AIICS

Alexander Kleiner

All Publications

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2013
[70] Robin Murphy and Alexander Kleiner. 2013.
A Community-Driven Roadmap for the Adoption of Safety Security and Rescue Robots.
In . IEEE conference proceedings.
Note: Accepted for Publication.
[69] Christian Dornhege, Alexander Kleiner and Andreas Kolling. 2013.
Coverage Search in 3D.
In .
Note: Accepted for Publication.
[68] Gianpaolo Conte, Alexander Kleiner, Piotr Rudol, Karol Korwel, Mariusz Wzorek and Patrick Doherty. 2013.
Performance evaluation of a light weight multi-echo LIDAR for unmanned rotorcraft applications.
In International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XL-1/W2.
[67] Andreas Kolling, Alexander Kleiner and Piotr Rudol. 2013.
Fast Guaranteed Search With Unmanned Aerial Vehicles.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), pages 6013–6018.
DOI: 10.1109/IROS.2013.6697229.
[66] Karen Petersen, Alexander Kleiner and Oskar von Stryk. 2013.
Fast Task-Sequence Allocation for Heterogeneous Robot Teams with a Human in the Loop.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), pages 1648–1655.
DOI: 10.1109/IROS.2013.6696570.
[65] Andreas Kolling and Alexander Kleiner. 2013.
Multi-UAV Trajectory Planning for Guaranteed Search.
In Proc. of the 12th Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS 2013), pages 79–86. ISBN: 978-1-4503-1993-5.
[64] Alexander Kleiner, A. Farinelli, S. Ramchurn, B. Shi, F. Maffioletti and R. Reffato. 2013.
RMASBench: Benchmarking Dynamic Multi-Agent Coordination in Urban Search and Rescue.
In Proc. of the 12th Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS 2013), pages 1195–1196. ISBN: 978-1-4503-1993-5.
[63] H. Levent Akin, Nobuhiro Ito, Adam Jacoff, Alexander Kleiner, Johannes Pellenz and Arnoud Visser. 2013.
RoboCup Rescue Robot and Simulation Leagues.
The AI Magazine, 34(1):????. AAAI Press.
Link to journal: http://www.aaai.org/ojs/index.php/aimaga...
[62] Alexander Kleiner and Andreas Kolling. 2013.
Guaranteed Search With Large Teams of Unmanned Aerial Vehicles.
In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pages 2977–2983. In series: Robotics and Automation (ICRA), 2013 IEEE International Conference on #??. IEEE conference proceedings. ISBN: 978-1-4673-5641-1.
DOI: 10.1109/ICRA.2013.6630990.
[61] Quirin Hamp, Omar Gorgis, Patrick Labenda, Marc Neumann, Thomas Predki, Leif Heckes, Alexander Kleiner and Leonard Reindl. 2013.
Study of eciency of USAR operations with assistive technologies.
Advanced Robotics, 27(5):337–350.
DOI: 10.1080/01691864.2013.763723.
[60] C. Dornhege and Alexander Kleiner. 2013.
A Frontier-Void-Based Approach for Autonomous Exploration in 3D.
Advanced Robotics, 27(6):459–468. Taylor and Francis.
DOI: 10.1080/01691864.2013.763720.
Note: Funding Agencies|Deutsche Forschungsgemeinschaft in the Transregional Collaborative Research Center|SFB/TR8|
[59] Full text  Alexander Kleiner, A. Kolling, M. Lewis and K. Sycara. 2013.
Hierarchical Visibility for Guaranteed Search in Large-Scale Outdoor Terrain.
Autonomous Agents and Multi-Agent Systems, 26(1):1–36. Springer.
DOI: 10.1007/s10458-011-9180-7.
2012
[58] Gerald Steinbauer and Alexander Kleiner. 2012.
Towards CSP-based mission dispatching in C2/C4I systems.
In Proc. of the IEEE Int. Workshop on Safety, Security and Rescue Robotics (SSRR), pages 1–6. IEEE. ISBN: 978-1-4799-0164-7, 978-1-4799-0163-0, 978-1-4799-0165-4.
DOI: 10.1109/IROS.2007.4399131.
[57] L. Marconi, C. Melchiorri, M. Beetz, D. Pangercic, R. Siegwart, S. Leutenegger, R. Carloni, S. Stramigioli, H. Bruyninckx, Patrick Doherty, Alexander Kleiner, V. Lippiello, A. Finzi, B. Siciliano, A. Sala and N. Tomatis. 2012.
The SHERPA project: Smart collaboration between humans and ground-aerial robots for improving rescuing activities in alpine environments.
