text:
}

@inproceedings{MFI06_Brunn-Fourier,
  author    = {Dietrich Brunn and Felix Sawo and Uwe D. Hanebeck},
  title     = {{E}fficient {N}onlinear {B}ayesian {E}stimation based on {F}ourier {D}ensities},
  booktitle = {Proceedings of the 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2006)},
  year      = {2006},
  pages     = {312--322},
  address   = {Heidelberg, Germany},
  month     = sep,
  abstract  = {Efficiently implementing nonlinear Bayesian estimators is still not
               a fully solved problem. For practical applications, a trade-off between
               estimation quality and demand on computational resources has to be
               found. In this paper, the use of nonnegative Fourier series, so-called
               Fourier densities, for Bayesian estimation is proposed. By using
               the absolute square of Fourier series for the density representation,
               it is ensured that the density stays nonnegative. Nonetheless, approximation
               of arbitrary probability density functions can be made by using the
               Fourier integral formula. An efficient Bayesian estimator algorithm
               with constant complexity for nonnegative Fourier series is derived
               and demonstrated by means of an example.},
  pdf       = {MFI06_Brunn-Fourier.pdf}
}

@inproceedings{MFI06_DeisenrothWeissel,
  author    = {Marc P. Deisenroth and Toshiyuki Ohtsuka and Florian Weissel and Dietrich Brunn and Uwe D. Hanebeck},
  title     = {{F}inite-{H}orizon {O}ptimal {S}tate-{F}eedback {C}ontrol of {N}onlinear {S}tochastic {S}ystems {B}ased on a {M}inimum {P}rinciple},
  booktitle = {Proceedings of the 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2006)},
  year      = {2006},
  pages     = {371--376},
  address   = {Heidelberg, Germany},
  month     = sep,
  abstract  = {In this paper, an approach to the finite-horizon
               optimal state-feedback control problem of nonlinear, stochastic,
               discrete-time systems is presented. Starting from the dynamic
               equation, the value function will be approximated
               by means of Taylor series expansion up to second-order
               derivatives. Moreover, the problem will be reformulated, such
               that a minimum principle can be applied to the stochastic
               problem. Employing this minimum principle, the optimal control
               problem can be rewritten as a two-point boundary-value
               problem to be solved at each time step of a shrinking horizon.
               To avoid numerical problems, the two-point boundary-value
               problem will be solved by means of a continuation method.
               Thus, the curse of dimensionality of dynamic programming
               is avoided, and good candidates for the optimal state-feedback
               controls are obtained. The proposed approach will be evaluated
               by means of a scalar example system.},
  pdf       = {MFI06_DeisenrothWeissel.pdf}
}

@inproceedings{MFI06_Huber,
  author    = {Marco Huber and Dietrich Brunn and Uwe D. Hanebeck},
  title     = {{C}losed-{F}orm {P}rediction of {N}onlinear {D}ynamic {S}ystems by {M}eans of {G}aussian {M}ixture {A}pproximation of the {T}ransition {D}ensity},
  booktitle = {Proceedings of the 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2006)},
  year      = {2006},
  pages     = {98--103},
  address   = {Heidelberg, Germany},
  month     = sep,
  abstract  = {Recursive prediction of the state of a nonlinear stochastic dynamic
               system cannot be efficiently performed in general, since the complexity
               of the probability density function characterizing the system state
               increases with every prediction step. Thus, representing the density
               in an exact closed-form manner is too complex or even impossible.
               So, an appropriate approximation of the density is required. Instead
               of directly approximating the predicted density, we propose the approximation
               of the transition density by means of Gaussian mixtures. We treat
               the approximation task as an optimization problem that is solved
               offline via progressive processing to bypass initialization problems
               and to achieve high quality approximations. Once having calculated
               the transition density approximation offline, prediction can be performed
               efficiently resulting in a closed-form density representation with
               constant complexity.},
  keywords  = {System Approximation, Gaussian Mixtures},
  pdf       = {MFI06_Huber.pdf}
}

@inproceedings{MFI06_Schrempf-CramerMises,
  author    = {Oliver C. Schrempf and Dietrich Brunn and Uwe D. Hanebeck},
  title     = {{Dirac Mixture Density Approximation Based on Minimization of the Weighted Cram\'{e}r-von Mises Distance}},
  booktitle = {Proceedings of the 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2006)},
  year      = {2006},
  pages     = {512--517},
  address   = {Heidelberg, Germany},
  month     = sep,
  abstract  = {This paper proposes a systematic procedure for approximating arbitrary
               probability density functions by means of Dirac mixtures. For that
               purpose, a distance measure is required, which is in general not
               well defined for Dirac mixture densities. Hence, a distance measure
               comparing the corresponding cumulative distribution functions is
               employed. Here, we focus on the weighted Cramer-von Mises distance,
               a weighted integral quadratic distance measure, which is simple and
               intuitive. Since a closed-form solution of the given optimization
               problem is not possible in general, an efficient solution procedure
               based on a homotopy continuation approach is proposed. Compared to
               a standard particle approximation, the proposed procedure ensures
               an optimal approximation with respect to a given distance measure.
               Although useful in their own respect, the results also provide the
               basis for a recursive nonlinear filtering mechanism as an alternative
               to the popular particle filters.},
  keywords  = {Dirac Mixtures},
  pdf       = {MFI06_Schrempf-CramerMises.pdf}
}

@inproceedings{MFI06_Wang,
  author    = {Hui Wang and Henning Lenz and Andrei Szabo and Uwe D. Hanebeck and Joachim Bamberger},
  title     = {{F}usion of {B}arometric {S}ensors, {WLAN} {S}ignals and {B}uilding {I}nformation for 3--{D} {I}ndoor/{C}ampus {L}ocalization},
  booktitle = {Proceedings of the 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2006)},
  year      = {2006},
  pages     = {426--432},
  address   = {Heidelberg, Germany},
  month     = sep,
  pdf       = {MFI06_Wang.pdf},
  abstract  = {Location estimation in indoor/campus
               environments has attracted much interest for its broad
               applications. Many applications (e.g. personnel security)
               require not only the 2-D coordinate but also the floor index
               where the mobile users are situated. However, most of the
               current location systems cannot provide the floor information
               accurately and robustly. In this paper, we propose a 3-D
               localization scheme which fuses the barometric sensor with
               Wireless LAN (WLAN) signals and building information. Our
               experiments show that this fusion scheme can both identify the
               floor index without errors and improve the horizontal
               localization accuracy. Moreover, since the barometric sensor is
               quite simple and cheap, it would bring almost no increase in
               system costs.}
}

@inproceedings{ICINCO06_Roessler,
  author    = {Patrick R{\"o}\ss{}ler and Timothy Armstrong and Oliver Hessel and Michael Mende and Uwe D. Hanebeck},
  title     = {{A} {N}ovel {H}aptic {I}nterface for {F}ree {L}ocomotion in {E}xtended {R}ange {T}elepresence {S}cenarios},
  booktitle = {Proceedings of the 3rd International Conference on Informatics in Control, Automation and Robotics (ICINCO 2006)},
  year      = {2006},
  pages     = {148--153},
  address   = {Set\'{u}bal, Portugal},
  month     = aug,
  pdf       = {ICINCO06_Roessler.pdf},
  abstract  = {Telepresence gives a user the impression of actually
               being present in a distant environment. A mobile teleoperator acts
               as a proxy in this target environment, replicates the user's motion,
               and records sensory information, which is transferred to the user
               and displayed in real-time. As a result the user is immersed in the
               target environment. The user can then control the teleoperator by
               walking naturally. Motion Compression, a nonlinear mapping between
               the user's and the robot's motion, allows exploration of large
               target environments even from small user environments.
               For manipulation tasks haptic feedback is important. However, current
               haptic displays do not allow wide-area motion. In this work we present
               our design of a novel haptic display for simultaneous wide area motion
               and haptic interaction.}
}

@inproceedings{ICINCO06_SawoRoberts,
  author    = {Felix Sawo and Kathrin Roberts and Uwe D. Hanebeck},
  title     = {{B}ayesian {E}stimation of {D}istributed {P}henomena using {D}iscretized {R}epresentations of {P}artial {D}ifferential {E}quations},
  booktitle = {Proceedings of the 3rd International Conference on Informatics in Control, Automation and Robotics (ICINCO 2006)},
  year      = {2006},
  pages     = {16--23},
  address   = {Set\'{u}bal, Portugal},
  month     = aug,
  abstract  = {This paper addresses a systematic method for the reconstruction and
               the prediction of a distributed phenomenon characterized by partial
               differential equations, which is monitored by a sensor network. In
               the first step, the infinite-dimensional partial differential equation,
               i.e. distributed-parameter system, is spatially and temporally decomposed
               leading to a finite-dimensional state space form. In the next step,
               the state of the resulting lumped-parameter system, which provides
               an approximation of the solution of the underlying partial differential
               equations, is dynamically estimated under consideration of uncertainties
               both occurring in the system and arising from noisy measurements.
               By using the estimation results, several additional tasks can be
               achieved by the sensor network, e.g. optimal sensor placement, optimal
               scheduling, and model improvement. The performance of the proposed
               model-based reconstruction method is demonstrated by means of simulations.},
  pdf       = {ICINCO06_SawoRoberts.pdf}
}

@inproceedings{Fusion06_Klumpp,
  author    = {Vesa Klumpp and Dietrich Brunn and Uwe D. Hanebeck},
  title     = {{A}pproximate {N}onlinear {B}ayesian {E}stimation {B}ased on {L}ower and {U}pper {D}ensities},
  booktitle = {Proceedings of the 9th International Conference on Information Fusion (Fusion 2006)},
  year      = {2006},
  address   = {Florence, Italy},
  month     = jul,
  abstract  = {Recursive calculation of the probability density function characterizing
               the state estimate of a nonlinear stochastic dynamic system in general
               cannot be performed exactly, since the type of the density changes
               with every processing step and the complexity increases. Hence, an
               approximation of the true density is required. Instead of using a
               single complicated approximating density, this paper is concerned
               with bounding the true density from below and from above by means
               of two simple densities. This provides a kind of guaranteed estimator
               with respect to the underlying true density, which requires a mechanism
               for ordering densities. Here, a partial ordering with respect to
               the cumulative distributions is employed. Based on this partial ordering,
               a modified Bayesian filter step is proposed, which recursively propagates
               lower and upper density bounds. A specific implementation for piecewise
               linear densities with finite support is used for demonstrating the
               performance of the new approach in simulations.},
  comment   = {Dieses Paper behandelt die Ideen zu Behandlung von Mengen von Wahrscheinlichkeitsdichten.
               Es entstand im Rahmen der Diplomarbeit von V.Klumpp.},
  pdf       = {Fusion06_Klumpp.pdf}
}

