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Alexander Kleiner – Publications

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2016

  • Christian Dornhege, Alexander Kleiner, Andreas Hertle and Andreas Kolling.
    Multirobot Coverage Search in Three Dimensions.
    Journal of Field Robotics 33 (4), pp. 537-558. 2016.
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2014

  • Dali Sun, Alexander Kleiner and Bernhard Nebel.
    Behavior-based Multi-Robot Collision Avoidance.
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA-14), pp. 1668-1673. 2014.
    (Show abstract) (PDF) (BIB)

2013

2011

  • Christian Dornhege and Alexander Kleiner.
    A Frontier-Void-Based Approach for Autonomous Exploration in 3D.
    In Proceedings of the IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR). 2011.
    (Show abstract) (PDF) (BIB)

  • Alexander Kleiner, Dali Sun and D. Meyer-Delius.
    ARMO: Adaptive Road Map Optimization for Large Robot Teams.
    In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS). 2011.
    (Show abstract) (PDF) (BIB)

  • Alexander Kleiner, A. Kolling, K. Sycara and M. Lewis.
    Hierarchical Visibility for Guaranteed Search in Large-Scale Outdoor Terrain.
    Journal of Autonomous Agents and Multi-Agent Systems (JAAMAS). 2011.
    (Show abstract) (PDF) (BIB)

  • Q. Hamp, L. Reindl and Alexander Kleiner.
    Lessons Learned from German Research for USAR.
    In Proc. of the IEEE Int. Workshop on Safety, Security and Rescue Robotics (SSRR). 2011.
    (Show abstract) (PDF) (BIB)

  • Alexander Kleiner, Bernhard Nebel and V.A. Ziparo.
    A Mechanism for Dynamic Ride Sharing based on Parallel Auctions.
    In Proc. of the 22th International Joint Conference on Artificial Intelligence (IJCAI). 2011.
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  • D. Meyer-Delius, M. Beinhofer, Alexander Kleiner and W. Burgard.
    Reducing the Ambiguity in the Environment by Placing Artificial Landmarks to Improve Mobile Robot Localization.
    In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA). 2011.
    (Show abstract) (PDF) (BIB)

  • A. Kolling, Alexander Kleiner, M. Lewis and K. Sycara.
    Computing and Executing Strategies for Moving Target Search.
    In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA). 2011.
    (Show abstract) (PDF) (BIB)

  • R. Kümmerle, B. Steder, Christian Dornhege, Alexander Kleiner, G. Grisetti and W. Burgard.
    Large Scale Graph-based SLAM using Aerial Images as Prior Information.
    Autonomous Robots 30, pp. 25-39. 2011.
    (Show abstract) (PDF) (BIB)

2010

  • Wei Mou and Alexander Kleiner.
    Online Learning Terrain Classification for Adaptive Velocity Control.
    In Proceedings of the IEEE Int. Workshop on Safety, Security and Rescue Robotics (SSRR 2010). 2010.
    (Show abstract) (PDF) (BIB)

  • Andreas Kolling, Alexander Kleiner, Michael Lewis and Katia Sycara.
    Solving Pursuit-Evasion Problems on Height Maps.
    In IEEE International Conference on Robotics and Automation (ICRA 2010) Workshop: Search and Pursuit/Evasion in the Physical World: Efficiency, Scalability, and Guarantees (WSPE ICRA 2010). 2010.
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  • Daniel Maier and Alexander Kleiner.
    Improved GPS Sensor Model for Mobile Robots in Urban Terrain.
    In IEEE International Conference on Robotics and Automation (ICRA 2010), pp. 4385-4390. 2010.
    (Video).
    (Show abstract) (PDF) (BIB)

  • Alexander Kleiner and Christian Dornhege.
    Mapping for the Support of First Responders in Critical Domains.
    Journal of Intelligent and Robotic Systems (JINT), pp. 1-29. 2010.
    (Show abstract) (PDF) (BIB)

  • Sören Schwertfeger, Adam Jacoff, Chris Scrapper, Johannes Pellenz and Alexander Kleiner.
    Evaluation of Maps using Fixed Shapes: The Fiducial Map Metric.
    In Proc. of the Int. Workshop on Performance Metrics for Intelligent Systems (PerMIS), pp. 344-351. NIST 2010.
    (Show abstract) (PDF) (BIB)

