Linder, T., Arras K.O.,

People Detection, Tracking and Visualization using ROS on a Mobile Service Robot

Robot Operating System (ROS): The Complete Reference. Springer Studies in Systems, Design and Control, 2015.
pdf (to be published) | bib | code

Linder, T., Arras K.O.,

Real-Time Full-Body Human Attribute Classification in RGB-D Using a Tessellation Boosting Approach

IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS'15), Hamburg, Germany, 2015.
pdf (to be published) | bib | data | code

Palmieri, L., Rudenko, A., Arras K.O.,

A Fast Randomized Method to Find Homotopy Classes for Socially-Aware Navigation

Assistance and Service Robotics Workshop (ASROB-15) at the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) 2015
pdf | bib | code

Linder, T., Girrbach, F., Arras K.O.,

Towards a Robust People Tracking Framework for Service Robots in Crowded, Dynamic Environments

Assistance and Service Robotics Workshop (ASROB-15) at the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) 2015
pdf | bib | code

Okal, B., Gilbert, H., Arras K.O.,

Efficient Inverse Reinforcement Learning using Adaptive State Graphs

Proc. of Learning from Demonstration: Inverse Optimal Control, Reinforcement Learning and Lifelong Learning Workshop at Robotics: Science and Systems (RSS), Rome, Italy, 2015.
pdf | bib

Triebel, R., Arras, K.O., Alami, R., Beyer, L., Breuers, S., Chatila, R., Chetouani, M., Cremers, D., Evers, V., Fiore, M., Hung, H., Islas Ramirez, O., Joosse, M., Khambhaita, H., Kucner, T., Leibe, B., Lilienthal, A., Linder, T., Lohse, M., Magnusson, M., Okal, B., Palmieri, L., Rafi, U., van Rooij, M., Zhang, L.

SPENCER: A Socially Aware Service Robot for Passenger Guidance and Help in Busy Airports

Conference on Field and Service Robotics (FSR), Toronto, Canada, 2015.
pdf | bib

Palmieri L., Arras K.O.,

Distance Metric Learning for RRT-Based Motion Planning with Constant-Time Inference

IEEE International Conference on Robotics and Automation (ICRA'15), Seattle, USA, 2015.
pdf | bib

Linder, T., Wehner, S., Arras K.O.,

Real-Time Full-Body Human Gender Recognition in (RGB)-D Data

IEEE International Conference on Robotics and Automation (ICRA'15), Seattle, USA, 2015.
pdf | bib | data | code

Schwenk M., Vaquero T., Nejat G., Arras K.O.

Schedule-Based Robotic Search for Multiple Residents in a Retirement Home Environment

AAAI Conference on Artificial Intelligence (AAAI'14), Quebec, Canada, 2014.
pdf | bib

Palmieri L., Arras K. O.

A Novel RRT Extend Function for Efficient and Smooth Mobile Robot Motion Planning

IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS'14), Chicago, USA, 2014.
pdf | bib

Vasquez D., Okal B., Arras K. O.

Inverse Reinforcement Learning Algorithms and Features for Robot Navigation in Crowds: an Experimental Comparison

IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS'14), Chicago, USA, 2014.
pdf | bib

Linder T., Arras K.O.

Multi-Model Hypothesis Tracking of Groups of People in RGB-D Data

IEEE Int. Conference on Information Fusion (FUSION'14), Salamanca, Spain, 2014.
pdf | bib

Becker-Asano C., Arras K.O., Nebel B.

Robotic Tele-Presence with DARYL in the Wild

Int. Conf. on Human-Agent Interaction (HAI'14), Tsukuba, Japan, 2014.
pdf | bib

Schwenk M., Arras K.O.

R2-D2 Reloaded: A Flexible Sound Synthesis System for Sonic Human-Robot Interaction Design

IEEE Int. Symposium on Robot and Human Interactive Communication (RO-MAN'14), Edinburgh, UK, 2014.
pdf | bib

Okal B., Arras K.O.

Towards Group-Level Social Activity Recognition for Mobile Robots

IROS 2014 Workshop on Assistance and Service Robotics in a Human Environment, Chicago, USA, 2014.
pdf | bib

Palmieri L., Arras K.O.

Distance Metric Learning for RRT-Based Motion Planning for Wheeled Mobile Robots

IROS 2014 Workshop on Machine Learning in Planning and Control of Robot Motion, Chicago, USA, 2014.
pdf | bib

Tipaldi G.D., Braun M., Arras K.O.

