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ORCIDMaren Bennewitz
Person information
- affiliation: University of Bonn, Germany
- affiliation (former): University of Freiburg, Germany
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2020 – today
- 2022
[i14]Nils Dengler, David Großklaus, Maren Bennewitz:
Learning Goal-Oriented Non-Prehensile Pushing in Cluttered Scenes. CoRR abs/2203.02389 (2022)- [i13]Jorge de Heuvel, Nathan Corral, Lilli Bruckschen, Maren Bennewitz:
Learning Personalized Human-Aware Robot Navigation Using Virtual Reality Demonstrations from a User Study. CoRR abs/2203.14741 (2022) - [i12]Salih Marangoz, Tobias Zaenker, Rohit Menon, Maren Bennewitz:
Fruit Mapping with Shape Completion for Autonomous Crop Monitoring. CoRR abs/2203.15489 (2022) - 2021
- [c88]Nils Dengler, Tobias Zaenker, Francesco Verdoja, Maren Bennewitz:
Online Object-Oriented Semantic Mapping and Map Updating. ECMR 2021: 1-7 - [c87]Tobias Zaenker, Chris Lehnert
, Chris McCool, Maren Bennewitz:
Combining Local and Global Viewpoint Planning for Fruit Coverage. ECMR 2021: 1-7 - [c86]Claus Smitt, Michael Halstead, Tobias Zaenker, Maren Bennewitz, Chris McCool:
PATHoBot: A Robot for Glasshouse Crop Phenotyping and Intervention. ICRA 2021: 2324-2330 - [c85]Marcell Missura, Maren Bennewitz:
Fast Footstep Planning with Aborting A. ICRA 2021: 2964-2970 - [c84]Arindam Roychoudhury, Marcell Missura, Maren Bennewitz:
Plane Segmentation in Organized Point Clouds using Flood Fill. ICRA 2021: 13532-13538 - [c83]Arindam Roychoudhury, Marcell Missura, Maren Bennewitz:
Plane Segmentation Using Depth-Dependent Flood Fill. IROS 2021: 2210-2216 - [c82]Tobias Zaenker, Claus Smitt, Chris McCool, Maren Bennewitz:
Viewpoint Planning for Fruit Size and Position Estimation. IROS 2021: 3271-3277 - [c81]Kira Bungert, Lilli Bruckschen, Stefan Krumpen, Witali Rau, Michael Weinmann, Maren Bennewitz:
Human-Aware Robot Navigation Based on Learned Cost Values from User Studies. RO-MAN 2021: 337-342 - [i11]Christopher Gebauer, Maren Bennewitz:
Learning a Compact State Representation for Navigation Tasks by Autoencoding 2D-Lidar Scans. CoRR abs/2102.02127 (2021) - [i10]Tobias Zaenker, Chris Lehnert, Chris McCool, Maren Bennewitz:
Combining Local and Global Viewpoint Planning for Fruit Coverage. CoRR abs/2108.08114 (2021) - [i9]Christopher Gebauer, Maren Bennewitz:
Hierarchical Reinforcement Learning for Sensor-Based Navigation. CoRR abs/2108.13268 (2021) - [i8]Marcell Missura, Arindam Roychoudhury, Maren Bennewitz:
Fast-Replanning Motion Control with Short-Term Aborting A. CoRR abs/2109.07775 (2021) - 2020
- [j16]Peter Regier, Andres Milioto, Cyrill Stachniss, Maren Bennewitz:
Classifying Obstacles and Exploiting Class Information for Humanoid Navigation Through Cluttered Environments. Int. J. Humanoid Robotics 17(2): 2050013:1-2050013:26 (2020) - [j15]Lilli Bruckschen, Kira Bungert, Nils Dengler, Maren Bennewitz:
Predicting human navigation goals based on Bayesian inference and activity regions. Robotics Auton. Syst. 134: 103664 (2020) - [c80]Jonas D. Hasbach, Thomas E. F. Witte, Maren Bennewitz:
On the Importance of Adaptive Operator Training in Human-Swarm Interaction. HCI (34) 2020: 311-329 - [c79]Rasha Sheikh, Andres Milioto, Philipp Lottes, Cyrill Stachniss, Maren Bennewitz, Thomas Schultz:
