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Publications

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Edited Books/Editorials

  • Arras K.O., Martinez-Mozos O. (eds.), Special issue on people detection and tracking, International Journal of Social Robotics, vol. 2, nr. 1, March 2010. bib
  • Arras K.O., Burgard W, Gross H.-M.. (eds.), Special issue with the best papers of ECMR'07, Robotics and Autonomous Systems Journal, vol. 58, no. 2, 2010. bib
  • Arras K.O., Martinez Mozos (eds.), "People Detection and Tracking", ICRA 2009 Workshop Proceedings, 2009. pdf | bib
  • Baerfeldt A., Arras K.O., Balkenius C. (eds.), Special issue with the best papers of Eurobot'01, Robotics and Autonomous Systems Journal, vol. 44, no. 1, 2003. bib
  • Arras K.O., Burgard W. (eds.), "Robots in Exhibitions", IROS 2002 Workshop Proceedings, 2002. pdf | bib
  • Arras K.O., Balkenius C., Baerfeldt A., Burgard W., Siegwart R. (eds.): Proceedings of the 4th European Workshop on Advanced Mobile Robots (Eurobot'01), Lund, Sweden, September 2001. bib

Book Chapters

  • Tipaldi G.D., Braun M., Arras K.O., "FLIRT: Interest Regions for 2D Range Data with Applications to Robot Navigation", Experimental Robotics, Springer Tracts in Advanced Robotics, Khatib O., Kumar V. and Sukhatme G. (eds), vol. 79, 2014. bib
  • Arras K.O., Lau B., Grzonka S., Luber M., Mozos O.M., Meyer-Delius D., Burgard W., "Range-Based People Detection and Tracking for Socially Enabled Service Robots," Towards Service Robots for Everyday Environments, Springer Tracts in Advanced Robotics, vol. 76, 2012. pdf | bib
  • Luber M., Tipaldi G.D., Arras K.O., "Place-Dependent People Tracking", Int. Symposium on Robotics Research, Springer Tracts in Advanced Robotics, Pradalier C., Siegwart R. and Hirzinger G. (eds.), vol. 70, 2011. bib
  • Müller J., Stachniss C., Arras K.O., Burgard W., "Socially Inspired Motion Planning for Mobile Robots in Populated Environments," Cognitive Systems 2008, Cognitive Systems Monographs, Springer, 2010. bib
  • Arras K.O., Tomatis N., Siegwart R., "Robox, a Remarkable Mobile Robot for the Real World," Experimental Robotics, Siciliano B. and Dario P. (eds.), Springer Advanced Robotics Series, 2003. bib

Journal Papers

  • Luber M., Tipaldi G.D., Arras K.O., "Place-Dependent People Tracking", Int. Journal of Robotics Research, vol. 30, no. 3, March 2011. pdf | bib
  • Lau B., Arras K.O., Burgard W., "Multi-Model Hypothesis Group Tracking and Group Size Estimation", Int. Journal of Social Robotics, 2010. vol. 2, nr. 1, March 2010. pdf | bib
  • Luber M., Arras K.O., Plagemann C., Burgard W., "Classifying Dynamic Objects: An Unsupervised Learning Approach," Autonomous Robots, Vol. 26, Nr. 2-3, 2009. pdf | bib
  • Arras K.O., Castellanos J.A., Schilt M., Siegwart R., "Feature-Based Multi-Hypothesis Localization and Tracking Using Geometric Constraints," Robotics and Autonomous Systems Journal, vol. 44, no. 1, 2003. pdf | bib
  • Siegwart R., Arras K.O., Bouabdallah S., Burnier D., Froidevaux G., Greppin X., Jensen B., Lorotte A., Mayor L., Meisser M., Philippsen R., Piguet R., Ramel G., Terrien G., Tomatis N., "Robox at Expo.02: A Large-Scale Installation of Personal Robots ", Robotics and Autonomous Systems, vol. 42, issue 3-4, pp. 203-222, March 2003. pdf | bib
  • Arras K.O., Tomatis N., Jensen B., Siegwart R., "Multisensor On-the-Fly Localization: Precision and Reliability for Applications," Robotics and Autonomous Systems, vol. 34, issue 2-3, pp. 131143, February 2001. pdf | bib

