@inproceedings{Kaupp, author = {Kaupp, Tobias}, title = {NEWHRI: Unifying characteristics of research in human-robot interaction}, series = {NEWHRI workshop at ICRA'08}, booktitle = {NEWHRI workshop at ICRA'08}, language = {en} } @inproceedings{SchirmerKranzManjunathetal., author = {Schirmer, Fabian and Kranz, Philipp and Manjunath, Meenakshi and Jesus Raja, Jeshwitha and Rose, Chad G. and Kaupp, Tobias and Daun, Marian}, title = {Towards a conceptual safety planning framework for human-robot collaboration}, publisher = {CEUR Workshop Proceedings}, language = {en} } @article{KranzSchirmerKauppetal., author = {Kranz, Philipp and Schirmer, Fabian and Kaupp, Tobias and Daun, Marian}, title = {Generative AI Copilot to Support Safety Analyses of Human-Robot Collaborations: Hazard Operability Analysis and GPT-4}, series = {IEEE Software}, volume = {41}, journal = {IEEE Software}, number = {6}, publisher = {Institute of Electrical and Electronics Engineers (IEEE)}, issn = {0740-7459}, doi = {10.1109/MS.2024.3414445}, pages = {65 -- 72}, language = {en} } @incollection{MillerSchmittKauppetal., author = {Miller, Eddi and Schmitt, Anna-Maria and Kaupp, Tobias and Batres, Rafael and Schiffler, Andreas and Schmitt, Jan}, title = {A Peak Shaving Approach in Manufacturing Combining Machine Learning and Job Shop Scheduling}, series = {Lecture Notes in Mechanical Engineering}, booktitle = {Lecture Notes in Mechanical Engineering}, publisher = {Springer Nature Switzerland}, address = {Cham}, isbn = {9783031774287}, issn = {2195-4356}, doi = {10.1007/978-3-031-77429-4_59}, pages = {535 -- 543}, abstract = {Computerized Numerical Control (CNC) plays an important role in highly autonomous manufacturing systems with multiple machine tools. The necessary Numerical Control (NC) programs to manufacture the parts are mostly written in standardized G-code. An a priori evaluation of the energy demand of CNC-based machine processes opens up the possibility of scheduling multiple jobs according to balanced energy consumption over a production period. Due to this, we present a combined Machine Learning (ML) and Job-Shop-Scheduling (JSS) approach to evaluate G-code for a CNC-milling process with respect to the energy demand of each G-command. The ML model training data are derived by the Latin hypercube sampling (LHS) method facing the main G-code operations G00, G01, and G02. The resulting energy demand for each job enhances a JSS algorithm to smooth the energy demand for multiple jobs, as peak power consumption needs to be avoided due to its expense.}, language = {en} } @inproceedings{MillerSchmittKauppetal., author = {Miller, Eddi and Schmitt, Anna-Maria and Kaupp, Tobias and Schiffler, Andreas and Schmitt, Jan}, title = {Deep Reinforcement Learning for Adaptive Job Shop Scheduling in Robotic Cells: Handling Disruptions Effectively}, series = {2025 11th International Conference on Mechatronics and Robotics Engineering (ICMRE)}, booktitle = {2025 11th International Conference on Mechatronics and Robotics Engineering (ICMRE)}, language = {en} } @article{SchirmerKranzRoseetal., author = {Schirmer, Fabian and Kranz, Philipp and Rose, Chad G. and Schmitt, Jan and Kaupp, Tobias}, title = {Towards Dynamic Human-Robot Collaboration: A Holistic Framework for Assembly Planning}, series = {Electronics}, volume = {14}, journal = {Electronics}, number = {1}, publisher = {MDPI}, issn = {2079-9292}, doi = {10.3390/electronics14010190}, url = {http://nbn-resolving.de/urn:nbn:de:bvb:863-opus-57825}, abstract = {The combination of human cognitive skills and dexterity with the endurance and repeatability of robots is a promising approach to modern assembly. However, efficiently allocating tasks and planning an assembly sequence between humans and robots is a manual, complex, and