Foto von Dirk Wollherr

PD Dr.-Ing. habil. Dirk Wollherr

Technische Universität München

Lehrstuhl für Steuerungs- und Regelungstechnik (Prof. Buss)

Postadresse

Postal:
Theresienstr. 90
80333 München

  • Tel.: +49 (89) 289 - 23401
  • Raum: 0105.02.501
  • dw(at)tum.de

Kurze Biografie

Dirk Wollherr is currently senior researcher and lecturer (since July 2005) and Privatdozent (since 2013) at the Institute of Automatic Control Engineering, Faculty of Electrical Engineering and Information Technology, Technische Universität München, Munich, Germany. He received the diploma engineer degree in Electrical Engineering in 2000, the Doctor of Engineering degree in Electrical Engineering in 2005 and the Habilitation degree in 2013 from the Technische Universität München, Munich, Germany. From 2001-2004 he has been research assistant at the Control Systems Group, Technische Universität Berlin, Germany. In 2004 he has been granted a research fellowship from the Japanese Society for the Promotion of Science (JSPS) at the Yoshihiko-Nakamura-Lab, The University of Tokyo, Japan. From 2006-2008 Dr. Wollherr has been General Manager of the Cluster of Excellence “Cognition for Technical Systems (CoTeSys)” and since 2005 he is principal investigator, independent junior research group leader, and research area leader within CoTeSys. He has been TUM Carl-von-Linde Junior Fellow, Institute of Advanced Studies from 2010 until 2013. Furthermore, he has been active in dissemination, e.g. Program Co-Chair of the "Workshop on Advanced Robotics and its Social Impacts (ARSO) 2013", General Chair of the German “Robotik 2008” conference and Finance Chair of RO-MAN 2008, as well as in several EU projects, e.g. Robot@CWE, CyberWalk, Movement and IURO. His research interests include automatic control, robotics, autonomous mobile robots, human-robot-interaction, and humanoid walking.

Forschungsinteressen

Mobile Robots

  • SLAM
  • Navigation in dynamically changing environments
  • Moving obstacle recognition, motion estimation and path planning in dynamically changing environments
  • Multi-robot systems

Human-Robot Interaction

  • Natural and intuitive robot information retrieval from humans
  • Information validation
  • Fusion of information from multiple sources, especially fusion of metric sensor data and topologic information from humans

Environment understanding and object recognition

  • Segmentation and Classification of 3D Laser data

Fast manipulation with non-negligible dynamics

  • Fast sensor fusion of haptic and visual modality
  • Fast manipulation with force constraints

Related Research Projects

  • ACE - The Autonomous City Explorer
  • Basketball Robot
  • The CoTeSys Multi-Robot-Lab
  • EU Project Robot@CWE

Publikationen

Journal Artikel

2019

  • Steyer, S.; Lenk, C.; Kellner, D.; Tanzmeister, G.; Wollherr, D.: Grid-Based Object Tracking with Nonlinear Dynamic State and Shape Estimation. IEEE Transactions on Intelligent Transportation Systems, 2019, 1–20 mehr… BibTeX
  • Turnwald, A.; Wollherr, D.: Human-Like Motion Planning Based on Game Theoretic Decision Making. International Journal of Social Robotics 11 (1), 2019, 151-170 mehr… BibTeX

2018

  • Brüdigam, T.; Ahmic, K.; Leibold, M.; Wollherr, D.: Legible Model Predictive Control for Autonomous Driving on Highways. IFAC-PapersOnLine 51 (20), 2018, 215-221 mehr… BibTeX
  • Reichensdorfer, Elias; Odenthal, Dirk; Wollherr, Dirk: On the Stability of Nonlinear Wheel-Slip Zero Dynamics in Traction Control Systems. IEEE Transactions on Control Systems Technology PP, 2018, 1-16 mehr… BibTeX
  • Reichensdörfer, E.; Odenthal, D.; Wollherr, D.: On the Stability of Nonlinear Wheel-Slip Zero Dynamics in Traction Control Systems. IEEE Transactions on Control Systems Technology PP, 2018, 1-16 mehr… BibTeX
  • Steyer, S.; Tanzmeister, G.; Wollherr, D.: Grid-Based Environment Estimation Using Evidential Mapping and Particle Tracking. IEEE Transactions on Intelligent Vehicles 3 (3), 2018, 384-396 mehr… BibTeX
  • Ögüz, Ö. S.; Pfirrmann, B. M.; Guo, M.; Wollherr, D.: Learning Hand Movement Interaction Control Using RNNs: From HHI to HRI. IEEE Robotics and Automation Letters (RA-L) 3 (4), 2018, 4100-4107 mehr… BibTeX
  • Ögüz, Ö. S.; Zhou, Z.; Glasauer, S.; Wollherr, D.: An Inverse Optimal Control Approach to Explain Human Arm Reaching Control Based on Multiple Internal Models. Scientific Reports, Nature PG 8 (1), 2018, 5583 mehr… BibTeX
  • Ögüz, Ö. S.; Zhou, Z.; Wollherr, D.: A Hybrid Framework for Understanding and Predicting Human Reaching Motions. Frontiers in Robotics and AI 5, 2018, 27 mehr… BibTeX