Peer-Reviewed Conference Papers

  • Linder T., Arras K.O., "Multi-Model Hypothesis Tracking of Groups of People in RGB-D Data", IEEE Int. Conf. on Information Fusion (FUSION'14), Salamanca, Spain, 2014. pdf | bib
  • Palmieri L., Arras K.O., "A Novel RRT Extend Function for Efficient and Smooth Mobile Robot Motion Planning", IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'14), Chicago, USA, 2014. pdf | bib
  • Vasquez D., Okal B., Arras K.O., "Inverse Reinforcement Learning Algorithms and Features for Robot Navigation in Crowds: an Experimental Comparison", IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'14), Chicago, USA, 2014. pdf | bib
  • Schwenk M., Vaquero T., Nejat G., Arras K.O., "Schedule-Based Robotic Search for Multiple Residents in a Retirement Home Environment", AAAI Conference on Artificial Intelligence (AAAI'14), Quebec, Canada, 2014. pdf | bib
  • Becker-Asano C., Arras K.O., Nebel B., "Robotic Tele-Presence with DARYL in the Wild", Int. Conf. on Human-Agent Interaction (HAI'14), Tsukuba, Japan, 2014. pdf | bib
  • Becker-Asano C., Gustorff S., Arras K.O., Nebel B., "On the Effect of Operator Modality on Social and Spatial Presence during Teleoperation of a Human-Like Robot", Int. Symposium on New Frontiers in Human-Robot Interaction at AISB'14, London, UK, 2014. pdf | bib
  • Schwenk M., Arras K.O., "R2-D2 Reloaded: A Flexible Sound Synthesis System for Sonic Human-Robot Interaction Design", IEEE Int. Symposium on Robot and Human Interactive Communication (RO-MAN'14), Edinburgh, UK, 2014. pdf | bib
  • Luber M., Arras K.O., "Multi-Hypothesis Social Grouping and Tracking for Mobile Robots", Robotics: Science and Systems (RSS'13), Berlin, Germany, 2013. Best Student Paper Award Finalist.  pdf | bib
  • Becker-Asano C., Gustorff S., Arras K.O., Ogawa K., Nishio S., Ishiguro H., Nebel B., "Robot embodiment, operator modality, and social interaction in tele-existence: a project outline", ACM/IEEE Int. Conf. on Human-Robot Interaction (HRI'13), Tokyo, Japan, 2013. pdf | bib
  • Embgen S., Luber M., Becker-Asano C., Ragni M., Evers V., Arras K.O., "Robot-Specific Social Cues in Emotional Body Language", IEEE Int. Symposium on Robot and Human Interactive Communication (ROMAN'12), Paris, France, 2012. pdf | bib
  • Stork J.A., Spinello L., Silva J., Arras K.O., "Audio-Based Human Activity Recognition Using Non-Markovian Ensemble Voting", IEEE Int. Symposium on Robot and Human Interactive Communication (ROMAN'12), Paris, France, 2012. pdf | bib
  • Luber M., Spinello L., Silva J., Arras K.O., "Socially Acceptable Robot Navigation: A Learning Approach", IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS'12), Vilamoura, Portugal, 2012. pdf | bib
  • Spinello L., Arras K.O., "Leveraging RGB-D Data: Adaptive Fusion and Domain Adaptation for Object Detection", IEEE International Conference on Robotics and Automation (ICRA'12), St. Paul, USA, 2012. pdf | bib
  • Tipaldi G.D., Arras K.O., "Please do not disturb! Minimum Interference Coverage for Social Robots", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'11), San Francisco, USA, 2011. pdf | bib