In Proc. of the IEEE Int. Workshop on Safety, Security and Rescue Robotics (SSRR), pages 1–4. IEEE. ISBN: 978-1-4799-0164-7, 978-1-4799-0163-0, 978-1-4799-0165-4.
DOI: 10.1109/SSRR.2012.6523905.
[56] Bernhard Nebel and Alexander Kleiner. 2012.
Multi-Agenten-Systeme in der Intralogistik - Erster Teil: Gemeinsam denken.
IEE - Elektrische Automatisierung + Antriebstechnik, -(4):48–53. HĂĽthig Verlag.
Link to journal: http://www.iee-online.de/2012/
[55] Bernhard Nebel and Alexander Kleiner. 2012.
Multi-Agenten-Systeme in der Intralogistik - Zweiter Teil: Effizient transportieren.
IEE - Elektrische Automatisierung + Antriebstechnik, -(5):34–37. HĂĽthig Verlag.
Link to journal: http://www.iee-online.de/2012/
2011
[54] Full text  Alexander Kleiner and Christian Dornhege. 2011.
Mapping for the Support of First Responders in Critical Domains.
Journal of Intelligent and Robotic Systems, 64(1):7–31. Springer.
DOI: 10.1007/s10846-010-9520-x.
[53] Full text  R. KĂĽmmerle, B. Steder, C. Dornhege, Alexander Kleiner, G. Grisetti and W. Burgard. 2011.
Large Scale Graph-based SLAM using Aerial Images as Prior Information.
Autonomous Robots, 30(1):25–39. Springer.
DOI: 10.1007/s10514-010-9204-1.
[52] Full text  Alexander Kleiner, B. Nebel and V. Ziparo. 2011.
A Mechanism for Dynamic Ride Sharing based on Parallel Auctions.
In 22th International Joint Conference on Artificial Intelligence (IJCAI), pages 266–272.
[51] Full text  Q. Hamp, L. Reindl and Alexander Kleiner. 2011.
Lessons Learned from German Research for USAR.
In IEEE Int. Workshop on Safety, Security and Rescue Robotics (SSRR).
Note: Winner of the Young Author’s Award
[50] Full text  A. Kolling, Alexander Kleiner, M. Lewis and K. Sycara. 2011.
Computing and Executing Strategies for Moving Target Search.
In IEEE Int. Conf. on Robotics and Automation (ICRA), pages 4246–4253. IEEE.
DOI: 10.1109/ICRA.2011.5980277.
[49] Full text  D. Meyer-Delius, M. Beinhofer, Alexander Kleiner and W. Burgard. 2011.
Using artificial landmarks to reduce the ambiguity in the environment of a mobile robot.
In IEEE Int. Conf. on Robotics and Automation (ICRA), pages 5173–5178.
DOI: 10.1109/ICRA.2011.5980111.
[48] Full text  Alexander Kleiner, D. Sun and D. Meyer-Delius. 2011.
ARMO - Adaptive Road Map Optimization for Large Robot Teams.
In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pages 3276–3282. IEEE conference proceedings.
DOI: 10.1109/IROS.2011.6048339.
2010
[47] Prasanna Velagapudi, Alexander Kleiner, Nathan Brooks, Paul Scerri, Michael Lewis and Katia Sycara. 2010.
RoboCupRescue - Virtual Robots Team STEEL (USA).
In RoboCup 2010 (CDROM Proceedings), Team Description Paper, Rescue Simulation League.
[46] Christian Dornhege, Johannes Bendler, Roxana Bersan, Philipp Blohm, Martin Gloderer, Andreas Hertle, Thomas Liebetraut, Diego Cerdan Puyol, Alexander Kleiner and Bernhard Nebel. 2010.
RoboCupRescue 2010 - Robot League Team RescueRobots Freiburg (Germany).
In RoboCup 2010 (CDROM Proceedings), Team Description Paper, Rescue Robot League.
[45] Full text  Wei Mou and Alexander Kleiner. 2010.
Online Learning Terrain Classification for Adaptive Velocity Control.
In In Proc. of the IEEE Int. Workshop on Safety, Security and Rescue Robotics (SSRR), pages 1–7.
DOI: 10.1109/SSRR.2010.5981563.
[44] Full text  Sören Schwertfeger, Adam Jacoff, Chris Scrapper, Johannes Pellenz and Alexander Kleiner. 2010.
Evaluation of Maps using Fixed Shapes: The Fiducial Map Metric.
In Proc. of the Int. Workshop on Performance Metrics for Intelligent Systems (PerMIS), pages 344–351. NIST.
