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Christian Dornhege – Publications
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2007
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Alexander Kleiner and Christian Dornhege.
Real-time Localization and Elevation Mapping within Urban Search and Rescue Scenarios.
Journal of Field Robotics. 2007.
(PDF)
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Alexander Kleiner, Christian Dornhege and Dali Sun.
Mapping disaster areas jointly: RFID-Coordinated SLAM by Humans and Robots.
In
Proceedings of the IEEE International Workshop on Safety, Security
and Rescue Robotics (SSRR 2007).
Rome, Italy 2007.
(PDF)
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Christian Dornhege and Alexander Kleiner.
Behavior maps for online planning of obstacle negotiation and climbing on rough terrain.
In
Proceedings of the IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS 2007).
San Diego, California 2007.
(PDF)
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Christian Dornhege and Alexander Kleiner.
Behavior maps for online planning of obstacle negotiation and climbing on rough terrain.
In
Video Proceedings of the IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS 2007).
San Diego, California 2007.
2006
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Christian Dornhege and Alexander Kleiner.
Visual Odometry for Tracked Vehicles.
In
Proceedings of the IEEE International Workshop on Safety, Security and Rescue Robotics (SSRR 2006).
Gaithersburg, USA 2006.
(PDF)
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Alexander Kleiner, Christian Dornhege, Rainer Kuemmerle, Michael Ruhnke, Bastian Steder, Bernhard Nebel, Patrick Doherty, Mariusz Wzorek, Piotr Rudol, Gianpaolo Conte, S. Durante and D. Lundstrom.
RoboCupRescue - Simulation League Team RescueRobots Freiburg (Germany), Team Description Paper.
In
CDROM Proceedings of the International RoboCup Symposium '05.
Bremen, Germany 2006.
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This paper describes the approach of the RescueRobots Freiburg team,
which is a team of students from the University of Freiburg that originates from
the former CS Freiburg team (RoboCupSoccer) and the ResQ Freiburg team
(RoboCupRescue Simulation). Furthermore we introduce linkMAV, a micro aerial
vehicle platform.
Our approach covers RFID-based SLAM and exploration, autonomous detection
of relevant 3D structures, visual odometry, and autonomous victim identification.
Furthermore, we introduce a custom made 3D Laser Range Finder (LRF) and a
novel mechanism for the active distribution of RFID tags.
2005
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Alexander Kleiner, Michael Brenner, Tobias Braeuer, Christian Dornhege, Moritz Goebelbecker, Matthias Luber, Johann Prediger, Joerg Stueckler and Bernhard Nebel.
Successful Search and Rescue in Simulated Disaster Areas.
In
Proceedings of the International RoboCup Symposium '05.
Osaka, Japan 2005.
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RoboCupRescue Simulation is a large-scale multi-agent simulation
of urban disasters where, in order to save lives and minimize damage, rescue
teams must effectively cooperate despite sensing and communication limitations.
This paper presents the comprehensive search and rescue approach of the ResQ
Freiburg team, the winner in the RoboCupRescue Simulation league at RoboCup
2004.
Specific contributions include the predictions of travel costs and civilian lifetime,
the efficient coordination of an active disaster space exploration, as well as
an any-time rescue sequence optimization based on a genetic algorithm.
We compare the performances of our team and others in terms of their capability
of extinguishing fires, freeing roads from debris, disaster space exploration, and
civilian rescue. The evaluation is carried out with information extracted from
simulation log files gathered during RoboCup 2004. Our results clearly explain
the success of our team, and also confirm the scientific approaches proposed in
this paper.
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Alexander Kleiner, Bastian Steder, Christian Dornhege, Daniel Hoefler, Daniel Meyer-Delius, Johann Prediger, Joerg Stueckler, Kolja Glogowski, Markus Thurner, Matthias Luber, Michael Schnell, Rainer Kuemmerle, Timothy Burk, Tobias Braeuer and Bernhard Nebel.
RoboCupRescue - Robot League Team RescueRobots Freiburg (Germany), Team Description Paper.
In
CDROM Proceedings of the International RoboCup Symposium '05.
Osaka, Japan 2005.
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This paper describes the approach of the RescueRobots Freiburg team.
RescueRobots Freiburg is a team of students from the university of Freiburg, that
originates from the former CS Freiburg team (RoboCupSoccer) and the ResQ
Freiburg team (RoboCupRescue Simulation).
Due to the high versatility of the RoboCupRescue competition we tackle the three
arenas by a a twofold approach: On the one hand we want to introduce robust
vehicles that can safely be teleoperated through rubble and building debris while
constructing three-dimensional maps of the environment. On the other hand we
want to introduce a team of autonomous robots that quickly explore a large terrain
while building a two-dimensional map. This two solutions are particularly wellsuited
for the red and yellow arena, respectively. Our solution for the orange arena
will finally be decided between these two, depending on the capabilities of both
approaches at the venue.
In this paper, we introduce some preliminary results that we achieved so far from
map building, localization, and autonomous victim identification. Furthermore
we introduce a custom made 3D Laser Range Finder (LRF) and a novel mechanism
for the active distribution of RFID tags.
1 Introduction
RescueRobots Freiburg is a team of students from the university of Freiburg. The team
originates from the former CS Freiburg team[6], which won three times the RoboCup
world championship in the RoboCupSoccer F2000 league, and the ResQ Freiburg team[2],
which won the last RoboCup world championship in the RoboCupRescue Simulation
league. The team approach proposed in this paper is based on experiences gathered at
RoboCup during the last six years.
Due to the high versatility of the RoboCupRescue competition we tackle the three
arenas by a twofold approach: On the one hand we want to introduce a vehicle that
can safely be teleoperated through rubble and building debris while constructing threedimensional
maps of the environment. On the other hand we want to introduce an autonomous
team of robots that quickly explore a large terrain while building a twodimensional
map. This two solutions are particularly well-suited for the red and yellow
arena, respectively. Our solution for the orange arena will finally be decided between
these two, depending on the capabilities of both approaches at the venue.
2004
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Alexander Kleiner, Michael Brenner, Tobias Braeuer, Christian Dornhege, Moritz Goebelbecker, Matthias Luber, Johann Prediger and Joerg Stueckler.
ResQ Freiburg: Team Description and Evaluation, Team Description Paper, Rescue Simulation League.
In
CDROM Proceedings of the International RoboCup Symposium '04.
Lisbon, Portugal 2004.
(PDF)
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