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Information Systems and Applied Computer Sciences

Multimodal Intelligent Interaction

  1.  University of bamberg
  2. Faculties
  3. Information Systems and Applied Computer Sciences
  4. Subject groups
  5. Applied Computer Science
  6. Multimodal Intelligent Interaction
  7. Research
  8. Topics
  9. Intelligent Robotic Systems

From Goals to Executable Actions

How can robots carry out tasks when not every situation is known in advance? When selecting and executing actions, they need to consider the goal they are pursuing, what is known about the environment and which actions are possible.

Individual decisions affect how a task unfolds. The choice of action therefore also depends on which subsequent steps it facilitates or impedes. This is particularly challenging when information is incomplete, conditions change, or an action does not proceed as expected.

The AI methods developed in our group are tested in a range of task scenarios. Beyond performance on specific tasks, evaluation examines how well the approaches transfer to other tasks or environments and where their limitations lie.

Selected Research Projects

VOJEXT: Value of Joint Experimentation in Digital Technologies for Manufacturing and Construction
EU H2020 · 2020–2024
Knowledge-based planning and reconfiguration of flexible robotic systems, with dynamic task allocation to robots or human workers.

iLEVATOR: Intralogistics Enabled by Autonomous Vehicles Cooperating with Operators and Robots
EIT Digital · 2017
Task planning and coordinated collaboration between mobile robots, automated guided vehicles, and human workers in factory logistics.

SMErobotics: The European Robotics Initiative for Strengthening the Competitiveness of SMEs in Manufacturing by Integrating Aspects of Cognitive Systems
EU FP7 · 2012–2016
Flexible industrial robotic systems for SMEs, combining perception, logic, task planning, and execution under uncertainty.

JAMES: Joint Action for Multimodal Embodied Social Systems
EU FP7 · 2011–2014
Symbolic task planning, collision-free motion planning, and application-specific robot capabilities in uncertain environments.

Selected Publications

Lin, Jianjie, Rickert, Markus, & Knoll, Alois. (2023). LieGrasPFormer: Point Transformer-Based 6-DOF Grasp Detection with Lie Algebra Grasp Representation. 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), 1–7. https://doi.org/10.1109/CASE56687.2023.10260543

Lin, Jianjie, Rickert, Markus, Wen, Long, Pan, Fengjunjie, & Knoll, Alois. (2023). Knowledge-Augmented Anomaly Detection in Small Lot Production for Semantic Temporal Process Data. 2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA), 1–8. https://doi.org/10.1109/ETFA54631.2023.10275461

Lin, Jianjie, Rickert, Markus, & Knoll, Alois. (2021b). Grasp Planning for Flexible Production with Small Lot Sizes based on CAD models using GPIS and Bayesian Optimization. 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), 879–884. https://doi.org/10.1109/CASE49439.2021.9551451

Lin, Jianjie, Rickert, Markus, & Knoll, Alois. (2021a). Parameterizable and Jerk-Limited Trajectories with Blending for Robot Motion Planning and Spherical Cartesian Waypoints. 2021 IEEE International Conference on Robotics and Automation (ICRA), 13982–13988. https://doi.org/10.1109/ICRA48506.2021.9561601

Profanter, Stefan, Perzylo, Alexander, Rickert, Markus, & Knoll, Alois. (2021). A Generic Plug & Produce System Composed of Semantic OPC UA Skills. IEEE Open Journal of the Industrial Electronics Society, 2, 128–141. https://doi.org/10.1109/OJIES.2021.3055461

Lin, Jianjie, Rickert, Markus, & Knoll, Alois. (2020). 6D Pose Estimation for Flexible Production with Small Lot Sizes based on CAD Models using Gaussian Process Implicit Surfaces. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 10572–10579. https://doi.org/10.1109/IROS45743.2020.9341189

Perzylo, Alexander, Kessler, Ingmar, Profanter, Stefan, & Rickert, Markus. (2020). Toward a Knowledge-Based Data Backbone for Seamless Digital Engineering in Smart Factories. 2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 164–171. https://doi.org/10.1109/ETFA46521.2020.9211943

Perzylo, Alexander, Profanter, Stefan, Rickert, Markus, & Knoll, Alois. (2019). OPC UA NodeSet Ontologies as a Pillar of Representing Semantic Digital Twins of Manufacturing Resources. 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 1085–1092. https://doi.org/10.1109/ETFA.2019.8868954

Perzylo, Alexander, Rickert, Markus, Kahl, Bjorn, Somani, Nikhil, Lehmann, Christian, Kuss, Alexander, Profanter, Stefan, Beck, Anders Billeso, Haage, Mathias, Hansen, Mikkel Rath, Nibe, Malene Tofveson, Roa, Maximo A., Sornmo, Olof, Robertz, Sven Gestegard, Thomas, Ulrike, Veiga, Germano, Topp, Elin Anna, Kessler, Ingmar, & Danzer, Marinus. (2019). SMErobotics: Smart Robots for Flexible Manufacturing. IEEE Robotics & Automation Magazine, 26(1), 78–90. https://doi.org/10.1109/MRA.2018.2879747

Profanter, Stefan, Breitkreuz, Ari, Rickert, Markus, & Knoll, Alois. (2019). A Hardware-Agnostic OPC UA Skill Model for Robot Manipulators and Tools. 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 1061–1068. https://doi.org/10.1109/ETFA.2019.8869205

Lin, Jianjie, Somani, Nikhil, Hu, Biao, Rickert, Markus, & Knoll, Alois. (2018). An Efficient and Time-Optimal Trajectory Generation Approach for Waypoints Under Kinematic Constraints and Error Bounds. Towards a Robotic Society: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems: October, 1-5, 2018, Madrid, Spain, Madrid Municipal Conference Centre, 5869–5876. https://doi.org/10.1109/IROS.2018.8593577