2017

  • Carton, Daniel; Olszowy, Wiktor; Wollherr, Dirk; Buss, Martin: Socio-Contextual Constraints for Human Approach with a Mobile Robot. I. J. Social Robotics 9 (2), 2017, 309-327 mehr… BibTeX
  • Landsiedel, C.; Rieser, V.; Walter, M.; Wollherr, D.: A Review of Spatial Reasoning and Interaction for Real-World Robotics. Advanced Robotics, 2017 mehr… BibTeX
  • Landsiedel, C.; Wollherr, D.: Road geometry estimation for urban semantic maps using open data. Advanced Robotics, 2017, 1-9 mehr… BibTeX
  • Landsiedel, C.; and Wollherr, D.: Global Localization of 3D Point Clouds in Building Outline Maps of Urban Outdoor Environments. International Journal of Intelligent Robotics and Applications, 2017 mehr… BibTeX

2016

  • Bahram, M.; Hubmann, C.; Lawitzky, A.; Aeberhard, M.; Wollherr, D.: A combined model-and learning-based framework for interaction-aware maneuver prediction. IEEE Transactions on Intelligent Transportation Systems 17 (6), 2016, 1538-1550 mehr… BibTeX
  • Carton, D.; Nitsch, V.; Meinzer, D.; Wollherr, D.: Towards Assessing the Human Trajectory Planning Horizon. PLoS ONE 11 (12), 2016 mehr… BibTeX
  • Carton, D.; Olszowy, W.; Wollherr, D.: Measuring the effectiveness of readability for mobile robot locomotion. International Journal of Social Robotics 8 (5), 2016, 721-741 mehr… BibTeX
  • Khan, S.; Wollherr, D.; Buss, M.: Modeling Laser Intensities For Simultaneous Localization and Mapping. IEEE Robotics and Automation Letters (RA-L) 1 (2), 2016, 692-699 mehr… BibTeX
  • Tanzmeister, G.; Wollherr, D.: Evidential Grid-Based Tracking and Mapping. IEEE Transactions on Intelligent Transportation Systems PP (99), 2016, 1-14 mehr… BibTeX
  • Tanzmeister, G.; Wollherr, D.; and Buss, M.: Grid-based Multi-Road-Course Estimation using Motion Planning. Transactions on Vehicular Technology 65 (4), 2016, 1924-1935 mehr… BibTeX
  • Turnwald, A.; Althoff, D.; Wollherr, D.; and Buss, M.: Understanding Human Avoidance Behavior: Interaction-aware Decision Making based on Game Theory. International Journal of Social Robotics, 2016 mehr… BibTeX
  • de Nijs, R.; Landsiedel, C.; Wollherr, D.; and Buss, M.: Quadratization and Roof Duality of Markov Logic Networks. Journal of Artificial Intelligence Research 55, 2016, 685-714 mehr… BibTeX

2015

  • Althoff, D.; Weber, B.; Wollherr, D.; Buss, M.: Closed-loop safety assessment of uncertain roadmaps. Autonomous Robots, 2015, 1-23 mehr… BibTeX
  • Buss, M.; Carton, D.; Khan, S.; Kühnlenz, B.; Kühnlenz, K.; Landsiedel, C.; de Nijs, R.; Turnwald, A.; Wollherr, D.: IURO - Soziale Mensch-Roboter-Interaktion in den Straßen von München. at - Automatisierungstechnik 63 (4), 2015, 231-242 mehr… BibTeX

2014

  • Khan, S.; Verginis, C.; Dometios, A.; Tzafestas, C.; Wollherr, D.; Buss, M.: RMAP: a rectangular cuboid approximation framework for 3D environment mapping. Autonomous Robots 37 (3), 2014, 261-277 mehr… BibTeX
  • Tanzmeister, G.; Friedl, M.; D. Wollherr; Buss, M.: Efficient Evaluation of Collisions and Costs using Grid Maps for Autonomous Vehicle Motion Planning. IEEE Transactions on Intelligent Transportation Systems, 2014, 2249-2260 mehr… BibTeX

2013

  • Bätz, G.; Weber, B.; Scheint, M.; Wollherr, D.; Buss, M.: Dynamic Contact Force/Torque Observer: Sensor Fusion for Improved Interaction Control. International Journal of Robotics Research, 2013 mehr… BibTeX
  • Kühnlenz (Gonsior), B.; Sosnowski, S.; Buß, M.; Wollherr, D.; Kühnlenz, K.; Buss, M.: Increasing Helpfulness towards a Robot by Emotional Adaption to the User. International Journal of Social Robotics (IJSR) 5 (4), 2013, 457-476 mehr… BibTeX