[43] Full text  A. Kolling, Alexander Kleiner, M. Lewis and K. Sycara. 2010.
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. IEEE.
[42] Full text  D. Maier and Alexander Kleiner. 2010.
Improved GPS Sensor Model for Mobile Robots in Urban Terrain.
In IEEE Int. Conf. on Robotics and Automation (ICRA), pages 4385–4390. IEEE. ISBN: 978-1-4244-5038-1.
DOI: 10.1109/ROBOT.2010.5509895.
[41] Full text  A. Kolling, Alexander Kleiner, M. Lewis and K. Sycara. 2010.
Pursuit-Evasion in 2.5d based on Team-Visibility.
In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pages 4610–4616. IEEE. ISBN: 978-1-4244-6674-0.
DOI: 10.1109/IROS.2010.5649270.
[40] Full text  D. Sun, Alexander Kleiner and C. Schindelhauer. 2010.
Decentralized Hash Tables For Mobile Robot Teams Solving Intra-Logistics Tasks.
In 9th Int. Joint Conf. on Autonomous Agents and Multiagent Systems (AAMAS 2010), pages 923–930. International Foundation for Autonomous Agents and.
2009
[39] Full text  Alexander Kleiner, Chris Scrapper and Adam Jacoff. 2009.
RoboCupRescue Interleague Challenge 2009: Bridging the gap between Simulation and Reality.
In In Proc. of the Int. Workshop on Performance Metrics for Intelligent Systems (PerMIS), pages 123–129.
[38] Dali Sun, Alexander Kleiner and Thomas M. Wendt. 2009.
Multi-Robot Range-Only SLAM by Active Sensor Nodes for Urban Search and Rescue.
In Robocup 2008: Robot Soccer World Cup XII, pages 318–330.
[37] Alexander Kleiner. 2009.
Mapping and Exploration for Search and Rescue with Humans and Mobile Robots.
Technical Report. University of Freiburg. 227 pages.
Note: This is a Ph.D. thesis originally defended at University of Freiburg.
Link to Thesis: http://www.google.se/url?sa=t&rct=j&q=ma...
[36] Full text  W. Burgard, C. Stachniss, G. Grisetti, B. Steder, R. KĂĽmmerle, C. Dornhege, M. Ruhnke, Alexander Kleiner and Juan D. TardĂłs. 2009.
A Comparison of SLAM Algorithms Based on a Graph of Relations.
In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pages 2089–2095. IEEE conference proceedings.
DOI: 10.1109/IROS.2009.5354691.
[35] Full text  Alexander Kleiner and C. Dornhege. 2009.
Operator-Assistive Mapping in Harsh Environments.
In IEEE Int. Workshop on Safety, Security and Rescue Robotics (SSRR), pages 1–6. IEEE. ISBN: 978-1-4244-5627-7.
DOI: 10.1109/SSRR.2009.5424159.
Note: (Best Paper Award Finalist)
[34] Full text  R. KĂĽmmerle, B. Steder, C. Dornhege, Alexander Kleiner, G. Grisetti and W. Burgard. 2009.
Large Scale Graph-based SLAM using Aerial Images as Prior Information.
In Proceedings of Robotics Science and Systems (RSS). MIT Press.
[33] Full text  R. KĂĽmmerle, B. Steder, C. Dornhege, M. Ruhnke, G. Grisetti, C. Stachniss and Alexander Kleiner. 2009.
On Measuring the Accuracy of SLAM Algorithms.
Autonomous Robots, 27(4):387–407. Springer.
DOI: 10.1007/s10514-009-9155-6.
2008
[32] Christian Dornhege, Alexander Kleiner, Rainer KĂĽmmerle, Bastian Steder, Wolfram Burgard and Bernhard Nebel. 2008.
SP-Freiburg TechX Challenge Technical Paper.
In TechX Challenge.
Note: Finalist
[31] Full text  Alexander Kleiner, Gerald Steinbauer and Franz Wotawa. 2008.
Towards Automated Online Diagnosis of Robot Navigation Software.
In Proc. of Int. Conf. on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR), pages 159–170. In series: Lecture Notes in Computer Science #5325. Springer.
DOI: 10.1007/978-3-540-89076-8_18.
[30] Full text  Alexander Kleiner, Gerald Steinbauer and Franz Wotawa. 2008.
Automated Learning of Communication Models for Robot Control Software.
In MBS 2008 - Workshop on Model-Based Systems, 18th European Conference on Artificial Intelligence (ECAI).
2007
[29] Christian Dornhege and Alexander Kleiner. 2007.