FLIRT: Interest Regions for 2D Range Data with Applications to Robot Navigation

Experimental Robotics, Springer Tracts in Advanced Robotics, vol. 79, 2014.
pdf | bib

Schwenk M., Vaquero T., Nejat G., Arras K.O.

Planning a Robot's Search for Multiple Residents in a Retirement Home Environment

ICAPS 2014 Workshop on Planning and Robotics (PlanRob'14), Portsmouth, USA, 2014.
pdf | bib

Palmieri L., Arras K. O.

Efficient and Smooth RRT Motion Planning Using a Novel Extend Function for Wheeled Mobile Robots

ICAPS 2014 Workshop on Planning and Robotics (PlanRob'14), Portsmouth, USA, 2014.
pdf | bib

Becker-Asano C., Gustorff S., Arras K.O., Nebel B.

On the Effect of Operator Modality on Social and Spatial Presence during Teleoperation of a Human-Like Robot

Int. Symposium on New Frontiers in Human-Robot Interaction at AISB'14, London, UK, 2014.
pdf | bib

Luber M., Arras K.O.

Multi-Hypothesis Social Grouping and Tracking for Mobile Robots

Robotics: Science and Systems (RSS), Berlin, Germany, 2013
Best Student Paper Award Finalist
pdf | bib

Becker-Asano C., Gustorff S., Arras K.O., Ogawa K., Nishio S., Ishiguro H., Nebel B.

Robot embodiment, operator modality, and social interaction in tele-existence: a project outline

ACM/IEEE international conference on Human-robot interaction (HRI'13), Tokyo, Japan, 2013.
pdf | bib

Becker-Asano C., Arras K.O., Nebel B., Ishiguro H.,

The Effect of Anthropomorphism on Social Tele-Embodiment

IROS 2012 Workshop on Human-Agent Interaction, Vilamoura, Portugal, 2012
pdf | bib

Embgen S., Luber M., Becker-Asano C., Ragni M., Evers V., Arras K.O.,

Robot-Specific Social Cues in Emotional Body Language

IEEE Int. Symposium on Robot and Human Interactive Communication (RO-MAN'12), Paris, France, 2012
pdf | bib

Stork J.A., Spinello L., Silva J., Arras K.O.,

Audio-Based Human Activity Recognition Using Non-Markovian Ensemble Voting

IEEE Int. Symposium on Robot and Human Interactive Communication (RO-MAN'12), Paris, France, 2012
pdf | bib

Luber M., Spinello L., Silva J., Arras K.O.,

Socially Acceptable Robot Navigation: A Learning Approach

IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS'12), Vilamoura, Portugal, 2012
pdf | bib

Arras K.O., Lau B., Grzonka S., Luber M., Mozos O., Meyer-Delius D., Burgard W.

Range-Based People Detection and Tracking for Socially Enabled Service Robots

In: Towards Service Robots for Everyday Environments, Springer STAR series, vol. 76, p. 235-280, 2012
pdf | bib

Spinello L., Arras K.O.,

Leveraging RGB-D Data: Adaptive Fusion and Domain Adaptation for Object Detection

IEEE International Conference on Robotics and Automation (ICRA'12), St. Paul, USA, 2012
pdf | bib

Stork J.A., Silva J., Spinello L., Arras K.O.,

Audio-Based Human Activity Recognition with Robots

Int. Conference on Social Robotics (ICSR'11), Work-In-Progress Track, Amsterdam, The Netherlands, 2011
pdf | bib

Spinello L., Arras K.O.,

People detection in RGB-D data

IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS'11), San Francisco, USA, 2011
pdf | bib | data sets

Luber M., Spinello L., Arras K.O.,

People Tracking in RGB-D Data With On-line Boosted Target Models

IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS'11), San Francisco, USA, 2011
pdf | bib | data sets

Tipaldi G.D., Arras K.O.,

Please do not disturb! Minimum Interference Coverage for Social Robots

IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS'11), San Francisco, USA, 2011
pdf | bib

Luber M., Spinello L., Arras K.O.,

Learning to Detect and Track People in RGB-D Data

RSS'11 Workshop on RGB-D: Advanced Reasoning with Depth Cameras, Los Angeles, USA, 2011
pdf | bib | data sets

Luber M., Tipaldi G.D., Arras K.O.,

Place-Dependent People Tracking

International Journal of Robotics Research (IJRR), vol. 30, no. 3, March 2011
pdf | bib | data sets

Tipaldi G.D., Arras K.O.,

Planning Problems for Social Robots

International Conference on Automated Planning and Scheduling (ICAPS'11), Freiburg, Germany, 2011
pdf | bib

