Resources

2024

Journal

1. MARLIN: A cloud integrated robotic solution to support intralogistics in retail ,[Dennis Mronga, Andreas Bresser, Fabias Maas genannt Bermpohl, Adrian Danzglock, Simon Stelter, Alina Hawkin, Giang Nguyen, Michael Beetz and Frank Kirchner],(Robotics and Autonomous Systems)
2. Action Selection in Everyday Activities: The Opportunistic Planning Model ,[Wenzl, Petra and Schultheis, Holger],(Cognitive Science)

Conference

1. Task Learning Using Actionable Knowledge Graphs ,[Kümpel, Michaela, Vyas, Abhijit, Hassouna, Vanessa and Beetz, Michael],(ICRA40 - 40th Anniversary of the IEEE International Conference on Robotics and Automation)
2. Towards a Knowledge Engineering Methodology for Flexible Robot Manipulation in Everyday Tasks ,[Kümpel, Michaela, Töberg, Jan-Phillip, Hassouna, Vanessa, Cimiano, Phillip and Beetz, Michael],(Actionable Knowledge Representation and Reasoning for Robots (AKR^3) at European Semantic Web Conference (ESWC))
3. An Open and Flexible Robot Perception Framework for Mobile Manipulation Tasks ,[Mania, Patrick, Stelter, Simon, Kazhoyan, Gayane and Beetz, Michael],(2024 International Conference on Robotics and Automation (ICRA))
4. Translating universal scene descriptions into knowledge graphs for robotic environment ,[Giang Nguyen, Daniel Beßler, Simon Stelter, Mihai Pomarlan and Michael Beetz],(2024 IEEE International Conference on Robotics and Automation (ICRA))
5. Cloud-based Digital Twin for Cognitive Robotics ,[Niedzwiecki, A., Jongebloed, S., Zhan, Y., Kümpel, M., Syrbe, J., Beetz, M.],(IEEE Global Engineering Education Conference (EDUCON) 2024)
6. Interactive E-Learning Environment for Cognitive Robotics ,[Syrbe, J., Rümenapp, T., Wenzl, P., Kümpel, M., Beetz, M., Niedzwiecki, A.],(IEEE Global Engineering Education Conference (EDUCON) 2024)

1. Transforming Web Knowledge into Actionable Knowledge Graphs for Robot Manipulation Tasks ,[Beetz, Michael, Cimiano, Philipp, Kümpel, Michaela, Motta, Enrico, Tiddi, Ilaria and Töberg, Jan-Philipp],(ESWC 2024 Workshops and Tutorials Joint Proceedings, May 26-27, Heraklion, Greece)
2. Translating Actionable Knowledge Graphs into Robot Action Execution ,[Beetz, Michael, Cimiano, Philipp, Kümpel, Michaela, Motta, Enrico, Tiddi, Ilaria and Töberg, Jan-Philipp],(HHAI-WS 2024: Workshops at the Third International Conference on Hybrid Human-Artificial Intelligence (HHAI), June 10-11, Malmö, Sweden)
3. Between Input and Output: The Importance of Modelling Transients in Meal Preparation Tasks ,[Kümpel, Michaela, Hassouna, Vanessa, Hawkin, Alina and Beetz, Michael],(Proceedings of the Joint Ontology Workshops (JOWO) - Episode X: The Tukker Zomer of Ontology, and satellite events co-located with the 14th International Conference on Formal Ontology in Information Systems (FOIS 2024), July 15-19, Enschede, The Netherlands)