Fully Autonomous Planning and Obstacle Negotiation on Rough Terrain Using Behavior Maps.
In In Video Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pages 2561–2562. ISBN: 978-1-4244-0912-9.
DOI: 10.1109/IROS.2007.4399131.
[28] Holger Kenn and Alexander Kleiner. 2007.
Towards the Integration of Real-Time Real-World Data in Urban Search and Rescue Simulation.
In MobileResponse, pages 106–115.
[27] Full text  Stephen Balakirsky, Stefano Carpin, Alexander Kleiner, Michael Lewis, Arnoud Visser, Jijun Wang and Vittorio Amos Ziparo. 2007.
Towards Heterogeneous Robot Teams for Disaster Mitigation: Results and Performance Metrics from Robocup Rescue.
Journal of Field Robotics, 24(11):943–967.
DOI: 10.1002/rob.20212.
[26] Full text  Alexander Kleiner and Christian Dornhege. 2007.
Real-time Localization and Elevation Mapping within Urban Search and Rescue Scenarios.
Journal of Field Robotics, 24(8-9):723–745. Wiley.
DOI: 10.1002/rob.20208.
[25] Full text  Christian Dornhege and Alexander Kleiner. 2007.
Behavior Maps for Online Planning of Obstacle Negotiation and Climbing on Rough Terrain.
In In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pages 3005–3011. IEEE conference proceedings. ISBN: 978-1-4244-0912-9.
DOI: 10.1109/IROS.2007.4399107.
[24] Full text  Alexander Kleiner, C. Dornhege and D. Sun. 2007.
Mapping Disaster Areas Jointly: RFID-Coordinated SLAM by Humans and Robots.
In IEEE Int. Workshop on Safety, Security and Rescue Robotics (SSRR), pages 1–6. IEEE. ISBN: 978-1-4244-1569-4.
DOI: 10.1109/SSRR.2007.4381263.
[23] Full text  Alexander Kleiner and R. KĂĽmmerle. 2007.
Genetic MRF Model Optimization for Real-Time Victim Detection in Search and Rescue.
In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pages 3025–3030. IEEE conference proceedings. ISBN: 978-1-4244-0912-9.
DOI: 10.1109/IROS.2007.4399006.
[22] Full text  Alexander Kleiner and D. Sun. 2007.
Decentralized SLAM for Pedestrians without direct Communication.
In In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pages 1461–1466. IEEE conference proceedings. ISBN: 978-1-4244-0912-9.
DOI: 10.1109/IROS.2007.4399013.
[21] Full text  V. A. Ziparo, Alexander Kleiner, A. Farinelli, L. Marchetti and D. Nardi. 2007.
Cooperative Exploration for USAR Robots with Indirect Communication.
In Proc. of 6th IFAC Symposium on Intelligent Autonomous Vehicles (IAV).
[20] Full text  V. A. Ziparo, Alexander Kleiner, B. Nebel and D. Nardi. 2007.
RFID-Based Exploration for Large Robot Teams.
In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pages 4606–4613. IEEE.
DOI: 10.1109/ROBOT.2007.364189.
2006
[19] Alexander Kleiner, Christian Dornhege, Rainer KĂĽmmerle, Michael Ruhnke, Bastian Steder, Bernhard Nebel, Patrick Doherty, Mariusz Wzorek, Piotr Rudol, Gianpaolo Conte, Simone Duranti and David Lundström. 2006.
RoboCupRescue - Robot League Team RescueRobots Freiburg (Germany).
In RoboCup 2006 (CDROM Proceedings), Team Description Paper, Rescue Robot League.
Note: (1st place in the autonomy competition)
[18] Alexander Kleiner, Nils Behrens and Holger Kenn. 2006.
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, pages 116–123.
[17] Full text  Christian Dornhege and Alexander Kleiner. 2006.
Visual Odometry for Tracked Vehicles.
In In Proc. of the IEEE Int. Workshop on Safety, Security and Rescue Robotics (SSRR).
[16] Full text  Alexander Kleiner, J. Prediger and Bernhard Nebel. 2006.
RFID Technology-based Exploration and SLAM for Search And Rescue.
In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pages 4054–4059. IEEE conference proceedings. ISBN: 1-4244-0258-1.
DOI: 10.1109/IROS.2006.281867.
[15] Alexander Kleiner and V. A. Ziparo. 2006.
RoboCupRescue - Simulation League Team RescueRobots Freiburg (Germany).
In RoboCup 2006 (CDROM Proceedings), Team Description Paper, Rescue Simulation League.
Note: (1st place in the competition)
2005
[14] Alexander Kleiner. 2005.
