, and W. Burgard. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009.
Optimizing the Gait of a Humanoid Robot Towards Human-like Walking. S. Wehner and M. Bennewitz. In: Proceedings of the European Conference on Mobile Robots (ECMR), 2009.
The Humanoid Museum Tour Guide Robotinho. F. Faber, M. Bennewitz, C. Eppner, A. Görög, C. Gonsior, D. Joho, M. Schreiber, and S. Behnke. In: Proceedings of the 18th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2009.
Utilizing Reflection Properties of Surfaces to Improve Mobile Robot Localization. M. Bennewitz, C. Stachniss, S. Behnke, and W. Burgard. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2009.
A Visual Odometry Framework Robust to Motion Blur. A. Pretto, E. Menegatti, M. Bennewitz, W. Burgard, and E. Pagello. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2009.
Imitation Learning with Generalized Task Descriptions. C. Eppner, J. Sturm, M. Bennewitz, C. Stachniss, and W. Burgard. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2009.

2008

Recognizing Complex, Parameterized Gestures from Monocular Image Sequences. T. Axenbeck, M. Bennewitz, S. Behnke, and W. Burgard. In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2008.
Robust Recognition of Complex Gestures for Natural Human-Robot Interaction. M. Bennewitz, T. Axenbeck, S. Behnke, and W. Burgard. In: Proceedings of the Workshop on Interactive Robot Learning at Robotics: Science and Systems Conference (RSS), 2008
Controlling the Gaze Direction of a Humanoid Robot with Redundant Joints. F. Faber, M. Bennewitz, and S. Behnke. In: Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2008.
How to Learn Accurate Grid Maps with a Humanoid. C. Stachniss, M. Bennewitz, W. Burgard, and S. Behnke. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2008.

2007

Feature-based Head Pose Estimation from Images. T. Vatahska, M. Bennewitz, and S. Behnke. In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2007.
Fritz - A Humanoid Communication Robot. M. Bennewitz, F. Faber, D. Joho, and S. Behnke. In: Proceedings of the 16th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2007.
Visual Bearing-Only Simultaneous Localization and Mapping with Improved Feature Matching. H Strasdat, C. Stachniss, M. Bennewitz, and W. Burgard. In: Proceedings of the Fachgespräche Autonome Mobile Systeme (AMS), 2007.
Intuitive MultimodalInteraction with Communication Robot Fritz. M. Bennewitz, F. Faber, D. Joho, and S. Behnke. In: M. Hackel, editor, Humanoid Robots, Human-like Machines, pp. 613-624, I-Tech Education and Publishing, 2007.
Pitch Estimation using Models of Voiced Speech on Three Levels. D. Joho, M. Bennewitz, and S. Behnke. In: Proceedings of the IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), 2007.
Fundamental frequency estimation based on pitch-scaled harmonic filtering. S. Roa, M. Bennewitz, and S. Behnke. In: Proceedings of the IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), 2007.

2006

Metric Localization with Scale-Invariant Visual Features using a Single Perspective Camera. M. Bennewitz, C. Stachniss, W. Burgard, and S. Behnke. In: In H.I. Christensen, editor, European Robotics Symposium 2006 (EUROS), Volume 22 of STAR Springer tracts in advanced robotics.
Imitative Reinforcement Learning for Soccer Playing Robots. T. Latzke, S. Behnke and M. Bennewitz. In: Proceedings of the 10th RoboCup International Symposium, 2006.
Multi-Cue Localization for Soccer Playing Humanoid Robots. H. Strasdat, M. Bennewitz, and S. Behnke. In: Proceedings of the10th RoboCup International Symposium, 2006.
Designing a Team of Soccer-Playing Humanoid Robots. S. Behnke, M. Schreiber, M. Bennewitz, J. Stückler, H. Strasdat, and J. Schwenk. In: Proceedings of the 37th International Symposium on Robotics (ISR) and 4th German Conference on Robotics (ROBOTIK), 2006.
NimbRo KidSize 2006 Team Description. S. Behnke, M. Schreiber, J. Stückler, H. Strasdat, and M. Bennewitz. In: RoboCup 2006 Humanoid League Team Descriptions (RoboCup 2006), 2006.
NimbRo TeenSize 2006 Team Description. S. Behnke, M. Schreiber, J. Stückler, H. Strasdat, and M. Bennewitz. In: RoboCup 2006 Humanoid League Team Descriptions (RoboCup 2006), 2006.