Tipaldi G.D., Arras K.O.,

I Want my Coffee Hot! Learning to Find People Under Spatio-Temporal Constraints

IEEE International Conference on Robotics and Automation (ICRA'11), Shanghai, China, 2011
pdf | bib

Spinello L., Luber M., Arras K.O.,

Tracking People in 3D Using a Bottom-Up Top-Down Detector

IEEE International Conference on Robotics and Automation (ICRA'11), Shanghai, China, 2011
pdf | bib | data sets

Luber M., Tipaldi G.D., Arras K.O.,

Better Models For People Tracking

IEEE International Conference on Robotics and Automation (ICRA'11), Shanghai, China, 2011
pdf | bib | data sets

Tipaldi G.D., Braun M., Arras K.O.,

FLIRT: Interest Regions for 2D Range Data with Applications to Robot Navigation

12th Int. Symposium on Experimental Robotics (ISER'10), New Delhi, India, 2010
pdf | bib | FLIRTlib code

Spinello L., Triebel R., Vasquez D., Arras K.O., Siegwart R.,

Exploiting Repetitive Object Patterns for Model Compression and Completion

European Conference on Computer Vision (ECCV'10), Heraklion, Greece, 2010
pdf | bib | more information

Spinello L., Arras K.O., Triebel R., Siegwart R.,

A Layered Approach to People Detection in 3D Range Data

AAAI Conference on Artificial Intelligence (AAAI'10), Atlanta, USA, 2010
pdf | bib | data sets | more information

Luber M., Stork J.A., Tipaldi G.D., Arras K.O.,

People Tracking with Human Motion Predictions from Social Forces

IEEE International Conference on Robotics and Automation (ICRA'10), Anchorage, USA, 2010
pdf | bib

Tipaldi G.D., Arras K.O.,

FLIRT - Interest Regions for 2D Range Data

IEEE International Conference on Robotics and Automation (ICRA'10), Anchorage, USA, 2010
pdf | bib | FLIRTlib code

Van de Ven J., Ramos F., Tipaldi G.D.,

An Integrated Probabilistic Model for Scan Matching, Moving Object Detection and Motion Estimation

IEEE International Conference on Robotics and Automation (ICRA'10), Anchorage, USA, 2010
pdf | bib

Lau B., Arras K.O., Burgard W.,

Multi-Model Hypothesis Group Tracking and Group Size Estimation

International Journal of Social Robotics, vol. 2, nr. 1, March 2010
pdf | bib | data sets and more information

Mü,ller J., Stachniss C., Arras K.O., Burgard W.,

Socially Inspired Motion Planning for Mobile Robots in Populated Environments

Cognitive Systems 2008, Cognitive Systems Monographs, Springer, 2010
pdf | bib

Arras K.O., Burgard W., Gross H.-M.. (eds.),

Selected papers from the 2007 European Conference on Mobile Robots (ECMR '07)

Robotics and Autonomous Systems, vol. 85, nr. 2, February 2010
pdf | bib

Arras K.O., Martinez-Mozos O. (eds.),

Special issue on People Detection and Tracking

International Journal of Social Robotics, vol. 2, nr. 1, March 2010
read online (SpringerLink) | bib

Tipaldi G.D., Ramos F.,

Motion Clustering and Estimation with Conditional Random Fields

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'09), San Louis, USA, 2009
pdf | bib

Luber M., Tipaldi G.D., Arras K.O.,

Place-Dependent People Tracking

International Symposium on Robotics Research (ISRR'09), Lucerne, Switzerland, 2009
pdf | bib | data sets

Arras K.O., Martinez Mozos O. (eds.),

People Detection and Tracking

ICRA 2009 Workshop Proceedings, Kobe, Japan, 2009
pdf | bib | workshop

Luber M., Arras K.O., Plagemann C., Burgard W.,

Classifying Dynamic Objects: An Unsupervised Learning Approach

Autonomous Robots, Vol. 26, Nr. 2-3, 2009
pdf | bib

Lau B., Arras K.O., Burgard W.,

Tracking Groups of People with a Multi-Model Hypothesis Tracker

IEEE International Conference on Robotics and Automation (ICRA'09), Kobe, Japan, 2009
pdf | bib | data sets and more information

Luber M., Arras K.O., Plagemann C., Burgard W.,

Classifying Dynamic Objects: An Unsupervised Learning Approach

Robotics: Science and Systems (RSS'08), Zurich, Switzerland, 2008
pdf | bib

Arras K.O., Grzonka S., Luber M., Burgard W.,

Efficient People Tracking in Laser Range Data using a Multi-Hypothesis Leg-Tracker with Adaptive Occlusion Probabilities