@inproceedings{Fusion06_Sawo-ParameterizedGMs,
  author    = {Felix Sawo and Dietrich Brunn and Uwe D. Hanebeck},
  title     = {{P}arameterized {J}oint {D}ensities with {G}aussian and {G}aussian {M}ixture {M}arginals},
  booktitle = {Proceedings of the 9th International Conference on Information Fusion (Fusion 2006)},
  year      = {2006},
  address   = {Florence, Italy},
  month     = jul,
  abstract  = {In this paper we attempt to lay the foundation for a novel filtering
               technique for the fusion of two random vectors with imprecisely known
               stochastic dependency. This problem mainly occurs in decentralized
               estimation, e.g., of a distributed phenomenon, where the stochastic
               dependencies between the individual states are not stored. Thus,
               we derive parameterized joint densities with both Gaussian marginals
               and Gaussian mixture marginals. These parameterized joint densities
               contain all information about the stochastic dependencies between
               their marginal densities in terms of a parameter vector xi, which
               can be regarded as a generalized correlation parameter. Unlike the
               classical correlation coeffcient, this parameter is a suffcient measure
               for the stochastic dependency even characterized by more complex
               density functions such as Gaussian mixtures. Once this structure
               and the bounds of these parameters are known, bounding densities
               containing all possible density functions could be found.},
  pdf       = {Fusion06_Sawo-ParameterizedGMs.pdf}
}

@inproceedings{Fusion06_SchrempfHanselmann,
  author    = {Oliver C. Schrempf and Anne Hanselmann and Uwe D. Hanebeck},
  title     = {{E}fficient {R}epresentation and {F}usion of {H}ybrid {J}oint {D}ensities for {C}lusters in {N}onlinear {H}ybrid {B}ayesian {N}etworks},
  booktitle = {Proceedings of the 9th International Conference on Information Fusion (Fusion 2006)},
  year      = {2006},
  address   = {Florence, Italy},
  month     = jul,
  abstract  = {Undirected cycles in Bayesian networks are often treated by using
               clustering methods. This results in networks with nodes characterized
               by joint probability densities instead of marginal densities. An
               efficient representation of these hybrid joint densities is essential
               especially in nonlinear hybrid networks containing continuous as
               well as discrete variables. In this article we present a unified
               representation of continuous, discrete, and hybrid joint densities.
               This representation is based on Gaussian and Dirac mixtures and allows
               for analytic evaluation of arbitrary hybrid networks without loosing
               structural information, even for networks containing clusters. Furthermore
               we derive update formulae for marginal and joint densities from a
               system theoretic point of view by treating a Bayesian network as
               a system of cascaded subsystems. Together with the presented mixture
               representation of densities this yields an exact analytic updating
               scheme.},
  keywords  = {Hybrid Bayesian Networks},
  pdf       = {Fusion06_SchrempfHanselmann.pdf}
}

@proceedings{DBLP:conf/dagstuhl/2005P5381,
  editor    = {Leonidas J. Guibas and
               Uwe D. Hanebeck and
               Thomas C. Henderson},
  title     = {Form and Content in Sensor Networks, 18.09. - 23.09.2005},
  booktitle = {Form and Content in Sensor Networks},
  publisher = {Internationales Begegnungs- und Forschungszentrum f{\"u}r
               Informatik (IBFI), Schloss Dagstuhl, Germany},
  address   = {Internationales Begegnungs- und Forschungszentrum f{\"u}r
               Informatik (IBFI), Schloss Dagstuhl, Germany},
  series    = {Dagstuhl Seminar Proceedings},
  volume    = {05381},
  month     = sep,
  year      = {2006},
  url       = {https://drops.dagstuhl.de/portals/05381/},
  bibsource = {DBLP, https://dblp.uni-trier.de},
  abstract  = {From 18.09.05 to 23.09.05, the Dagstuhl Seminar 05381 Form and Content in Sensor Networks was held in
               the International Conference and Research Center (IBFI), Schloss Dagstuhl. During the seminar, several participants
               presented their current research, and ongoing work and open problems were discussed. Abstracts of the presentations given
               during the seminar as well as abstracts of seminar results and ideas are put together in this paper. The first section
               describes the seminar topics and goals in general. Links to extended abstracts or full papers are provided, if available.},
  pdf       = {05381_abstracts_collection.755.pdf}
}

@inproceedings{ECC05_Rauh,
  author    = {Andreas Rauh and Uwe D. Hanebeck},
  title     = {{Moment--Based Prediction Step for Nonlinear Discrete-Time Dynamic Systems Using Exponential Densities}},
  booktitle = {Proceedings of the 44th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2005)},
  year      = {2005},
  address   = {Sevilla, Spain},
  month     = dec,
  pdf       = {ECC05_Rauh.pdf},
  abstract  = {In this paper, an efficient approach for a momentbased
               Bayesian prediction step for both linear and nonlinear
               discrete-time dynamic systems using exponential densities with
               polynomial exponents is proposed. The exact solution of the
               prediction step is approximated by an exponential density
               which minimizes the Kullback-Leibler distance. Compared to
               other approaches, the user of this procedure can specify the
               approximation quality by controlling the deviation between
               the moments of the exact and the approximated solution.
               Furthermore, this algorithm can also be used for the adaptation
               of the order of the exponential densities either to improve the
               approximation quality or to reduce the computational effort.}
}

@inproceedings{INTETAIN05_Groenda,
  author    = {Henning Groenda and Fabian Nowak and Patrick R{\"o}\ss{}ler and Uwe D. Hanebeck},
  title     = {{T}elepresence {T}echniques for {C}ontrolling {A}vatar {M}otion in {F}irst {P}erson {G}ames},
  booktitle = {Intelligent Technologies for Interactive Entertainment (INTETAIN 2005)},
  year      = {2005},
  address   = {Madonna di Campiglio, Italy},
  month     = nov,
  pdf       = {INTETAIN05_Groenda.pdf},
  abstract  = {First person games are computer games, in which the user
               experiences the virtual game world from an avatar's view. This avatar is
               the user's alter ego in the game. In this paper, we present a telepresence
               interface for the first person game Quake III Arena, which gives the user
               the impression of presence in the game and thus leads to identification
               with his avatar. This is achieved by tracking the user's motion and using
               this motion data as control input for the avatar. As the user is wearing a
               head-mounted display and he perceives his actions affecting the virtual
               environment, he fully immerses into the target environment. Without
               further processing of the user's motion data, the virtual environment
               would be limited to the size of the user's real environment, which is not
               desirable. The use of Motion Compression, however, allows exploring an
               arbitrarily large virtual environment while the user is actually moving in
               an environment of limited size.}
}

@incollection{AMS05_RobertsSzabo,
  author    = {Kathrin Roberts and G{\'{a}}bor Szab{\'{o}} and Uwe D. Hanebeck},
  title     = {{S}ensorgest{\"u}tzte {B}ewegungssynchronisation von {O}perationsinstrumenten am schlagenden {H}erzen},
  booktitle = {Autonome Mobile Systeme 2005 (AMS 2005), 19.~Fachgespr{\"a}ch, Stuttgart, Informatik Aktuell},
  publisher = {Springer},
  year      = {2005},
  editor    = {P. Levi and M. Schanz and R. Lafrenz and V. Avrutin},
  pages     = {269-275},
  month     = oct,
  abstract  = {Offene oder minimal invasive Operationen am schlagenden Herzen erfordern
               von dem Chirurgen eine hohe Konzentrationsf{\"a}higkeit {\"u}ber
               einen l{\"a}ngeren Zeitraum. Daher ist es f{\"u}r den Chirurgen sehr
               hilfreich durch ein robotergest{\"u}tztes Chirurgiesystem unterst{\"u}tzt
               zu werden, das die Instrumente im Interventionsareal mit der Herzbewegung
               synchronisiert. Um eine Bewegungskompensation durchzuf{\"u}hren,
               muss ein Mechanismus gefunden werden, der aufgrund einer Pr{\"a}diktion
               der Herzbewegung die Instrumente nachf{\"u}hrt. F{\"u}r die Pr{\"a}diktion
               der Herzbewegung wird in diesem Artikel ein Verfahren zum Entwurf
               eines stochastischen 3D-Bewegungsmodells f{\"u}r die Herzoberfl{\"a}che
               gezeigt. Ein Sch{\"a}tzer nimmt dieses Modell als Grundlage und verwendet
               die verrauschten Sensormessungen von Landmarken der Herzoberfl{\"a}che
               um die Herzoberfl{\"a}chenbewegung zu pr{\"a}dizieren.},
  pdf       = {InfoAktuell05_RobertsSzabo.pdf}
}

@article{AT05_Briechle,
  author    = {Kai Briechle and Uwe D. Hanebeck},
  title     = {{L}okalisierung mittels mengenbasierter nichtlinearer {F}ilterung im {H}yperraum},
  journal   = {at -- Automatisierungstechnik},
  year      = {2005},
  volume    = {53},
  pages     = {415--424},
  month     = sep,
  publisher = {Oldenbourg Verlag},
  url       = {https://dx.doi.org/10.1524/auto.2005.53.9.415},
  abstract  = {In recent years methods for localization of objects
               have found widespread use as the basis for numerous novel technical
               applications. The majority of these methods are based on filtering
               algorithms which are used to estimate the position and orientation of
               the object that shall be localized. In this article, a novel efficient
               nonlinear filtering concept is presented. It is well suited for localization
               problems for which conventional filtering algorithms based on linearization
               do not yield satisfactory results. The performance of the proposed
               algorithm is demonstrated by applications to prototypical localization
               problems and an experiment, in which a mobile robot is localized.}
}

@inproceedings{CLAWAR05_GassmannHuber,
  author    = {Bernd Ga\ss{}mann and Marco Huber and J. Marius Z{\"o}llner and R{\"u}diger Dillmann},
  title     = {{Navigation of Walking Robots: Path Planning}},
  booktitle = {Proceedings of the 8th International Conference on Climbing and Walking Robots (CLAWAR 2005)},
  year      = {2005},
  volume    = {1},
  pages     = {115--122},
  address   = {London, United Kingdom},
  month     = sep,
  abstract  = {Proper navigation of walking machines in unstructured terrain requires
               a path planning algorithm that reflects the flexibility of the robots
               movements. This paper discusses the problem and presents a real time
               capable path planning algorithm for walking machines that also makes
               use of their climbing abilities.}
}

@inproceedings{CSIT05_Weissel,
  author    = {Florian Weissel and Uwe D. Hanebeck},
  title     = {{A} {T}est-{E}nvironment for {C}ontrol {S}chemes in the {F}ield of {C}ollaborative {R}obots and {S}warm {I}ntelligence},
  booktitle = {Proceedings of the 7th International Workshop on Computer Science and Information Technologies (CSIT 2005)},
  year      = {2005},
  volume    = {1},
  address   = {Ufa, Russian Federation},
  month     = sep,
  abstract  = {This paper presents an architecture for a test-environment for algorithms
               and control schems in the filed of collaborative robotics and swarm
               intelligence. As the foundation of the test-environment, small bionically
               inspired robots are presented. The robots are small (20 cm x 5 cm
               x 5 cm) and lightweight (< 200g). Their design is inspired by the
               movement of caterpillars. Threee cubical segments are connected via
               special joints, where each of these joints has three independent
               degrees of translatory freedom. Thus, the robots are able to handle
               rough terrain with small obstacle. The robots are driven by innovative
               piezoelectric motors that allow a gearless design without any rotary
               parts. Each robot is equipped with on-board processing and radio
               communication. The software of the robots is written using TinyOS,
               an event-driven operating system for large-scale distributed sensor-actuator-networks.},
  pdf       = {CSIT05_Weissel.pdf}
}