Chen, Chao, Rickert, Markus, & Knoll, Alois. (2017). Motion Planning under Perception and Control Uncertainties with Space Exploration Guided Heuristic Search. 28th IEEE Intelligent Vehicles Symposium: June 11-14, 2017, Redondo Beach, California, USA, 712–718. https://doi.org/10.1109/IVS.2017.7995801

Somani, Nikhil, Rickert, Markus, & Knoll, Alois. (2017). An Exact Solver for Geometric Constraints with Inequalities. IEEE Robotics and Automation Letters, 2(2), 1148–1155. https://doi.org/10.1109/LRA.2017.2655113

Chen, Chao, Rickert, Markus, & Knoll, Alois. (2016). Combining Task and Motion Planning for Intersection Assistance Systems. 2016 IEEE Intelligent Vehicles Symposium (IV): 19-22 June 2016 (2016), 1242–1247. https://doi.org/10.1109/IVS.2016.7535549

Somani, Nikhil, Rickert, Markus, Gaschler, Andre, Cai, Caixia, Perzylo, Alexander, & Knoll, Alois. (2016). Task Level Robot Programming Using Prioritized Non-Linear Inequality Constraints. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 430–437. https://doi.org/10.1109/IROS.2016.7759090

Cai, Caixia, Somani, Nikhil, Rickert, Markus, & Knoll, Alois. (2015). Prioritized Motion-Force Control of Multi-Constraints for Industrial Manipulators. 2015 IEEE International Conference on Robotics and Biomimetics: IEEE-ROBIO 2015: December 6-9, 2015, Zhuhai, China (2015), 952–957. https://doi.org/10.1109/ROBIO.2015.7418894

Chen, Chao, Gaschler, Andre, Rickert, Markus, & Knoll, Alois. (2015). Task Planning for Highly Automated Driving. 2015 IEEE Intelligent Vehicles Symposium (IV), 940–945. https://doi.org/10.1109/IVS.2015.7225805

Chen, Chao, Rickert, Markus, & Knoll, Alois. (2015b). Path Planning with Orientation-Aware Space Exploration Guided Heuristic Search for Autonomous Parking and Maneuvering. 2015 IEEE Intelligent Vehicles Symposium (IV), 1148–1153. https://doi.org/10.1109/IVS.2015.7225838

Chen, Chao, Rickert, Markus, & Knoll, Alois. (2015a). Kinodynamic Motion Planning with Space-Time Exploration Guided Heuristic Search for Car-Like Robots in Dynamic Environments. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2666–2671. https://doi.org/10.1109/IROS.2015.7353741

Lenz, David, Rickert, Markus, & Knoll, Alois. (2015). Heuristic Search in Belief Space for Motion Planning Under Map and Actuator Uncertainties. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2659–2665. https://doi.org/10.1109/IROS.2015.7353740

Somani, Nikhil, Gaschler, Andre, Rickert, Markus, Perzylo, Alexander, & Knoll, Alois. (2015). Constraint-Based Task Programming with CAD Semantics: from Intuitive Specification to Real-Time Control. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015): Hamburg, Germany, 28 September - 2 October 2015, 2854–2859. https://doi.org/10.1109/IROS.2015.7353770

Chen, Chao, Rickert, Markus, & Knoll, Alois. (2014). A Traffic Knowledge Aided Vehicle Motion Planning Engine Based on Space Exploration Guided Heuristic Search. 2014 IEEE Intelligent Vehicles Symposium Proceedings, 535–540. https://doi.org/10.1109/IVS.2014.6856458

Rickert, Markus, Sieverling, Arne, & Brock, Oliver. (2014). Balancing Exploration and Exploitation in Sampling-Based Motion Planning. IEEE Transactions on Robotics, 30(6), 1305–1317. https://doi.org/10.1109/TRO.2014.2340191

Chen, Chao, Rickert, Markus, & Knoll, Alois. (2013). Combining Space Exploration and Heuristic Search in Online Motion Planning for Nonholonomic Vehicles. 2013 IEEE Intelligent Vehicles Symposium (IV), 1307–1312. https://doi.org/10.1109/IVS.2013.6629647

Gaschler, Andre, Petrick, Ronald P. A., Giuliani, Manuel, Rickert, Markus, & Knoll, Alois. (2013). KVP: a Knowledge of Volumes Approach to Robot Task Planning. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 202–208. https://doi.org/10.1109/IROS.2013.6696354

Lenz, Claus, Röder, Thorsten, Rickert, Markus, & Knoll, Alois. (2011). Distance-Weighted Kalman Fusion for Precise Docking Problems. Proceedings of the 11th International Conference on Mobile Robots and Competitions (Robótica), 25–30.

Huber, Markus, Radrich, Helmuth, Wendt, Cornelia, Rickert, Markus, Knoll, Alois, Brandt, Thomas, & Glasauer, Stefan. (2009). Evaluation of a Novel Biologically Inspired Trajectory Generator in Human-Robot Interaction. RO-MAN 2009: The 18th IEEE International Symposium on Robot and Human Interactive Communication, 639–644. https://doi.org/10.1109/roman.2009.5326233

Lenz, Claus, Rickert, Markus, Panin, Giorgio, & Knoll, Alois. (2009). Constraint Task-based Control in Industrial Settings. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 3058–3063. https://doi.org/10.1109/iros.2009.5354631

Rickert, Markus, Brock, Oliver, & Knoll, Alois. (2008). Balancing Exploration and Exploitation in Motion Planning. 2008 IEEE International Conference on Robotics and Automation (ICRA), 2812–2817. https://doi.org/10.1109/robot.2008.4543636