IEEE International Conference on Robotics and Automation (ICRA'08), Pasadena, USA, 2008
pdf | bib

Censi A. and Tipaldi G.D.,

Lazy Localization using the Frozen Time Smoother

IEEE International Conference on Robotics and Automation (ICRA'08), Pasadena, USA, 2008
pdf | bib

Mü,ller J., Stachniss C., Arras K.O., Burgard W.,

Socially Inspired Motion Planning for Mobile Robots in Populated Environments

International Conference on Cognitive Systems (CogSys'08), Karlsruhe, Germany, 2008
pdf | bib

Tipaldi G.D., Grisetti G., Burgard W.,

Approximated Covariance Estimation in Graphical Approaches to SLAM

IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS'07), San Diego, USA, 2007
pdf | bib

Arras K.O., Martinez Mozos O., Burgard W.,

Using Boosted Features for the Detection of People in 2D Range Data

IEEE International Conference on Robotics and Automation (ICRA'07), Rome, Italy, 2007
pdf | bib

Grisetti G., Tipaldi G.D., Stachniss C., Burgard W., Nardi D.,

Fast and Accurate SLAM with Rao-Blackwellized Particle Filters

Robotics and Autonomous Systems, Special Issue on Simultaneous Localization and Map Building, vol. 55, nr. 1, pp. 30-38, 2007
pdf | bib

Tipaldi G.D., Farinelli A., Iocchi L., Nardi D.,

Heterogeneous Feature State Estimation with Rao-Blackwellized Particle Filters

IEEE International Conference on Robotics and Automation (ICRA'07), Rome, Italy, 2007
pdf | bib

Iocchi L., Pellegrini S., Tipaldi G.D.,

Building multi-level planar maps integrating LRF, stereo vision and IMU sensors

IEEE International Workshop on Safety, Security and Rescue Robotics (SSRR'07), Rome, Italy, 2007
pdf | bib

Grisetti G., Tipaldi G.D., Stachniss C., Burgard W., Nardi D.,

Speeding Up Rao Blackwellized SLAM

IEEE International Conference on Robotics and Automation (ICRA'06), Orlando, USA, 2006
pdf | bib

Arras K.O., Cerqui D.,

Do we want to share our lives and bodies with robots? A 2000 people survey

Technical Report Nr. 0605-001, Autonomous Systems Lab, EPFL, June 2005
pdf | bib

Wulf O., Arras K.O., Christensen H.I., Wagner B.,

2D Mapping of Cluttered Indoor Environments by Means of 3D Perception

IEEE International Conference on Robotics and Automation (ICRA'04), New Orleans, USA, 2004
pdf | bib

Arras K.O.,

The CAS Robot Navigation Toolbox: Users Guide and Reference

Center for Autonomous Systems, KTH, September, 2004
pdf | bib

Arras K.O., Philippsen R., Tomatis N., de Battista M., Schilt M., Siegwart R.,

A Navigation Framework for Multiple Mobile Robots and its Application at the Expo.02 Exhibition

IEEE International Conference on Robotics and Automation (ICRA'03), Taipei, Taiwan, 2003
pdf | bib

Arras K.O., Castellanos J.A., Schilt M., Siegwart R.,

Feature-Based Multi-Hypothesis Localization and Tracking Using Geometric Constraints

Robotics and Autonomous Systems, vol. 44, issue 1, pp. 41-53, 2003
pdf | bib

Siegwart R., Arras K.O., Bouabdallah S., Burnier D., Froidevaux G., Greppin X., Jensen B., Lorotte A., Mayor L., Meisser M., Philippsen R., Piguet R., Ramel G., Terrien G., Tomatis N.,

Robox at Expo.02: A Large-Scale Installation of Personal Robots

Robotics and Autonomous Systems, vol. 42, issue 3-4, pp. 203-222, March 2003
pdf | bib

Cerqui D., Arras K.O.,

Human Beings and Robots: Towards a Symbiosis? A 2000 People Survey

International Conference on Socio Political Informatics and Cybernetics (PISTA'03), Orlando, Florida, USA, 2003
pdf | bib

Tomatis N., Terrien G., Piguet R., Burnier D., Bouabdallah S., Arras K.O., Siegwart R.,

Designing a Secure and Robust Mobile Interacting Robot for the Long Term

IEEE International Conference on Robotics and Automation (ICRA'03), Taipei, Taiwan, 2003
pdf | bib

Martinelli A., Tapus A., Arras K.O., Siegwart R.,

Representations and Maps for Real World Navigation

11th International Symposium of Robotics Research (ISRR'03), Siena, Italy, 2003
bib

