Publications

The following list of publications describes parts of the KnowRob system or experimental systems that have been realized using KnowRob. If you would like to contribute a publication, please contact the KnowRob maintainers.

Book Chapters
Information System for Storage, Management and Usage for Embodied Intelligent Agents (Daniel Beßler, Asil Kaan Bozcuoglu, Michael Beetz), Chapter in Information Storage from a multi-disciplinary perspective (Rolf Drechsler, Cornelia Große, eds.), Springer, 2019. (978-3-030-19261-7)
Foundational Models for Manipulation Activity Parsing (Daniel Beßler, Robert Porzel, Pomarlan Mihai, Michael Beetz), Chapter in Augmented Reality and Virtual Reality -- Changing Realities in a Dynamic World (Timothy Jung, M. Claudia tom Dieck, Philipp A. Rauschnabel, eds.), Springer, 2019. (978-3-030-37869-1)
Refereed Articles
A Review and Comparison of Ontology-based Approaches to Robot Autonomy (Alberto Olivares-Alarcos, Daniel Beßler, Alaa Khamis, Paulo Goncalves, Maki Habib, Julita Bermejo, Marcos Barreto, Mohammed Diab, Jan Rosell, João Quintas, Joanna Olszewska, Hirenkumar Nakawala, Edison Pignaton, Amelie Gyrard, Stefano Borgo, Guillem Alenyà, Michael Beetz, Howard Li), In The Knowledge Engineering Review, Cambridge University Press, volume 34, 2019. [doi]
Episodic Memories for Safety-Aware Robots -- Knowledge Representation and Reasoning for Robots that Safely Interact with Human Co-Workers (Georg Bartels, Daniel Beßler, Michael Beetz), In KI - Künstliche Intelligenz, Springer, 2019. [doi]
Open-EASE -- A Cloud-Based Knowledge Service for Autonomous Learning (Moritz Tenorth, Jan Winkler, Daniel Beßler, Michael Beetz), In KI -- Künstliche Intelligenz, 2015. [doi]
RoboEarth Semantic Mapping: A Cloud Enabled Knowledge-Based Approach (Luis Riazuelo, Moritz Tenorth, Daniel Di Marco, Marta Salas, Dorian Gálvez-López, Lorenz Mösenlechner, Lars Kunze, Michael Beetz, Juan D. Tardós, Luis Montano, J. M. M. Montiel), In IEEE Transactions on Automation Science and Engineering (T-ASE), 2015.
KnowRob -- A Knowledge Processing Infrastructure for Cognition-enabled Robots (Moritz Tenorth, Michael Beetz), In International Journal of Robotics Research (IJRR), volume 32, 2013.
Representation and Exchange of Knowledge about Actions, Objects, and Environments in the RoboEarth Framework (Moritz Tenorth, Alexander Clifford Perzylo, Reinhard Lafrenz, Michael Beetz), In IEEE Transactions on Automation Science and Engineering (T-ASE), volume 10, 2013. (Best Paper Award Finalist) [doi]
Cognition-Enabled Autonomous Robot Control for the Realization of Home Chore Task Intelligence (Michael Beetz, Dominik Jain, Lorenz Mösenlechner, Lars Kunze, Moritz Tenorth, Nico Blodow, Dejan Pangercic), In Proceedings of the IEEE, Special Issue on Quality of Life Technology, 2012.
Cognition-Enabled Autonomous Robot Control for the Realization of Home Chore Task Intelligence (Michael Beetz, Dominik Jain, Lorenz Mösenlechner, Moritz Tenorth, Lars Kunze, Nico Blodow, Dejan Pangercic), In Proceedings of the IEEE, volume 100, 2012.
RoboEarth - A World Wide Web for Robots (Markus Waibel, Michael Beetz, Raffaello D'Andrea, Rob Janssen, Moritz Tenorth, Javier Civera, Jos Elfring, Dorian Gálvez-López, Kai Häussermann, J.M.M. Montiel, Alexander Perzylo, Björn Schießle, Oliver Zweigle, René van de Molengraft), In Robotics & Automation Magazine, IEEE, volume 18, 2011.