  • A. Kolling, Alexander Kleiner, M. Lewis and and K. Sycara.
    Pursuit-Evasion in 2.5d based on Team-Visibility.
    In Proceedings of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2010), pp. 4610-4616. 2010.
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  • Dali Sun, Alexander Kleiner and and C. Schindelhauer.
    Decentralized Hash Tables For Mobile Robot Teams Solving Intra-Logistics Tasks.
    In Proceedings of the 9th Int. Joint Conf. on Autonomous Agents and Multiagent Systems (AAMAS 2010), pp. 923-930. 2010.
    (Show abstract) (PDF) (BIB)

2009

  • Alexander Kleiner, Chris Scrapper and Adam Jacoff.
    RoboCupRescue Interleague Challenge 2009: Bridging the gap between Simulation and Reality.
    In Proceedings of the Int. Workshop on Performance Metrics for Intelligent Systems (Permis 2009), pp. 123-129. NIST 2009.
    (Show abstract) (PDF) (BIB)

  • Alexander Kleiner and Christian Dornhege.
    Operator-Assistive Mapping in Harsh Environments.
    In IEEE International Workshop on Safety, Security and Rescue Robotics (SSRR 2009), pp. 1-6. 2009.
    (Show abstract) (PDF) (BIB)

  • Rainer Kümmerle, Bastian Steder, Christian Dornhege, Michael Ruhnke, Giorgio Grisetti, Cyrill Stachniss and Alexander Kleiner.
    On Measuring the Accuracy of SLAM Algorithms.
    Autonomous Robots 27 (4), pp. 387-407. 2009.
    (Show abstract) (PDF) (BIB)

  • Wolfram Burgard, Cyrill Stachniss, Giorgio Grisetti, Bastian Steder, Rainer Kümmerle, Christian Dornhege, Michael Ruhnke, Alexander Kleiner and Juan D. Tardos.
    A Comparison of SLAM Algorithms Based on a Graph of Relations.
    In Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), pp. 2089-2095. IEEE 2009.
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  • Rainer Kümmerle, Bastian Steder, Christian Dornhege, Alexander Kleiner, Giorgio Grisetti and Wolfram Burgard.
    Large Scale Graph-based SLAM using Aerial Images as Prior Information.
    In Proceedings of 2009 Robotics: Science and Systems (RSS 2009). 2009.
    (Show abstract) (PDF) (BIB)

  • Dali Sun, Alexander Kleiner and T. M. Wendt.
    Multi-Robot Range-Only SLAM by Active Sensor Nodes for Urban Search and Rescue.
    In Robocup 2008: Robot Soccer World Cup XII, pp. 318-330. Springer 2009.
    (Show abstract) (PDF) (BIB)

2008

  • Alexander Kleiner, G. Steinbauer and F. Wotawa.
    Towards automated online diagnosis of robot navigation software.
    In Proc. of Int. Conf. on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR), pp. 159-170. Springer 2008.
    (Show abstract) (PDF) (BIB)

2007

  • Christian Dornhege and Alexander Kleiner.
    Fully autonomous planning and obstacle negotiation on rough terrain using behavior maps.
    In Video Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007). San Diego, California 2007.

  • 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), pp. 3005-3011. 2007.
    (Show abstract) (PDF) (BIB)

  • Alexander Kleiner and R. Kümmerle.
    Genetic MRF model optimization for real-time victim detection in Search and Rescue.
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007), pp. 3025-3030. 2007.
    (Show abstract) (PDF) (BIB)

  • Alexander Kleiner and Christian Dornhege.
    Real-time Localization and Elevation Mapping within Urban Search and Rescue Scenarios.
    Journal of Field Robotics 24, pp. 723-745. 2007.
    (Show abstract) (PDF) (BIB)

  • S. Balakirsky, S. Carpin, Alexander Kleiner, M. Lewis, A. Visser, J. Wang and V.A. Ziparo.
    Towards heterogeneous robot teams for disaster mitigation: Results and Performance Metrics from Robocup Rescue.
    Journal of Field Robotics 24, pp. 943-967. 2007.
    (Show abstract) (PDF) (BIB)