2012

  • Althoff, D.; Kuffner, J. J.; Wollherr, D.; Buss, M.: Safety Assessment of Robot Trajectories for Navigation in Uncertain and Dynamic Environments. Autonomous Robots 32 (Special Issue on Motion Safety for Robots), 2012, 285-302 mehr… BibTeX
  • Gonsior, B.; Landsiedel, C.; Mirnig, N.; Sosnowski, S.; Strasser, E.; Zlotowski, J.; Buss, M.; Kühnlenz, K.; Tscheligi, M.; Weiss, A.; Wollherr, D.: Impacts of Multimodal Feedback on Efficiency of Proactive Information Retrieval from Task-Related HRI. Journal of Advanced Computational Intelligence and Intelligent Informatics, Special Issue on Cognitive Infocommunications 16 (2), 2012, 313-326 mehr… BibTeX
  • Rohrmüller, F.; Wollherr, D.; Buss, M.: MuRoCo: A Framework for Capability- and Situation-Aware Coalition Formation in Cooperative Multi-Robot Systems. Journal of Intelligent & Robotic Systems 67 (Online First (DOI 10.1007/s10846-012-9654-0)), 2012, 339-370 mehr… BibTeX

2011

  • Althoff, D.; Kuffner, J. J.; Wollherr, D.; Buss, M.: Safety Assessment of Robot Trajectories for Navigation in Uncertain and Dynamic Environments. Autonomous Robots Special Issue on Motion Safety for Robots), 2011, 1-17 mehr… BibTeX
  • Bätz, G.; Scheint, M.; Wollherr, D.: Towards Dynamic Manipulation for Humanoid Robots: Experiments and Design Aspects. International Journal of Humanoid Robots, 2011 mehr… BibTeX
  • Lidoris, G.; Rohrmüller, F.; Wollherr, D.; Buss, M.: System Interdependence Analysis For Autonomous Robots. The International Journal of Robotics Research 30, 2011, 601-614 mehr… BibTeX

2010

  • Mühlbauer, Q.; Xu, T.; Bauer, A.; Klasing, K.; Lidoris, G.; Rohrmüller, F.; Sosnowski, S.; Kühnlenz, K.; Wollherr, D.; Buss, M.: Wenn Roboter nach dem Weg fragen / Navigation by natural human-Robot Interaction. at - Automatisierungstechnik 58 (11), 2010, 647--656 mehr… BibTeX
  • Rambow, M.; Rohrmüller, F.; Kourakos, O.; Brscic, D.; Wollherr, D.; Hirche, S.; Buss, M.: A Framework for Information Distribution, Task Execution and Decision Making in Multi-Robot Systems. IEICE Transactions on Information and Systems E93-D 6, 2010, 1352--1360 mehr… BibTeX

2009

  • Bauer, A.; Klasing, K.; Lidoris, G.; Mühlbauer, Q.; Rohrmüller, F.; Sosnowski, S.; Xu, T.; Kühnlenz, K.; Wollherr, D.; Buss, M.: The Autonomous City Explorer: Towards Natural Human-Robot Interaction in Urban Environments. International Journal of Social Robotics 1 (2), 2009, 127-140 mehr… BibTeX

2008

  • Bauer, A.; Wollherr, D.; Buss, M.: Human-Robot Collaboration: A Survey. International Journal of Humanoid Robotics (IJHR) 5 (4), 2008, 47-66 mehr… BibTeX

2007

  • Buss, M.; Beetz, M.; Wollherr, D.: CoTeSys - Cognition for Technical Systems. International Journal of Assistive Robotics and Mechatronics 8 4, 2007, 25-36 mehr… BibTeX

2006

  • Wollherr, Dirk: Online Posture Correction for Humanoid Walking Robots. at - Automatisierungstechnik 8, 2006, 396-404 mehr… BibTeX

2003

  • Wollherr, D.; Buss, M.: Cost Oriented Virtual Reality and Realtime Control System Architecture. Robotica 21, 2003, 289--294 mehr… BibTeX

2002

  • Marezcek, J.; Wollherr, D.; Buss, M.; Schmidt, G.: Überschlagsvermeidung bei Kraftfahrzeugen durch Invarianzregelung. at - Automatisierungstechnik 50 (2), 2002, 70-78 mehr… BibTeX

Bücher

(Keine Dokumente in dieser Ansicht)