@inproceedings{ICINCO05_Hahn,
  author    = {Daniel Hahn and Frederik Beutler and Uwe D. Hanebeck},
  title     = {{Visual Scene Augmentation for Enhanced Human Perception}},
  booktitle = {Proceedings of the 2nd International Conference on Informatics in Control, Automation and Robotics (ICINCO 2005)},
  year      = {2005},
  volume    = {2},
  pages     = {146--153},
  address   = {Barcelona, Spain},
  month     = sep,
  abstract  = {In this paper we present an assistive system for hearing-impaired
               people that consists of a wearable microphone array and an Augmented
               Reality (AR) system. This system helps the user in communication
               situations, where many speakers or sources of background noise are
               present. In order to restore the cocktail party effect multiple
               microphones are used to estimate the position of individual sound
               sources. In order to allow the user to interact in complex situations
               with many speakers, an algorithm for estimating the user's attention
               is developed. This algorithm determines the sound sources, which
               are in the user's focus of attention. It allows the system to discard
               irrelevant information and enables the user to focus on certain aspects
               of the surroundings. Based on the user's hearing impairment, the
               perception of the speaker in the focus of attention can be enhanced,
               e.g. by amplification or using a speech-to-text conversion. A prototype
               has been built for evaluating this approach. Currently the prototype
               is able to locate sound beacons in three-dimensional space, to perform
               a simple focus estimation, and to present floating captions in the
               Augmented Reality. The prototype uses an intentionally simple user
               interface, in order to minimize distractions.},
  pdf       = {ICINCO05_Hahn.pdf}
}

@inproceedings{ICINCO05_Roessler,
  author    = {Patrick R{\"o}\ss{}ler and Frederik Beutler and Uwe D. Hanebeck},
  title     = {{A} {F}ramework for {T}elepresent {G}ame-{P}lay in {L}arge {V}irtual {E}nvironments},
  booktitle = {Proceedings of the 2nd International Conference on Informatics in Control, Automation and Robotics (ICINCO 2005)},
  year      = {2005},
  volume    = {3},
  pages     = {150--155},
  address   = {Barcelona, Spain},
  month     = sep,
  abstract  = {In this paper we present a framework that provides a novel interface
               to avatar control in immersive computer games. The user's motion
               is tracked and transferred to to the game environment. This motion
               data is used as control input for the avatar. The game graphics are
               rendered according to the avatar's motion and presented to the user
               on a head-mounted display. As a result, the user immerses into the
               game environment and identifies with the avatar. However, without
               further processing of the motion data, the virtual environment would
               be limited to the size of the user's real environment, which is not
               desirable. By using Motion Compression, the framework allows exploring
               an arbitrarily large virtual environment while the user is actually
               moving in an environment of limited size. Based on the proposed framework,
               two game applications were implemented, a modification of a commercially
               available game and a custom designed game. These two applications
               prove, that a telepresence system using Motion Compression is a highly
               intuitive interface to game control.},
  pdf       = {ICINCO05_Roessler.pdf}
}

@inproceedings{ICINCO05_Schrempf-Intention,
  author    = {Oliver C. Schrempf and Uwe D. Hanebeck},
  title     = {{A} {G}eneric {M}odel for {E}stimating {U}ser {I}ntentions in {H}uman-{R}obot {C}ooperation},
  booktitle = {Proceedings of the 2nd International Conference on Informatics in Control, Automation and Robotics (ICINCO 2005)},
  year      = {2005},
  volume    = {3},
  pages     = {251--256},
  address   = {Barcelona, Spain},
  month     = sep,
  abstract  = {The recognition of user intentions is an important feature for humanoid
               robots to make implicit and human-like interactions possible. In
               this paper, we introduce a formal view on user-intentions in human-machine
               interaction and how they can be estimated by observing user actions.
               We use Hybrid Dynamic Bayesian Networks to develop a generic model
               that includes connections between intentions, actions, and sensor
               measurements. This model can be used to extend arbitrary human-machine
               applications by intention recognition.},
  keywords  = {Intention Recognition},
  pdf       = {ICINCO05_Schrempf-Intention.pdf}
}

@inproceedings{CCA05_Sawo,
  author    = {Felix Sawo and Masayuki Fujita and Oliver Sawodny},
  title     = {{P}assivity--{B}ased {D}ynamic {V}isual {F}eedback {C}ontrol of {M}anipulators with {K}inematic {R}edundancy},
  booktitle = {Proceedings of the 2005 IEEE Conference on Control Applications (CCA 2005)},
  year      = {2005},
  pages     = {1200--1205},
  month     = aug,
  doi       = {10.1109/CCA.2005.1507294},
  pdf       = {CCA05_Sawo.pdf}
}

@inproceedings{IROS05_Roessler,
  author    = {Patrick R{\"o}\ss{}ler and Frederik Beutler and Uwe D. Hanebeck and Norbert Nitzsche},
  title     = {{M}otion {C}ompression {A}pplied to {G}uidance of a {M}obile {T}eleoperator},
  booktitle = {Proceedings of the 2005 IEEE International Conference on Intelligent Robots and Systems (IROS 2005)},
  year      = {2005},
  pages     = {2495--2500},
  address   = {Edmonton, Canada},
  month     = aug,
  abstract  = {Telepresence aims at giving a human user the impression of being present
               in a remote environment. However, the user is actually situated in
               a user environment and his motion is tracked. A mobile teleoperator
               in the remote environment replicates this motion. The user can thus
               control the mobile teleoperator's locomotion by walking. A stereo-camera
               system mounted on the mobile teleoperator constantly records live
               camera images and transfers them to the user environment, where they
               are presented to the user on a head-mounted display. This paper presents
               a long distance experiment, in which a mobile teleoperator was controlled
               over a standard internet connection by natural locomotion. Without
               further processing of the user's motion data, however, only exploration
               of a remote environment of the same size or smaller than the user
               environment is possible. As this is not desirable, we use Motion
               Compression, an optimal nonlinear transformation of the user's path.
               This algorithm allows controlling free motion in an arbitrarily large
               target environment from a limited user environment.},
  pdf       = {IROS05_Roessler.pdf}
}

@inproceedings{ROMAN05_SchrempfSchmid,
  author    = {Oliver C. Schrempf and Uwe D. Hanebeck and Andreas J. Schmid. and Heinz W{\"o}rn},
  title     = {{A} {N}ovel {A}pproach to {P}roactive {H}uman-{R}obot {C}ooperation},
  booktitle = {Proceedings of the 2005 IEEE International Workshop on Robot and Human Interactive Communication (ROMAN 2005)},
  year      = {2005},
  pages     = {555--560},
  address   = {Nashville, Tennessee, USA},
  month     = aug,
  abstract  = {This paper introduces the concept of proactive execution of robot
               tasks in the context of human-robot cooperation with uncertain knowledge
               of the human's intentions. We present a system architecture that
               defines the necessary modules of the robot and their interactions
               with each other. The two key modules are the intention recognition
               that determines the human user's intentions and the planner that
               executes the appropriate tasks based on those intentions. We show
               how planning conflicts due to the uncertainty of the intention information
               are resolved by proactive execution of the corresponding task that
               optimally reduces the system's uncertainly. Finally, we present an
               algorithm for selecting this task and suggest a benchmark scenario.},
  keywords  = {collision avoidance, humanoid robots, man-machine systems, mobile
               robots, human centered computing, humanoid robots, intention recognition,
               proactive human-robot cooperation, robot tasks},
  pdf       = {ROMAN05_SchrempfSchmid.pdf}
}

@article{AT05_Grigoras,
  author    = {Marian Grigoras and Olga Feiermann and Uwe D. Hanebeck},
  title     = {{D}ata-{D}riven {M}odeling of {S}ignal {S}trength {D}istributions for {L}ocalization in {C}ellular {R}adio {N}etworks ({D}atengetriebene {M}odellierung von {F}eldst{\"a}rkeverteilungen f{\"u}r die {O}rtung in zellul{\"a}ren {F}unknetzen)},
  journal   = {at -- Automatisierungstechnik, Sonderheft: Datenfusion in der Automatisierungstechnik},
  year      = {2005},
  volume    = {53},
  pages     = {314--321},
  number    = {7},
  month     = jul,
  publisher = {Oldenbourg Verlag},
  abstract  = {In this article, we propose a novel approach to solving
               the localization problem in cellular networks, with a focus on indoor environments.
               The goal is to estimate a mobile user's position, based on measurements of signals
               received from different base stations. Our solution uses the Progressive
               Bayes estimation framework to model the distribution of signal measurements,
               as obtained in a series of calibration measurements. In the localization step,
               we compute the full probability density over the user position. We also show
               that user motion models can be easily integrated in our solution.},
  url       = {https://dx.doi.org/10.1524/auto.53.7.314.66708}
}

@book{AT05_Hanebeck,
  title     = {at -- {A}utomatisierungstechnik, {S}onderheft: {D}atenfusion in der {A}utomatisierungstechnik},
  publisher = {Oldenbourg Verlag},
  year      = {2005},
  editor    = {Uwe D. Hanebeck and Hartwig Steusloff},
  volume    = {53},
  number    = {7},
  series    = {at -- Automatisierungstechnik},
  month     = jul,
  pdf       = {AT05_Hanebeck.pdf}
}

@inproceedings{Fusion05_Roberts,
  author    = {Kathrin Roberts and Uwe D. Hanebeck},
  title     = {{P}rediction and {R}econstruction of {D}istributed {D}ynamic {P}henomena {C}haracterized by {L}inear {P}artial {D}ifferential {E}quations},
  booktitle = {Proceedings of the 8th International Conference on Information Fusion (Fusion 2005)},
  year      = {2005},
  address   = {Philadelphia, Pennsylvania, USA},
  month     = jul,
  abstract  = {A primary challenge for the reconstruction of continuous-time, continuous-amplitude
               distributed parameter systems is the inclusion of recent discrete-time,
               discreteamplitude, spatially discrete measurements. Hence, a systematic
               method for data processing is required that also handles incomplete
               and noisy data, e.g. data from a sensor network. This article presents
               two approaches to the reconstruction of distributed parameter systems
               that can be described by linear partial differential equations (PDEs)
               and involve one or several discrete measurement points. In both approaches,
               the linear PDE is first converted into a bank of linear lumped systems
               by means of modal analysis. In addition, a measurement equation relating
               state and (sensor) data is derived. In the second step, a Kalman
               filter (KF) is used to dynamically estimate the state of the lumped
               systems, which provides an approximation of the solution of the underlying
               PDE. The first approach uses Fourier Analysis. The second approach
               uses Fourier Analysis and the collocation method. The approaches
               are both demonstrated for a simple linear inhomogeneous PDE, the
               one-dimensional heat equation.},
  pdf       = {Fusion05_Roberts.pdf}
}