Game AI: The Shrinking Gap Between Computer Games and AI Systems.
In G. Riva, F. Vatalaro, F. Davide, M. Alcañiz, editors, Ambient Intelligence: The evolution of technology, communication and cognition towards the future of human-computer interaction, pages 143–155. IOS Press.
Link: http://www.neurovr.org/emerging/volume6....
[13] Full text  Alexander Kleiner, Michael Brenner, Tobias Bräuer, Christian Dornhege, Moritz Göbelbecker, Matthias Luber, Johann Prediger, Joerg StĂĽckler and Bernhard Nebel. 2005.
ResQ Freiburg: Team Description and Evaluation.
Technical Report. Institut für Informatik, Universität Freiburg.
[12] Alexander Kleiner, Michael Brenner, Tobias Bräuer, Christian Dornhege, Moritz Göbelbecker, Matthias Luber, Johann Prediger, Jörg StĂĽckler and Bernhard Nebel. 2005.
Successful Search and Rescue in Simulated Disaster Areas.
In Robocup 2005: Robot Soccer World Cup IX, pages 323–334.
[11] T. A. NĂĽssle, Alexander Kleiner and M. Brenner. 2005.
Approaching Urban Disaster Reality: The ResQ Firesimulator.
In RoboCup 2004: Robot Soccer World Cup VIII, pages 474–482. In series: Lecture Notes in Computer Science #3276/2005.
DOI: 10.1007/978-3-540-32256-6_42.
[10] Alexander Kleiner, B. Steder, C. Dornhege, D. Höfer, D. Meyer-Delius, J. Prediger, J. StĂĽckler, K. Glogowski, M. Thurner, M. Luber, M. Schnell, R. Kuemmerle, T. Burk, T. Bräuer and B. Nebel. 2005.
RoboCupRescue - Robot League Team RescueRobots Freiburg (Germany).
In RoboCup 2005 (CDROM Proceedings), Team Description Paper, Rescue Robot League.
Note: (1st place in the autonomy competition, 4th place in the teleoperation competition)
2004
[9] Full text  Alexander Kleiner and Moritz Göbelbecker. 2004.
Rescue3D: Making Rescue Simulation Attractive to the Public.
Technical Report. Institut für Informatik, Universität Freiburg.
[8] Alexander Kleiner, Michael Brenner, Tobias Bräuer, Christian Dornhege, Moritz Göbelbecker, Matthias Luber, Johann Prediger and Joerg StĂĽckler. 2004.
ResQ Freiburg: Team Description and Evaluation.
In RoboCup 2004 (CDROM Proceedings), Team Description Paper, Rescue Simulation League.
Note: (1st place in the competition)
2003
[7] Alexander Kleiner and T. Buchheim. 2003.
A Plugin-Based Architecture for Simulation in the F2000 League.
In In RoboCup 2003: Robot Soccer World Cup VII, pages 434–445.
[6] Full text  E. Schulenburg, T. Weigel and Alexander Kleiner. 2003.
Self-Localization in Dynamic Environments based on Laser and Vision Data.
In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pages 998–1004. IEEE. ISBN: 0-7803-7860-1.
DOI: 10.1109/IROS.2003.1250758.
2002
[5] Alexander Kleiner, M. Dietl and Bernhard Nebel. 2002.
Towards a Life-Long Learning Soccer Agent.
In In RoboCup 2002: Robot Soccer World Cup VI, pages 126–134.
[4] Full text  T. Weigel, J. -S Gutmann, M. Dietl, Alexander Kleiner and B. Nebel. 2002.
CS Freiburg: Coordinating Robots for Successful Soccer Playing.
IEEE transactions on robotics and automation, 18(5):685–699. IEEE.
DOI: 10.1109/TRA.2002.804041.
2001
[3] T. Weigel, Alexander Kleiner, F. Diesch, M. Dietl, J. -S Gutmann, B. Nebel, P. Stiegeler and B. Szerbakowski. 2001.
CS Freiburg 2001.
In RoboCup 2001 : Robot Soccer World Cup V, pages 26–38.
2000
[2] Full text  Alexander Kleiner, Bernadette Sharp and Oliver Bittel. 2000.
Self Organising Maps for Value Estimation to Solve Reinforcement Learning Tasks.
In Proc. of the 2nd International Conference on Enterprise Information Systems (ICEIS 2000), pages 74–83.
[1] Alexander Kleiner and Bernadette Sharp. 2000.
A New Algorithm for Learning Bayesian Classifiers from Data.
In Artificial Intelligence and Soft Computing, pages 191–197.