Buch Kapitel

  • Wollherr, D.; Khan, S.; Landsiedel, C.; Buss, M.: The Interactive Urban Robot IURO: Towards Robot Action in Human Environments. In: Experimental Robotics. Springer, 2015, 277-291 mehr… BibTeX
  • Bätz, G.; Wollherr, D.; Kühnlenz, K.; Buss, M.: Robot Basketball: A New Challenge for Real-Time Control. In: Advances in Real-Time Systems. Springer, 2011 mehr… BibTeX
  • Klasing, K.; Wollherr, D.; Buss, M.: Joint Dominance Coefficients: A Sensitivity-based Measure for Ranking Robotic Degrees of Freedom. In: Kröger, T.; Wahl, F.M. (Hrsg.): Advances in Robotics Research. Springer, 2009, 1-10 mehr… BibTeX
  • Bätz, G.; Sobotka, M.; Wollherr, D.; Buss, M.: Robot Basketball: Ball Dribbling - A Modified Juggling Task. In: T. Kröger, F. M. Wahl (Hrsg.): Advances in Robotics Research. Springer, 2009, 323-334 mehr… BibTeX
  • Lidoris, G.; Wollherr, D.; Buss, M.: 6: Bayesian Framework for State Estimation and Robot Behaviour Selection in Dynamic Environments. In: Greedy Algorithms. IN-TECH, 2008 mehr… BibTeX
  • Kühnlenz, K.; Lidoris, G.; Wollherr, D.; Buss, M.: On Foveated Gaze Control and Combined Gaze and Locomotion Planning. In: Filho, A. C. de Pina (Hrsg.): Humanoid Robots. New Developments. Advanced Robotic Systems Int. and I-Tech Education and Publishing, 2007 mehr… BibTeX
  • Beetz, M.; Buss, M.; Wollherr, D.: Cognitive Technical Systems - What Is the Role of Artificial Intelligence? In: , 2007 mehr… BibTeX

Beiträge zu Sammlungen

(Keine Dokumente in dieser Ansicht)

Peer-Reviewed Konferenz Paper

2018

  • Brüdigam, T.; Olbrich, M.; Leibold, M.; Wollherr, D.: Combining Stochastic and Scenario Model Predictive Control to Handle Target Vehicle Uncertainty in an Autonomous Driving Highway Scenario. 2018 21st International Conference on Intelligent Transportation Systems (ITSC), 2018, 1317-1324 mehr… BibTeX
  • Reichensdörfer, E.; Odenthal, D.; Wollherr, D.: Nonlinear Control Structure Design using Grammatical Evolution and Lyapunov Equation based Optimization. Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, SciTePress, 2018 mehr… BibTeX
  • Steyer, S.; Tanzmeister, G.; Lenk, C.; Dallabetta, V.; Wollherr, D.: Data Association for Grid-Based Object Tracking Using Particle Labeling. 2018 21st International Conference on Intelligent Transportation Systems (ITSC), 2018 mehr… BibTeX

2017

  • Dinh, K. Hoang; Weiler, P.; (Sobotka), M. Leibold; Wollherr, D.: Fast and close to optimal trajectory generation for articulated robots in reaching motions. 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2017 mehr… BibTeX
  • Gabler, Volker; Stahl, Tim; Huber, Gerold; Oguz, Ozgur; Wollherr, Dirk: A Game-Theoretic Approach for Adaptive Action Selection in Close Distance Human-Robot-Collaboration. 2017 IEEE International Conference on Robotics and Automation (ICRA) Singapore, May 29 - June 3, 2017, IEEE, 2017 mehr… BibTeX
  • Huber, G.; Gabler, V.; Wollherr, D.: An online trajectory generator on SE(3) with magnitude constraints. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017 mehr… BibTeX
  • Kobayashi, Yuichi; Matsumoto, Takeshi; Takano, Wataru; Wollherr, Dirk; Gabler, Volker: Motion Recognition by Natural Language Including Success and Failure of Tasks for Co-Working Robot with Human. 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Sheraton Arabella Park Hotel, Munich, Germany, July 3-7, 2017, IEEE, 2017 mehr… BibTeX
  • Oguz, O. S.; Sari, O. C.; Dinh, K. H.; Wollherr, D.: Progressive stochastic motion planning for human-robot interaction. 2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2017 mehr… BibTeX
  • Reichensdörfer, Elias; Odenthal, Dirk; Wollherr, Dirk: Grammatical Evolution of Robust Controller Structures Using Wilson Scoring and Criticality Ranking. European Conference on Genetic Programming, 2017 mehr… BibTeX
  • Steyer, S.; Tanzmeister, G.; Wollherr, D.: Object Tracking Based on Evidential Dynamic Occupancy Grids in Urban Environments. Proceedings of the 2017 IEEE Intelligent Vehicles Symposium, 2017 mehr… BibTeX
  • Stiens, K.; Keilhacker, J.; Tanzmeister, G.; and Wollherr, D.: Local elevation mapping for automated vehicles using lidar ray geometry and particle filters. 2017 IEEE Intelligent Vehicles Symposium (IV), 2017, 481-486 mehr… BibTeX
  • Sun, Y.; Zhang, Z.; (Sobotka), M. Leibold; Hayat, R.; Wollherr, D.; Buss, M.: Protective control for robot manipulator by sliding mode based disturbance reconstruction approach. 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2017 mehr… BibTeX
  • Weiß, R.; Großmann, B.; (Sobotka), M. Leibold; Schlegl, T.; Wollherr, D.: Modeling and nonlinear control of antagonistically actuating pneumatic artificial muscles. 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2017 mehr… BibTeX
  • Zhu, Huaijiang; Gabler, Volker; Wollherr, Dirk: Legible Action Selection in Human-Robot Collaboration. 26th IEEE International Symposium on Robot and Human Interactive Communication, (RO-MAN) 2017, Lisbon, Portugal August 28 - September 1, 2017, IEEE, 2017 mehr… BibTeX