@inproceedings{Fusion05_Schrempf-MixtureReduction,
  author    = {Oliver C. Schrempf and O. Feiermann and Uwe D. Hanebeck},
  title     = {{O}ptimal {M}ixture {A}pproximation of the {P}roduct of {M}ixtures},
  booktitle = {Proceedings of the 8th International Conference on Information Fusion (Fusion 2005)},
  year      = {2005},
  volume    = {1},
  pages     = {85--92},
  address   = {Philadelphia, Pennsylvania, USA},
  month     = jul,
  abstract  = {Gaussian mixture densities are very common today to describe arbitrary
               structured uncertainties in various applications. Many of these applications
               have to deal with the fusion of uncertainties, an operation that
               is usually performed by multiplication of these densities. The product
               of Gaussian mixtures can be calculated exactly, but the number of
               mixture components in the resulting mixture increases in an exponential
               way. Hence, it is essential to approximate this resulting mixture
               with less components, to keep it tractable for further processing
               steps. This paper introduces an approach to approximate the exact
               product with a mixture that uses less components. The maximum approximation
               error can be chosen by the user. This choice allows to trade accuracy
               of the approximation for the number of mixture components used. This
               is possible due to the usage of a progressive processing scheme that
               calculates the product operation by means of a system of ordinary
               differential equations. The solution of this system yields the parameters
               of the desired Gaussian mixture.},
  keywords  = {Gaussian Mixtures},
  pdf       = {Fusion05_Schrempf-MixtureReduction.pdf}
}

@inproceedings{IFAC05_Schrempf-HybridBN,
  author       = {Oliver C. Schrempf and Uwe D. Hanebeck},
  title        = {{E}valuation of {H}ybrid {B}ayesian {N}etworks using {A}nalytical {D}ensity {R}epresentations},
  booktitle    = {Proceedings of the 16th IFAC World Congress (IFAC 2005)},
  year         = {2005},
  address      = {Prague, Czech Republic},
  month        = jul,
  organization = {IFAC},
  abstract     = {In this article, a new mechanism is described for modeling and evaluating
                  Hybrid Dynamic Bayesian networks. The approach uses Gaussian mixtures
                  and Dirac mixtures as messages to calculate marginal densities. As
                  these densities are approximated by means of Gaussian mixtures, any
                  desired precision is possible. The presented approach removes the
                  restrictions of sample based evaluation of Bayesian networks since
                  it uses an analytical approximation scheme for probability densities
                  which systematically minimizes the distance between the exact and
                  the approximate density.},
  keywords     = {Hybrid Bayesian Networks},
  pdf          = {IFAC05_Schrempf-HybridBN.pdf}
}

@inproceedings{ICRA05_Brunn-Splines,
  author    = {Dietrich Brunn and Uwe D. Hanebeck},
  title     = {{A} {M}odel-{B}ased {F}ramework for {O}ptimal {M}easurements in {M}achine {T}ool {C}alibration},
  booktitle = {Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA 2005)},
  year      = {2005},
  address   = {Barcelona, Spain},
  month     = apr,
  abstract  = {Calibration is the procedure of quantifying mechanical depciencies
               of machines and compensating them by appropriate adjustment. This
               paper introduces a model- based measurement framework for improving
               calibration procedures of machine tools. The goal is to precisely
               estimate the mechanical depciencies based on a minimal number of
               measurements. For that purpose, the mechanical depciencies of linear
               and rotary joints are modeled using splines. Uncertainties of the
               depciency model are formulated stochastically, which allows incorporation
               of imprecise measurement data and prediction of optimal measurement
               parameters. We derive a method for optimally estimating a set of
               splines, i.e., joint errors, based on a set of measurements and for
               predicting the optimal joint configuration for new measurements.},
  pdf       = {ICRA05_Brunn-Splines.pdf}
}

@inproceedings{ICASSP05_Beutler,
  author    = {Frederik Beutler and Uwe D. Hanebeck},
  title     = {{C}losed-{F}orm {R}ange-{B}ased {P}osture {E}stimation {B}ased on {D}ecoupling {T}ranslation and {O}rientation},
  booktitle = {Proceedings of the 2005 IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP 2005)},
  year      = {2005},
  volume    = {4},
  pages     = {989--992},
  address   = {Philadelphia, Pennsylvania, USA},
  month     = mar,
  abstract  = {For estimating the posture, i.e., position and orientation, of an
               extended target based on range measurements, a new closed-form solution
               is proposed, which is based on decoupling position and orientation.
               For decoupling, any procedure for range-based localization of point
               targets, i.e., for mere position estimation, can be used. The new
               solution is suboptimal, but nevertheless provides good accuracy and
               is very practical from an application point of view.},
  pdf       = {ICASSP05_Beutler.pdf}
}

@inproceedings{CSIT04-Schrempf_HybridBN,
  author    = {Oliver C. Schrempf and Uwe D. Hanebeck},
  title     = {{A} {N}ew {A}pproach for {H}ybrid {B}ayesian {N}etworks {U}sing {F}ull {D}ensities},
  booktitle = {Proceedings of the 6th International Workshop on Computer Science and Information Technologies (CSIT 2004)},
  year      = {2004},
  volume    = {1},
  pages     = {32--37},
  address   = {Budapest, Hungary},
  month     = oct,
  abstract  = {In this article, a new mechanism is described for modeling and evaluating
               hybrid Bayesian networks. The approach uses Gaussian mixtures and
               Dirac mixtures as messages to calculate marginal densities. The mechanism
               is proven to be exact, hence the accuracy of resulting marginals
               is only dependending on the accuracy of the conditional densities.
               As these densities are approximated by means of Gaussian mixtures,
               any desired precision can be achieved. The presented approach removes
               the restrictions concerning the ancestry of discrete nodes often
               made in literature. Hence it enables the designer to model arbitrary
               parent-child relationships using continuous and discrete variables.},
  keywords  = {Hybrid Bayesian Networks},
  pdf       = {CSIT04-Schrempf_HybridBN.pdf}
}

@inproceedings{Sensors04_Beutler,
  author    = {Frederik Beutler and Uwe D. Hanebeck},
  title     = {{A} {N}ew {N}onlinear {F}iltering {T}echnique for {S}ource {L}ocalization},
  booktitle = {Proceedings of the 3rd IEEE Conference on Sensors (Sensors 2004)},
  year      = {2004},
  volume    = {1},
  pages     = {413--416},
  address   = {Vienna, Austria},
  month     = oct,
  abstract  = {A new model-based approach for estimating the parameters of an arbitrary
               transformation between two discrete-time sequences will be introduced.
               One sequence is interpreted as part of a nonlinear measurement equation,
               the other sequence is typically measured sequentially. Based on every
               measured value, the probability density function of the parameters
               is updated using a Bayesian approach. For the evolution of the system
               over time, a system equation is included. The new approach provides
               a high update rate for the desired parameters up to the sampling
               rate with high accuracy. It will be demonstrated for source localization
               of a speaker, where the parameters describe the position of the source.},
  pdf       = {Sensors04_Beutler.pdf}
}

@inproceedings{SMC04_Roessler,
  author    = {Patrick R{\"o}\ss{}ler and Uwe D. Hanebeck},
  title     = {{T}elepresence {T}echniques for {E}xception {H}andling in {H}ousehold {R}obots},
  booktitle = {Proceedings of the 2004 IEEE International Conference on Systems, Man and Cybernetics (SMC 2004)},
  year      = {2004},
  volume    = {1},
  pages     = {53--58},
  address   = {The Hague, The Netherlands},
  month     = oct,
  doi       = {10.1109/ICSMC.2004.1398272},
  abstract  = {The hardware for humanoid household robots
               will be available in the near future. As households are unstructured
               domains and interaction with human users is ambiguous,
               these robots encounter unexpected situations, so
               called exceptions. These render the robot unusable, if not
               handled fast and transparently to the user. Telepresent exception
               handling gives the technical staff an intuitive interface
               to the robots and is transparent to the client. We propose
               a service center for telepresent exception handling, which
               is directly available and thus allows the use of humanoid
               domestic robots as soon as the corresponding hardware is
               commercially available.},
  pdf       = {SMC04_Roessler.pdf}
}

@inproceedings{MECHROB04_Roessler,
  author    = {Patrick R{\"o}\ss{}ler and Uwe D. Hanebeck and Norbert Nitzsche},
  title     = {{F}eedback {C}ontrolled {M}otion {C}ompression for {E}xtended {R}ange {T}elepresence},
  booktitle = {Proceedings of the 2004 IEEE International Conference on Mechatronics \& Robotics (MechRob 2004)},
  year      = {2004},
  pages     = {1447-1452},
  address   = {Aachen, Germany},
  month     = sep,
  abstract  = {Telepresence aims at giving a human user the
               impression of being present in a remote environment. This
               is achieved by having a robot, that is actually present in the
               remote environment, gather visual data. This data is presented
               to the user, who is wearing a head mounted display. In order
               to extend telepresence to an intuitive user interface for robot
               teleoperation, the user's motion is tracked and replicated by
               the robot. The user can now interact more naturally with
               the remote environment simply by walking around. Without
               further processing of the motion data, the size of the remote
               environment is limited to the size of the user environment.
               Using the motion compression algorithm allows users to be
               telepresent in large target environments while the size of the
               user environment is limited. However, as a consequence of
               the influence of standard motion compression on the user's
               natural navigation, he tends to leave the desired path. This can
               even lead to users leaving the user environment. We address
               this problem by introducing controlled motion compression
               which adds a feedback controller to motion compression.
               This controller modifies the user's perception of the target
               environment in such a way, that he is controlled on the path.},
  pdf       = {MECHROB04_Roessler.pdf}
}

@inproceedings{IPDPS04_Weissel,
  author    = {Michael Huebner and Michael Ullmann and Florian Weissel and Juergen Becker},
  title     = {{Real-time Configuration Code Decompression for Dynamic FPGA Self-Reconfiguration}},
  booktitle = {Proceedings of the 18th International Parallel and Distributed Processing Symposium (IPDPS'04)},
  year      = {2004},
  pages     = {138--143},
  address   = {Santa F{\'e}, New Mexico, USA},
  month     = apr,
  abstract  = {Xilinx Virtex FPGAs have the possibility of dynamical partial run-time
               reconfiguration. If a system uses this feature with many different
               configuration bitstreams for substitution of parts in reconfiguration
               memory, the amout of neccesary memory increases. The sum of memory
               amout which has to be provided for the configuration data is not
               negligible. This fact suggests the investigation of compressing data
               before they are stored in memory modules of a system.The compressed
               bitstream data has to be decrompressed before transferring it to
               the FPGA. This paper shows an approach of compressing configuration
               data at design time and decompressing them with a hardware module
               implemented on FPGA while run-time.}
}