Arras K.O., Tomatis N., Siegwart R.,

Robox, a Remarkable Mobile Robot for the Real World

Experimental Robotics VIII, Siciliano B. and Dario P. (eds.), Advanced Robotics Series (STAR), Springer Verlag, 2003
pdf | bib

Arras K.O., Castellanos J.A., Siegwart R.,

Feature-Based Multi-Hypothesis Localization and Tracking for Mobile Robots Using Geometric Constraints

IEEE International Conference on Robotics and Automation (ICRA'02), Washington DC, 2002
pdf | bib

Arras K.O., Persson J., Tomatis N., Siegwart R.,

Real-Time Obstacle Avoidance For Polygonal Robots With A Reduced Dynamic Window

IEEE International Conference on Robotics and Automation (ICRA'02), Washington DC, 2002
pdf | bib

Arras K.O., Burgard W. (eds.),

Robots in Exhibitions

IROS 2002 Workshop Proceedings, Lausanne, Switzerland, 2002
pdf | bib

Arras K.O., Tomatis N., Jensen B., Siegwart R.,

Multisensor On-the-Fly Localization: Precision and Reliability for Applications

Robotics and Autonomous Systems, vol. 34, issue 2-3, pp. 131-143, February 2001
pdf | bib

Arras K.O., Castellanos J.A., Schilt M., Siegwart R.,

Towards Feature-Based Multi-Hypothesis Localization and Tracking

4th European Workshop on Advanced Mobile Robots (Eurobot'01), Lund, Sweden, 2001
pdf | bib

Tomatis N., Nourbakhsh I., Arras K.O., Siegwart R.,

A Hybrid Approach for Robust and Precise Mobile Robot Navigation with Compact Environment Modeling

IEEE International Conference on Robotics and Automation (ICRA'01), Seoul, Korea, 2001
pdf | bib

Caprari G., Arras K.O., Siegwart R.,

Robot Navigation in Centimeter Range Labyrinths

5th International Heinz Nixdorf Symposium, Autonomous Minirobots for Research and Edutainment (AMiRE'01), Paderborn, Germany, October 2001
pdf | bib

Tomatis N., Brega R., Arras K.O., Jensen B., Moreau B., Persson J., Siegwart R.,

A Complex Mechatronic System: from Design to Application

IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM'01), Como, Italy, 2001
pdf | bib

Arras K.O., Tomatis N., Siegwart R.,

Multisensor On-the-Fly Localization Using Laser and Vision

IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS'00), Takamatsu, Japan, 2000
pdf | bib

Brega R., Tomatis N., Arras K.O.,

The Need for Autonomy and Real-Time in Mobile Robotics: A Case Study of XO/2 and Pygmalion

IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS'00), Takamatsu, Japan, 2000
pdf | bib

Caprari G., Arras K.O., Siegwart R.,

The Autonomous Miniature Robot Alice: From Prototypes to Applications

IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS'00), Takamatsu, Japan, 2000
pdf | bib

Moreau B., Tomatis N., Arras K.O.,

Multimodal Web Interface for Task Supervision and Specification

Proceedings of SPIE, vol. 4195, Mobile Robots XV and Telemanipulator and Telepresence Technologies VII, Boston, USA, 2000
pdf | bib

Wullschleger F.H., Arras K.O., Vestli S.J.,

A Flexible Exploration Framework for Map Building

3rd European Workshop on Advanced Mobile Robots (Eurobot'99), Zurich, Switzerland, 1999
pdf | bib

Arras K.O., Tomatis N.,

Improving Robustness and Precision in Mobile Robot Localization by Using Laser Range Finding and Monocular Vision

3rd European Workshop on Advanced Mobile Robots (Eurobot'99), Zurich, Switzerland, 1999
pdf | bib

Arras K.O., Vestli S.J.,

Hybrid, high-precision localisation for the mail distributing mobile robot system MOPS

IEEE International Conference on Robotics and Automation (ICRA'98), Leuven, Belgium, 1998
pdf | bib

Arras K.O.,

An Introduction to Error Propagation:
Derivation, Meaning and Examples of Cy = Fx Cx Fx'

Technical Report Nr. EPFL-ASL-TR-98-01 R3, Autonomous Systems Lab, EPFL, Sept. 1998
pdf | bib

Arras K.O., Siegwart R.,

Feature Extraction and Scene Interpretation for Map-Based Navigation and Map Building

Proceedings of SPIE, vol. 3210, Mobile Robotics XII, p. 42-53, Pittsburgh, USA, 1997
pdf | bib