  • V.A. Ziparo, Alexander Kleiner, L. Marchetti, A. Farinelli and and D. Nardi.
    Cooperative Exploration for USAR Robots with Indirect Communication.
    In Proceedings of the 6th IFAC Symposium on Intelligent Autonomous Vehicles (IAV 2007). 2007.
    (Show abstract) (PDF) (BIB)

  • Vittorio Ziparo, Alexander Kleiner, Bernhard Nebel and Daniele Nardi.
    RFID-Based Exploration for Large Robot Teams.
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2007), pp. 4606-4613. Rome, Italy 2007.
    (PDF) (BIB)

  • 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), pp. 1-6. 2007.
    (Show abstract) (PDF) (BIB)

  • H. Kenn and Alexander Kleiner.
    Towards the Integration of Real-Time Real-World Data in Urban Search and Rescue Simulation.
    In MobileResponse, pp. 106-115. Springer 2007.
    (Show abstract) (PDF) (BIB)

  • Alexander Kleiner and Dali Sun.
    Decentralized SLAM for Pedestrians without direct Communication.
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007), pp. 1461-1466. 2007.
    (Show abstract) (PDF) (BIB)

2006

  • Alexander Kleiner, Johann Prediger and Bernhard Nebel.
    RFID Technology-based Exploration and SLAM for Search And Rescue.
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006), pp. 4054-4059. Beijing, China 2006.
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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 - Robot League Team RescueRobots Freiburg (Germany), Team Description Paper.
    In CDROM Proceedings of the International RoboCup Symposium '05. Bremen, Germany 2006.
    (Show abstract) (PDF)

  • Alexander Kleiner and Vittorio Ziparo.
    RoboCupRescue - Simulation League Team RescueRobots Freiburg (Germany), Team Description Paper.
    In CDROM Proceedings of the International RoboCup Symposium '06. Bremen, Germany 2006.
    (PDF)

  • 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). 2006.
    (Show abstract) (PDF) (BIB)

  • Alexander Kleiner, N. Behrens and H. Kenn.
    Wearable computing meets multiagent systems: A real-world interface for the RoboCupRescue simulation platform.
    In First International Workshop on Agent Technology for Disaster Management at AAMAS06, pp. 116-123. AAMAS Press 2006.
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2005

  • Alexander Kleiner, Michael Brenner, Tobias Braeuer, Christian Dornhege, Moritz Göbelbecker, 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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  • 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.
    (Show abstract) (PDF)

  • Alexander Kleiner.
    Game AI: The shrinking gap between computer games and AI systems Ambient Intelligence.
    Ambient Intelligence:The evolution of technology, communication and cognition towards the future of human-computer interaction. 2005.
    (PDF)

2004

2003

  • Erik Schulenburg, Thilo Weigel and Alexander Kleiner.
    Self-Localization in Dynamic Environments based on Laser and Vision Data.
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'03), pp. 998-1004. Las Vegas, USA 2003.
    (PS.GZ) (PDF)

  • Alexander Kleiner and Thorsten Buchheim.
    A Plugin-Based Architecture For Simulation In The F2000 League.
    In Proceedings of the International RoboCup Symposium '03. Padova, Italy 2003.
    (PS.GZ) (PDF)

2002

  • Alexander Kleiner, Markus Dietl and Bernhard Nebel.
    Towards a Life-Long Learning Soccer Agent.
    In Proceedings of the International RoboCup Symposium '02. Fukuoka, Japan 2002.
    (Show abstract) (PS.GZ) (PDF)

  • Thilo Weigel, Jens-Steffen Gutmann, Markus Dietl, Alexander Kleiner and Bernhard Nebel.
    CS Freiburg: Coordinating Robots for Successful Soccer Playing.
    IEEE Transactions on Robotics and Automation 18 (5), pp. 685-699. 2002.
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2001

  • Thilo Weigel, Alexander Kleiner, Florian Diesch, Markus Dietl, Jens-Steffen Gutmann, Bernhard Nebel, Patrick Stiegeler and Boris Szerbakowski.
    CS Freiburg 2001.
    In International RoboCup Symposium 2001. 2001.
    (Show abstract) (PS.GZ) (PDF)