All Stories

  1. Special issue on spatial reasoning and interaction for real-world robotics

    Article • Advanced Robotics, January 2017, Taylor & Francis

    Dirk Wollherr

  2. Socio-Contextual Constraints for Human Approach with a Mobile Robot

    Article • International Journal of Social Robotics, January 2017, Springer Science + Business Media

    Dirk Wollherr

  3. Towards Assessing the Human Trajectory Planning Horizon

    Article • PLoS ONE, December 2016, PLOS

    Dirk Wollherr

  4. Road geometry estimation for urban semantic maps using open data

    Article • Advanced Robotics, November 2016, Taylor & Francis

    Dirk Wollherr

  5. Local elevation mapping based on low mounted lidar sensors with narrow vertical field of view

    Article • November 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  6. Modeling Laser Intensities For Simultaneous Localization and Mapping

    Article • IEEE Robotics and Automation Letters, July 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  7. Measuring the Effectiveness of Readability for Mobile Robot Locomotion

    Article • International Journal of Social Robotics, June 2016, Springer Science + Business Media

    Dirk Wollherr

  8. A Combined Model- and Learning-Based Framework for Interaction-Aware Maneuver Prediction

    Article • IEEE Transactions on Intelligent Transportation Systems, June 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  9. A Game-Theoretic Approach to Replanning-Aware Interactive Scene Prediction and Planning

    Article • IEEE Transactions on Vehicular Technology, June 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  10. Built-in hyperspectral camera for smartphone in visible, near-infrared and middle-infrared lights region (third report): spectroscopic imaging for broad-area and real-time componential analysis system against local unexpected terrorism and disasters

    Article • May 2016, SPIE

    Dirk Wollherr

  11. Grid-Based Multi-Road-Course Estimation Using Motion Planning

    Article • IEEE Transactions on Vehicular Technology, April 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  12. Understanding Human Avoidance Behavior: Interaction-Aware Decision Making Based on Game Theory

    Article • International Journal of Social Robotics, February 2016, Springer Science + Business Media

    Dirk Wollherr

  13. Evidential Grid-Based Tracking and Mapping

    Article • IEEE Transactions on Intelligent Transportation Systems, January 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  14. The Interactive Urban Robot IURO: Towards Robot Action in Human Environments

    Article • November 2015, Springer Science + Business Media

    Dirk Wollherr

  15. Closed-loop safety assessment of uncertain roadmaps

    Article • Autonomous Robots, July 2015, Springer Science + Business Media

    Dirk Wollherr

  16. Investigating similarity measures for locomotor trajectories based on the human perception of differences in motions

    Article • June 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  17. An approach to integrate human motion prediction into local obstacle avoidance in close human-robot collaboration

    Article • June 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  18. Please take over! An analysis and strategy for a driver take over request during autonomous driving

    Article • June 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  19. Adaptive rectangular cuboids for 3D mapping

    Article • May 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  20. IBuILD: Incremental bag of Binary words for appearance based loop closure detection

    Article • May 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  21. IURO - Social Human-Robot-Interaction in the Streets of Munich

    Article • at - Automatisierungstechnik, January 2015, De Gruyter

    Dirk Wollherr

  22. The Interactive Urban Robot: User-centered development and final field trial of a direction requesting robot

    Article • Paladyn Journal of Behavioral Robotics, January 2015, De Gruyter

    Dirk Wollherr

  23. Can You Read My Face?

    Article • International Journal of Social Robotics, November 2014, Springer Science + Business Media

    Dirk Wollherr

  24. Efficient Evaluation of Collisions and Costs on Grid Maps for Autonomous Vehicle Motion Planning

    Article • IEEE Transactions on Intelligent Transportation Systems, October 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  25. Environment-based trajectory clustering to extract principal directions for autonomous vehicles

    Article • September 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  26. Determining states of inevitable collision using reachability analysis

    Article • September 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  27. Interactive navigation of humans from a game theoretic perspective

    Article • September 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  28. Using penalized spline regression to calculate mean trajectories including confidence intervals of human motion data

    Article • September 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  29. A prediction-based reactive driving strategy for highly automated driving function on freeways

    Article • June 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  30. Grid-based mapping and tracking in dynamic environments using a uniform evidential environment representation

    Article • May 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  31. RMAP: a rectangular cuboid approximation framework for 3D environment mapping

    Article • Autonomous Robots, February 2014, Springer Science + Business Media

    Dirk Wollherr, Costas Tzafestas

  32. Energy optimal control to approach traffic lights

    Article • November 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  33. Path planning on grid maps with unknown goal poses

    Article • October 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  34. Interactive scene prediction for automotive applications