  • Spinello L., Arras K.O., "People Detection in RGB-D Data", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'11), San Francisco, USA, 2011. pdf | bib
  • Luber M., Spinello L., Arras K.O., "People Tracking in RGB-D Data With Online-Boosted Target Models", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'11), San Francisco, USA, 2011. pdf | bib
  • Tipaldi G.D., Arras K.O., "Planning Problems for Social Robots", International Conference on Automated Planning and Scheduling (ICAPS'11), Freiburg, Germany, 2011. pdf | bib
  • Tipaldi G.D., Arras K.O., "I Want my Coffee Hot! Learning to Find People Under Spatio-Temporal Constraint", IEEE International Conference on Robotics and Automation (ICRA'11), Shanghai, China, 2011. pdf | bib
  • Spinello L., Luber M., Arras K.O., "Tracking People in 3D Using a Bottom-Up Top-Down Detector", IEEE International Conference on Robotics and Automation (ICRA'11), Shanghai, China, 2011. pdf | bib
  • Luber M., Tipaldi G.D., Arras K.O., "Better Models For People Tracking", IEEE International Conference on Robotics and Automation (ICRA'11), Shanghai, China, 2011. pdf | bib
  • Tipaldi G.D., Braun M., Arras K.O., "FLIRT: Interest Regions for 2D Range Data with Applications to Robot Navigation", 12th Int. Symposium on Experimental Robotics (ISER'10), New Delhi, India, 2010. pdf | bib
  • Spinello L., Triebel R., Vasquez D., Arras K.O., Siegwart R., "Exploiting Repetitive Object Patterns for Model Compression and Completion", European Conference on Computer Vision (ECCV'10), Heraklion, Greece, 2010. pdf | bib
  • Spinello L., Arras K.O., Triebel R., Siegwart R., "A Layered Approach to People Detection in 3D Range Data", Proc. 24th AAAI Conference on Artificial Intelligence, PGAI Track (AAAI'10), Atlanta, USA, 2010. pdf | bib
  • Luber M., Stork J.A., Tipaldi G.D., Arras K.O., "People Tracking with Human Motion Predictions from Social Forces", Proc. IEEE International Conference on Robotics and Automation (ICRA'10), Alaska, USA, 2010. pdf | bib
  • Tipaldi G.D., Arras K.O., "FLIRT - Interest Regions for 2D Range Data", Proc. IEEE International Conference on Robotics and Automation (ICRA'10), Alaska, USA, 2010. pdf | bib
  • Luber M., Tipaldi G.D., Arras K.O., "Place-Dependent People Tracking", Proc. International Symposium on Robotics Research (ISRR'09), Lucerne, Switzerland, 2009. pdf | bib
  • Lau B., Arras K.O., Burgard W., "Tracking Groups of People with a Multi-Model Hypothesis Tracker", Proc. IEEE International Conference on Robotics and Automation (ICRA'09), Kobe, Japan, 2009. pdf | bib
  • Moller K., Toth F., Wang L., Moller J., Arras K.O., Bach M., Schumann S., Guttmann J., "Enhanced Perception for Visually Impaired People", IEEE International Conference on Bioinformatics and Biomedical Engineering (ICBBE'09), Beijing, China, 2009. bib
  • Luber M., Arras K.O., Plagemann C., Burgard W., "Tracking and Classification of Dynamic Objects: An Unsupervised Learning Approach", Robotics: Science and Systems (RSS'08), Zurich, Switzerland, 2008. pdf | bib
  • Arras K.O., Grzonka S., Luber M., Burgard W., "Efficient People Tracking in Laser Range Data Using a Multi-Hypothesis Leg-Tracker with Adaptive Occlusion Probabilities", IEEE International Conference on Robotics and Automation (ICRA'08), Pasadena, USA, 2008. pdf | bib