2016

  • Oguz, Ozgur S.; Gabler, Volker; Huber, Gerold; Zhou, Zhehua; Wollherr, Dirk: Hybrid Human Motion Prediction for Action Selection within Human-Robot Collaboration. Experimental Robotics - The 15th International Symposium on Experimental Robotics, {ISER} 2016, October 3-6, 2016, Tokyo, Japan, 2016 mehr… BibTeX
  • Stiens, K.; Tanzmeister, G.; Wollherr, D.: Local elevation mapping based on low mounted lidar sensors with narrow vertical field of view. 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC), 2016 mehr… BibTeX

2015

  • Dinh, K. H.; Oguz, O.; Huber, G.; Gabler, V.; Wollherr, D.: An approach to integrate human motion prediction into local obstacle avoidance in close human-robot collaboration. 2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO), 2015, 1-6 mehr… BibTeX
  • Khan, S.; Wollherr, D.: IBuILD: Incremental Bag of Binary Words for Appearance Based Loop Closure Detection. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2015, 2132-2139 mehr… BibTeX
  • Khan, S.; Wollherr, D.; Buss, M.: Adaptive Rectangular Cuboids for 3D Mapping. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2015 mehr… BibTeX
  • Landsiedel, C.; Wollherr, D.: Augmenting and reasoning in semantically enriched maps using open data. Proceedings of the Workshop on Spatial Reasoning and Interaction for Real-World Robotics at IROS 2015, 2015IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) mehr… BibTeX
  • Turnwald, A.; Eger, S.; and Wollherr, D.: Investigating Similarity Measures for Locomotor Trajectories Based on the Human Perception of Differences in Motions. Proceedings of the IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), 2015 mehr… BibTeX

2014

  • Bahram, M.; Wolf, A.; Aeberhard, M.; Wollherr, D.: A prediction-based reactive driving strategy for highly automated driving function on freeways. Intelligent Vehicles Symposium Proceedings, 2014, 400-406 mehr… BibTeX
  • Carton, D.; Turnwald, A.; Olszowy, W.; Buss, M.; Wollherr, D.: Using Penalized Spline Regression to calculate Mean Trajectories including Confidence Intervals of Human Motion Data. Proceedings of the IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), 2014, 76-81 mehr… BibTeX
  • Lawitzky, A.; Nicklas, A.; Wollherr, D.; Buss M.: Determining States of Inevitable Collision using Reachability Analysis. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2014, 4142-4147 mehr… BibTeX
  • Tanzmeister, G.; D. Wollherr; Buss, M.: Environment-based Trajectory Clustering to Extract Principal Directions for Autonomous Vehicles. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014, 667-673 mehr… BibTeX
  • Tanzmeister, G.; Thomas, J.; D. Wollherr; Buss, M.: Grid-based Mapping and Tracking in Dynamic Environments using a Uniform Evidential Environment Representation. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2014, 6090-6095 mehr… BibTeX
  • Turnwald, A.; Olszowy, W.; Wollherr, D.; Buss, M.: Interactive navigation of humans from a game theoretic perspective. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2014, 703-708 mehr… BibTeX
  • Wollherr, D.; Khan, S.; Landsiedel, C.; Buss, M.: The Interactive Urban Robot IURO: Towards Robot Action in Human Environments. Proceedings of the International Symposium on Experimental Robotics (ISER), 2014 mehr… BibTeX

2013

  • Landsiedel, C.; Nijs, R. de; Kühnlenz, K.; Wollherr, D.; Buss, M.: Route Description Interpretation on Automatically Labeled Robot Maps. Proceedings of the IEEE International Conference on Robotics and Automation, 2013 mehr… BibTeX
  • Lawitzky, A.; Althoff, D.; Passenberg, C. F.; Tanzmeister, G.; Wollherr, D.; Buss, M.: Interactive Scene Prediction for Automotive Applications. Proceedings of the IEEE Intelligent Vehicles Symposium (IV), 2013Best PhD Student Paper Award Second Prize mehr… BibTeX
  • Lawitzky, A.; Wollherr, D.; Buss, M.: Energy Optimal Control to Approach Traffic Lights. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013 mehr… BibTeX
  • Tanzmeister, G.; Friedl, M.; Lawitzky, A.; Wollherr, D.; Buss, M.: Road Course Estimation in Unknown, Structured Environments. Proceedings of the IEEE Intelligent Vehicles Symposium (IV), 2013, 630 - 635 mehr… BibTeX
  • Tanzmeister, G.; Friedl, M.; Wollherr, D.; Buss, M.: Path Planning on Grid Maps with Unknown Goal Poses. Proceedings of the IEEE Intelligent Transportation Systems Conference (ITSC), 2013 mehr… BibTeX

