Publications for Alexander Kleiner
Co-author map based on ISI articles 2007-

Keywords

uavs teams team system slam search robots robot rescue planning maps map introduce humans global freiburg environments environment disaster coordination

Journal Articles

C. Dornhege and Alexander Kleiner
  A Frontier-Void-Based Approach for Autonomous Exploration in 3D
  Advanced Robotics, 2013, 27(6), 459-468.
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Alexander Kleiner, A. Kolling, M. Lewis and K. Sycara
  Hierarchical Visibility for Guaranteed Search in Large-Scale Outdoor Terrain
  Autonomous Agents and Multi-Agent Systems, 2013, 26(1), 1-36.
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H. Levent Akin, Nobuhiro Ito, Adam Jacoff, Alexander Kleiner, Johannes Pellenz and Arnoud Visser
  RoboCup Rescue Robot and Simulation Leagues
  The AI Magazine, 2013, 34(1), .
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Quirin Hamp, Omar Gorgis, Patrick Labenda, Marc Neumann, Thomas Predki, Leif Heckes, Alexander Kleiner and Leonard Reindl
  Study of eciency of USAR operations with assistive technologies
  Advanced Robotics, 2013, 27(5), 337-350.
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Bernhard Nebel and Alexander Kleiner
  Multi-Agenten-Systeme in der Intralogistik - Erster Teil: Gemeinsam denken
  IEE - Elektrische Automatisierung + Antriebstechnik, 2012, -(4), 48-53.

Bernhard Nebel and Alexander Kleiner
  Multi-Agenten-Systeme in der Intralogistik - Zweiter Teil: Effizient transportieren
  IEE - Elektrische Automatisierung + Antriebstechnik, 2012, -(5), 34-37.

Alexander Kleiner and Christian Dornhege
  Mapping for the Support of First Responders in Critical Domains
  Journal of Intelligent and Robotic Systems, 2011, 64(1), 7-31.
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R. Kümmerle, B. Steder, C. Dornhege, Alexander Kleiner, G. Grisetti and W. Burgard
  Large Scale Graph-based SLAM using Aerial Images as Prior Information
  Autonomous Robots, 2011, 30(1), 25-39.
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R. Kümmerle, B. Steder, C. Dornhege, M. Ruhnke, G. Grisetti, C. Stachniss and Alexander Kleiner
  On Measuring the Accuracy of SLAM Algorithms
  Autonomous Robots, 2009, 27(4), 387-407.
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Stephen Balakirsky, Stefano Carpin, Alexander Kleiner, Michael Lewis, Arnoud Visser, Jijun Wang and Vittorio Amos Ziparo
  Towards Heterogeneous Robot Teams for Disaster Mitigation: Results and Performance Metrics from Robocup Rescue
  Journal of Field Robotics, 2007, 24(11), 943-967.
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Alexander Kleiner and Christian Dornhege
  Real-time Localization and Elevation Mapping within Urban Search and Rescue Scenarios
  Journal of Field Robotics, 2007, 24(8-9), 723-745.
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T. Weigel, J. -S Gutmann, M. Dietl, Alexander Kleiner and B. Nebel
  CS Freiburg: Coordinating Robots for Successful Soccer Playing
  IEEE transactions on robotics and automation, 2002, 18(5), 685-699.
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Chapters in Books

Alexander Kleiner
  Game AI: The Shrinking Gap Between Computer Games and AI Systems
  <em>Ambient Intelligence</em>: The evolution of technology, communication and cognition towards the future of human-computer interaction, IOS Press, 2005, 143-155.


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Conference Articles

Dali Sun, Alexander Kleiner and Bernhard Nebel
  Behavior-based Multi-Robot Collision Avoidance
  Robotics and Automation (ICRA), 2014, 2014.


Robin Murphy and Alexander Kleiner
  A Community-Driven Roadmap for the Adoption of Safety Security and Rescue Robots
  11th IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2013), 21-26 October 2013, Linköping, Sweden, 2013.


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Christian Dornhege, Alexander Kleiner and Andreas Kolling
  Coverage Search in 3D
  11th IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2013), 21-26 October 2013, Linköping, Sweden, 2013.


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Gianpaolo Conte, Alexander Kleiner, Piotr Rudol, Karol Korwel, Mariusz Wzorek and Patrick Doherty
  Performance evaluation of a light weight multi-echo LIDAR for unmanned rotorcraft applications
  International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XL-1/W2, 2013.