Web-enabled Robots -- Robots that Use the Web as an Information Resource (Moritz Tenorth, Ulrich Klank, Dejan Pangercic, Michael Beetz), In Robotics & Automation Magazine, IEEE, volume 18, 2011. [pdf]
Knowledge Representation for Cognitive Robots (Moritz Tenorth, Dominik Jain, Michael Beetz), In Künstliche Intelligenz, Springer, volume 24, 2010. [pdf]
Towards Performing Everyday Manipulation Activities (Michael Beetz, Dominik Jain, Lorenz Mösenlechner, Moritz Tenorth), In Robotics and Autonomous Systems, Elsevier, volume 58, 2010. [pdf]
Towards Automated Models of Activities of Daily Life (Michael Beetz, Moritz Tenorth, Dominik Jain, Jan Bandouch), In Technology and Disability, IOS Press, volume 22, 2010. [pdf]
Refereed Conference Papers
A Formal Model of Affordances for Flexible Robotic Task Execution (Daniel Beßler, Robert Porzel, Pomarlan Mihai, Michael Beetz, Rainer Malaka, John Bateman), In Proc. of the 24th European Conference on Artificial Intelligence (ECAI), 2020.
An Ontology for Failure Interpretation in Automated Planning and Execution (Mohammed Diab, Mihai Pomarlan, Daniel Beßler, Aliakbar Abkari, Jan Rossel, John Bateman, Michael Beetz), In Fourth Iberian Robotics Conference, 2019.
Cognition-enabled Framework for Mixed Human-Robot Rescue Team (Fereshta Yazdani, Gayane Kazhoyan, Asil Kaan Bozcuoglu, Andrei Haidu, Ferenc Balint-Benczedi, Daniel Beßler, Mihai Pomarlan, Michael Beetz), In International Conference on Intelligent Robots and Systems (IROS), 2018.
KNOWROB-SIM — Game Engine-enabled Knowledge Processing for Cognition-enabled Robot Control (Andrei Haidu, Daniel Beßler, Asil Kaan Bozcuoglu, Michael Beetz), In International Conference on Intelligent Robots and Systems (IROS), 2018. [doi]
Reasoning Systems for Semantic Navigation in Mobile Robots (Jonathan Crespo, Ramón Barber, Óscar Martínez Mozos, Daniel Beßler, Michael Beetz), In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain, October 1-5, 2018, IEEE, 2018. [doi]
Assembly Planning in Cluttered Environments through Heterogeneous Reasoning (Daniel Beßler, Mihai Pomarlan, Aliakbar Akbari, Muhayyuddin, Mohammed Diab, Jan Rosell, John Bateman, Michael Beetz), In 41st German Conference on Artificial Intelligence (KI), Springer, 2018.
OWL-enabled Assembly Planning for Robotic Agents (Daniel Beßler, Mihai Pomarlan, Michael Beetz), In Proceedings of the 2018 International Conference on Autonomous Agents, 2018. (Finalist for the Best Robotics Paper Award.)
KnowRob 2.0 -- A 2nd Generation Knowledge Processing Framework for Cognition-enabled Robotic Agents (Michael Beetz, Daniel Beßler, Andrei Haidu, Mihai Pomarlan, Asil Kaan Bozcuoglu, Georg Bartels), In International Conference on Robotics and Automation (ICRA), 2018.
Heterogeneous Ontologies and Hybrid Reasoning for Service Robotics: The EASE Framework (John Bateman, Michael Beetz, Daniel Beßler, Asil Kaan Bozcuoglu, Mihai Pomarlan), In Third Iberian Robotics Conference, 2017.