  • Mueller J., Stachniss C., Arras K.O., Burgard W., "Socially Inspired Motion Planning for Mobile Robots in Populated Environments", International Conference on Cognitive Systems (CogSys), 2008. pdf | bib
  • Moller K., Balazs V., Toth F., Schumann S., Arras K.O., Bach M., Guttmann J., "AERBUS: Enhanced perception of the environment for visually impaired people", Proc. 4th European Conference of the International Federation for Medical and Biological Engineering, Springer Verlag, Antwerp, Belgium, 2008. pdf | bib
  • Arras K.O., Mozos O.M., Burgard W., "Using Boosted Features for the Detection of People in 2D Range Data", IEEE International Conference on Robotics and Automation (ICRA'07), Rome, Italy, 2007. pdf | bib
  • Wulf O., Arras K.O., Christensen H.I., Wagner B., "2D Mapping of Cluttered Indoor Environments by Means of 3D Perception", IEEE International Conference on Robotics and Automation (ICRA'04), New Orleans, USA, 2004. pdf | bib
  • Cerqui D., Arras K.O., "Human Beings and Robots: Towards a Symbiosis? A 2000 People Survey", International Conference on Socio Political Informatics and Cybernetics (PISTA'03), Orlando, Florida, USA, 2003. pdf | bib
  • Martinelli A., Tapus A., Arras K.O., Siegwart R., "Representations and Maps for Real World Navigation", 11th International Symposium of Robotics Research (ISRR'03), Siena, Italy, 2003. bib
  • Arras K.O., Philippsen R., Tomatis N., de Battista M., Schilt M., Siegwart R., "A Navigation Framework for Multiple Mobile Robots and its Application at the Expo.02 Exhibition," IEEE International Conference on Robotics and Automation (ICRA'03), Taipei, Taiwan, 2003. pdf | bib
  • Tomatis N., Terrien G., Piguet R., Burnier D., Bouabdallah S., Arras K.O., Siegwart R., "Designing a Secure and Robust Mobile Interacting Robot for the Long Term," IEEE International Conference on Robotics and Automation (ICRA'03), Taipei, Taiwan, 2003. pdf | bib
  • Siegwart R., Arras K.O., Jensen B., Philippsen R., Tomatis N., "Design, Implementation and Exploitation of a New Fully Autonomous Tour Guide Robot," 1st International Workshop on Advances in Service Robotics (ASER'03), Bardolino, Italy, 2003. pdf | bib
  • Arras K.O., Tomatis N., Siegwart R., "Robox, a Remarkable Mobile Robot for the Real World," 8th Int. Symposium on Experimental Robotics (ISER'02), Sant'Angelo d'Ischia, Italy, 2002. pdf | bib
  • Arras K.O., Castellanos J.A., Siegwart R., "Feature-Based Multi-Hypothesis Localization and Tracking for Mobile Robots Using Geometric Constraints," IEEE International Conference on Robotics and Automation (ICRA'02), Washington DC, USA, 2002. pdf | bib
  • Arras K.O., Persson J., Tomatis N., Siegwart R., "Real-Time Obstacle Avoidance For Polygonal Robots With A Reduced Dynamic Window," IEEE International Conference on Robotics and Automation (ICRA'02), Washington DC, USA, 2002. pdf | bib
  • Tomatis N., Philippsen R., Jensen B., Arras K.O., Terrien G., Piguet R., Siegwart R., "Building a Fully Autonomous Tour Guide Robot: Where Academic Research Meets Industry," 33rd International Symposium on Robotics (ISR'02), Stockholm, Sweden, October 7-11, 2002. bib