2023

Conference

1. Towards a Neuronally Consistent Ontology for Robotic Agents ,[Ahrens, Florian, Pomarlan, Mihai, Beßler, Daniel, Fehr, Thorsten, Beetz, Michael and Herrmann, Manfred],(ECAI 2023)
2. Robotic Shopping Assistance for Everyone: Dynamic Query Generation on a Semantic Digital Twin as a Basis for Autonomous Shopping Assistance ,[Michaela Kümpel, Jonas Dech, Alina Hawkin and Michael Beetz],(Proceedings of the 22nd International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2023))
3. ProductKG: A Product Knowledge Graph for User Assistance in Daily Activities ,[Kümpel, Michaela and Beetz, Michael],(Ontology Showcase and Demonstrations Track, co-located with FOIS 2023, Sherbrooke, Québec, Canada)
4. Retail SemDT Collection Knowledge-base, A Platform Architecture ,[Nils Leusmann, Glareh Mir, Giang Nguyen, Simon Stelter, Kaviya Dhanabalachandran, Cagatay Odabasi, Maik Malki, Alina Hawkin, Felix Bazlen and Michael Beetz],(2023 IEEE Smart World Congress (SWC))
5. Towards an Ontology for Robot Introspection and Metacognition ,[Robin Nolte, Mihai Pomarlan, Daniel Beßler, Robert Porzel, Rainer Malaka and John Bateman],(Formal Ontology in Information Systems - Proceedings of the 14th International Conference, FOIS 2023, Sherbrooke, Québec, Canada)
6. Joint Probability Trees ,[Daniel Nyga, Mareike Picklum, Tom Schierenbeck and Michael Beetz],(Arxiv.org)

Workshop

1. Towards a Neuronally Consistent Ontology for Robotic Agents ,[Ahrens, Florian, Pomarlan, Mihai, Beßler, Daniel, Fehr, Thorsten, Beetz, Michael and Herrmann, Manfred],(ECAI 2023)
2. Robotic Shopping Assistance for Everyone: Dynamic Query Generation on a Semantic Digital Twin as a Basis for Autonomous Shopping Assistance ,[Michaela Kümpel, Jonas Dech, Alina Hawkin and Michael Beetz],(Proceedings of the 22nd International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2023))
3. ProductKG: A Product Knowledge Graph for User Assistance in Daily Activities ,[Kümpel, Michaela and Beetz, Michael],(Ontology Showcase and Demonstrations Track, co-located with FOIS 2023, Sherbrooke, Québec, Canada)
4. Retail SemDT Collection Knowledge-base, A Platform Architecture ,[Nils Leusmann, Glareh Mir, Giang Nguyen, Simon Stelter, Kaviya Dhanabalachandran, Cagatay Odabasi, Maik Malki, Alina Hawkin, Felix Bazlen and Michael Beetz],(2023 IEEE Smart World Congress (SWC))
5. Towards an Ontology for Robot Introspection and Metacognition ,[Robin Nolte, Mihai Pomarlan, Daniel Beßler, Robert Porzel, Rainer Malaka and John Bateman],(Formal Ontology in Information Systems - Proceedings of the 14th International Conference, FOIS 2023, Sherbrooke, Québec, Canada)
6. Joint Probability Trees ,[Daniel Nyga, Mareike Picklum, Tom Schierenbeck and Michael Beetz],(Arxiv.org)

Other

1. The CRAM Cognitive Architecture for Robot Manipulation in Everyday Activities ,[Michael Beetz, Gayane Kazhoyan and David Vernon],(undefined)

2022

Journal

1. Improving Object Pose Estimation by Fusion With a Multimodal Prior – Utilizing Uncertainty-Based CNN Pipelines for Robotics ,[Richter-Klug, Jesse, Mania, Patrick, Kazhoyan, Gayane, Beetz, Michael and Frese, Udo],(IEEE Robotics and Automation Letters)
2. Human Lower Limb Motion Capture and Recognition Based on Smartphones ,[Duan, Lin-Tao, Lawo, Michael, Wang, Zhi-Guo and Wang, Hai-Ying],(Sensors)

Conference

1. Robotizing the Sterility Testing Process: Scientific Challenges for Bringing Agile Robots into the Laboratory ,[Remazeilles, Anthony, Rasines, Irati, Fernandez, Asier, Neumann, Maike, Beetz, Michael, Grossard, Mathieu, Hellingman, Clive, Coulon, Carl-Helmut, Cichon, Torben, Gosselin, Florian and Vincze, Markus],(ROBOT2022: Fifth Iberian Robotics Conference)
2. The Downgrading Axioms Challenge for Qualitative Composition of Food Ingredients ,[Krieg-Brückner, Bernd, Nolte, Mark Robin, Pomarlan, Mihai and Kümpel, Michaela],(SemREC 2022, 2nd Semantic Reasoning Evaluation Challenge 2022)
3. Simulation-Based Debugging of Formal Environment Models ,[Tim Meywerk, Arthur Niedzwiecki, Vladimir Herdt and Rolf Drechsler],(30th Mediterranean Conference on Control and Automation, MED 2022, Vouliagmeni, Greece)