Gradient and Log-based Active Learning for Semantic Segmentation of Crop and Weed for Agricultural Robots. ICRA 2020: 1350-1356 - [c78]Marcell Missura, Arindam Roychoudhury, Maren Bennewitz:
Polygonal Perception for Mobile Robots. IROS 2020: 10476-10482 - [c77]Lilli Bruckschen, Kira Bungert, Nils Dengler, Maren Bennewitz:
Human-Aware Robot Navigation by Long-Term Movement Prediction. IROS 2020: 11032-11037 - [c76]Lilli Bruckschen, Kira Bungert, Moritz Wolter, Stefan Krumpen, Michael Weinmann, Reinhard Klein, Maren Bennewitz:
Where Can I Help? Human-Aware Placement of Service Robots. RO-MAN 2020: 533-538 - [i7]Jonas D. Hasbach, Maren Bennewitz:
A Neuro-inspired Theory of Joint Human-Swarm Interaction. CoRR abs/2007.04882 (2020) - [i6]Claus Smitt, Michael Halstead, Tobias Zaenker, Maren Bennewitz, Chris McCool:
PATHoBot: A Robot for Glasshouse Crop Phenotyping and Intervention. CoRR abs/2010.16272 (2020) - [i5]Tobias Zaenker, Claus Smitt, Chris McCool, Maren Bennewitz:
Viewpoint Planning for Fruit Size and Position Estimation. CoRR abs/2011.00275 (2020) - [i4]Marcell Missura, Maren Bennewitz, Sven Behnke:
Capture Steps: Robust Walking for Humanoid Robots. CoRR abs/2011.02793 (2020) - [i3]Nils Dengler, Tobias Zaenker, Francesco Verdoja, Maren Bennewitz:
Online Object-Oriented Semantic Mapping and Map Updating with Modular Representations. CoRR abs/2011.06895 (2020)
2010 – 2019
- 2019
- [j14]Marcell Missura, Maren Bennewitz, Sven Behnke:
Capture Steps: Robust Walking for Humanoid Robots. Int. J. Humanoid Robotics 16(6): 1950032:1-1950032:28 (2019) - [j13]AbdElMoniem Bayoumi, Philipp Karkowski, Maren Bennewitz:
Speeding up person finding using hidden Markov models. Robotics Auton. Syst. 115: 40-48 (2019) - [c75]Lilli Bruckschen, Nils Dengler, Maren Bennewitz:
Human Motion Prediction Based on Object Interactions. ECMR 2019: 1-6 - [c74]Peter Regier, Ibrahim Shareef, Maren Bennewitz:
Improving Navigation with the Social Force Model by Learning a Neural Network Controller in Pedestrian Crowds. ECMR 2019: 1-6 - [c73]Padmaja Kulkarni, Sven Schneider, Maren Bennewitz, Dirk Schulz, Paul G. Plöger:
Applying the Popov-Vereshchagin Hybrid Dynamics Solver for Teleoperation under Instantaneous Constraints. ICAR 2019: 673-680 - [c72]Philipp Karkowski, Maren Bennewitz:
Prediction Maps for Real-Time 3D Footstep Planning in Dynamic Environments. ICRA 2019: 2517-2523 - [c71]Marcell Missura, Maren Bennewitz:
Predictive Collision Avoidance for the Dynamic Window Approach. ICRA 2019: 8620-8626 - [c70]Lilli Bruckschen, Sabrina Amft, Julian Tanke, Jürgen Gall, Maren Bennewitz:
Detection of Generic Human-Object Interactions in Video Streams. ICSR 2019: 108-118 - [i2]Julian Tanke, Oh-Hun Kwon, Patrick Stotko, Radu Alexandru Rosu, Michael Weinmann, Hassan Errami, Sven Behnke, Maren Bennewitz, Reinhard Klein, Andreas Weber, Angela Yao, Juergen Gall:
Bonn Activity Maps: Dataset Description. CoRR abs/1912.06354 (2019) - 2018
- [c69]Peter Regier, Andres Milioto, Philipp Karkowski, Cyrill Stachniss, Maren Bennewitz:
Classifying Obstacles and Exploiting Knowledge About Classes for Efficient Humanoid Navigation. Humanoids 2018: 820-826 - [c68]Elias Khsheibun, Norman Kohler, Maren Bennewitz:
Efficient Coverage of Unstructured Environments. IAS 2018: 111-126 - [c67]AbdElMoniem Bayoumi, Philipp Karkowski, Maren Bennewitz:
