Christof Roehrig

Christof Roehrig
University of Applied Science and Arts Dortmund | FH Dortmund · Intelligent Mobile Systems Lab

Prof. Dr.-Ing.

About

122
Publications
34,438
Reads
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1,121
Citations
Citations since 2016
19 Research Items
413 Citations
2016201720182019202020212022020406080
2016201720182019202020212022020406080
2016201720182019202020212022020406080
2016201720182019202020212022020406080
Additional affiliations
September 2003 - present
University of Applied Science and Arts Dortmund
Position
  • Professor
Education
November 1997 - July 2003
FernUniversitaet Hagen
Field of study
October 1990 - June 1993

Publications

Publications (122)
Conference Paper
Full-text available
Robotic systems are being integrated into an ever-growing number of areas of everyday life. They offer many advantages and new possibilities. The use of robotic systems by fire brigades to fight fires at a safe distance to reduce the involved risks is also gaining more importance every year. Most systems are currently used outdoors and are largely...
Conference Paper
Full-text available
To meet the challenges involved in providing adequate robotic support to first responders, a holistic approach is needed. This requires close cooperation of first responders, researchers and companies for scenario-based needs analysis, iterative development of the corresponding system functionality and integrated robotic systems as well as human-ro...
Article
Full-text available
Unmanned Aerial Systems (UAS) are becoming increasingly popular in the public safety sector. While some applications have so far only been envisioned, others are regularly performed in real-life scenarios. Many more fall in between and are actively investigated by research and commercial communities alike. This study reviews the maturity levels, or...
Article
Full-text available
Mobile robotics is a widespread field of research, whose differentiation from general robotics is often based only on the ability to move. However, mobile robots need unique capabilities, such as the function of navigation. Also, there are limiting factors, such as the typically limited energy, which must be considered when developing a mobile robo...
Article
Full-text available
In human-robot collaboration, robots interact directly and safely with humans in a shared workspace without protective guards. This paper presents the design of OmniMan, which is a mobile manipulator for human-robot collaboration consisting of an omnidirectional mobile platform and a lightweight robotic arm. Mobile manipulators extend the workspace...
Conference Paper
Full-text available
Der Fachbereich Maschinenbau der Fachhochschule Dortmund bietet zum vierten Mal ein Forum für den breiten Themenbereich der Bewegungstechnik an. Im Rahmen dieser ganztägigen Veranstaltung mit Fachvorträgen und Präsentationständen beteiligter Firmen erhalten interessierte Vertreter von Unternehmen, Hochschulen und Forschungseinrichtungen die Gelegen...
Conference Paper
Full-text available
In human-robot collaboration, robots interact directly and safely with humans in a shared workspace without protective guards. This paper presents the design of OmniMan, which is a mobile manipulator for human-robot collaboration consisting of an omnidirectional mobile platform and a lightweight robotic arm. Mobile manipulators extend the workspace...
Conference Paper
Full-text available
The unbiased finite impulse response (UFIR) filter is a universal estimator for linear systems. The extended UFIR (EFIR) is the counterpart of the UFIR for nonlinear systems and operates similarly to the well known extended Kalman filter (EKF). Pose estimation of mobile robots with quantized position measurements is an application, where the EKF le...
Conference Paper
Full-text available
Mobile manipulators extend the workspace of manipulators by mounting them on mobile platforms. The paper presents the design of a motion controller for a mobile manipulator. The mobile manipulator consists of a mobile platform driven by Mecanum wheels and a robotic arm with 6 degrees of freedom. A Mecanum wheeled platform provides 3 degrees of free...
Conference Paper
Pose estimation of mobile robots is an important issue for many industrial applications. The paper presents an inexpensive solution for pose estimation of mobile robots in indoor environments. Pose estimation is realized by interpreting the received signal strength indicator (RSSI) of RFID tags, which are integrated in the floor and detected by the...
Conference Paper
Location-Based Services (LBS) require the knowledge of a user's position for manifold purposes in indoor and outdoor environments. For those applications several methods can be used, such as a Global Navigation Satellite System (GNSS) or a wireless localization system. In this paper a topological map is used to implement a indoor localization syste...
Article
Localization and tracking of mobile robots is an important issue for many industrial applications. The paper presents an inexpensive solution for indoor localization of mobile robots. Global localization is realized by interpreting the received signal strength indicator (RSSI) of RFID tags, which are integrated in the floor and detected by the read...
Article
Full-text available
Localization of transport vehicles is an important issue for many intralogistics applications. The paper presents an inexpensive solution for indoor localization of vehicles. Global localization is realized by detection of RFID transponders, which are integrated in the floor. The paper presents a novel algorithm for fusing RFID readings with odomet...
Conference Paper
Full-text available