2012

  • Althoff, D.; Buss, M.; Lawitzky, A.; Werling, M.; Wollherr, D.: On-line Trajectory Generation for Safe and Optimal Vehicle Motion Planning. Autonome Mobile Systeme, 2012 mehr… BibTeX
  • Althoff, D.; Werling, M.; Kaempchen, N.; Wollherr, D.; Buss, M.: Lane-based Safety Assessment of Road Scenes using Inevitable Collision States. Proceedings of the IEEE Intelligent Vehicles Symposium, 2012 mehr… BibTeX
  • Carton, D.; Turnwald, A.; Kühnlenz, K.; Wollherr, D.; Buss, M.: Proactive Human Approach in Dynamic Environments. Proceedings of the International Conference on Intelligent Robots and Systems (IROS Video), 2012 mehr… BibTeX
  • Carton, D.; Turnwald, A.; Wollherr, D.; Buss, M.: Proactively Approaching Pedestrians with an Autonomous Mobile Robot in Urban Environments. Proceedings of the 13th International Symposium on Experimental Robotics (ISER), 2012 mehr… BibTeX
  • Gonsior, B.; Buß, M.; Sosnowski, S.; Wollherr, D.; Kühnlenz, K.; Buss, M.: Towards Transferability of Theories on Prosocial Behavior from Social Psychology to HRI. Proceedings of the IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO), 2012 mehr… BibTeX
  • Gonsior, B.; Sosnowski, S.; Buß, M.; Wollherr, D.; Kühnlenz, K.: An Emotional Adaption Approach to increase Helpfulness towards a Robot. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2012 mehr… BibTeX
  • Khan, S.; Mitsou, N.; Wollherr, D.; Tzafestas, C.: An Optimization approach for 3D environment mapping using normal vector uncertainty. Proceedings of the IEEE International Conference on Control, Automation, Robotics and Vision, 2012 mehr… BibTeX
  • Khan, S.; Wollherr, D.; Buss, M.: PIRF3D: Online Spatial and Appearance based Loop Closure. Proceedings of the IEEE International Conference on Control, Automation, Robotics and Vision, 2012 mehr… BibTeX
  • Lawitzky, A.; Wollherr, D.; Buss, M.: Maneuver-based Risk Assessment for High-Speed Automotive Scenarios. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012 mehr… BibTeX
  • Mirnig, N.; Gonsior, B.; Sosnowski, S.; Landsiedel, C.; Wollherr, D.; Weiss, A.; Tscheligi, M.: Feedback Guidelines for Multimodal Human-Robot Interaction: How Should a Robot Give Feedback When Asking for Directions? Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man), 2012 mehr… BibTeX
  • Mitsou, N.; Nijs, R. de; Lenz, D.; Frimberger, J.; Wollherr, D.; Kühnlenz, K.: Online Semantic Mapping of Urban Environments. Proceedings of the Spatial Cognition VIII, 2012 mehr… BibTeX

2011

  • Althoff, D.; Brand, C. N.; Wollherr, D.; Buss, M.: Computing Unions of Inevitable Collision States and Increasing Safety to Unexpected Obstacles. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011 mehr… BibTeX
  • Althoff, D.; Wollherr, D.; Buss, M.: Safety Assessment of Trajectories for Navigation in Uncertain and Dynamic Environments. Proceedings of the IEEE International Conference on Robotics and Automation, 2011 mehr… BibTeX
  • Bergh, Michael Van den; Carton, Daniel; de Nijs, Roderick; Mitsou, Nikos; Landsiedel, Christian; Kühnlenz, Kolja; Wollherr, Dirk; Gool, Luc J. Van; Buss, Martin: Real-time 3D hand gesture interaction with a robot for understanding directions from humans. 20th IEEE International Symposium on Robot and Human Interactive Communication, {RO-MAN} 2011, Atlanta, Georgia, USA, July 31 - August 3, 2011, 2011 mehr… BibTeX
  • Buss, M.; Carton, D.; Gonsior, B.; Kuehnlenz, K.; Landsiedel, C.; Mitsou, N.; Nijs, R. de; Zlotowski, J.; Sosnowski, S.; Strasser, E.; Tscheligi, M.; Weiss, A.; Wollherr, D.: Towards Proactive Human-Robot Interaction in Human Environments. Proceedings of the International Conference on Cognitive Infocommunications, 2011 mehr… BibTeX
  • Gonsior, B.; Landsiedel, C.; Glaser, A.; Wollherr, D.; Buss, M.: Dialog Strategies for Handling Miscommunication in Task-Related HRI. IEEE International Symposium on Robot and Human Interactive Communication, 2011 mehr… BibTeX
  • Gonsior, B.; Sosnowski, S.; Mayer, C.; Blume, J.; Radig, B.; Wollherr, D.; Kühnlenz, K.: Improving Aspects of Empathy and Subjective Performance for HRI through Mirroring Facial Expressions. Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication, 2011 mehr… BibTeX
  • Lawitzky, A.; Althoff, D.; Wollherr, D.; Buss, M.: Dynamic Window Approach for Omnidirectional Robots with Polygonal Shape. IEEE International Conference on Robotics and Automation, 2011video submission mehr… BibTeX
  • Mitsou, N.; Ntoutsi, I.; Wollherr, D.; Tzafestas, C.; Kriegel, H.-P.: Revealing cluster formation over huge volatile robotic data. Workshop on Domain Driven Data Mining at IEEE International Conference on Data Mining, 2011 mehr… BibTeX
  • Nijs, R. de; Julia, M.; Mitsou, N.; Gonsior, B.; Kühnlenz, K.; Wollherr, D.; Buss, M.: Following route graphs in urban environments. IEEE International Symposium on Robot and Human Interactive Communication, 2011 mehr… BibTeX