time-consuming activity. This work presents a framework named "Extract-Enrich-Assess-Plan-Review" that facilitates holistic planning of human-robot assembly processes. The framework automatically Extracts data from heterogeneous sources, Assesses the suitability of each assembly step to be performed by the human or robot, and Plans multiple assembly sequence plans (ASP) according to boundary conditions. Those sequences allow for a dynamic adaptation at runtime and incorporate different human-robot interaction modalities that are Synchronized, Cooperative, or Collaborative. An expert remains in the loop to Enrich the extracted data, and Review the results of the Assess and Plan steps with options to modify the process. To experimentally validate this framework, we compare the achieved degree of automation using three different CAD formats. We also demonstrate and analyze multiple assembly sequence plans that are generated by our system according to process time and the interaction modalities used.}, language = {en} } @inproceedings{SpiessFriesslichBluemmetal., author = {Spieß, Florian and Friesslich, Jonas and Bluemm, Daniel and Mast, Fabio and Vinokour, Dmitrij and Kounev, Samuel and Kaupp, Tobias and Strobel, Norbert}, title = {Towards a Mobile Robot Localization Benchmark with Challenging Sensordata in an Industrial Environment}, series = {2021 20th International Conference on Advanced Robotics (ICAR)}, booktitle = {2021 20th International Conference on Advanced Robotics (ICAR)}, doi = {10.1109/ICAR53236.2021.9659355}, pages = {857 -- 864}, abstract = {To arrive at a realistic assessment of localization methods in terms of their performance in an industrial environment under various challenging conditions, we provide a benchmark to evaluate algorithms both for individual components as well as multi-sensor systems. For several sensor types, including wheel odometry, RGB cameras, RGB-D cameras, and LIDAR, potential issues were identified. The accuracy of wheel odometry, for example, when there are bumps on the track. For each sensor type, we explicitly chose a track for the benchmark dataset containing situations where the sensor fails to provide adequate measurements. Based on the acquired sensor data, localization can be achieved either using a single sensor information or sensor fusion. To help evaluate the output of associated localization algorithms, we provide a software to evaluate a set of metrics as part of the paper. An example application of the benchmark with state-of-the-art algorithms for each sensor is also provided.}, language = {en} } @article{SpiessReinhartStrobeletal., author = {Spiess, Florian and Reinhart, Lukas and Strobel, Norbert and Kaupp, Tobias and Kaiser, Dennis and Kounev, Samuel}, title = {People detection with depth silhouettes and convolutional neural networks on a mobile robot}, series = {Journal of Image and Graphics}, volume = {9}, journal = {Journal of Image and Graphics}, number = {4}, pages = {135 -- 139}, abstract = {This paper presents a novel people detection approach for mobile robot applications based on a combination of classical computer vision techniques and a state-of-the-art neural network. Our approach involves an RGB-D camera as an environmental sensor. The depth data is used to extract silhouettes around people. The RGB images are subsequently augmented with this border information before passing it to the neural network. Under challenging lighting conditions, our system was able to outperform the neural network trained on regular RGB data alone by a factor of two.