Location-Based Services (LBS) require the knowledge of a user's position for manifold purposes in indoor and outdoor environments. For those applications several methods can be used, such as a Global Navigation Satellite System (GNSS). Since GNSS are not available in indoor environments or deep street canyons other techniques are required for the l...
Conference Paper
Full-text available
Localization of transport vehicles is an important issue for many intralogistics applications. The paper presents an inexpensive solution for indoor localization of vehicles. Global localization is realized by detection of RFID transponders, which are integrated in the floor. The paper presents a novel algorithm for fusing RFID readings with odomet...
Article
This paper presents a new approach for kinodynamic online motion planning for Automated Guided Vehicles (AGVs) in industrial environments. AGVs normally transport large and heavy transport units such as Euro-pallets or mesh pallets. Nowadays just-in-time inventory management and lean production requires the transport of small transportation units....
Conference Paper
Pedestrian localization systems require the knowledge of a user’s position for manifold applications in indoor and outdoor environments. For this purpose several methods can be used, such as a Global Navigation Satellite System (GNSS). Since GNSS are not available in indoor environments or deep street canyons other techniques have to be used. This...
Conference Paper
Falls are a common cause of injuries or fractures for the aged population. To be able to respond quickly and effectively to such an event, it is necessary to recognize it early and to contact help. This is for the concerned person often not possible and the nursing staff in inpatient and outpatient care is not the whole day on-site, so technical as...
Conference Paper
Due to the demographical change, the outpatient and inpatient care of elderly people is becoming increasingly important. The focus of the field of research "Ambient Assisted Living" lies on technical assistant systems that are supposed to allow the elderly to live more safely at home. A technical tool could be a wireless sensor network which consis...
Conference Paper
Full-text available
Automated Guided Vehicles (AGVs) are used in warehouses, distribution centers and manufacturing plants in order to automate the internal material flow. Usually AGVs are designed to transport large and heavy transport units such as Euro-pallets or mesh pallets. Just-in-time inventory management and lean production requires small transportation units...
Conference Paper
Pedestrian localization systems require the knowledge of a user’s position for manifold applications in indoor and outdoor environments. For this purpose several methods can be used, such as a Global Navigation Satellite System (GNSS) or an Inertial Navigation Systems (INS). Since GNSS are not available in indoor environments or street canyons a Ti...
Conference Paper
This paper gives an overview on a control and navigation system for omnidirectional Automated Guided Vehicles (AGVs) implemented by the authors. On the hardware side this framework only uses an industrial grade embedded PC. All closed-loop controllers as well as a sophisticated navigation system including path-planning and global and local localiza...
Conference Paper
Full-text available
The wireless assistance system safe@home builds a wireless sensor network which enables the localisation of a person wearing a tag and to collect the person's vital data. Furthermore it provides the opportunity to connect to home automation elements like EnOcean1 sensors and actuators. The goal to this project is to provide a system which can easil...
Conference Paper
Full-text available
Pedestrian localization systems require the knowledge of a users position for manifold applications in indoor and outdoor environments. For this purpose severel methods can be used, such as a Global Navigation Satellite System (GNSS) or Inertial Navigation Systems (INS). Since GNSS are not available in indoor environments or street canyons, in this...
Conference Paper
This paper reports on the development of an automatic controlled airship for applications in environmental monitoring with special emphasis on precision farming. This covers direct monitoring from the air, e.g. with cameras; radar; lidar; gas, temperature, and humidity sensors. A new application area presented here is the interaction of ground base...
Chapter
This chapter presents global localization and position tracking for a swarm of autonomous transport vehicles which transport Euro-bins in a distribution center or warehouse. Localization is realized by sensor fusion of range measurements obtained from an IEEE 802.15.4a network and laser range finders. The IEEE 802.15.4a network is used for communic...
Conference Paper
Location awareness is one of the key prerequisites in any kind of positioning system. Accurate positioning is required in a wide area of applications. One of them is pedestrian localization. In this paper we focus on the task of localization and tracking using a IEEE 802.15.4a CSS network. Data is obtained from Time Difference of Arrival (TDoA) mea...
Conference Paper
Flexible warehouse systems gain in importance as the demand for seamless transportation of products increases. Conventional consignment systems rely on conveyors and human operators who assemble the goods. In a new approach, a swarm of small automated guided vehicles (AGVs) is employed to collect items from storage shelves and take them to a pickin...
Article
Full-text available
The paper presents global localization for a swarm of autonomous mobile robots which transport Euro-bins in a distribution center or warehouse. Localization is realized by sensor fusion of range measurements obtained from an IEEE 802.15.4a network and laser range finders. The IEEE 802.15.4a network is used for communication as well as for global lo...