@article{PRE04_Nitzsche,
  author    = {Norbert Nitzsche and Uwe D. Hanebeck and G{\"u}nther Schmidt},
  title     = {{M}otion {C}ompression for {T}elepresent {W}alking in {L}arge {T}arget {E}nvironments},
  journal   = {Presence: Teleoperators \& Virtual Environments},
  year      = {2004},
  volume    = {13},
  pages     = {44--60},
  number    = {1},
  month     = feb,
  publisher = {The MIT press},
  abstract  = {Telepresent walking allows visits to remote places such as museums,
               exhibitions, architecture, or industrial sites with a high degree of realism.
               While walking freely around in the user environment, the user sees the
               remote environment through the eyes of a remote mobile teleoperator.
               For that purpose, the user's motion is tracked and transferred to the
               teleoperator. Without additional processing of the motion data, the size of
               the remote environment to be explored is limited to the size of the user environment.
               This paper proposes an extension of telepresent walking to arbitrarily large remote
               or virtual spaces based on compressing wide-area motion into the available user space.
               Motion compression is a novel approach and does not make use of scaling or
               walking-in-place metaphors. Rather, motion compression introduces some deviation of
               curvature between user motion and teleoperator motion. An optimization approach is
               used to find the user path of minimum curvature deviation with respect to a given
               predicted teleoperator path that fits inside the boundaries of the user environment.
               Turning angles and travel distances are mapped with a 1:1 ratio to provide the desired
               impression of realistic self-locomotion in the teleoperator's environment.
               The effects of the curvature deviation on inconsistent perception of
               locomotion are studied in two experiments.},
  url       = {https://dx.doi.org/10.1162/105474604774048225}
}

@article{RA04_Briechle,
  author   = {Kai Briechle and Uwe D. Hanebeck},
  title    = {{L}ocalization of a {M}obile {R}obot {U}sing {R}elative {B}earing {M}easurements},
  journal  = {IEEE Transactions on Robotics and Automation},
  year     = {2004},
  volume   = {20},
  pages    = {36--44},
  month    = feb,
  doi      = {https://dx.doi.org/10.1109/TRA.2003.820933},
  abstract = {In this paper, the problem of recursive robot localization
              based on relative bearing measurements is considered,
              where unknown but bounded measurement uncertainties are
              assumed. A common approach is to approximate the resulting
              set of feasible states by simple-shaped bounding sets such as, e.g.,
              axis-aligned boxes, and calculate the optimal parameters of this
              approximation based on the measurements and prior knowledge.
              In the novel approach presented here, a nonlinear transformation
              of the measurement equation into a higher dimensional space is
              performed. This yields a tight, possibly complex-shaped, bounding
              set in a closed-form representation whose parameters can be
              determined analytically for the measurement step. It is shown that
              the new bound is superior to commonly used outer bounds.},
  pdf      = {RA04_Briechle.pdf}
}

@inproceedings{CDC03_Feiermann-ProgBayes,
  author    = {Uwe D. Hanebeck and Olga Feiermann},
  title     = {{P}rogressive {B}ayesian {E}stimation for {N}onlinear {D}iscrete-{T}ime {S}ystems: {T}he {F}ilter {S}tep for {S}calar {M}easurements and {M}ultidimensional {S}tates},
  booktitle = {Proceedings of the 2003 IEEE Conference on Decision and Control (CDC 2003)},
  year      = {2003},
  pages     = {5366--5371},
  address   = {Maui, Hawaii, USA},
  month     = dec,
  abstract  = {This paper is concerned with recursively estimating the internal state
               sequence of a discrete-time dynamic system by processing a sequence
               of noisy measurements taken from the system output. Recursive processing
               requires some kind of sufficient statistic for representing the information
               collected up to a certain time step. For this purpose, the probability
               density functions of the state are especially well suited. Once they
               are available, almost any type of point estimate, e.g. mean, mode,
               or median, can be derived. In the case of continuous states, however,
               the exact probability density functions characterizing the state
               estimate are in general either not feasible or not well suited for
               recursive processing. Hence, approximations of the true densities
               are generally inevitable, where Gaussian mixture approximations are
               convenient for a number of reasons. However, calculating appropriate
               mixture parameters that minimize a global measure of deviation from
               the true density is a tough optimization task. Here, we propose a
               new approximation method that minimizes the squared integral deviation
               between the true density and its mixture approximation. Rather than
               trying to solve the original problem, it is converted into a corresponding
               system of explicit ordinary first-order differential equations. This
               system of differential equations is then solved over a finite time
               interval, which is an efficient way of calculating the desired optimal
               parameter values. We focus on the measurement update in the important
               case of vector states and scalar measurements. In addition, approximation
               densities with separable kernels are assumed. It will be shown, that
               if the measurement nonlinearities are also separable, the required
               multidimensional integrals can be reduced to the product of one-dimensional
               integrals. For several important types of measurement functions including
               polynomial measurement nonlinearities, closed-form analytic expressions
               for the coefficients of the system of differential equations are
               available.},
  pdf       = {CDC03_Feiermann-ProgBayes.pdf}
}

@incollection{AMS03_Roessler,
  author    = {Patrick R{\"o}\ss{}ler and Uwe D. Hanebeck and Marian Grigoras and Paul T. Pilgram and Joachim Bamberger and Clemens Hoffmann},
  title     = {{A}utomatische {K}artographierung der {S}ignalcharakteristik in {F}unknetzwerken},
  booktitle = {Autonome Mobile Systeme 2003 (AMS 2003), 18.~Fachgespr{\"a}ch, Karlsruhe, Informatik Aktuell},
  publisher = {Springer},
  year      = {2003},
  editor    = {R{\"u}diger Dillmann and Tilo Gockel and Heinz W{\"o}rn},
  url       = {https://dx.doi.org/10.1007/978-3-642-18986-9_21},
  month     = oct,
  abstract  = {Sowohl f{\"{u}}r die Installation, Inbetriebnahme und Diagnose eines Funknetzwerks,
               als auch zur Ortung von mobilen Kommunikationsendger{\"{a}}ten, ist es von gro\ss{}er Bedeutung,
               die Ausbreitungseigenschaften des elektromagnetischen Feldes der Sendeantennen zu kennen.
               In dieser Arbeit wird ein Robotersystem zur automatischen Vermessung der {\"{o}}rtlichen
               Signalcharakteristik der Funksender am Beispiel von Feldst{\"{a}}rkemessungen vorgestellt.}
}

@inproceedings{ECC03_Hanebeck,
  author    = {Uwe D. Hanebeck and Joachim Horn},
  title     = {{D}ata {V}alidation in the {P}resence of {I}mprecisely {K}nown {C}orrelations},
  booktitle = {Proceedings of the 2003 European Control Conference 2003 (ECC 2003)},
  year      = {2003},
  address   = {Cambridge, United Kingdom},
  month     = sep,
  abstract  = {This paper derives fundamental results for data validation in
               the presence of imprecisely known correlations. Given a constraint
               on the maximum absolute correlation of a given estimate
               and measurement data, a tight upper bound for the joint
               covariance matrix is derived, which finally yields a modified
               Mahalanobis distance. The special cases of one-dimensional
               and two-dimensional random variables are discussed.},
  pdf       = {ECC03_Hanebeck.pdf}
}

@inproceedings{ECC03_Horn-SetBasedLocalization,
  author    = {Joachim Horn and Uwe D. Hanebeck and Konrad Riegel and Kai Heesche and Werner Hauptmann},
  title     = {{N}onlinear {S}et-{T}heoretic {P}osition {E}stimation of {C}ellular {P}hones},
  booktitle = {Proceedings of the 2003 European Control Conference (ECC 2003)},
  year      = {2003},
  address   = {Cambridge, United Kingdom},
  month     = sep,
  abstract  = {Within the existing GSM standard, several measurements are
               available that can be used for estimating the position of a cellular
               phone. First, the timing advance (TA) gives an estimate
               for the distance to the serving base station. Second, the signal
               strengths (RXLEV) of neighbouring base stations can also be
               interpreted as distance information. Both TA and RXLEV are
               subject to measurement errors caused for example by shadowing,
               reflections, and fast fading. Thus, a nonlinear set-theoretic
               estimation technique based on pseudo ellipsoids is applied. The
               uncertainty regions in the original space defined by the measurements
               are transformed into a hyperspace of higher dimension
               and described by pseudo ellipsoids. An approximation of
               the set intersection of the pseudo ellipsoids can be calculated
               recursively by a linear set-theoretic filter. The resulting pseudo
               ellipsoid is transformed back into the original space, and the
               position estimate is calculated as center of gravity of the resulting
               uncertainty region. The algorithm is evaluated based on
               the data of an extensive field trial in a rural area. Compared
               to Cell ID, the accuracy is significantly increased by using TA
               and RXLEV, reducing the mean error by half.},
  pdf       = {ECC03_Horn-SetBasedLocalization.pdf}
}

@inproceedings{SYSID03_Hanebeck,
  author    = {Uwe D. Hanebeck},
  title     = {{O}ptimal {F}iltering of {N}onlinear {S}ystems {B}ased on {P}seudo {G}aussian {D}ensities},
  booktitle = {Proceedings of the 13th IFAC Symposium on System Identification (SYSID 2003)},
  year      = {2003},
  pages     = {331--336},
  address   = {Rotterdam, Netherlands},
  month     = aug,
  abstract  = {We consider the problem of estimating the state of a discrete-time
               dynamic system comprising a linear system equation and a nonlinear measurement
               equation based on measurements corrupted by non-Gaussian noise. The problem is
               solved by recursively calculating the complete posterior density of the state given
               the measurements. For representing the resulting non-Gaussian posterior, a new
               exponential type density, the so called pseudo Gaussian density, is introduced. By
               converting the original nonlinear system to an equivalent linear representation in
               a higher-dimensional space, the parameters of the pseudo Gaussian posterior are
               obtained by means of a linear estimator operating in the higher-dimensional space.
               The resulting filtering algorithms are easy to implement and always guarantee valid
               posterior densities.},
  pdf       = {SYSID03_Hanebeck.pdf}
}

@inproceedings{MFI03_Hanebeck,
  author    = {Uwe D. Hanebeck},
  title     = {{P}rogressive {B}ayesian {E}stimation for {N}onlinear {D}iscrete-{T}ime {S}ystems: {T}he {M}easurement {S}tep},
  booktitle = {Proceedings of the 2003 IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2003)},
  year      = {2003},
  pages     = {173--178},
  address   = {Tokyo, Japan},
  month     = jul,
  pdf       = {MFI03_Hanebeck.pdf},
  abstract  = {This paper is concerned with estimating the internal state
               of a dynamic system by processing measurements taken from
               the system output. An exact analytic representation of the
               probability density functions characterizing the estimate may
               not be possible to obtain. Even when available, it may be
               too complex or not practical because, for example, recursive
               application is required. Hence, approximations are generally
               inevitable. Gaussian mixture approximations are convenient
               for a number of reasons. However, calculating appropriate
               mixture parameters that minimize a global measure of deviation
               from the true density is a tough optimization task. Here,
               we propose a new approximation method that minimizes the
               squared integral deviation between the the true density and
               its mixture approximation. Rather than trying to solve the
               original problem, it is converted into a corresponding system
               of explicit ordinary first-order differential equations. This
               system of differential equations is then solved over a finite
               "time" interval, which is an efficient way of calculating the
               desired optimal parameter values. For polynomial measurement
               nonlinearities, closed-form analytic expressions for the
               coefficients of the system of differential equations are derived.}
}