2005

Towards a Humanoid Museum Guide Robot that Interacts with Multiple Persons. M. Bennewitz, F. Faber, D. Joho, M. Schreiber, and S. Behnke. In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2005.
Integrating Vision and Speech for Conversations with Multiple Persons. M. Bennewitz, F. Faber, D. Joho, M. Schreiber, and S. Behnke. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2005.
Multimodal Conversation between a Humanoid Robot and Multiple Persons. M. Bennewitz, F. Faber, D. Joho, M. Schreiber, and S. Behnke. In: Proceedings of the Workshop on Modular Construction of Humanlike Intelligence at the Twentieth National Conferences on Artificial Intelligence (AAAI), 2005.
Enabling a Humanoid Robot to Interact with Multiple Persons. M. Bennewitz, F. Faber, D. Joho, M. Schreiber, and S. Behnke. In: Proceedings of the 1st International Conference on Dextrous Autonomouns Robots and Humanoids (DARH), 2005.
Learning Motion Patterns of People for Compliant Robot Motion. M. Bennewitz, W. Burgard, G. Cielniak, and S. Thrun. In: The International Journal of Robotics Research (IJRR), Vol. 24, Number 1, 2005.
Serviceroboter für den Pflegebereich. M. Bennewitz and W. Burgard. In: A. M. Raem, H. Fenger, G. F. Kolb, T. Nikolaus, L. Pientka, R. Rychlik, and T. Vömel, editors, Handbuch Geriatrie. Lehrbuch für Praxis und Klinik, Deutsche Krankenhaus Verlagsgesellschaft mbH, 2005, in German.
Learning to Play Soccer using Imitative Reinforcement. S. Behnke and M. Bennewitz. In: Proceedings of the Workshop on Social Aspects of Robot Programming through Demonstration at the IEEE International Conference on Robotics and Automation (ICRA), 2005.
NimbRo 2005 Team Description. S. Behnke, M. Bennewitz, J. Müller, and M. Schreiber. In: RoboCup 2005 Humanoid League Team Descriptions (RoboCup 2005), 2005.

2004

Mobile Robot Navigation in Dynamic Environments (PhD Thesis). M. Bennewitz. University of Freiburg, 2004. Webpage with detailed information.
Active Localization of People with a Mobile Robot Based on Learned Motion Behaviors. M. Bennewitz, J. Pastrana, and W. Burgard. In: Proceedings of the Third Workshop on Selforganization of Adaptive Behavior (SOAVE), 2004.

2003

Utilizing Learned Motion Patterns to Robustly Track Persons. M. Bennewitz, G. Cielniak, and W. Burgard. In: Proceedings of the Joint IEEE International Workshop on Visual Surveillance and Performance Evaluation of Tracking and Surveillance (VS-PETS), 2003.
Robust Localization of Persons Based on Learned Motion Patterns.G. Cielniak, M. Bennewitz, and W. Burgard. In: Proceedings of the European Conference on Mobile Robots (ECMR), 2003.
Where is ...? Learning and Utilizing Motion Patterns of Persons with Mobile Robots.G. Cielniak, M. Bennewitz, and W. Burgard. In: Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), 2003
Adapting Navigation Strategies Using Motions Patterns of People.M. Bennewitz, W. Burgard, and S. Thrun. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2003.

2002

Finding and Optimizing Solvable Priority Schemes for Decoupled Path Planning Techniques for Teams of Mobile Robots. M. Bennewitz, W. Burgard, and S. Thrun. In: Robotics and Autonomous Systems, Vol. 41, 2002.
Learning Motion Patterns of Persons for Mobile Service Robots. M. Bennewitz, W. Burgard, and S. Thrun. In: Proceedings of the VDI-Conference Robotik 2002 (Robotik), 2002.
Using EM to Learn Motion Behaviors of Persons with Mobile Robots M. Bennewitz, W. Burgard, and S. Thrun. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2002.
Learning Motion Patterns of Persons for Mobile Service Robots. M. Bennewitz, W. Burgard, and S. Thrun. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2002.