}, language = {en} } @inproceedings{SpiessStrobelKauppetal., author = {Spiess, Florian and Strobel, Norbert and Kaupp, Tobias and Kounev, Samuel}, title = {A data-driven Sensor Model for LIDAR Range Measurements used for Mobile Robot Navigation}, series = {2022 Sixth IEEE International Conference on Robotic Computing (IRC)}, booktitle = {2022 Sixth IEEE International Conference on Robotic Computing (IRC)}, doi = {10.1109/IRC55401.2022.00020}, pages = {76 -- 80}, abstract = {In this paper, an analysis of the precision of LIDAR range measurements is presented. LIDAR data from two different sensors (HLS-LFCD-LDS and SICK TIM561) were analyzed regarding the influence of range, incident angle to the surface, and material. Based on the results, a data-driven model for LIDAR precision behavior was developed, and a comparison with standard deviation models based on the vendor-provided specifications was presented. Our model can be used to create realistic sensor simulations and to develop robot navigation algorithms weighing sensor range readings based on the precision.}, language = {en} } @article{SpiessFriesslichKauppetal., author = {Spiess, Florian and Friesslich, Jonas and Kaupp, Tobias and Kounev, Samuel and Strobel, Norbert}, title = {Survey and Experimental Comparison of RGB-D Indoor Robot Navigation Methods Supported by ROS and Their Expansion via Fusion with Wheel Odometry and IMU Data}, series = {International Journal of Mechanical Engineering and Robotics Research}, volume = {9}, journal = {International Journal of Mechanical Engineering and Robotics Research}, number = {12}, doi = {10.18178/ijmerr.9.12.1532-1540}, pages = {1532 -- 1540}, language = {en} } @inproceedings{SchmittHillenbrandKranzetal., author = {Schmitt, Jan and Hillenbrand, Andreas and Kranz, Philipp and Kaupp, Tobias}, title = {Assisted human-robot-interaction for industrial assembly: Application of spatial augmented reality (sar) for collaborative assembly tasks}, series = {Companion of the 2021 ACM/IEEE International Conference on Human-Robot Interaction}, booktitle = {Companion of the 2021 ACM/IEEE International Conference on Human-Robot Interaction}, pages = {52 -- 56}, language = {en} } @inproceedings{SchmittKranzHillenbrandetal., author = {Schmitt, Jan and Kranz, Philipp and Hillenbrand, Andreas and Kaupp, Tobias}, title = {Assisted human-robot-interaction for industrial assembly: Video to assisted human-robot-interaction for industrial assembly}, series = {Companion of the 2021 ACM/IEEE International Conference on Human-Robot Interaction}, booktitle = {Companion of the 2021 ACM/IEEE International Conference on Human-Robot Interaction}, pages = {665 -- 667}, language = {en} } @article{SpiessStrobelKauppetal., author = {Spiess, Florian and Strobel, Norbert and Kaupp, Tobias and Kounev, Samuel}, title = {A data-driven Model for Range Sensors}, series = {Encyclopedia with Semantic Computing and Robotic Intelligence}, journal = {Encyclopedia with Semantic Computing and Robotic Intelligence}, language = {en} } @inproceedings{VoglerKauppSchmittetal., author = {Vogler, N. and Kaupp, Tobias and Schmitt, Jan and Antelmann, H.}, title = {Maturity level models for the evaluation of the digitalization progress of assembly-intensive production processes}, series = {German Assembly Engineering 2019}, booktitle = {German Assembly Engineering 2019}, language = {en} } @article{AliWuMuelleretal., author = {Ali, Usama and Wu, Lan and M{\"u}ller, Adrian and Sukkar, Fouad and Kaupp, Tobias and Vidal-Calleja, Teresa}, title = {Interactive Distance Field Mapping and Planning to Enable Human-Robot Collaboration}, series = {IEEE Robotics and Automation Letters}, volume = {9}, journal = {IEEE Robotics and Automation Letters}, number = {12}, publisher = {Institute of Electrical and Electronics Engineers (IEEE)}, issn = {2377-3766}, doi = {10.1109/LRA.2024.3482128}, pages = {10850 -- 10857}, language = {en} } @inproceedings{KranzKristhofenSchirmeretal., author = {Kranz, Philipp and Kristhofen, Dennis