Andreas Kolling, Alexander Kleiner and Piotr Rudol
  Fast Guaranteed Search With Unmanned Aerial Vehicles
  Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), 2013.


Karen Petersen, Alexander Kleiner and Oskar von Stryk
  Fast Task-Sequence Allocation for Heterogeneous Robot Teams with a Human in the Loop
  Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), 2013.


Andreas Kolling and Alexander Kleiner
  Multi-UAV Trajectory Planning for Guaranteed Search
  Proc. of the 12th Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS 2013), 2013.


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Alexander Kleiner, A. Farinelli, S. Ramchurn, B. Shi, F. Maffioletti and R. Reffato
  RMASBench: Benchmarking Dynamic Multi-Agent Coordination in Urban Search and Rescue
  Proc. of the 12th Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS 2013), 2013.


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Alexander Kleiner and Andreas Kolling
  Guaranteed Search With Large Teams of Unmanned Aerial Vehicles
  Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2013.


Gerald Steinbauer and Alexander Kleiner
  Towards CSP-based mission dispatching in C2/C4I systems
  Proc. of the IEEE Int. Workshop on Safety, Security and Rescue Robotics (SSRR), 2012.


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L. Marconi, C. Melchiorri, M. Beetz, D. Pangercic, R. Siegwart, S. Leutenegger, R. Carloni, S. Stramigioli, H. Bruyninckx, Patrick Doherty, Alexander Kleiner, V. Lippiello, A. Finzi, B. Siciliano, A. Sala and N. Tomatis
  The SHERPA project: Smart collaboration between humans and ground-aerial robots for improving rescuing activities in alpine environments
  Proc. of the IEEE Int. Workshop on Safety, Security and Rescue Robotics (SSRR), 2012.


Alexander Kleiner, B. Nebel and V. Ziparo
  A Mechanism for Dynamic Ride Sharing based on Parallel Auctions
  22th International Joint Conference on Artificial Intelligence (IJCAI), 2011.


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Q. Hamp, L. Reindl and Alexander Kleiner
  Lessons Learned from German Research for USAR
  <em>IEEE Int. Workshop on Safety, Security and Rescue Robotics (SSRR)</em>, 2011.


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A. Kolling, Alexander Kleiner, M. Lewis and K. Sycara
  Computing and Executing Strategies for Moving Target Search
  IEEE Int. Conf. on Robotics and Automation (ICRA), 2011.


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D. Meyer-Delius, M. Beinhofer, Alexander Kleiner and W. Burgard
  Using artificial landmarks to reduce the ambiguity in the environment of a mobile robot
  IEEE Int. Conf. on Robotics and Automation (ICRA), 2011.


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Alexander Kleiner, D. Sun and D. Meyer-Delius
  ARMO - Adaptive Road Map Optimization for Large Robot Teams
  IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2011.


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Prasanna Velagapudi, Alexander Kleiner, Nathan Brooks, Paul Scerri, Michael Lewis and Katia Sycara
  RoboCupRescue - Virtual Robots Team STEEL (USA)
  RoboCup 2010 (CDROM Proceedings), Team Description Paper, Rescue Simulation League, 2010.


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Christian Dornhege, Johannes Bendler, Roxana Bersan, Philipp Blohm, Martin Gloderer, Andreas Hertle, Thomas Liebetraut, Diego Cerdan Puyol, Alexander Kleiner and Bernhard Nebel
  RoboCupRescue 2010 - Robot League Team RescueRobots Freiburg (Germany)
  RoboCup 2010 (CDROM Proceedings), Team Description Paper, Rescue Robot League, 2010.


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Wei Mou and Alexander Kleiner
  Online Learning Terrain Classification for Adaptive Velocity Control
  In <em>Proc. of the IEEE Int. Workshop on Safety, Security and Rescue Robotics (SSRR)</em>, 2010.


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Sören Schwertfeger, Adam Jacoff, Chris Scrapper, Johannes Pellenz and Alexander Kleiner
  Evaluation of Maps using Fixed Shapes: The Fiducial Map Metric
  <em>Proc. of the Int. Workshop on Performance Metrics for Intelligent Systems (PerMIS)</em>, 2010.


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A. Kolling, Alexander Kleiner, M. Lewis and K. Sycara
  Solving Pursuit-Evasion Problems on Height Maps
  IEEE International Conference on Robotics and Automation (ICRA 2010) Workshop: Search and Pursuit/Evasion in the Physical World: Efficiency, Scalability, and Guarantees, 2010.


