References of "Kraetzschmar, Gerhard"
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See detailGraph-based Software Knowledge: Storage and Semantic Querying of Domain Models for Run-Time Adaptation
Hochgeschwender, Nico UL; Schneider, Sven; Voos, Holger UL et al

in IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots SIMPAR, San Francisco, Dec 2016 (2016, December)

Software development for robots is a knowledge intensive exercise. To capture this knowledge explicitly and formally in the form of various domain models, roboticists have recently employed model-driven ... [more ▼]

Software development for robots is a knowledge intensive exercise. To capture this knowledge explicitly and formally in the form of various domain models, roboticists have recently employed model-driven engineering (MDE) approaches. However, these models are merely seen as a way to support humans during the robot's software design process. We argue that the robots themselves should be first-class consumers of this knowledge to autonomously adapt their software to the various and changing run-time requirements induced, for instance, by the robot's tasks or environment. Motivated by knowledge-enabled approaches, we address this problem by employing a graph-based knowledge representation that allows us not only to persistently store domain models, but also to formulate powerful queries for the sake of run time adaptation. We have evaluated our approach in an integrated, real-world system using the neo4j graph database and we report some lessons learned. Further, we show that the graph database imposes only little overhead on the system's overall performance. [less ▲]

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See detailDeclarative Specification of Robot Perception Architectures
Hochgeschwender, Nico; Schneider, Sven; Voos, Holger UL et al

in Int. Conf. on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR), Bergamo, Italy, Oct. 2014 (2014, October)

Service robots become increasingly capable and deliver a broader spectrum of services which all require a wide range of perceptual capabilities. These capabilities must cope with dynamically changing re ... [more ▼]

Service robots become increasingly capable and deliver a broader spectrum of services which all require a wide range of perceptual capabilities. These capabilities must cope with dynamically changing re- quirements which make the design and implementation of a robot percep- tion architecture a complex and tedious exercise which is prone to error. We suggest to specify the integral parts of robot perception architec- tures using explicit models, which allows to easily configure, modify, and validate them. The paper presents the domain-specific language RPSL, some examples of its application, the current state of implementation and some validation experiments. [less ▲]

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See detailTowards a Robot Perception Specification Language
Hochgeschwender, Nico; Schneider, Sven; Voos, Holger UL et al

in 4th International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob-13), Tokyo, Japan, Nov. 2013 (2013, November)

Detailed reference viewed: 75 (1 UL)