Open Robotics Research Using Web-based Knowledge Services (Michael Beetz, Daniel Beßler, Jan Winkler, Jan-H. Worch, Ferenc Balint-Benczedi, Georg Bartels, Aude Billard, Asil K. Bozcuoglu, Zhou Fang, Nadia Figueroa, Andrei Haidu, Hagen Langer, Alexis Maldonado, Ana-Lucia Pais, Moritz. Tenorth, Thiemo Wiedemeyer), In International Conference on Robotics and Automation (ICRA), 2016.
Rendering Semantically-Annotated Experiment Videos out of Robot Memories (Asil Kaan Bozcuoglu, Daniel Beßler, Michael Beetz), In Proceedings of the IEEE-RAS International Conference on Humanoid Robots, 2015.
Open-EASE -- A Knowledge Processing Service for Robots and Robotics/AI Researchers (Michael Beetz, Moritz Tenorth, Jan Winkler), In IEEE International Conference on Robotics and Automation (ICRA), 2015. (Finalist for the Best Cognitive Robotics Paper Award.)
Knowledge-based Specification of Robot Motions (Moritz Tenorth, Georg Bartels, Michael Beetz), In Proceedings of the European Conference on Artificial Intelligence (ECAI), 2014. [pdf]
CRAMm -- Memories for Robots Performing Everyday Manipulation Activities (Jan Winkler, Moritz Tenorth, Asil Kaan Bozcuoglu, Michael Beetz), In Second Annual Conference on Advances in Cognitive Systems, 2013.
Learning Probability Distributions over Partially-Ordered Human Everyday Activities (Moritz Tenorth, Fernando De la Torre, Michael Beetz), In IEEE International Conference on Robotics and Automation (ICRA), 2013. [pdf]
Building Knowledge-enabled Cloud Robotics Applications using the Ubiquitous Network Robot Platform (Moritz Tenorth, Koji Kamei, Satoru Satake, Takahiro Miyashita, Norihiro Hagita), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013. [pdf]
Automated Alignment of Specifications of Everyday Manipulation Tasks (Moritz Tenorth, Johannes Ziegltrum, Michael Beetz), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013. [pdf]
Decomposing CAD Models of Objects of Daily Use and Reasoning about their Functional Parts (Moritz Tenorth, Stefan Profanter, Ferenc Balint-Benczedi, Michael Beetz), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013. [pdf]
The RoboEarth Language: Representing and Exchanging Knowledge about Actions, Objects, and Environments (Extended Abstract) (Moritz Tenorth, Alexander Clifford Perzylo, Reinhard Lafrenz, Michael Beetz), In 23rd International Joint Conference on Artificial Intelligence (IJCAI 2013). Special track on Best Papers in Sister Conferences, 2013. (Invited paper.)
Action sequencing and error production in stroke patients with apraxia -- Behavioral modeling using Bayesian Logic Networks (Charmayne Mary Lee Hughes, Moritz Tenorth, Marta Bienkiewicz, Joachim Hermsdörfer), In 6th International Conference on Health Informatics (HEALTHINF 2013), 2013.