@inproceedings{SPIE03_HanebeckBriechle-ProgBayes,
  author    = {Uwe D. Hanebeck and Kai Briechle and Andreas Rauh},
  title     = {{P}rogressive {B}ayes: {A} {N}ew {F}ramework for {N}onlinear {S}tate {E}stimation},
  booktitle = {Proceedings of SPIE, AeroSense Symposium},
  year      = {2003},
  volume    = {5099},
  pages     = {256 -- 267},
  address   = {Orlando, Florida, USA},
  abstract  = {This paper is concerned with recursively estimating the internal state of a nonlinear dynamic system by processing
               noisy measurements and the known system input. In the case of continuous states, an exact analytic
               representation of the probability density characterizing the estimate is generally too complex for recursive estimation
               or even impossible to obtain. Hence, it is replaced by a convenient type of approximate density characterized
               by a finite set of parameters. Of course, parameters are desired that systematically minimize a given measure of
               deviation between the (often unknown) exact density and its approximation, which in general leads to a complicated
               optimization problem. Here, a new framework for state estimation based on progressive processing is
               proposed. Rather than trying to solve the original problem, it is exactly converted into a corresponding system
               of explicit ordinary first-order differential equations. Solving this system over a finite "time" interval yields the
               desired optimal density parameters.},
  month     = may,
  pdf       = {SPIE03_HanebeckBriechle-ProgBayes.pdf}
}

@inproceedings{SPIE03_Horn,
  author    = {Joachim Horn and Uwe D. Hanebeck and Konrad Riegel and Kai Heesche and Werner Hauptmann},
  title     = {{N}onlinear {S}et--{T}heoretic {P}osition {E}stimation of {C}ellular {P}hones},
  booktitle = {Proceedings of SPIE, Vol. 5084, AeroSense Symposium},
  year      = {2003},
  pages     = {51--58},
  address   = {Orlando, Florida, USA},
  month     = may,
  pdf       = {SPIE03_Horn.pdf}
}

@inproceedings{SPIE03_Nitzsche,
  author    = {Norbert Nitzsche and Uwe D. Hanebeck and G{\"u}nther Schmidt},
  title     = {{M}otion {C}ompression for {T}elepresent {W}alking in {L}arge-{S}cale {R}emote {E}nvironments},
  booktitle = {Proceedings of SPIE, Vol. 5079, AeroSense Symposium},
  year      = {2003},
  pages     = {265--276},
  address   = {Orlando, Florida, USA},
  month     = may,
  owner     = {klumpp},
  abstract  = {Telepresent walking creates the sensation of walking through a target environment, which is not directly accessible
               to a human, e.g. because it is remote, hazardous, or of inappropriate scale. A mobile teleoperator replicates user
               motion and collects visual and auditory information from the target environment, which is then sent and displayed
               to the user. While walking freely about the user environment, the user perceives the target environment with the
               sensors of the teleoperator and feels as if walking through the target environment. Without additional processing
               of the user's motion data, the size of the target environment to be explored is limited to the size of the user
               environment. Motion compression extends telepresent walking to arbitrarily large target environments without
               making use of scaling or walking-in-place metaphors. Both travel distances and turning angles are mapped with
               ratio 1:1.},
  pdf       = {SPIE03_Nitzsche.pdf},
  timestamp = {2007.05.23}
}

@inproceedings{SPIE03_Rauh,
  author    = {Andreas Rauh and Kai Briechle and Uwe D. Hanebeck and Clemens Hoffmann and Joachim Bamberger and Marian Grigoras},
  title     = {{L}ocalization of {DECT} {M}obile {P}hones {B}ased on a {N}ew {N}onlinear {F}iltering {T}echnique},
  booktitle = {Proceedings of SPIE, Vol. 5084, AeroSense Symposium},
  year      = {2003},
  pages     = {39--50},
  address   = {Orlando, Florida, USA},
  month     = may,
  owner     = {klumpp},
  abstract  = {In this paper, nonlinear Bayesian filtering techniques are applied to the localization of mobile radio communication
               devices. The application of this approach is demonstrated for the localization of DECT mobile telephones in
               a scenario with several base stations and a mobile handset. The received signal power, measured by the mobile
               handsets, is related to their position by nonlinear measurement equations. These consist of a deterministic part,
               modeling the received signal power as a function of the position, and a stochastic part, describing model errors
               and measurement noise. Additionally, user models are considered, which express knowledge about the motion
               of the user of the handset. The new Prior Density Splitting Mixture Estimator (PDSME), a Gaussian mixture
               filtering algorithm, significantly improves the localization quality compared to standard filtering techniques as
               the Extended Kalman Filter (EKF).},
  pdf       = {SPIE03_Rauh.pdf},
  timestamp = {2007.05.23}
}

@article{SPL03_Rauh,
  author    = {Andreas Rauh and Uwe D. Hanebeck},
  title     = {{C}alculating {M}oments of {E}xponential {D}ensities {U}sing {D}ifferential {A}lgebraic {E}quations},
  journal   = {IEEE Signal Processing Letters},
  year      = {2003},
  volume    = {10},
  pages     = {144--147},
  number    = {5},
  month     = may,
  owner     = {klumpp},
  pdf       = {SPL03_Rauh.pdf},
  timestamp = {2007.05.23}
}

@article{AT03_Nitzsche,
  author    = {Norbert Nitzsche and Uwe D. Hanebeck and G{\"u}nther Schmidt},
  title     = {{M}obile haptische {S}chnittstellen f{\"u}r weitr{\"a}umige {T}elepr{\"a}senz: {I}dee und {M}ethodik},
  journal   = {at -- Automatisierungstechnik},
  year      = {2003},
  volume    = {51},
  pages     = {5--12},
  number    = {1},
  month     = jan,
  doi       = {10.1524/auto.51.1.5.18872},
  owner     = {klumpp},
  pdf       = {AT03_Nitzsche.pdf},
  abstract  = {Dieser Beitrag besch{\"a}ftigt sich mit Telepr{\"a}senzsystemen zur Interaktion mit weitr{\"a}umigen
               realen oder virtuellen Zielumgebungen. Die daf{\"u}r notwendige Fortbewegung wird durch
               freie, gehende Fortbewegung des Anwenders erreicht. Um gleichzeitig haptische Interaktion
               mit einer Zielumgebung zu erm{\"o}glichen, wird die haptische Schnittstelle mit dem Anwender
               mitgef{\"u}hrt. Neuartig ist dabei der Einsatz einer mobilen haptischen Schnittstelle, die der Fortbewegung
               des Anwenders aktiv folgt. Basierend auf den dargestellten Methoden wurde ein
               prototypisches Telepr{\"a}senzsystem zur haptischen Exploration von ausgedehnten virtuellen
               Umgebungen entwickelt und getestet.

               This article is concerned with telepresence systems for interaction with extended real or virtual
               target environments. Locomotion required for this type of interaction is governed by free,
               walking locomotion of the operator. In order to allow haptic interaction with the target environment
               simultaneously, a haptic interface following the operator is employed. As a novel
               approach, we present a mobile haptic interface, which actively follows the operator's locomotion.
               Based on the presented methodology, a prototypic telepresence system for haptic
               exploration of extended virtual environments has been implemented and tested.},
  publisher = {Oldenbourg Verlag},
  timestamp = {2007.05.23}
}

@article{DGON02_Horn,
  author    = {Joachim Horn and Uwe D. Hanebeck and Konrad Riegel and Kai Heesche and Werner Hauptmann},
  title     = {{N}onlinear {S}et--{T}heoretic {P}osition {E}stimation of {C}ellular {P}hones},
  journal   = {Ortung und Navigation, Deutsche Gesellschaft f{\"u}r Ortung und Navigation e.V. (DGON)},
  year      = {2002},
  volume    = {1},
  pages     = {93--99},
  owner     = {klumpp},
  timestamp = {2007.05.23}
}

@inproceedings{HCRS02_Nitzsche,
  author    = {Norbert Nitzsche and Uwe D. Hanebeck and G{\"u}nther Schmidt},
  title     = {{E}xtending {T}elepresent {W}alking by {M}otion {C}ompression},
  booktitle = {1. SFB-Aussprachetag Human Centered Robotic Systems (HCRS 2002)},
  year      = {2002},
  pages     = {83--90},
  address   = {Karlsruhe, Germany},
  month     = dec,
  owner     = {klumpp},
  abstract  = {Telepresent walking allows visiting remote places
               such as museums, exhibitions or industrial sites with a
               high degree of realism. While walking freely around in
               the user environment, the user sees the remote environment
               "through the eyes" of a remote mobile teleoperator.
               For that purpose, the user's motion is tracked
               and transferred to the teleoperator. Without additional
               processing of the motion data, the size of the remote
               environment to be explored is limited to the size of the
               user environment. This paper proposes an extension
               of telepresent walking to arbitrarily large remote or
               virtual spaces based on compressing wide area motion
               into the available user space. Motion Compression is
               a novel technique and does not make use of scaling or
               walking-in-place metaphors. Turning angles and travel
               distances are mapped with ratio 1:1.},
  pdf       = {HCRS02_Nitzsche.pdf},
  timestamp = {2007.05.23}
}

@phdthesis{Habil02_Hanebeck,
  author    = {Uwe D. Hanebeck},
  title     = {{N}onlinear {M}ethods for {S}tate {E}stimation in {S}tochastic {D}ynamic {S}ystems --- {A} {C}oncise {I}ntroduction},
  school    = {Department of Electrical Engineering and Information Technology, Technische Universit{\"a}t M{\"u}nchen, Referent: G.~Schmidt, Korreferent: V. Krebs},
  year      = {2002},
  type      = {Habilitation Thesis},
  month     = sep,
  owner     = {klumpp},
  timestamp = {2007.05.24}
}

@inproceedings{DSP02_Roessler,
  author    = {Patrick R{\"o}\ss{}ler and Sascha A. Stoeter and Paul E. Rybski and Maria Gini and Nikolaos Papanikolopoulos},
  title     = {{V}isual {S}ervoing of a {M}iniature {R}obot {T}oward a {M}arked {T}arget},
  booktitle = {Proceedings of the IEEE International Conference on Digital Signal Processing},
  year      = {2002},
  address   = {Santorini, Greece},
  month     = jul,
  owner     = {klumpp},
  timestamp = {2007.05.23}
}

@inproceedings{ICRA02_Lorch,
  author    = {Oliver Lorch and Javier F. Seara and Klaus H. Strobl and Uwe D. Hanebeck and G{\"u}nther Schmidt},
  title     = {{P}erception {E}rrors in {V}ision {G}uided {W}alking: {A}nalysis, {M}odeling, and {F}iltering},
  booktitle = {Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA 2002)},
  year      = {2002},
  url       = {https://ieeexplore.ieee.org/document/1014842/},
  address   = {Washington D.C., USA},
  month     = may,
  owner     = {klumpp},
  timestamp = {2007.05.23}
}