  • Arras K.O., Castellanos J.A., Schilt M., Siegwart R., "Towards Feature-Based Multi-Hypothesis Localization and Tracking," 4th European Workshop on Advanced Mobile Robots (Eurobot'01), Lund, Sweden, September 2001. pdf | bib
  • Caprari G., Arras K.O., Siegwart R., "Robot Navigation in Centimeter Range Labyrinths", 5th International Heinz Nixdorf Symposium, Autonomous Minirobots for Research and Edutainment (AMiRE'01), Paderborn, Germany, October 2001. pdf | bib
  • Tomatis N., Brega R., Arras K.O., Jensen B., Moreau B., Persson J., Siegwart R., "A Complex Mechatronic System: from Design to Application," IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM'01), Como, Italy, 2001. bib
  • Tomatis N., Nourbakhsh I., Arras K.O., Siegwart R., "A Hybrid Approach for Robust and Precise Mobile Robot Navigation with Compact Environment Modeling," IEEE International Conference on Robotics and Automation (ICRA'01), Seoul, Korea, 2001. pdf | bib
  • Arras K.O., Tomatis N., Siegwart R., "Multisensor On-the-Fly Localization Using Laser and Vision", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'00), Takamatsu, Japan, 2000. pdf | bib
  • Brega R., Tomatis N., Arras K.O., "The Need for Autonomy and Real-Time in Mobile Robotics: A Case Study of XO/2 and Pygmalion", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'00), Takamatsu, Japan, 2000. pdf | bib
  • Caprari G., Arras K.O., Siegwart R., "The Autonomous Miniature Robot Alice: From Prototypes to Applications," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'00), Takamatsu, Japan, 2000. pdf | bib
  • Moreau B., Tomatis N., Arras K.O., "Multimodal Web Interface for Tasks Supervision and Specification," Proceedings of SPIE, vol. 4195, Mobile Robots XV and Telemanipulator and Telepresence Technologies VII, Boston, USA, 2000. pdf | bib
  • Arras K.O., Tomatis N., "Improving Robustness and Precision in Mobile Robot Localization by Using Laser Range Finding and Monocular Vision", 3rd European Workshop on Advanced Mobile Robots (Eurobot'99), Zurich, Switzerland, 1999. pdf | bib
  • Wullschleger F.H., Arras K.O., Vestli S.J., "A Flexible Exploration Framework for Map Building", 3rd European Workshop on Advanced Mobile Robots (Eurobot'99), Zurich, Switzerland, Sept. 6-9, 1999. pdf | bib
  • Arras K.O., Tomatis N., "Sensordatenfusion zur Robusten und Präzisen EKF Lokalisierung von Mobilen Robotern", Autonome Mobile Systeme (AMS'99), München, Germany, 1999. pdf | bib
  • Arras K.O., Vestli S.J., "Hybrid, high-precision localisation for the mail distributing mobile robot system MOPS", IEEE Int. Conference on Robotics and Automation (ICRA'98), Leuven, Belgium, 1998. pdf | bib
  • Arras K.O., Siegwart R.Y., "Feature Extraction and Scene Interpretation for Map-Based Navigation and Map Building", Proceedings of SPIE, vol. 3210, Mobile Robotics XII, p. 42-53, Pittsburgh, USA, 1997. pdf | bib
  • Arras K.O., Vestli S.J., Tschichold-Guerman N., "Echtzeitfähige Merkmalsextraktion und Situationsinterpretation aus Laserscannerdaten", Autonome Mobile Systeme (AMS'96), München, Germany, 1996. pdf | bib