Conference Paper
Full-text available
The paper presents global localization for a swarm of autonomous transport vehicles which transport Euro-bins in a distribution center or warehouse. Global localization and position tracking is realized by trilateration and Kalman Altering using range measurements obtained from an IEEE 802.15.4a CSS network. The IEEE 802.15.4a network is used for c...
Conference Paper
Full-text available
Just-in-time inventory management and short production cycles require flexible material flow as well as usage of small transportation units. These demands can be met by using small Automated Guided Vehicles (AGVs) which act as a swarm of mobile robots. The paper presents real-time communication and localization for a swarm of mobile robots which tr...
Conference Paper
A swarm of Automated Guided Vehicles (AGVs) can be used in warehouses, distribution centers and manufacturing plants in order to automate the internal material flow. This swarm can overcome the disadvantages of roll conveyors and belts. The main problems of AGVs are global localization, position tracking, path planning and communication (especially...
Conference Paper
IEEE 802.15.4a networks provide a flexible and inexpensive facility for localizing mobile devices by time based range measurements. A mobile tag localizes itself by measuring the distances to a set of fixed reference points, called anchors. One problem prior to the localization of mobile devices is to determine the positions of these anchor nodes....
Conference Paper
Full-text available
Automated Guided Vehicles (AGVs) are used in warehouses, distribution centers and manufacturing plants in order to automate the internal material flow. Usually AGVs are designed to transport large and heavy transport units such as Euro-pallets or mesh pallets. Just-in-time inventory management and lean production requires small transportation units...
Conference Paper
Full-text available
Automated Guided Vehicles (AGVs) are used in warehouses, distribution centers and manufacturing plants in order to automate the internal material flow. Usually AGVs are designed to transport large and heavy transport units such as Euro-pallets or mesh pallets. Just-in-time inventory management and lean production requires small transportation units...
Conference Paper
Full-text available
Automation of the internal material flow is used by many companies to reduce costs. Automation can be realized by using Self Guided Vehicles (SGV). SGVs are transporting goods between manufacturing-plants or inside a warehouse. Wireless Sensor Networks (WSN) provide a lot of potential for logistics applications. They can be used in logistics to rea...
Conference Paper
Full-text available
Indoor location tracking of mobile robots or transport vehicles using wireless technology is attractive for many applications. IEEE 802.15.4a wireless networks offer an inexpensive facility for localizing mobile devices by time-based range measurements. The main problems of time-based range measurements in indoor environments are errors by multipat...
Conference Paper
Full-text available
Mobile devices, like cell phones or smart phones, can nowadays be used to monitor and control remote devices like technical systems. While monitoring systems do not have high requirements on the transmission time of the displayed data, navigating a mobile robot from remote requires more real time data transfers. Therefore not only the possibilities...
Conference Paper
Full-text available
Indoor location tracking of mobile robots or transport vehicles using wireless technology is attractive for many applications. IEEE 802.15.4a wireless networks offer an inexpensive facility for localizing mobile devices by time-based range measurements. The main problems of time-based range measurements in indoor environments are errors by multipat...
Conference Paper
In this paper a method for estimation of position and motion of a mobile robot in an indoor environment is introduced. The proposed method uses WLAN signal strength to estimate the global position of a mobile robot in an office building. Thus signal strengths of the received access points are stored in the radio map in calibration phase. In localiz...
Conference Paper
Full-text available
A wireless sensor network consist of spatially distributed autonomous sensor nodes for data acquisition. Accurate localization of sensor nodes is a strong requirement in a wide area of applications. This paper describes the localization of sensor nodes using range measurements and trilateration with the Extended Kalman Filter. The commercially avai...
Chapter
Full-text available
Ein drahtloses Sensornetzwerk ist ein Funknetz aus Kleinstrechnern, das aus vielen kleinen, dicht verteilten Sensorknoten besteht. Neben den klassischen Anwendungen wie z.B. dem Umweltmonitoring kann es auch zur Lokalisierung von Objekten verwendet werden. Der Beitrag beschreibt die Lokalisierung von Fahrerlosen Transportfahrzeugen mit dem drahtlos...
Conference Paper
Full-text available
A warehouse management system is a key part of the supply chain and controls the movement of goods within a warehouse. Usually the state of a warehouse is managed in a central database, which must be updated for every storage and retrieval activity. The entire process is prone to errors, because it relies on manual activities performed by employees...
Article
Linear synchronous motors are finding expanded use in high-performance applications where high speed and high accuracy is essential. The main problem in improving the tracking performance of linear synchronous motors is the presence of force ripple caused by mismatched current waveforms and unbalanced motor phases or amplifier gains. This paper pre...