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D. Maier and Alexander Kleiner
  Improved GPS Sensor Model for Mobile Robots in Urban Terrain
  <em>IEEE Int. Conf. on Robotics and Automation (ICRA)</em>, 2010.


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A. Kolling, Alexander Kleiner, M. Lewis and K. Sycara
  Pursuit-Evasion in 2.5d based on Team-Visibility
  <em>IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)</em>, 2010.


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D. Sun, Alexander Kleiner and C. Schindelhauer
  Decentralized Hash Tables For Mobile Robot Teams Solving Intra-Logistics Tasks
  <em>9th Int. Joint Conf. on Autonomous Agents and Multiagent Systems (AAMAS 2010)</em>, 2010.


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Alexander Kleiner, Chris Scrapper and Adam Jacoff
  RoboCupRescue Interleague Challenge 2009: Bridging the gap between Simulation and Reality
  In <em>Proc. of the Int. Workshop on Performance Metrics for Intelligent Systems (PerMIS)</em>, 2009.


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Dali Sun, Alexander Kleiner and Thomas M. Wendt
  Multi-Robot Range-Only SLAM by Active Sensor Nodes for Urban Search and Rescue
  <em>Robocup 2008: Robot Soccer World Cup XII</em>, 2009.


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W. Burgard, C. Stachniss, G. Grisetti, B. Steder, R. Kümmerle, C. Dornhege, M. Ruhnke, Alexander Kleiner and Juan D. Tardós
  A Comparison of SLAM Algorithms Based on a Graph of Relations
  <em>IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)</em>, 2009.


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Alexander Kleiner and C. Dornhege
  Operator-Assistive Mapping in Harsh Environments
  <em>IEEE Int. Workshop on Safety, Security and Rescue Robotics (SSRR)</em>, 2009.


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R. Kümmerle, B. Steder, C. Dornhege, Alexander Kleiner, G. Grisetti and W. Burgard
  Large Scale Graph-based SLAM using Aerial Images as Prior Information
  Proceedings of Robotics Science and Systems (RSS), 2009.


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Christian Dornhege, Alexander Kleiner, Rainer Kümmerle, Bastian Steder, Wolfram Burgard and Bernhard Nebel
  SP-Freiburg TechX Challenge Technical Paper
  TechX Challenge, 2008.


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Alexander Kleiner, Gerald Steinbauer and Franz Wotawa
  Towards Automated Online Diagnosis of Robot Navigation Software
  Proc. of Int. Conf. on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR), 2008.


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Alexander Kleiner, Gerald Steinbauer and Franz Wotawa
  Automated Learning of Communication Models for Robot Control Software
  MBS 2008 - Workshop on Model-Based Systems, 18th European Conference on Artificial Intelligence (ECAI), 2008.


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Christian Dornhege and Alexander Kleiner
  Fully Autonomous Planning and Obstacle Negotiation on Rough Terrain Using Behavior Maps
  In <em>Video Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)</em>, 2007.


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Holger Kenn and Alexander Kleiner
  Towards the Integration of Real-Time Real-World Data in Urban Search and Rescue Simulation
  MobileResponse, 2007.


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Christian Dornhege and Alexander Kleiner
  Behavior Maps for Online Planning of Obstacle Negotiation and Climbing on Rough Terrain
  In <em>Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)</em>, 2007.


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Alexander Kleiner, C. Dornhege and D. Sun
  Mapping Disaster Areas Jointly: RFID-Coordinated SLAM by Humans and Robots
  <em>IEEE Int. Workshop on Safety, Security and Rescue Robotics (SSRR)</em>, 2007.


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Alexander Kleiner and R. Kümmerle
  Genetic MRF Model Optimization for Real-Time Victim Detection in Search and Rescue
  <em>IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)</em>, 2007.


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Alexander Kleiner and D. Sun
  Decentralized SLAM for Pedestrians without direct Communication
  In <em>Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)</em>, 2007.


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V. A. Ziparo, Alexander Kleiner, A. Farinelli, L. Marchetti and D. Nardi
  Cooperative Exploration for USAR Robots with Indirect Communication
  <em>Proc. of 6th IFAC Symposium on Intelligent Autonomous Vehicles (IAV)</em>, 2007.


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V. A. Ziparo, Alexander Kleiner, B. Nebel and D. Nardi
  RFID-Based Exploration for Large Robot Teams
  Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2007.