    Article • June 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  35. Road course estimation in unknown, structured environments

    Article • June 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  36. Route description interpretation on automatically labeled robot maps

    Article • May 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  37. Dynamic contact force/torque observer: Sensor fusion for improved interaction control

    Article • The International Journal of Robotics Research, April 2013, SAGE Publications

    Dirk Wollherr

  38. Increasing Helpfulness towards a Robot by Emotional Adaption to the User

    Article • International Journal of Social Robotics, March 2013, Springer Science + Business Media

    Dirk Wollherr

  39. Proactively Approaching Pedestrians with an Autonomous Mobile Robot in Urban Environments

    Article • January 2013, Springer Science + Business Media

    Dirk Wollherr

  40. PIRF 3D: Online spatial and appearance based loop closure

    Article • December 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  41. An optimization approach for 3D environment mapping using normal vector uncertainty

    Article • December 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr, Costas Tzafestas

  42. Proactive human approach in dynamic environments

    Article • October 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  43. Maneuver-based risk assessment for high-speed automotive scenarios

    Article • October 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  44. An emotional adaption approach to increase helpfulness towards a robot

    Article • October 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  45. Feedback guidelines for multimodal human-robot interaction: How should a robot give feedback when asking for directions?

    Article • September 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  46. Lane-based safety assessment of road scenes using Inevitable Collision States

    Article • June 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  47. Towards transferability of theories on prosocial behavior from Social Psychology to HRI

    Article • May 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  48. MuRoCo: A Framework for Capability- and Situation-Aware Coalition Formation in Cooperative Multi-Robot Systems

    Article • Journal of Intelligent & Robotic Systems, February 2012, Springer Science + Business Media

    Dirk Wollherr

  49. On-line Trajectory Generation for Safe and Optimal Vehicle Motion Planning

    Article • January 2012, Springer Science + Business Media

    Dirk Wollherr

  50. Online Semantic Mapping of Urban Environments

    Article • January 2012, Springer Science + Business Media

    Dirk Wollherr, Costas Tzafestas

  51. Revealing Cluster Formation over Huge Volatile Robotic Data

    Article • December 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr, Costas Tzafestas

  52. Safety assessment of robot trajectories for navigation in uncertain and dynamic environments

    Article • Autonomous Robots, November 2011, Springer Science + Business Media

    Dirk Wollherr

  53. Robot Basketball – A New Challenge for Real-Time Control

    Article • October 2011, Springer Science + Business Media

    Dirk Wollherr

  54. Computing unions of Inevitable Collision States and increasing safety to unexpected obstacles

    Article • September 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  55. TOWARD DYNAMIC MANIPULATION FOR HUMANOID ROBOTS: EXPERIMENTS AND DESIGN ASPECTS

    Article • International Journal of Humanoid Robotics, September 2011, World Scientific Pub Co Pte Lt

    Dirk Wollherr

  56. Computing unions of Inevitable Collision States and increasing safety to unexpected obstacles

    Article • September 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  57. Following route graphs in urban environments

    Article • July 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  58. Dialog strategies for handling miscommunication in task-related HRI

    Article • July 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  59. Real-time 3D hand gesture interaction with a robot for understanding directions from humans

    Article • July 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  60. Improving aspects of empathy and subjective performance for HRI through mirroring facial expressions

    Article • July 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  61. Dynamic Window Approach for omni-directional robots with polygonal shape

    Article • May 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  62. Safety assessment of trajectories for navigation in uncertain and dynamic environments

    Article • May 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  63. System interdependence analysis for autonomous robots

    Article • The International Journal of Robotics Research, January 2011, SAGE Publications

    Dirk Wollherr

  64. Interconnected performance optimization in complex robotic systems

    Article • October 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  65. Ball dribbling with an underactuated continuous-time control phase: Theory & experiments

    Article • October 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  66. Towards a dialog strategy for handling miscommunication in human-robot dialog

    Article • September 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  67. Dynamic manipulation: Nonprehensile ball catching

    Article • June 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  68. Safety verification of autonomous vehicles for coordinated evasive maneuvers

    Article • June 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  69. Probabilistic collision state checker for crowded environments

    Article • May 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  70. Ball dribbling with an underactuated continuous-time control phase

    Article • May 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  71. Robots asking for directions — The willingness of passers-by to support robots

    Article • March 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  72. Humanoide Robotik

    Article • at - Automatisierungstechnik, January 2010, De Gruyter

    Dirk Wollherr

  73. A Framework for Information Distribution, Task Execution and Decision Making in Multi-Robot Systems

    Article • IEICE Transactions on Information and Systems, January 2010, Institute of Electronics, Information and Communications Engineers (IEICE)