@inproceedings{LOCELLUS02_Horn,
  author    = {Joachim Horn and Uwe D. Hanebeck and Konrad Riegel and Kai Heesche and Werner Hauptmann},
  title     = {{N}onlinear {S}et--{T}heoretic {P}osition {E}stimation of {C}ellular {P}hones},
  booktitle = {International Symposium on Location Based Services for Cellular Users (LOCELLUS 2002)},
  year      = {2002},
  address   = {Munich, Germany},
  month     = apr,
  owner     = {klumpp},
  timestamp = {2007.05.23}
}

@inproceedings{ECC01_Hanebeck-SetTheoreticEst,
  author    = {Uwe D. Hanebeck},
  title     = {{A} {S}quare--{R}oot {A}lgorithm for {S}et {T}heoretic {S}tate {E}stimation},
  booktitle = {Proceedings of the 2001 European Control Conference (ECC 2001)},
  year      = {2001},
  address   = {Porto, Portugal},
  month     = sep,
  owner     = {klumpp},
  pdf       = {ECC01_Hanebeck-SetTheoreticEst.pdf},
  abstract  = {This paper presents a modified set theoretic framework
               for estimating the state of a linear dynamic system based
               on uncertain measurements. The measurement errors are
               assumed to be unknown but bounded by ellipsoidal sets.
               Based on this assumption, a recursive state estimator is
               (re-)derived in a tutorial fashion. It comprises both the
               prediction step (time update), i.e., propagation of a set
               of feasible states by means of the system model and the
               filter step (measurement update), i.e., inclusion of a new
               measurement into the current estimate. The main contribution
               is an efficient square-root formulation of this
               estimator, which is well suited especially for practical
               applications.},
  timestamp = {2007.05.23}
}

@inproceedings{ECC01_HanebeckHorn-MixStochSetUncertainty,
  author    = {Uwe D. Hanebeck and Joachim Horn},
  title     = {{N}ew {E}stimators {f}or {M}ixed {S}tochastic and {S}et {T}heoretic {U}ncertainty {M}odels: {T}he {G}eneral {C}ase},
  booktitle = {Proceedings of the 2001 European Control Conference (ECC 2001)},
  year      = {2001},
  address   = {Porto, Portugal},
  month     = sep,
  owner     = {klumpp},
  pdf       = {ECC01_HanebeckHorn-MixStochSetUncertainty.pdf},
  abstract  = {New filters are derived for estimating the n-dimensional
               state of a linear dynamic system based on uncertain m-
               dimensional observations, which suffer from two types of
               uncertainties simultaneously. The first uncertainty is a
               stochastic process with given distribution. The second uncertainty
               is only known to be bounded, the exact underlying
               distribution is unknown. The new estimators combine
               set theoretic and stochastic estimation in a rigorous manner
               and provide a continuous transition between the two
               classical estimation concepts. They converge to a set theoretic
               estimator, when the stochastic error goes to zero,
               and to a Kalman filter, when the bounded error vanishes.
               In the mixed noise case, solution sets are provided that
               are uncertain in a stochastic sense.},
  timestamp = {2007.05.23}
}

@inproceedings{ROMAN01_Nitzsche,
  author    = {Norbert Nitzsche and Uwe D. Hanebeck and G{\"u}nther Schmidt},
  title     = {{M}obile {H}aptic {I}nteraction with {E}xtended {R}eal or {V}irtual {E}nvironments},
  booktitle = {Proceedings of the 10th IEEE International Workshop on Robot--Human Interactive Communication (ROMAN 2001)},
  year      = {2001},
  address   = {Bordeaux/Paris, France},
  month     = sep,
  abstract  = {A mobile interface for physical interaction with extended real or
               virtual environments is presented, which frees the operator from being bound to
               a stationary workstation. The operator's unrestricted walking is available as input
               to the locomotion control of the teleoperator or the avatar. Hence, the operator
               uses proprioceptive perception of locomotion, which is required for navigation and
               wayfinding. To allow unrestricted local locomotion, the haptic interface moves
               along with the operator. This could be achieved by using a portable kinesthetic
               interface, which, however, is not capable of displaying large external forces.
               A mobile haptic interface, which actively follows the operator's locomotion.
               The corresponding locomotion platform is continuously positioned in such a way
               that maximum manipulability is guaranteed. In order to accomplish this under
               the kinematic and dynamic restrictions of the wheel-based platform, the operator's
               intention of locomotion is predicted. A prototype telepresence system for
               kinesthetic exploration of extended virtual environments has been designed
               according to the proposed paradigm, implemented, and tested.},
  pdf       = {ROMAN01_Nitzsche.pdf}
}

@inproceedings{MFI01_Hanebeck-PseudoEllipsoids,
  author    = {Uwe D. Hanebeck},
  title     = {{R}ecursive {N}onlinear {S}et--{T}heoretic {E}stimation {B}ased on {P}seudo--{E}llipsoids},
  booktitle = {Proceedings of the 2001 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2001)},
  year      = {2001},
  pages     = {159--164},
  address   = {Baden--Baden, Germany},
  month     = aug,
  owner     = {klumpp},
  pdf       = {MFI01_Hanebeck-PseudoEllipsoids.pdf},
  abstracts = {In this paper, the problem of estimating a vector
               x of unknown quantities based on a set of measurements
               depending nonlinearly on x is considered. The
               measurements are assumed to be taken sequentially
               and are corrupted by unknown but bounded uncertainties.
               For this uncertainty model, a systematic design
               approach is introduced, which yields closed-form
               expressions for the desired nonlinear estimates. The
               estimates are recursively calculated and provide solution
               sets X containing the feasible sets, i.e., the sets
               of all x consistent with all the measurements available
               and their associated bounds. The sets X are tight
               upper bounds for the exact feasible sets and are in
               general not convex and not connected. The proposed
               design approach is versatile and the resulting nonlinear
               filter algorithms are both easy to implement and
               efficient.},
  timestamp = {2007.05.23}
}

@inproceedings{MFI01_HanebeckBriechle-UnknownCorr,
  author    = {Uwe D. Hanebeck and Kai Briechle},
  title     = {{N}ew {R}esults for {S}tochastic {P}rediction and {F}iltering {w}ith {U}nknown {C}orrelations},
  booktitle = {Proceedings of the 2001 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2001)},
  year      = {2001},
  pages     = {147--152},
  address   = {Baden--Baden, Germany},
  month     = aug,
  owner     = {klumpp},
  pdf       = {MFI01_HanebeckBriechle-UnknownCorr.pdf},
  abstract  = {This paper considers state estimation for dynamic
               systems in the case of nonwhite, mutually correlated
               noise processes. Here, the problem is complicated
               by the fact, that only the individual covariances are
               known; cross covariances between random variables
               obtained by taking individual noise processes at different
               time steps and between different noise processes
               are completely unknown. New estimator equations
               for solving this problem are derived in feedback form
               for both the prediction step and for the filtering step
               based on existing ideas known as covariance intersection.
               Solutions are given for the most general case
               of updating an N-dimensional state vector estimate
               based on M-dimensional observations. Furthermore,
               computationally efficient solutions for obtaining minimum
               covariance estimates are derived to avoid numerical
               optimization otherwise required.},
  timestamp = {2007.05.23}
}

@inproceedings{MFI01_HanebeckHorn-CovarianceBound,
  author    = {Uwe D. Hanebeck and Kai Briechle and Joachim Horn},
  title     = {{A} {T}ight {B}ound for the {J}oint {C}ovariance of {T}wo {R}andom {V}ectors with {U}nknown but {C}onstrained {C}ross--{C}orrelation},
  booktitle = {Proceedings of the 2001 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2001)},
  year      = {2001},
  pages     = {85--90},
  address   = {Baden--Baden, Germany},
  month     = aug,
  owner     = {klumpp},
  pdf       = {MFI01_HanebeckHorn-CovarianceBound.pdf},
  abstract  = {This paper derives a fundamental result for processing
               two correlated random vectors with unknown
               cross-correlation, where constraints on the maximum
               absolute correlation coefficient are given. A tight upper
               bound for the joint covariance matrix is derived
               on the basis of the individual covariances and the correlation
               constraint. For symmetric constraints, the
               bounding covariance matrix naturally possesses zero
               cross covariances, which further increases their usefulness
               in applications. Performance is demonstrated
               by recursively propagating a state through a linear
               dynamical system suffering from stochastic noise correlated
               with the system state.},
  timestamp = {2007.05.23}
}

@inproceedings{ACC01_Hanebeck,
  author    = {Uwe D. Hanebeck},
  title     = {{Optimal Filtering for Polynomial Measurement Nonlinearities with Additive Non-Gaussian Noise}},
  booktitle = {Proceedings of the 2001 American Control Conference (ACC 2001)},
  year      = {2001},
  address   = {Arlington, Virginia, USA},
  month     = jun,
  abstract  = {We consider the problem of estimating the n-dimensional state of a
               dynamic system based on m-dimensional discrete-time measurements.
               The measurements depend nonlinearly on the state and are corrupted
               by white non-Gaussian noise. The problem is solved by recursively
               calculating the complete posterior density of the state given the
               measurements. For that purpose, a new exponential type density is
               introduced, the so called pseudo Gaussian density, which is used
               to represent the complicated non-Gaussian posterior densities resulting
               from the recursion. For polynomial measurement nonlinearities and
               pseudo Gaussian noise densities, it is shown that the result of the
               optimal Bayesian measurement update is exactly obtained by a Kalman
               filter operating in a higher dimensional space. The resulting filtering
               algorithms are easy to implement and always guarantee valid posterior
               densities},
  pages     = {5028--5033},
  pdf       = {ACC01_Hanebeck.pdf}
}

@inproceedings{ACC01_HanebeckHorn-MixStochSetUncertainty,
  author    = {Uwe D. Hanebeck and Joachim Horn},
  title     = {{N}ew {E}stimators for {M}ixed {S}tochastic and {S}et {T}heoretic {U}ncertainty {M}odels: {T}he {G}eneral {C}ase},
  booktitle = {Proceedings of the 2001 American Control Conference (ACC 2001)},
  year      = {2001},
  address   = {Arlington, Virginia, USA},
  month     = jun,
  abstract  = {New filters are derived for estimating the n-dimensional state of
               a linear dynamic system based on uncertain m-dimensional observations,
               which suffer from two types of uncertainties simultaneously. The
               first uncertainty is a stochastic process with given distribution.
               The second uncertainty is only known to be bounded, the exact underlying
               distribution is unknown. The new estimators combine set theoretic
               and stochastic estimation in a rigorous manner and provide a continuous
               transition between the two classical estimation concepts. They converge
               to a set theoretic estimator, when the stochastic error goes to zero,
               and to a Kalman filter, when the bounded error vanishes. In the mixed
               noise case, solution sets are provided that are uncertain in a stochastic
               sense},
  pages     = {5040--5045}
}