Book

1. Robots Collecting Data: Modelling Stores ,[Beetz, Michael, Stelter, Simon, Beßler, Daniel, Dhanabalachandran, Kaviya, Neumann, Michael, Mania, Patrick and Haidu, Andrei],(undefined)
2. Robotic Clerks: Autonomous Shelf Refilling ,[Cavallo, Alberto, Costanzo, Marco, De Maria, Giuseppe, Natale, Ciro, Pirozzi, Salvatore, Stelter, Simon, Kazhoyan, Gayane, Koralewski, Sebastian and Beetz, Michael],(undefined)

Other

1. Ontological representation of activity context for flexible robot task execution ,[Daniel Beßler],(undefined)

2021

Journal

1. Semantic Digital Twins for Retail Logistics ,[Kümpel, Michaela and Mueller, Christian A. and Beetz, Michael],(Chapter in Dynamics in Logistics: Twenty-Five Years of Interdisciplinary Logistics Research in Bremen, Germany)

Conference

1. Cutting Events: Towards Autonomous Plan Adaption by Robotic Agents through Image-Schematic Event Segmentation ,[Dhanabalachandran, Kaviya, Hassouna, Vanessa, Hedblom, Maria M., Kümpel, Michaela, Leusmann, Nils and Beetz, Michael],(In Proceedings of the 11th on Knowledge Capture Conference)
2. Robot Program Parameter Inference via Differentiable Shadow Program Inversion ,[Benjamin Alt, Darko Katic, Rainer Jäkel, Asil Kaan Bozcuoglu and Michael Beetz],(In IEEE International Conference on Robotics and Automation (ICRA))
3. Foundations of the Socio-physical Model of Activities (SOMA) for Autonomous Robotic Agents ,[Daniel Beßler, Robert Porzel, Mihai Pomarlan, Abhijit Vyas, Sebastian Höffner, Michael Beetz, Rainer Malaka and John Bateman],(In Formal Ontology in Information Systems - Proceedings of the 12th International Conference, FOIS 2021)
4. Automated acquisition of structured, semantic models of manipulation activities from human VR demonstration ,[Andrei Haidu and Michael Beetz],(In IEEE International Conference on Robotics and Automation (ICRA))
5. Knowledge-enabled generation of semantically annotated image sequences of manipulation activities from VR demonstrations ,[Andrei Haidu, Xiaoyue Zhang and Michael Beetz],(In 13th International Conference on Computer Vision System (ICVS))
6. The Robot Household Marathon Experiment ,[Gayane Kazhoyan, Simon Stelter, Franklin Kenghagho Kenfack, Sebastian Koralewski and Michael Beetz],(In IEEE International Conference on Robotics and Automation (ICRA))
7. Imagination-enabled Robot Perception ,[Patrick Mania, Franklin Kenghagho Kenfack, Michael Neumann and Michael Beetz],(In International Conference on Intelligent Robots and Systems (IROS))
8. Planning and Action Organization in Ill-Defined Tasks: The Case of Everyday Activities ,[Wenzl, Petra and Schultheis, Holger],(In Proceedings of the 43rd Annual Meeting of the Cognitive Science Society)

Workshop

1. FailRecOnt – An Ontology-based Framework for Failure Interpretation and Recovery in Planning and Execution ,[Mohammed Diab, Mihai Pomarlan, Stefano Borgo, Daniel Beßler, Jan Rosell, John Bateman and Michael Beetz],(In Proceedings of the Joint Ontology Workshops co-located with the Bolzano Summer of Knowledge (BOSK 2021))
2. URoboSim — a simulation-based predictive modelling engine for cognition-enabled robot manipulation ,[Michael Neumann, Andrei Haidu and Michael Beetz],(In 2nd Embodied AI Workshop (CVPR))
3. Inferring dispositions from Object Shape and Material with physics game engine modelling ,[Abhijit Vyas, Daniel Beßler and Michael Beetz],(In RobOntics workshop)

Other

1. Prolog as a Querying Language for MongoDB ,[Daniel Beßler, Sascha Jongebloed and Michael Beetz],(undefined)
2. Realizing Trustworthiness in Linked Data Applications Based on Individual Data Source Trust Assessment. ,[Michaela Kümpel and Michael Beetz],(undefined)