2010

  • Althoff, D.; Althoff, M.; Wollherr, D.; Buss, M.: Probabilistic Collision State Checker for Crowded Environments. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2010 mehr… BibTeX
  • Althoff, M.; Althoff, D.; Wollherr, D.; Buss, M.: Safety Verification of Autonomous Vehicles for Coordinated Evasive Maneuvers. Proceedings of the IEEE Intelligent Vehicles Symposium, 2010 mehr… BibTeX
  • Bätz, G.; Mettin, U.; Schmidts, A.; Scheint, M.; Wollherr, D.; Shiriaev, A.: Ball Dribbling with an Underactuated Continuous-Time Control Phase: Theory & Experiments. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010 mehr… BibTeX
  • Bätz, G.; Yaqub, A.; Wollherr, D.; Buss, M.: Dynamic Manipulation: Nonprehensile Ball Catching. Proceedings of the 18th IEEE Mediterranean Conference on Control and Automation, 2010 mehr… BibTeX
  • Gonsior, B.; Wollherr, D.; Buss, M.: Towards a Dialog Strategy for Handling Miscommunication in Human-Robot Dialog. Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication, 2010 mehr… BibTeX
  • Mettin, U.; Shiriaev, A. S.; Bätz, G.; Wollherr, D.: Ball Dribbling with an Underactuated Continuous-Time Control Phase. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2010 mehr… BibTeX
  • Rohrmüller, F.; Kourakos, O.; Rambow, M.; Brscic, D.; Wollherr, D.; Hirche, S.; Buss, M.: Interconnected Performance Optimization in Complex Robotic Systems. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010 mehr… BibTeX
  • Weiss, A.; Igelsböck, J.; Tscheligi, M.; Bauer, A.; Kühnlenz, K.; Wollherr, D.; Buss, M.: Robots Asking for Directions: The Willingness of Passers-by to Support Robots. International Conference on Human-Robot Interaction (HRI), 2010 mehr… BibTeX

2009

  • Althoff, D.; Kourakos, O.; Lawitzky, M.; Mörtl, A.; Rambow, M.; Rohrmüller, F.; Brščić, D.; Wollherr, D.; Hirche, S.; Buss, M.: A Flexible Architecture for Real-time Control in Multi-robot Systems. Proceedings of the Third International Workshop on Human Centered Robotic Systems '09 (Cognitive Systems Monographs), Springer, 2009 mehr… BibTeX
  • Bauer, A.; Gonsior, B.; Wollherr, D.; Buss, M.: Heuristic Rules for Human-Robot Interaction Based on Principles from Linguistics - Asking for Directions. AISB Convention - Symposium on New Frontiers in Human-Robot Interaction, 2009, 24-30 mehr… BibTeX
  • Bauer, A.; Klasing, K.; Xu, T.; Sosnowski, S.; Lidoris, G.; Mühlbauer, Q.; Zhang, T.; Rohrmüller, F.; Kühnlenz, K.; Wollherr, D.; Buss, M.: The Autonomous City Explorer Project (Video). Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2009, 1595-1596 mehr… BibTeX
  • Bauer, A.; Wollherr, D.; Buss, M.: Information Retrieval System for Human-Robot Communication – Asking for Directions. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2009, 4150-4155 mehr… BibTeX
  • Bätz, G.; Lee, K.K.; Wollherr, D.; Buss, M.: Robot Basketball: A Comparison of Ball Dribbling with Visual and Force/Torque Information. Proc. IEEE International Conference on Robotics and Automation (ICRA), 2009 mehr… BibTeX
  • Klasing, K.; Althoff, D.; Wollherr, D.; Buss, M.: Comparison of Surface Normal Estimation Methods for Range Sensing Applications. Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA), 2009 mehr… BibTeX
  • Klasing, K.; Wollherr, D.; Buss, M.: Realtime Segmentation of Range Data Using Continuous Nearest Neighbors. Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA), 2009 mehr… BibTeX
  • Lidoris, G.; Rohrmüller, F.; Wollherr, D.; Buss, M.: The Autonomous City Explorer (ACE) Project - Mobile Robot Navigation in Highly Populated Urban Environments. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2009 mehr… BibTeX
  • Rohrmüller, F.; Lidoris, G.; Wollherr, D.; Buss, M.: System Interdependence Analysis For Autonomous Mobile Robots. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009 mehr… BibTeX