and Schirmer, Fabian and Rose, Chad G. and Schmitt, Jan and Kaupp, Tobias}, title = {Gesture vs. Touch Control for Unforeseen Situations of Human-Robot Collaborative Assembly}, series = {2025 20th ACM/IEEE International Conference on Human-Robot Interaction (HRI)}, booktitle = {2025 20th ACM/IEEE International Conference on Human-Robot Interaction (HRI)}, publisher = {IEEE}, doi = {10.1109/HRI61500.2025.10974148}, pages = {1433 -- 1437}, language = {en} } @inproceedings{SchirmerKranzRoseetal., author = {Schirmer, Fabian and Kranz, Philipp and Rose, Chad G. and Willert, Volker and Schmitt, Jan and Kaupp, Tobias}, title = {Utilizing Eye Gaze for Human-Robot Collaborative Assembly}, series = {2025 20th ACM/IEEE International Conference on Human-Robot Interaction (HRI)}, booktitle = {2025 20th ACM/IEEE International Conference on Human-Robot Interaction (HRI)}, publisher = {IEEE}, doi = {10.1109/HRI61500.2025.10974041}, pages = {1603 -- 1607}, language = {en} } @inproceedings{AliSukkarMuelleretal., author = {Ali, Usama and Sukkar, Fouad and Mueller, Adrian and Wu, Lan and Gentil, Cedric Le and Kaupp, Tobias and Calleja, Teresa Vidal}, title = {Enabling Safe, Active and Interactive Human-Robot Collaboration via Smooth Distance Fields}, series = {2025 20th ACM/IEEE International Conference on Human-Robot Interaction (HRI)}, booktitle = {2025 20th ACM/IEEE International Conference on Human-Robot Interaction (HRI)}, publisher = {IEEE}, doi = {10.1109/HRI61500.2025.10974001}, pages = {439 -- 446}, language = {en} } @inproceedings{KranzSchirmerDaunetal., author = {Kranz, Philipp and Schirmer, Fabian and Daun, Marian and Kaupp, Tobias}, title = {Towards a Modular Human-Robot Safety Control System Using Petri Nets}, series = {Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics}, booktitle = {Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics}, publisher = {SCITEPRESS - Science and Technology Publications}, doi = {10.5220/0013011900003822}, pages = {384 -- 391}, language = {en} } @article{KauppSchirmerKranz, author = {Kaupp, Tobias and Schirmer, Fabian and Kranz, Philipp}, title = {Sichere Mensch-Roboter-Kollaboration in der Montage - Innovative Sicherheitskonzepte f{\"u}r eine effiziente Zusammenarbeit}, series = {Factory Innovation}, volume = {2024}, journal = {Factory Innovation}, number = {6}, publisher = {GITO mbH Verlag}, issn = {2749-7593}, doi = {https://doi.org/10.30844/FID.24.6.TK}, language = {de} } @article{MillerEngelmannKauppetal., author = {Miller, Eddi and Engelmann, Bastian and Kaupp, Tobias and Schmitt, Jan}, title = {Advanced Cascaded Scheduling for Highly Autonomous Production Cells with Material Flow and Tool Lifetime Consideration using AGVs}, series = {Journal of Machine Engineering}, journal = {Journal of Machine Engineering}, issn = {2391-8071}, language = {en} } @inproceedings{EndresReinhartKauppetal., author = {Endres, Felix and Reinhart, Lukas and Kaupp, Tobias and Willert, Volker}, title = {Perspective Invariant Inference of Corner Points in Packing Patterns of Cardboard Boxes}, series = {Proceedings of Image Processing Forum 2022, 24. - 25. Nov. 2022}, booktitle = {Proceedings of Image Processing Forum 2022, 24. - 25. Nov. 2022}, pages = {201 -- 213}, language = {en} } @incollection{MuellerEndresReinhartetal., author = {Mueller, Julian and Endres, Felix and Reinhart, Lucas and Loeser, Martin and Buinitskii, Stanislav and Willert, Volker and Kaupp, Tobias}, title = {Team SWOT - Champions of RoboCup@Work 2024}, series = {Lecture Notes in Computer Science}, booktitle = {Lecture Notes in Computer Science}, publisher = {Springer Nature Switzerland}, address = {Cham}, isbn = {9783031858581}, issn = {0302-9743}, doi = {https://doi.org/10.1007/978-3-031-85859-8_36}, pages = {424 -- 435}, language = {en} }