Tim Niemüller

Learn More
We present the hardware design, software architecture, and core algorithms of HERB 2.0, a bimanual mobile manipulator developed at the Personal Robotics Lab at Carnegie Mellon University. We have developed HERB 2.0 to perform useful tasks for and with people in human environments. We exploit two key paradigms in human environments, that they have structure(More)
Collecting ground truth-data for real-world applications is a non-trivial but very important task. In order to evaluate new algorithmic approaches or to benchmark system performance, they are inevitable. This is particularly true for robotics applications. In this paper we present our data collection for the biped humanoid robot Nao. Reflective markers were(More)
Facing the fourth industrial revolution, autonomous mobile robots are expected to play an important role in the production processes of the future. The new Logistics League Sponsored by Festo (LLSF) under the RoboCup umbrella focuses on this aspect of robotics to provide a benchmark testbed on a common robot platform. We describe certain aspects of the(More)
The high-level decision making process of an autonomous robot can be seen as an hierarchically organised entity, where strategical decisions are made on the topmost layer, while the bottom layer serves as driver for the hardware. In between is a layer with monitoring and reporting functionality. In this paper we propose a behaviour engine for this middle(More)
The idea of component-based software engineering was proposed more that 40 years ago, yet only few robotics software frameworks follow these ideas. The main problem with robotics software usually is that it runs on a particular platform and transferring source code to another platform is crucial. In this paper, we present our software framework Fawkes which(More)
RoboCup is particularly well-known for its soccer leagues, but there are an increasing number of application leagues. The newest one is the Logistics League where groups of robots take on the task of in-factory production logistics. It has two unique aspects: a game environment which itself acts as an agent and a focus on planning and scheduling in(More)
The RoboCup Logistics League is one of the youngest applicationand industry-oriented leagues. Even so, the complexity and level of difficulty has increased over the years. We describe decisive technical and organizational aspects of our hardware and software systems and (human) team structure that made our successes in 2014 possible.