    Dirk Wollherr

  74. Wenn Roboter nach dem Weg fragen

    Article • at - Automatisierungstechnik, January 2010, De Gruyter

    Dirk Wollherr

  75. Robots asking for directions

    Article • January 2010, ACM (Association for Computing Machinery)

    Dirk Wollherr

  76. System interdependence analysis for autonomous mobile robots

    Article • October 2009, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  77. The Autonomous City Explorer project

    Article • May 2009, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  78. Robot basketball: A comparison of ball dribbling with visual and force/torque feedback

    Article • May 2009, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  79. Information retrieval system for human-robot communication - Asking for directions

    Article • May 2009, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  80. Comparison of surface normal estimation methods for range sensing applications

    Article • May 2009, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  81. Realtime segmentation of range data using continuous nearest neighbors

    Article • May 2009, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  82. The Autonomous City Explorer (ACE) project — mobile robot navigation in highly populated urban environments

    Article • May 2009, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  83. The Autonomous City Explorer: Towards Natural Human-Robot Interaction in Urban Environments

    Article • International Journal of Social Robotics, February 2009, Springer Science + Business Media

    Dirk Wollherr

  84. Joint Dominance Coefficients: A Sensitivity-Based Measure for Ranking Robotic Degrees of Freedom

    Article • January 2009, Springer Science + Business Media

    Dirk Wollherr

  85. Robot Basketball: Ball Dribbling — A Modified Juggling Task

    Article • January 2009, Springer Science + Business Media

    Dirk Wollherr

  86. An Architecture for Real-Time Control in Multi-robot Systems

    Article • January 2009, Springer Science + Business Media

    Dirk Wollherr

  87. Bayesian Framework for State Estimation and Robot Behaviour Selection in Dynamic Environments

    Article • November 2008, IntechOpen

    Dirk Wollherr

  88. Probabilistic mapping of dynamic obstacles using Markov chains for replanning in dynamic environments

    Article • September 2008, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  89. Bayesian state estimation and behavior selection for autonomous robotic exploration in dynamic environments

    Article • September 2008, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  90. A methodological variation for acceptance evaluation of Human-Robot Interaction in public places

    Article • August 2008, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  91. A clustering method for efficient segmentation of 3D laser data

    Article • May 2008, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  92. Basketball robot: Ball-On-Plate with pure haptic information

    Article • May 2008, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  93. HUMAN–ROBOT COLLABORATION: A SURVEY

    Article • International Journal of Humanoid Robotics, March 2008, World Scientific Pub Co Pte Lt

    Dirk Wollherr

  94. Basketball Robot: Ball-on-Plate System without Visual Information

    Article • IFAC Proceedings Volumes, January 2008, Elsevier

    Dirk Wollherr

  95. The autonomous city explorer project: aims and system overview

    Article • October 2007, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  96. On Foveated Gaze Control and Combined Gaze and Locomotion Planning

    Article • June 2007, IntechOpen

    Dirk Wollherr

  97. Combined Trajectory Planning and Gaze Direction Control for Robotic Exploration

    Article • April 2007, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  98. Information-Based Gaze Direction Planning Algorithm for SLAM

    Article • December 2006, Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  99. Online Posture Correction for Humanoid Walking Robots (Online Haltungskorrektur für humanoide Laufroboter)

    Article • at - Automatisierungstechnik, January 2006, De Gruyter

    Dirk Wollherr

  100. Cost-oriented virtual reality and real-time control system architecture

    Article • Robotica, May 2003, Cambridge University Press

    Dirk Wollherr

  101. Überschlagsvermeidung bei Kraftfahrzeugen durch Invarianzregelung (Rollover Avoidance for Road Vehicles by Invariance Control)

    Article • at - Automatisierungstechnik, January 2002, De Gruyter

    Dirk Wollherr

  102. Cognitive Technical Systems — What Is the Role of Artificial Intelligence?

    Article • Springer Science + Business Media

    Dirk Wollherr

  103. Active-passive knee control for the humanoid UT-Theta

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  104. Walking control of the humanoid UT-Theta

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  105. Active-passive knee control for the humanoid UT-Theta

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  106. Walking control of the humanoid UT-Theta

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  107. Research and development towards an autonomous biped walking robot

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  108. Development and control of autonomous, biped locomotion using efficient modeling, simulation, and optimization techniques

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  109. Posture modification for biped humanoid robots based on Jacobian method

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr

  110. Actuator selection and hardware realization of a small and fast-moving, autonomous humanoid robot

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Dirk Wollherr