A Unified Representation for Reasoning about Robot Actions, Processes, and their Effects on Objects (Moritz Tenorth, Michael Beetz), In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. [pdf]
The RoboEarth language: Representing and Exchanging Knowledge about Actions, Objects, and Environments (Moritz Tenorth, Alexander Clifford Perzylo, Reinhard Lafrenz, Michael Beetz), In IEEE International Conference on Robotics and Automation (ICRA), 2012. (Best Cognitive Robotics Paper Award.) [pdf]
Semantic Object Maps for Robotic Housework - Representation, Acquisition and Use (Dejan Pangercic, Moritz Tenorth, Benjamin Pitzer, Michael Beetz), In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. [pdf]
Knowledge Processing for Autonomous Robot Control (Moritz Tenorth, Michael Beetz), In AAAI Spring Symposium on Designing Intelligent Robots: Reintegrating AI, 2012. [pdf]
Learning Organizational Principles in Human Environments (Martin Schuster, Dominik Jain, Moritz Tenorth, Michael Beetz), In IEEE International Conference on Robotics and Automation (ICRA), 2012. [pdf]
RoboEarth Action Recipe Execution (Daniel di Marco, Moritz Tenorth, Kai Häussermann, Oliver Zweigle, Paul Levi), In 12th International Conference on Intelligent Autonomous Systems, 2012. [pdf]
Exchange of Action-related Information among Autonomous Robots (Moritz Tenorth, Michael Beetz), In 12th International Conference on Intelligent Autonomous Systems, 2012. [pdf]
Robotic Roommates Making Pancakes (Michael Beetz, Ulrich Klank, Ingo Kresse, Alexis Maldonado, Lorenz Mösenlechner, Dejan Pangercic, Thomas Rühr, Moritz Tenorth), In 11th IEEE-RAS International Conference on Humanoid Robots, 2011. [pdf]
Autonomous Semantic Mapping for Robots Performing Everyday Manipulation Tasks in Kitchen Environments (Nico Blodow, Lucian Cosmin Goron, Zoltan-Csaba Marton, Dejan Pangercic, Thomas Rühr, Moritz Tenorth, Michael Beetz), In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011. [pdf]
How-Models of Human Reaching Movements in the Context of Everyday Manipulation Activities (Daniel Nyga, Moritz Tenorth, Michael Beetz), In IEEE International Conference on Robotics and Automation (ICRA), 2011. [pdf]
KNOWROB-MAP -- Knowledge-Linked Semantic Object Maps (Moritz Tenorth, Lars Kunze, Dominik Jain, Michael Beetz), In 10th IEEE-RAS International Conference on Humanoid Robots, 2010. [pdf]
Understanding and Executing Instructions for Everyday Manipulation Tasks from the World Wide Web (Moritz Tenorth, Daniel Nyga, Michael Beetz), In IEEE International Conference on Robotics and Automation (ICRA), 2010. [pdf]
Combining Perception and Knowledge Processing for Everyday Manipulation (Dejan Pangercic, Moritz Tenorth, Dominik Jain, Michael Beetz), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010. [pdf]
Putting People's Common Sense into Knowledge Bases of Household Robots (Lars Kunze, Moritz Tenorth, Michael Beetz), In 33rd Annual German Conference on Artificial Intelligence (KI 2010), Springer, 2010. [pdf]
Priming Transformational Planning with Observations of Human Activities (Moritz Tenorth, Michael Beetz), In IEEE International Conference on Robotics and Automation (ICRA), 2010. [pdf]
CRAM -- A Cognitive Robot Abstract Machine for Everyday Manipulation in Human Environments (Michael Beetz, Lorenz Mösenlechner, Moritz Tenorth), In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010. [pdf]
Visual Scene Detection and Interpretation using Encyclopedic Knowledge and Formal Description Logic (Dejan Pangercic, Rok Tavcar, Moritz Tenorth, Michael Beetz), In Proceedings of the International Conference on Advanced Robotics (ICAR)., 2009. [pdf]
KnowRob -- Knowledge Processing for Autonomous Personal Robots (Moritz Tenorth, Michael Beetz), In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. [pdf]
Combining Analysis, Imitation, and Experience-based Learning to Acquire a Concept of Reachability (Freek Stulp, Andreas Fedrizzi, Franziska Zacharias, Moritz Tenorth, Jan Bandouch, Michael Beetz), In 9th IEEE-RAS International Conference on Humanoid Robots, 2009. [pdf]
Towards Automated Models of Activities of Daily Life (Michael Beetz, Jan Bandouch, Dominik Jain, Moritz Tenorth), In First International Symposium on Quality of Life Technology -- Intelligent Systems for Better Living, 2009. [pdf]
Other Publications
Fast Robot Learning using Prospection and Experimental Knowledge : A Cognitive Approach with Narrative-Enabled Episodic Memories and Symbolic Knowledge (Asil Kaan Bozcuoglu), PhD thesis, Universität Bremen, 2019.
Knowledge Processing for Autonomous Robots (Moritz Tenorth), PhD thesis, Technische Universität München, 2011.