2008

  • Klasing, K.,; G. Lidoris,; A. Bauer,; Rohrmüller, F.; D. Wollherr,; Buss., M.: The Autonomous City Explorer: Towards Semantic Navigation in Urban Environments. Proceedings of the 1st International Workshop on Cognition for Technical Systems, 2008 mehr… BibTeX
  • Klasing, K.; Wollherr, D.; Buss, M.: A Clustering Method for Efficient Segmentation of 3D Laser Data. Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA), 2008 mehr… BibTeX
  • Lee, K.K.; Bätz, G.; Wollherr, D.: Basketball Robot: Ball-on-Plate with Pure Haptics. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2008 mehr… BibTeX
  • Lee, K.K.; Achhammer, A.; Drexler, S.; Wollherr, D.: Basketball Robot: Ball-on-Plate System without Visual Information. Proceedings of the IFAC World Congress, 2008 mehr… BibTeX
  • Lidoris, G.; Wollherr, D.; Buss, M.: Bayesian State Estimation and Behavior Selection for Autonomous Robotic Exploration in Dynamic Environments. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2008 mehr… BibTeX
  • Rohrmüller, F.; Althoff, M; Wollherr, D.; Buss, M.: Probabilistic Mapping of Dynamic Obstacles Using Markov Chains for Replanning in Dynamic Environments. Proc. of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS08), 2008 mehr… BibTeX
  • Weiss, A.; Bernhaupt, R.; Tscheligi, M.; Wollherr, D.; Kühnlenz, K.; Buss, M.: A Methodological Variation for Acceptance Evaluation of Human-Robot Interaction in Public Places. Proceedings of the International Symposium on Robot and Human Interactive Communication (RO-MAN), 2008 mehr… BibTeX

2007

  • Buss, M.; Beetz, M.; Wollherr, D.: CoTeSys - Cognition for Technical Systems. Proceedings of the 4th COE Workshop on Human Adaptive Mechatronics (HAM), 2007 mehr… BibTeX
  • Buss, M.; Beetz, M.; Wollherr, D.: CoTeSys - Cognition for Technical Systems. Proceedings of the 4th COE Workshop on Human Adaptive Mechatronics (HAM), 2007 mehr… BibTeX
  • Klasing, K.; Wollherr, D.; Buss, M.: Cell-based Probabilistic Roadmaps (CPRM) for Efficient Path Planning in Large Environments. Proceedings of the 2007 International Conference on Advanced Robotics (ICAR), 2007 mehr… BibTeX
  • Lidoris, G.; Klasing, K.; Bauer, A.; Xu, T.; Kühnlenz, K.; Wollherr, D.; Buss, M.: The Autonomous City Explorer Project: Aims and System Overview. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007 mehr… BibTeX
  • Lidoris, G.; Kühnlenz, K.; Wollherr, D.; Buss, M.: Combined Trajectory Planning and Gaze Direction Control for Robotic Exploration. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2007 mehr… BibTeX

2006

  • Lidoris, G.; Kühnlenz, K.; Wollherr, D.; Buss, M.: Information-Based Gaze Direction Planning Algorithm for SLAM. Proc. of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2006 mehr… BibTeX

2004

  • Wollherr, Dirk; Buss, Martin: Posture Modification for Biped Humanoid Robots Based on Jacobian Method. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004 mehr… BibTeX

2001

  • Mareczek, J; Wollherr, D.; Buss, M.; Schmidt G.: Rollover Avoidance of Steerable Vehicles with Invariance Control. Proceedings of the 2001 European Control Conference (ECC), 2001, 3522–3527 mehr… BibTeX
  • Wollherr, D.; Mareczek, J.; Buss, M.; Schmidt, G.: Rollover Avoidance for Steerable Vehicles by Invariance Control. Book of Abstracts of the European Control Conference, (ECC'01), 2001, 3522-3527 mehr… BibTeX

Technische Berichte

  • D. Brščić, M. Eggers, F. Rohrmüller, O. Kourakos, S. Sosnowski, D. Althoff, M. Lawitzky, A. Mörtl, M. Rambow, V. Koropouli, J.R. Medina Hernández, X. Zang, W. Wang, D. Wollherr, K. Kühnlenz, C. Mayer, T. Kruse, A. Kirsch, J. Blume, A. Bannat, T. Rehrl, F. Wallhoff, T. Lorenz, P. Basili, C. Lenz, T. Röder, G. Panin, W. Maier, S. Hirche, M. Buss, M. Beetz, B. Radig, A. Schubö, S. Glasauer, A. Knoll, E. Steinbach , Multi Joint Action in CoTeSys - setup and challenges , Technische Universität München & Ludwig-Maximilians-Universität München , Munich, Germany , 2010 .