Peer-Reviewed Workshop Papers

  • Okal B., Arras K.O., "Towards Group-Level Social Activity Recognition for Mobile Robots", IROS 2014 Workshop on Assistance and Service Robotics in a Human Environment, Chicago, USA, 2014. pdf | bib
  • Palmieri L., Arras K.O., "Distance Metric Learning for RRT-Based Motion Planning for Wheeled Mobile Robots", IROS 2014 Workshop on Machine Learning in Planning and Control of Robot Motion, Chicago, USA, 2014. pdf | bib
  • Palmieri L., Arras K.O., "Efficient and Smooth RRT Motion Planning Using a Novel Extend Function for Wheeled Mobile Robots", ICAPS 2014 Workshop on Planning and Robotics (PlanRob'14), Portsmouth, USA, 2014. pdf | bib
  • Schwenk M., Vaquero T., Nejat G., Arras K.O., "Planning a Robot's Search for Multiple Residents in a Retirement Home Environment", ICAPS 2014 Workshop on Planning and Robotics (PlanRob'14), Portsmouth, USA, 2014. pdf | bib
  • Becker-Asano C., Arras K.O., Nebel B., Ishiguro H., "The Effect of Anthropomorphism on Social Tele-Embodiment", IROS 2012 Workshop on Human-Agent Interaction, Vilamoura, Portugal, 2012. pdf | bib
  • Luber M., Spinello L., Arras K.O., "Learning to Detect and Track People in RGB-D Data", RSS 2011 Workshop on RGB-D: Advanced Reasoning with Depth Cameras, Los Angeles, USA, 2011. pdf | bib
  • Stork J.A., Silva J., Spinello L., Arras K.O., ``Audio-Based Human Activity Recognition with Robots'', Work-In-Progress Track, Int. Conf. on Social Robotics (ICSR'11), Amsterdam, Netherlands, 2011.
  • Luber M., Stork J.A., Tipaldi G.D., Arras K.O., ``People Tracking with Social Force-Based Motion Prediction'', Cognitive Systems (CogSys'10), Zurich, Switzerland, 2010.
  • Lau B., Arras K.O., Burgard W., ``Multi-model Hypothesis Group Tracking and Group Size Estimation'', IEEE ICRA Workshop on People Detection and Tracking, Kobe, Japan, 2009.
  • Arras K.O., Jensen B., Tomatis N., Siegwart R., ``System Integration, Navigation and Interaction for the Ten Expo.02 Exhibition Robots'', IEEE/RSJ IROS Workshop on Robots in Exhibitions, Lausanne, Switzerland, 2002.

Books

  • Arras K.O., Feature-Based Mobile Robot Navigation in Known and Unknown Environments, Springer Tracts in Advanced Robotics (STAR). Accepted for publication. pdf (PhD thesis) | bib

Technical Reports

  • Tipaldi G.D., Arras K.O., "FLIRT -- Interest Regions for 2D Range Data," Institut für Informatik, University of Freiburg, Technical Report Nr. 249, 2009. pdf | bib
  • Arras K.O., Cerqui D., "Do we want to share our lives and bodies with robots? A 2000 people survey", Technical Report Nr. 0605-001, Autonomous Systems Lab, Swiss Federal Institute of Technology Lausanne (EPFL), June 2005. pdf | bib
  • Arras K.O., "An Introduction to Error Propagation: Derivation, Meaning and Examples of Cy = Fx Cx Fx' ", Technical Report Nr. EPFL-ASL-TR-98-01 R3, Autonomous Systems Lab, Swiss Federal Institute of Technology Lausanne, September 1998. pdf | bib

Other Publications

  • Arras K.O., "The CAS Robot Navigation Toolbox: Users Guide and Reference", Center for Autonomous Systems, KTH, September, 2004. pdf | bib
  • Arras K.O., "Wünsche an einen vielseitigen Helfer: Roboter in Ausstellungen", in Playground Robotics, Landwehr D. (editor), Christoph Merian Verlag, 2004.
  • Arras K.O., Siegwart R., "Acht häufig gestellte Fragen an die Mobilrobotik", SGA-Bulletin, Schweizerische Gesellschaft für Automatik, Nr. 29, April, Mai, Juni, 2000.
  • Arras K.O., "From Babylon to the Renaissance: History of Science and Technology", Vereinsanzeiger des Mathematik- und Physikdepartements, ETH Zürich, a series of six articles on history of science and technology, in German, Dec. 1997–Nov. 1998.