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Alexander Kleiner, Christian Dornhege, Rainer Kümmerle, Michael Ruhnke, Bastian Steder, Bernhard Nebel, Patrick Doherty, Mariusz Wzorek, Piotr Rudol, Gianpaolo Conte, Simone Duranti and David Lundström
  RoboCupRescue - Robot League Team RescueRobots Freiburg (Germany)
  RoboCup 2006 (CDROM Proceedings), Team Description Paper, Rescue Robot League, 2006.


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Alexander Kleiner, Nils Behrens and Holger Kenn
  Wearable Computing Meets Multiagent Systems: A Real-World Interface for the RoboCupRescue Simulation Platform
  First International Workshop on Agent Technology for Disaster Management at AAMAS06, 2006.


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Christian Dornhege and Alexander Kleiner
  Visual Odometry for Tracked Vehicles
  In <em>Proc. of the IEEE Int. Workshop on Safety, Security and Rescue Robotics (SSRR)</em>, 2006.


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Alexander Kleiner, J. Prediger and Bernhard Nebel
  RFID Technology-based Exploration and SLAM for Search And Rescue
  <em>Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)</em>, 2006.


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Alexander Kleiner and V. A. Ziparo
  RoboCupRescue - Simulation League Team RescueRobots Freiburg (Germany)
  RoboCup 2006 (CDROM Proceedings), Team Description Paper, Rescue Simulation League, 2006.


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Alexander Kleiner, Michael Brenner, Tobias Bräuer, Christian Dornhege, Moritz Göbelbecker, Matthias Luber, Johann Prediger, Jörg Stückler and Bernhard Nebel
  Successful Search and Rescue in Simulated Disaster Areas
  <em>Robocup 2005: Robot Soccer World Cup IX</em>, 2005.


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T. A. Nüssle, Alexander Kleiner and M. Brenner
  Approaching Urban Disaster Reality: The ResQ Firesimulator
  <em>RoboCup 2004: Robot Soccer World Cup VIII</em>, 2005.


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Alexander Kleiner, B. Steder, C. Dornhege, D. Höfer, D. Meyer-Delius, J. Prediger, J. Stückler, K. Glogowski, M. Thurner, M. Luber, M. Schnell, R. Kuemmerle, T. Burk, T. Bräuer and B. Nebel
  RoboCupRescue - Robot League Team RescueRobots Freiburg (Germany)
  RoboCup 2005 (CDROM Proceedings), Team Description Paper, Rescue Robot League, 2005.


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Alexander Kleiner, Michael Brenner, Tobias Bräuer, Christian Dornhege, Moritz Göbelbecker, Matthias Luber, Johann Prediger and Joerg Stückler
  ResQ Freiburg: Team Description and Evaluation
  RoboCup 2004 (CDROM Proceedings), Team Description Paper, Rescue Simulation League, 2004.


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Alexander Kleiner and T. Buchheim
  A Plugin-Based Architecture for Simulation in the F2000 League
  In <em>RoboCup 2003: Robot Soccer World Cup VII</em>, 2003.


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E. Schulenburg, T. Weigel and Alexander Kleiner
  Self-Localization in Dynamic Environments based on Laser and Vision Data
  <em>Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)</em>, 2003.


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Alexander Kleiner, M. Dietl and Bernhard Nebel
  Towards a Life-Long Learning Soccer Agent
  In <em>RoboCup 2002: Robot Soccer World Cup VI</em>, 2002.


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T. Weigel, Alexander Kleiner, F. Diesch, M. Dietl, J. -S Gutmann, B. Nebel, P. Stiegeler and B. Szerbakowski
  CS Freiburg 2001
  <em>RoboCup 2001 : Robot Soccer World Cup V</em>, 2001.


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Alexander Kleiner, Bernadette Sharp and Oliver Bittel
  Self Organising Maps for Value Estimation to Solve Reinforcement Learning Tasks
  Proc. of the 2nd International Conference on Enterprise Information Systems (ICEIS 2000), 2000.


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Alexander Kleiner and Bernadette Sharp
  A New Algorithm for Learning Bayesian Classifiers from Data
  Artificial Intelligence and Soft Computing, 2000.


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Reports

Alexander Kleiner
  Mapping and Exploration for Search and Rescue with Humans and Mobile Robots
  2009.


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Alexander Kleiner, Michael Brenner, Tobias Bräuer, Christian Dornhege, Moritz Göbelbecker, Matthias Luber, Johann Prediger, Joerg Stückler and Bernhard Nebel
  ResQ Freiburg: Team Description and Evaluation
  2005.


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Alexander Kleiner and Moritz Göbelbecker
  Rescue3D: Making Rescue Simulation Attractive to the Public
  2004.


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