People Finding Under Visibility Constraints Using Graph-Based Motion Prediction. IAS 2018: 546-557 - [c66]Stefan Oßwald, Maren Bennewitz:
GPU-Accelerated Next-Best-View Coverage of Articulated Scenes. IROS 2018: 603-610 - [c65]Rasha Sheikh, Stefan Oßwald, Maren Bennewitz:
A Combined RGB and Depth Descriptor for SLAM with Humanoids. IROS 2018: 1718-1724 - [c64]Marcell Missura, Daniel D. Lee, Maren Bennewitz:
Minimal Construct: Efficient Shortest Path Finding for Mobile Robots in Polygonal Maps. IROS 2018: 7918-7923 - 2017
- [c63]Peter Regier, Marcell Missura, Maren Bennewitz:
Predicting travel time from path characteristics for wheeled robot navigation. ECMR 2017: 1-6 - [c62]Stefan Oßwald, Philipp Karkowski, Maren Bennewitz:
Efficient coverage of 3D environments with humanoid robots using inverse reachability maps. Humanoids 2017: 151-157 - [c61]Marcell Missura, Daniel D. Lee, Oskar von Stryk, Maren Bennewitz:
The synchronized holonomic model: A framework for efficient generation of motion. IROS 2017: 2076-2082 - [c60]AbdElMoniem Bayoumi, Philipp Karkowski, Maren Bennewitz:
Learning foresighted people following under occlusions. IROS 2017: 6319-6324 - 2016
- [j12]Stefan Oßwald, Maren Bennewitz, Wolfram Burgard, Cyrill Stachniss:
Speeding-Up Robot Exploration by Exploiting Background Information. IEEE Robotics Autom. Lett. 1(2): 716-723 (2016) - [c59]Philipp Karkowski, Stefan Oßwald, Maren Bennewitz:
Real-time footstep planning in 3D environments. Humanoids 2016: 69-74 - [c58]AbdElMoniem Bayoumi, Maren Bennewitz:
Learning optimal navigation actions for foresighted robot behavior during assistance tasks. ICRA 2016: 207-212 - [c57]Philipp Karkowski, Maren Bennewitz:
Real-time footstep planning using a geometric approach. ICRA 2016: 1782-1787 - [c56]Peter Regier, Stefan Oßwald, Philipp Karkowski, Maren Bennewitz:
Foresighted navigation through cluttered environments. IROS 2016: 1437-1442 - [c55]Felix Burget, Maren Bennewitz, Wolfram Burgard:
BI2RRT*: An efficient sampling-based path planning framework for task-constrained mobile manipulation. IROS 2016: 3714-3721 - [p1]Wolfram Burgard, Martial Hebert, Maren Bennewitz:
World Modeling. Springer Handbook of Robotics, 2nd Ed. 2016: 1135-1152 - 2015
- [c54]Daniel Maier, Stefan Wrobel, Maren Bennewitz:
Whole-body self-calibration via graph-optimization and automatic configuration selection. ICRA 2015: 5662-5668 - [c53]Felix Burget, Maren Bennewitz:
Stance selection for humanoid grasping tasks by inverse reachability maps. ICRA 2015: 5669-5674 - [c52]Jonas Koenemann, Andrea Del Prete, Yuval Tassa, Emanuel Todorov, Olivier Stasse, Maren Bennewitz, Nicolas Mansard:
Whole-body model-predictive control applied to the HRP-2 humanoid. IROS 2015: 3346-3351 - [c51]Felix Burget, Christoph Maurer, Wolfram Burgard, Maren Bennewitz:
Learning motor control parameters for motion strategy analysis of Parkinson's disease patients. IROS 2015: 5019-5025 - 2014
- [j11]Armin Hornung, Stefan Oßwald, Daniel Maier, Maren Bennewitz:
Monte Carlo Localization for Humanoid Robot Navigation in Complex Indoor Environments. Int. J. Humanoid Robotics 11(2) (2014) - [j10]Olivier Stasse, Maren Bennewitz:
Guest Editorial. Int. J. Humanoid Robotics 11(2) (2014) - [c50]Armin Hornung, Sebastian Böttcher, Jonas Schlagenhauf, Christian Dornhege, Andreas Hertle, Maren Bennewitz:
Mobile manipulation in cluttered environments with humanoids: Integrated perception, task planning, and action execution. Humanoids 2014: 773-778 - [c49]Daniel Maier, Ramin Zohouri, Maren Bennewitz:
Using visual and auditory feedback for instrument-playing humanoids. Humanoids 2014: 944-950 - [c48]Jonas Koenemann, Felix Burget, Maren Bennewitz:
Real-time imitation of human whole-body motions by humanoids. ICRA 2014: 2806-2812 - 2013
- [j9]Armin Hornung, Kai M. Wurm, Maren Bennewitz, Cyrill Stachniss, Wolfram Burgard:
OctoMap: an efficient probabilistic 3D mapping framework based on octrees. Auton. Robots 34(3): 189-206 (2013) - [j8]Daniel Maier, Cyrill Stachniss, Maren Bennewitz:
Vision-Based humanoid Navigation using Self-Supervised Obstacle Detection. Int. J. Humanoid Robotics 10(2) (2013) - [c47]Felix Burget, Armin Hornung, Maren Bennewitz:
Whole-body motion planning for manipulation of articulated objects. ICRA 2013: 1656-1662 - [c46]Daniel Maier, Christian Lutz, Maren Bennewitz:
Integrated perception, mapping, and footstep planning for humanoid navigation among 3D obstacles. IROS 2013: 2658-2664 - [i1]Michael Zillich, Maren Bennewitz, Maria Fox, Justus H. Piater, Dejan Pangercic:
Proceedings of the 2nd Workshop on Robots in Clutter: Preparing robots for the real world (Berlin, 2013). CoRR abs/1306.3551 (2013) - 2012
- [c45]Jonas Koenemann, Maren Bennewitz:
Whole-body imitation of human motions with a nao humanoid. HRI 2012: 425-426 - [c44]Armin Hornung, Andrew Dornbush, Maxim Likhachev, Maren Bennewitz:
Anytime search-based footstep planning with suboptimality bounds. Humanoids 2012: 674-679 - [c43]Daniel Maier, Armin Hornung, Maren Bennewitz:
Real-time navigation in 3D environments based on depth camera data. Humanoids 2012: 692-697 - [c42]Armin Hornung, Mike Phillips, Edward Gil Jones, Maren Bennewitz, Maxim Likhachev, Sachin Chitta:
Navigation in three-dimensional cluttered environments for mobile manipulation. ICRA 2012: 423-429 - [c41]Armin Hornung, Maren Bennewitz:
Adaptive level-of-detail planning for efficient humanoid navigation. ICRA 2012: 997-1002 - [c40]Stefan Oßwald, Armin Hornung, Maren Bennewitz:
Improved proposals for highly accurate localization using range and vision data. IROS 2012: 1809-1814 - [c39]Daniel Maier, Maren Bennewitz:
Appearance-based traversability classification in monocular images using iterative ground plane estimation. IROS 2012: 4360-4366 - [c38]Christian Lutz, Felix Atmanspacher, Armin Hornung, Maren Bennewitz:
NAO walking down a ramp autonomously. IROS 2012: 5169-5170 - 2011
- [c37]Stefan Oßwald, Jens-Steffen Gutmann, Armin Hornung, Maren Bennewitz:
From 3D point clouds to climbing stairs: A comparison of plane segmentation approaches for humanoids. Humanoids 2011: 93-98 - [c36]Daniel Maier, Maren Bennewitz, Cyrill Stachniss:
Self-supervised obstacle detection for humanoid navigation using monocular vision and sparse laser data. ICRA 2011: 1263-1269 - [c35]Johannes Garimort, Armin Hornung, Maren Bennewitz:
Humanoid navigation with dynamic footstep plans. ICRA 2011: 3982-3987 - [c34]Stefan Oßwald, Attila Görög, Armin Hornung, Maren Bennewitz:
Autonomous climbing of spiral staircases with humanoids. IROS 2011: 4844-4849 - 2010
- [j7]Armin Hornung, Maren Bennewitz, Hauke Strasdat:
Efficient vision-based navigation. Auton. Robots 29(2): 137-149 (2010) - [c33]Stefan Oßwald, Armin Hornung, Maren Bennewitz:
Learning reliable and efficient navigation with a humanoid. ICRA 2010: 2375-2380 - [c32]Armin Hornung, Kai M. Wurm, Maren Bennewitz:
Humanoid robot localization in complex indoor environments. IROS 2010: 1690-1695
2000 – 2009
- 2009
- [c31]Sven Wehner, Maren Bennewitz:
Optimizing the Gait of a Humanoid Robot Towards Human-like Walking. ECMR 2009: 277-282 - [c30]Alberto Pretto, Emanuele Menegatti, Maren Bennewitz, Wolfram Burgard, Enrico Pagello:
A visual odometry framework robust to motion blur. ICRA 2009: 2250-2257 - [c29]Clemens Eppner, Jürgen Sturm, Maren Bennewitz, Cyrill Stachniss, Wolfram Burgard:
Imitation learning with generalized task descriptions. ICRA 2009: 3968-3974 - [c28]Maren Bennewitz, Cyrill Stachniss, Sven Behnke, Wolfram Burgard:
Utilizing reflection properties of surfaces to improve mobile robot localization. ICRA 2009: 4287-4292 - [c27]Armin Hornung, Hauke Strasdat, Maren Bennewitz, Wolfram Burgard:
Learning efficient policies for vision-based navigation. IROS 2009: 4590-4595 - [c26]Felix Faber, Maren Bennewitz, Clemens Eppner, Attila Görög, Christoph Gonsior, Dominik Joho, Michael Schreiber, Sven Behnke:
The humanoid museum tour guide Robotinho. RO-MAN 2009: 891-896 - 2008
- [c25]Tobias Axenbeck, Maren Bennewitz, Sven Behnke, Wolfram Burgard:
Recognizing complex, parameterized gestures from monocular image sequences. Humanoids 2008: 687-692 - [c24]Cyrill Stachniss, Maren Bennewitz, Giorgio Grisetti, Sven Behnke, Wolfram Burgard:
How to learn accurate grid maps with a humanoid. ICRA 2008: 3194-3199 - [c23]Felix Faber, Maren Bennewitz, Sven Behnke:
Controlling the gaze direction of a humanoid robot with redundant joints. RO-MAN 2008: 413-418 - 2007
- [c22]Hauke Strasdat, Cyrill Stachniss, Maren Bennewitz, Wolfram Burgard:
Visual Bearing-Only Simultaneous Localization and Mapping with Improved Feature Matching. AMS 2007: 15-21 - [c21]T. Vatahska, Maren Bennewitz, Sven Behnke:
Feature-based head pose estimation from images. Humanoids 2007: 330-335 - [c20]Sergio Roa, Maren Bennewitz, Sven Behnke:
Fundamental Frequency Estimation Based on Pitch-Scaled Harmonic Filtering. ICASSP (4) 2007: 397-400 - [c19]Dominik Joho, Maren Bennewitz, Sven Behnke:
Pitch Estimation using Models of Voiced Speech on Three Levels. ICASSP (4) 2007: 1077-1080 - [c18]Maren Bennewitz, Felix Faber, Dominik Joho, Sven Behnke:
Fritz - A Humanoid Communication Robot. RO-MAN 2007: 1072-1077 - 2006
- [j6]Maren Bennewitz:
EUROS 2006. Künstliche Intell. 20(3): 42 (2006) - [c17]Maren Bennewitz, Cyrill Stachniss, Wolfram Burgard, Sven Behnke:
Metric Localization with Scale-Invariant Visual Features Using a Single Perspective Camera. EUROS 2006: 195-209 - [c16]Tobias Latzke, Sven Behnke, Maren Bennewitz:
Imitative Reinforcement Learning for Soccer Playing Robots. RoboCup 2006: 47-58 - [c15]Hauke Strasdat, Maren Bennewitz, Sven Behnke:
Multi-cue Localization for Soccer Playing Humanoid Robots. RoboCup 2006: 245-257 - 2005
- [j5]Maren Bennewitz, Wolfram Burgard, Grzegorz Cielniak, Sebastian Thrun:
Learning Motion Patterns of People for Compliant Robot Motion. Int. J. Robotics Res. 24(1): 31-48 (2005) - [c14]Maren Bennewitz, Felix Faber, Dominik Joho, Michael Schreiber, Sven Behnke:
Towards a humanoid museum guide robot that interacts with multiple persons. Humanoids 2005: 418-423 - [c13]Maren Bennewitz, Felix Faber, Dominik Joho, Michael Schreiber, Sven Behnke:
Integrating vision and speech for conversations with multiple persons. IROS 2005: 2523-2528 - 2003
- [c12]Maren Bennewitz, Wolfram Burgard, Sebastian Thrun:
Adapting navigation strategies using motions patterns of people. ICRA 2003: 2000-2005 - [c11]Grzegorz Cielniak, Maren Bennewitz, Wolfram Burgard:
Where is ...? Learning and Utilizing Motion Patterns of Persons with Mobile Robots. IJCAI 2003: 909-914 - 2002
- [j4]Maren Bennewitz, Wolfram Burgard, Sebastian Thrun:
Finding and optimizing solvable priority schemes for decoupled path planning techniques for teams of mobile robots. Robotics Auton. Syst. 41(2-3): 89-99 (2002) - [c10]Maren Bennewitz, Wolfram Burgard, Sebastian Thrun:
Learning Motion Patterns of Persons for Mobile Service Robots. ICRA 2002: 3601-3606 - [c9]Maren Bennewitz, Wolfram Burgard, Sebastian Thrun:
Using EM to learn motion behaviors of persons with mobile robots. IROS 2002: 502-507 - [c8]Maren Bennewitz, Wolfram Burgard, Sebastian Thrun:
Finding and Optimizing Solvable Priority Schemes for Decoupled Path Planning Techniques for Teams of Mobile Robots. PuK 2002 - 2001
- [j3]Michael Beetz, Tom Arbuckle, Thorsten Belker, Armin B. Cremers, Dirk Schulz, Maren Bennewitz, Wolfram Burgard, Dirk Hähnel, Dieter Fox, Henrik Grosskreutz:
Integrated Plan-Based Control of Autonomous Robots in Human Environments. IEEE Intell. Syst. 16(5): 56-65 (2001) - [c7]Maren Bennewitz, Wolfram Burgard, Sebastian Thrun:
Optimizing Schedules for Prioritized Path Planning of Multi-Robot Systems. ICRA 2001: 271-276 - [c6]Maren Bennewitz, Wolfram Burgard, Sebastian Thrun:
Exploiting constraints during prioritized path planning for teams of mobile robots. IROS 2001: 393-398 - [c5]Maren Bennewitz, Wolfram Burgard, Sebastian Thrun:
Constraint-Based Optimization of Priority Schemes for Decoupled Path Planning Techniques. KI/ÖGAI 2001: 78-93 - 2000
- [j2]Sebastian Thrun, Michael Beetz, Maren Bennewitz, Wolfram Burgard, Armin B. Cremers, Frank Dellaert, Dieter Fox, Dirk Hähnel, Charles R. Rosenberg, Nicholas Roy, Jamieson Schulte, Dirk Schulz:
Probabilistic Algorithms and the Interactive Museum Tour-Guide Robot Minerva. Int. J. Robotics Res. 19(11): 972-999 (2000) - [j1]Michael Beetz, Tom Arbuckle, Thorsten Belker, Maren Bennewitz, Armin B. Cremers, Dirk Hähnel, Dirk Schulz:
Enabling Autonomous Robots to Perform Complex Tasks. Künstliche Intell. 14(4): 5-10 (2000) - [c4]Maren Bennewitz, Wolfram Burgard:
An Experimental Compaarison of Path Planning Techniques for Teams of Mobile Robots. AMS 2000: 175-182
1990 – 1999
- 1999
- [c3]Sebastian Thrun, Maren Bennewitz, Wolfram Burgard, Armin B. Cremers, Frank Dellaert, Dieter Fox, Dirk Hähnel, Charles R. Rosenberg, Nicholas Roy, Jamieson Schulte, Dirk Schulz:
MINERVA: A Second-Generation Museum Tour-Guide Robot. ICRA 1999: 1999-2005 - [c2]Sebastian Thrun, Maren Bennewitz, Wolfram Burgard, Armin B. Cremers, Frank Dellaert, Dieter Fox, Dirk Hähnel, Charles R. Rosenberg, Nicholas Roy, Jamieson Schulte, Dirk Schulz:
MINERVA: A Tour-Guide Robot that Learns. KI 1999: 14-26 - [c1]Michael Beetz, Maren Bennewitz, Henrik Grosskreutz:
Probabilistic, Prediction-Based Schedule Debugging for Autonomous Robot Office Couriers. KI 1999: 243-254