2020

Journal

1. Manipulation Planning and Control for Shelf Replenishment ,[Costanzo, Marco, Stelter, Simon, Natale, Ciro, Pirozzi, Salvatore, Bartels, Georg, Maldonado, Alexis, and Beetz, Michael],(IEEE Robotics and Automation Letters)
2. SkillMaN – A skill-based robotic manipulation framework based on perception and reasoning ,[Diab, Mohammed, Pomarlan, Mihai, Beßler, Daniel, Akbari, Aliakbar, Rosell, Jan, Bateman, John, and Beetz, Michael],(Robotics and Autonomous Systems)

Conference

1. A Formal Model of Affordances for Flexible Robotic Task Execution ,[Beßler, Daniel, Porzel, Robert, Pomarlan, Mihai, Beetz, Michael, Malaka, Rainer, and Bateman, John],(Proc. of the 24th European Conference on Artificial Intelligence (ECAI))
2. Towards Plan Transformations for Real-World Mobile Fetch and Place ,[Gayane Kazhoyan, Arthur Niedzwiecki, and Michael Beetz],(IEEE International Conference on Robotics and Automation (ICRA))
3. Learning Motion Parameterizations of Mobile Pick and Place Actions from Observing Humans in Virtual Environments ,[Gayane Kazhoyan, Alina Hawkin, Sebastian Koralewski, Andrei Haidu, and Michael Beetz],(IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS))
4. RobotVQA — A Scene-Graph- and Deep-Learning-based Visual Question Answering System for Robot Manipulation ,[Franklin Kenghagho Kenfack, Feroz Ahmed Siddiky, Ferenc Balint-Benczedi, and Michael Beetz],(IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS))
5. Optimality and Space in Weakly Constrained Everyday Activities ,[Wenzl, Petra, and Schultheis, Holger],(Proceedings of the 42nd Annual Conference of the Cognitive Science Society)

Workshop

1. Using Linked Data to Help Robots Understand Product-related Actions ,[Kümpel, Michaela, de Groot, Anna, Tiddi, Ilaria, and Beetz, Michael],(JOWO 2020, The Joint Ontology Workshops)

Other

1. Task Adaptable, Pervasive Perception for Robots Performing Everyday Manipulation ,[Ferenc Balint-Benczedi],(undefined)
2. Foundations of the Socio-physical Model of Activities (SOMA) for Autonomous Robotic Agents ,[Beßler, Daniel, Robert Porzel, Mihai Pomarlan, Abhijit Vyas, Sebastian Höffner, Michael Beetz, Rainer Malaka, and John Bateman],(undefined)
3. The Robot Household Marathon Experiment ,[Gayane Kazhoyan, Simon Stelter, Franklin Kenghagho Kenfack, Sebastian Koralewski, and Michael Beetz],(undefined)
4. Imagination-enabled Robot Perception ,[Patrick Mania, Franklin Kenghagho Kenfack, Michael Neumann, and Michael Beetz],(undefined)

