Dirk Thomas

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The paper presents the self-localization approach used by the World Champion in the Sony Four-Legged Robot League 2004. The method is based on a particle filter that makes use of different features from the environment (beacons, goals, field lines, field wall) that provide different kinds of localization information and that are recognized with different(More)
To be presented at the 3rd US-Japan Symposium on Finite Element Methods in Large-Scale Computational Fluid Dynamics. Also submitted for possible publication in a special issue of International Journal of Numerical Method in Fluids. Abstract Multiresolution analysis based on Reproducing Kernel Particle Method (RKPM) is developed for computational uid(More)
The software framework RoboFrame has been designed to meet the special requirements for teams of lightweight autonomous heterogeneous robot systems. Due to platform abstraction and modern object oriented design, it allows the reuse of components of common robot control software. It can also efficiently be implemented on new platforms and enables different(More)
— The complexity of autonomous robot systems has increased dramatically in recent years. Besides an increased variety of robots, sensors, actuators, onboard computers and intelligent algorithms, the architecture of the software has gained crucial relevance with respect to the efficiency for adopting a robotic system to new hardware, new software or new(More)
Autonomous soccer games represent an extraordinary challenge for autonomous hu-manoid robots which must act fast and stable while carrying all needed onboard computers , sensors and batteries. In this paper, the development and system integration of hardware and software modules of the 55 cm tall, autonomous humanoid soccer robot Bruno is described to cope(More)
For teams of cooperating autonomous lightweight robots with challenging dynamical locomotion properties a platform independent modular software architecture and platform independent modules for sensor data processing, planning and motion control have been developed. The software architecture allows high level communication between modules on different(More)
Developing control software for teams of autonomous mobile robots is a challenging task, which can be facilitated using frameworks with ready to use components. But testing and debugging the resulting system as teached in modern software engineering to be free of errors and tolerant to sensor noise in a real world scenario is to a large extend beyond the(More)
This paper describes the hardware and software design of the kidsize humanoid robot systems of the Darmstadt Dribblers in 2008. The robots are used as a vehicle for research in control of locomotion and behavior of autonomous humanoid robots and robot teams with many degrees of freedom and many actuated joints. The Humanoid League of RoboCup provides an(More)
The Darmstadt Rescue Robot Team is a new team established from a PhD program funded by the German Research Foundation at TU Darmstadt. It combines expertise from Computer Science and Mechanical Engineering. Several team members have already contributed in the past to highly successful teams in the RoboCup four-legged and hu-manoid leagues.
Software for autonomous robots solving challenging tasks in research or application is becoming increasingly complex. System integration has to deal with various different functional components. To decouple those components from each other and to enable a modular and reuseable software architecture a robot middleware is typically used. But this intermediate(More)