2001

Exploiting Constraints During Prioritized Path Planning for Teams of Mobile Robots. M. Bennewitz, W. Burgard, and S. Thrun. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2001.
Constraint-based Optimization of Priority Schemes for Decoupled Path Planning Techniques.M. Bennewitz, W. Burgard, and S. Thrun. In: Proceedings of the 24th German / 9th Austrian Conference on Artificial Intelligence (KI), 2001.
Finding Solvable Priority Schemes for Decoupled Path Planning Techniques for Teams of Mobile Robots.M. Bennewitz and W. Burgard. In: Proceedings of the 9th International Symposium on Intelligent Robotic Systems (SIRS), 2001
Optimizing Schedules for Prioritized Path Planning of Multi-Robot Systems.M. Bennewitz, W. Burgard, and S. Thrun. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2001.
Integrated Plan-based Control of Autonomous Service Robots in Human Environments.M. Beetz, T. Arbuckle, T. Belker, M. Bennewitz, W. Burgard, A. B. Cremers, D. Fox, H. Grosskreutz, D. Hähnel, and D. Schulz. In: IEEE Intelligent Systems, Vol. 16, 2001.

2000

Probabilistic Algorithms and the Interactive Museum Tour-Guide Robot Minerva. S. Thrun, M. Beetz, M. Bennewitz, W. Burgard, A. B. Cremers, F. Dellaert, D. Fox, D. Hähnel, C. Rosenberg, N. Roy, J. Schulte, and D. Schulz. In: International Journal of Robotics Research (IJRR), Vol. 19, Number 11, 2000.
A Probabilistic Method for Planning Collision-free Trajectories of Multiple Mobile Robots. M. Bennewitz and W. Burgard. In: Proceedings of the workshop Service Robotics - Applications and Safety Issues in an Emerging Market at the 14th European Conference on Artificial Intelligence (ECAI), 2000.
An Experimental Comparison of Path Planning Techniques for Teams of Mobile Robots. M. Bennewitz and W. Burgard. In: Proceedings of the Fachgespräche Autonome Mobile Systeme (AMS), 2000.
Coordinating the Motions of Multiple Mobile Robots Using a Probabilistic Model. M. Bennewitz and W. Burgard. In: Proceedings of the 8th International Symposium on Intelligent Robotic Systems (SIRS), 2000
Enabling Autonomous Robots to Perform Complex Tasks. M. Beetz, T. Arbuckle, T. Belker, M. Bennewitz, A. B. Cremers, D.Hähnel, and D. Schulz. In: Zeitschrift KI mit Schwerpunkt Autonome Mobile Systeme, 2000.

1999

MINERVA: A Tour-Guide Robot that Learns. S. Thrun, M. Bennewitz, W. Burgard, A. B. Cremers, F. Dellaert, D. Fox, D. Hähnel, C. Rosenberg, N. Roy, J. Schulte, and D. Schulz. In: Proceedings of the 23rd German Conference on Artificial Intelligence (KI), 1999.
Probabilistic, Prediction-based Schedule Debugging for Autonomous Robot Office Couriers. M. Beetz, M. Bennewitz, and H. Grosskreutz. In: Proceedings of the 23rd German Conference on Artificial Intelligence (KI), 1999.
MINERVA: A Second-Generation Museum Tour-Guide Robot. S. Thrun, M. Bennewitz, W. Burgard, F. Dellaert, D. Fox, D. Hähnel, C. Rosenberg, N. Roy, J. Schulte, and D. Schulz. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 1999.
Experiences with two Deployed Interactive Tour-guide Robots. S. Thrun, M. Bennewitz, W. Burgard, A.B. Cremers, F. Dellaert, D. Fox, D. Hähnel, C. Rosenberg, N. Roy, J. Schulte, and D. Schulz. In: Proceedings of the International Conference on Field and Service Robotics (FSR), 1999.

1998

Planning, Scheduling, and Plan Execution for Autonomous Robot Office Couriers. M. Beetz and M. Bennewitz. In: Proceedings of the workshop "Integrating Planning, Scheduling and Execution in Dynamic and Uncertain Environments" at the Fourth International Conference on AI in Planning Systems (AIPS), 1998.
Generating, Executing and Revising Schedules for Autonomous Robot Office Couriers. M. Bennewitz and M. Beetz. In: Proceedings of the Twelfth Workshop on Planning and Configuring (PuK), 1998.