2019

Journal

1. MatCALO: Knowledge-enabled machine learning in materials science ,[Mareike Picklum and Michael Beetz],(Computational Materials Science)
2. From Research to Market: Building the Perception Systems for the Next Generation of Industrial Robots – Interview with Dr. Michael Suppa, CEO and Founder of the Startup Roboception ,[Bartels, Georg, and Beetz, Michael],(KI - Künstliche Intelligenz)
3. Perception-guided Mobile Manipulation Robots for Automation of Warehouse Logistics – Interview with Dr. Moritz Tenorth, CTO of the Startup Magazino ,[Bartels, Georg, and Beetz, Michael],(KI - Künstliche Intelligenz)
4. Episodic Memories for Safety-Aware Robots – Knowledge Representation and Reasoning for Robots that Safely Interact with Human Co-Workers ,[Bartels, Georg, Beßler, Daniel and Beetz, Michael],(KI - Künstliche Intelligenz)
5. Foundational Models for Manipulation Activity Parsing ,[Beßler, Daniel, Porzel, Robert, Pomarlan Mihai and Beetz, Michael],(Chapter in Augmented Reality and Virtual Reality – Changing Realities in a Dynamic World, Springer)
6. Information System for Storage, Management and Usage for Embodied Intelligent Agents ,[Beßler, Daniel, Bozcuoglu, Asil Kaan and Beetz, Michael],(Chapter in Information Storage from a multi-disciplinary perspective, Springer)
7. Self-specialization of General Robot Plans Based on Experience ,[Koralewski, Sebastian, Kazhoyan, Gayane and Beetz, Michael],(Robotics and Automation Letters, IEEE)
8. Cognition-enabled Robotic Wiping: Representation, Planning, Execution, and Interpretation ,[Leidner, Daniel, Bartels, Georg, Bejjani, Wissam, Albu-Schäffer, Alin and Beetz, Michael],(Robotics and Autonomous Systems, Elsevier)
9. A Review and Comparison of Ontology-based Approaches to Robot Autonomy ,[Olivares-Alarcos, Alberto, Beßler, Daniel, Khamis, Alaa, Goncalves, Paulo, Habib, Maki, Bermejo, Julita, Barreto, Marcos, Diab, Mohammed, Rosell, Jan, Quintas, João, Olszewska, Joanna, Nakawala, Hirenkumar, Pignaton, Edison, Gyrard, Amelie, Borgo, Stefano, Alenyà, Guillem, Beetz, Michael and Li, Howard],(The Knowledge Engineering Review, Cambridge University Press)
10. Cut & recombine: reuse of robot action components based on simple language instructions ,[Minija Tamosiunaite, Mohamad Javad Aein, Jan Matthias Braun, Tomas Kulvicius, Irena Markievicz, Jurgita Kapociute-Dzikiene, Rita Valteryte, Andrei Haidu, Dimitrios Chrysostomou, Barry Ridge, Tomas Krilavicius, Daiva Vitkute-Adzgauskiene, Michael Beetz, Ole Madsen, Ales Ude, Norbert Krüger and Florentin Wörgötter],(The International Journal of Robotics Research)
11. Query-based Integration of Heterogeneous Knowledge Bases for Search and Rescue Tasks ,[Yazdani, Fereshta, Blumenthal, Sebastian, Huebel, Nico, Bozcuoglu, Asil Kaan, Beetz, Michael and Bruyninckx, Herman],(Robotics and Autonomous Systems (RAS), Elsevier)

Conference

1. Continuous Modeling of Affordances in a Symbolic Knowledge Base ,[Bozcuoglu, Asil Kaan, Furuta, Yuki, Okada, Kei, Beetz, Michael and Inaba, Masayuki],(IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS))
2. An Ontology for Failure Interpretation in Automated Planning and Execution ,[Diab, Mohammed, Pomarlan, Mihai, Beßler, Daniel, Abkari, Aliakbar, Rossel, Jan, Bateman, John and Beetz, Michael],(Fourth Iberian Robotics Conference)
3. Adapting Everyday Manipulation Skills to Varied Scenarios ,[Pawel Gajewski, Paulo Ferreira, Georg Bartels, Chaozheng Wang, Frank Guerin, Bipin Indurkhya, Michael Beetz and Bartlomiej Sniezynski],(International Conference on Robotics and Automation (ICRA))
4. Automated Models of Human Everyday Activity based on Game and Virtual Reality Technology ,[Andrei Haidu and Michael Beetz],(International Conference on Robotics and Automation (ICRA))
5. Accomplishing Variations of Mobile Manipulation Actions through Generalized Robot Plans ,[Gayane Kazhoyan and Michael Beetz],(Proceedings of the Seventh Annual Conference on Advances in Cognitive Systems)
6. Executing Underspecified Actions in Real World Based on Online Projection ,[Gayane Kazhoyan and Michael Beetz],(IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS))
7. A Framework for Self-Training Perceptual Agents in Simulated Photorealistic Environments ,[Patrick Mania and Michael Beetz],(International Conference on Robotics and Automation (ICRA))

2018

Journal

1. Adapting Everyday Manipulation Skills to Varied Scenarios ,[Gajewski, Pawel, Ferreira, Paulo, Bartels, Georg, Wang, Chaozheng, Guerin, Frank, Indurkhya, Bipin, Beetz, Michael and Sniezynski, Bartlomiej],(arXiv preprint arXiv:1803.02743)
2. Cloud-based Probabilistic Knowledge Services for Instruction Interpretation ,[Nyga, Daniel and Beetz, Michael],(Chapter in Robotics Research, Springer)
3. Multidimensional Time Series Shapelets Reliably Detect and Classify Contact Events in Force Measurements of Wiping Actions ,[Stelter, Simon, Bartels, Georg, and Beetz, Michael],(Robotics and Automation Letters, IEEE)
4. The Exchange of Knowledge using Cloud Robotics ,[Bozcuoglu, Asil Kaan, Kazhoyan, Gayane, Furuta, Yuki, Stelter, Simon, Beetz, Michael, Okada, Kei and Inaba, Masayuki],(Robotics and Automation Letters, IEEE)

Conference

1. Variations on a Theme: 'It's a poor sort of memory that only works backwards' ,[Balint-Benczedi, Ferenc and Beetz, Michael],(International Conference on Intelligent Robots and Systems)
2. KnowRob 2.0 – A 2nd Generation Knowledge Processing Framework for Cognition-enabled Robotic Agents ,[Michael Beetz, Daniel Beßler, Andrei Haidu, Mihai Pomarlan, Asil Kaan Bozcuoglu and Georg Bartels],(International Conference on Robotics and Automation (ICRA))
3. OWL-enabled Assembly Planning for Robotic Agents ,[Beßler, Daniel, Pomarlan, Mihai and Beetz, Michael],(Proceedings of the 2018 International Conference on Autonomous Agents)
4. Assembly Planning in Cluttered Environments through Heterogeneous Reasoning ,[Beßler, Daniel, Pomarlan, Mihai, Akbari, Aliakbar, Muhayyuddin, Diab, Mohammed, Rosell, Jan, Bateman, John and Beetz, Michael],(41st German Conference on Artificial Intelligence (KI), Springer)
5. The Exchange of Knowledge using Cloud Robotics ,[Bozcuoglu, Asil Kaan, Kazhoyan, Gayane, Furuta, Yuki, Stelter, Simon, Beetz, Michael, Okada, Kei and Inaba, Masayuki],(International Conference on Robotics and Automation (ICRA))
6. 6DoF Pose Estimation for Industrial Manipulation based on Synthetic Data ,[Brucker, Manuel, Durner, Maximilian, Márton, Zoltan-Csaba, Balint-Benczedi, Ferenc, Sundermeyer, Martin and Triebel, Rudolph],(International Symposium on Experimental Robotics (ISER))
7. Reasoning Systems for Semantic Navigation in Mobile Robots ,[Crespo, Jonathan, Barber, Ramon, Mozos, Oscar, Beßler, Daniel and Beetz, Michael],(International Conference on Intelligent Robots and Systems)
8. KNOWROB-SIM — Game Engine-enabled Knowledge Processing for Cognition-enabled Robot Control ,[Haidu, Andrei, Beßler, Daniel, Bozcuoglu, Asil Kaan and Beetz, Michael],(International Conference on Intelligent Robots and Systems (IROS))
9. Grounding Robot Plans from Natural Language Instructions with Incomplete World Knowledge ,[Nyga, Daniel, Roy, Subhro, Paul, Rohan, Park, Daehyung, Pomarlan, Mihai, Beetz, Michael and Roy, Nicholas],(2nd Conference on Robot Learning (CoRL 2018))
10. Cognition-enabled Framework for Mixed Human-Robot Rescue Team ,[Yazdani, Fereshta, Kazhoyan, Gayane, Bozcuoglu, Asil Kaan, Haidu, Andrei, Balint-Benczedi, Ferenc, Beßler, Daniel, Pomarlan, Mihai and Beetz, Michael],(International Conference on Intelligent Robots and Systems (IROS))

Workshop

1. Towards a Photorealistic Learning Infrastructure for Human Activities ,[Mona Abdel-Keream, Michael Beetz, Patrick Mania and Jose Rojas],(IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS))
2. Knowledge Representation for Cognition- and Learning-enabled Robot Manipulation ,[Beßler, Daniel, Koralewski, Sebastian and Beetz, Michael],(Proc. 11th International Cognitive Robotics Workshop (CogRob 2018), AAAI Press)