@inproceedings{GMA01_Hanebeck,
  author    = {Uwe D. Hanebeck and Joachim Horn},
  title     = {{N}eue {E}rgebnisse zur {Z}ustandssch{\"a}tzung bei simultan auftretenden mengenbasierten und stochastischen {U}nsicherheiten},
  booktitle = {Tagungsband des GMA--Kongress Automatisierungstechnik im Spannungsfeld neuer Technologien 2001},
  year      = {2001},
  address   = {Baden--Baden, Germany},
  month     = may,
  owner     = {klumpp},
  abstract  = {Behandelt wird der allgemeine Fall der Schätzung des $n$--dimensionalen Zustands eines linearen dynamischen Systems auf der Grundlage
               von unsicheren $m$--dimensionalen Messungen, die simultan unter zwei unterschiedlichen Formen von Unsicherheit leiden. Die erste Unsicherheit ist
               durch einen stochastischen Prozess mit bekannter Charakteristik gegeben. Die zweite wird nur durch ihre Wertbegrenzung beschrieben, die
               Verteilungsdichte ist jedoch unbekannt. Das neue Filter verallgemeinert bekannte Konzepte wie das Kalman--Filter und das mengenbasierte Filter,
               und umfasst diese als Grenzfälle.},
  pdf       = {GMA01_HanebeckHorn.pdf},
  timestamp = {2007.05.23}
}

@inproceedings{SPIE01_BriechleHanebeck_CrossCorr,
  author    = {Kai Briechle and Uwe D. Hanebeck},
  title     = {{T}emplate {M}atching {u}sing {F}ast {N}ormalized {C}ross {C}orrelation},
  booktitle = {Proceedings of SPIE, Vol. 4387, AeroSense Symposium},
  year      = {2001},
  address   = {Orlando, Florida, USA},
  month     = apr,
  owner     = {klumpp},
  abstract  = {In this paper we present an algorithm for fast calculation
               of the normalized cross correlation (NCC) and its application to the problem
               of template matching. Given a template t, whose position is to be determined
               in an image f, the basic idea of the algorithm is to represent the template,
               for which the normalized cross correlation is calculated, as a sum of rectangular
               basis functions. Then the correlation is calculated for each basis function
               instead of the whole template. The result of the correlation of the template t
               and the image f is obtained as the weighted sum of the correlation functions
               of the basis functions. Depending on the approximation, the algorithm can by
               far outperform Fourier-transform based implementations of the normalized cross
               correlation algorithm and it is especially suited to problems, where many
               different templates are to be found in the same image f.},
  pdf       = {SPIE01_BriechleHanebeck_CrossCorr.pdf},
  timestamp = {2007.05.23}
}

@inproceedings{SPIE01_HanebeckHorn-SLAM,
  author    = {Uwe D. Hanebeck and Joachim Horn},
  title     = {{A}n {E}fficient {M}ethod {f}or {S}imultaneous {M}ap {B}uilding {a}nd {L}ocalization},
  booktitle = {Proceedings of SPIE, Vol. 4385, AeroSense Symposium},
  year      = {2001},
  address   = {Orlando, Florida, USA},
  month     = apr,
  owner     = {klumpp},
  pdf       = {SPIE01_HanebeckHorn-SLAM.pdf},
  abstract  = {We consider the problem of simultaneously locating an observer and a set of environmental landmarks with respect
               to an inertial coordinate system, when both the observer position and the landmark positions are initially uncertain.
               For solving this problem, a new state estimator is introduced, which allows the problem to be consistently
               solved locally.},
  timestamp = {2007.05.23}
}

@article{AT00_Hanebeck,
  author    = {Uwe D. Hanebeck and Joachim Horn},
  title     = {{Z}ustandssch{\"a}tzung im {F}all simultan auftretender mengenbasierter und stochastischer {U}nsicherheiten},
  journal   = {at -- Automatisierungstechnik},
  year      = {2000},
  volume    = {48},
  pages     = {265--272},
  number    = {6},
  url       = {https://www.degruyter.com/view/j/auto.2000.48.issue-6_2000/auto.2000.48.6.265/auto.2000.48.6.265.xml},
  owner     = {klumpp},
  publisher = {Oldenbourg Verlag},
  timestamp = {2007.05.23}
}

@article{IF00_Hanebeck,
  author    = {Uwe D. Hanebeck and Joachim Horn},
  title     = {{F}using {I}nformation {S}imultaneously {C}orrupted {b}y {U}ncertainties {w}ith {K}nown {B}ounds {a}nd {R}andom {N}oise {w}ith {K}nown {D}istribution},
  journal   = {Information Fusion, Elsevier Science},
  year      = {2000},
  volume    = {1},
  pages     = {55--63},
  number    = {1},
  owner     = {klumpp},
  pdf       = {IF00_Hanebeck.pdf},
  timestamp = {2007.05.23}
}

@incollection{AMS00_Briechle,
  author    = {Kai Briechle and Uwe D. Hanebeck},
  title     = {{E}in {Z}wei--{K}arten--{V}erfahren zur gleichzeitigen {K}artographierung und {L}okalisierung},
  booktitle = {Autonome Mobile Systeme 2000 (AMS 2000), 16.~Fachgespr{\"a}ch, Karlsruhe, Informatik Aktuell},
  publisher = {Springer},
  year      = {2000},
  editor    = {R{\"u}diger Dillmann and Heinz W{\"o}rn and Markus von Ehr},
  month     = nov,
  url       = {https://link.springer.com/chapter/10.1007/978-3-642-59576-9_20},
  owner     = {klumpp},
  timestamp = {2007.05.23}
}

@inproceedings{RAAD00_Saldic,
  author    = {Nihad {\v{S}}aldi{\'{c}} and Uwe D. Hanebeck and G{\"u}nther Schmidt},
  title     = {{M}odular {W}heel {S}ystems for {O}mnidirectional {S}ervice {R}obots},
  booktitle = {Proceedings of the 9th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2000)},
  year      = {2000},
  pages     = {11--16},
  address   = {Maribor, Slovenia},
  month     = jun,
  owner     = {klumpp},
  timestamp = {2007.05.23}
}

@incollection{Robotik00_Hanebeck,
  author    = {Uwe D. Hanebeck and Nihad \v{S}aldi\'{c} and Franz Freyberger and G{\"u}nther Schmidt},
  title     = {{M}odulare {R}adsatzsysteme f{\"u}r omnidirektionale mobile {R}oboter},
  booktitle = {Robotik 2000 Tagung (VDI/VDE-Gesellschaft Mess- und Automatisierungstechnik), VDI Berichte 1552},
  publisher = {VDI, Berlin},
  year      = {2000},
  url       = {https://www.tib.eu/de/suchen/id/BLCP\%3ACN035163165/Modulare-Radsatzsysteme-fur-omnidirektionale-mobile/},
  pages     = {39--44},
  month     = jun,
  owner     = {klumpp},
  timestamp = {2007.05.23}
}

@proceedings{AMS99_Schmidt,
  title     = {{A}utonome {M}obile {S}ysteme 1999, 15.~{F}achgespr{\"a}ch, {M}{\"u}nchen, 26.-27. {N}ovember 1999},
  year      = {1999},
  editor    = {G{\"u}nther Schmidt and Uwe D. Hanebeck and Franz Freyberger},
  series    = {Informatik Aktuell},
  publisher = {Springer},
  booktitle = {AMS},
  isbn      = {3-540-66732-6}
}

@inproceedings{CDC99_Hanebeck,
  author    = {Uwe D. Hanebeck and Joachim Horn},
  title     = {{N}ew {E}stimators {f}or {M}ixed {S}tochastic {a}nd {S}et {T}heoretic {U}ncertainty {M}odels: {T}he {S}calar {M}easurement {C}ase},
  booktitle = {Proceedings of the 1999 IEEE Conference on Decision and Control (CDC 1999)},
  year      = {1999},
  pages     = {1934--1939},
  address   = {Phoenix, Arizona, USA},
  month     = dec,
  owner     = {klumpp},
  pdf       = {CDC99.pdf},
  timestamp = {2007.05.23}
}

@incollection{AMS99_Briechle,
  author    = {Kai Briechle and Uwe D. Hanebeck},
  title     = {{S}imultane {L}okalisierung und {K}artenaufbau f{\"u}r einen mobilen {S}erviceroboter},
  booktitle = {Autonome Mobile Systeme 1999 (AMS 1999), 15.~Fachgespr{\"a}ch, M{\"u}nchen, Informatik Aktuell},
  publisher = {Springer},
  year      = {1999},
  editor    = {G{\"u}nther Schmidt and Uwe D. Hanebeck and Franz Freyberger},
  pages     = {200--210},
  month     = nov,
  owner     = {klumpp},
  timestamp = {2007.05.23}
}

@inproceedings{IROS99_HanebeckHorn-StochSetUncert,
  author    = {Uwe D. Hanebeck and Joachim Horn},
  title     = {{A} {N}ew {C}oncept {f}or {S}tate {E}stimation {i}n {t}he {P}resence {o}f {S}tochastic and {S}et {T}heoretic {U}ncertainties},
  booktitle = {Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 1999)},
  year      = {1999},
  address   = {Kjongju, Republic of Korea},
  month     = oct,
  owner     = {klumpp},
  pdf       = {IROS99_SSI.pdf},
  timestamp = {2007.05.23}
}

@inproceedings{IROS99_HanebeckSaldic-WheelSystem,
  author    = {Uwe D. Hanebeck and Nihad \v{S}aldi\'{c}},
  title     = {{A} {M}odular {W}heel {S}ystem for {M}obile {R}obot {A}pplications},
  booktitle = {Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 1999)},
  year      = {1999},
  address   = {Kjongju, Republic of Korea},
  month     = oct,
  owner     = {klumpp},
  pdf       = {IROS99_WHEEL.pdf},
  timestamp = {2007.05.23}
}

@inproceedings{SMC99_Briechle-SLAM,
  author    = {Kai Briechle and Uwe D. Hanebeck},
  title     = {{S}elf--{L}ocalization {o}f {a} {M}obile {R}obot {U}sing {a} {F}ast {C}ross--{C}orrelation {A}lgorithm},
  booktitle = {Proceedings of the 1999 IEEE Systems, Man, and Cybernetics Conference (SMC 1999)},
  year      = {1999},
  address   = {Tokyo, Japan},
  month     = oct,
  owner     = {klumpp},
  pdf       = {SMC99_FNCC.pdf},
  timestamp = {2007.05.23}
}

@inproceedings{SMC99_Hanebeck-MixStochSetUncert,
  author    = {Uwe D. Hanebeck and Joachim Horn},
  title     = {{N}ew {R}esults for {S}tate {E}stimation in the {P}resence of {M}ixed {S}tochastic and {S}et {T}heoretic {U}ncertainties},
  booktitle = {Proceedings of the 1999 IEEE Systems, Man, and Cybernetics Conference (SMC 1999)},
  year      = {1999},
  address   = {Tokyo, Japan},
  month     = oct,
  owner     = {klumpp},
  pdf       = {SMC99_SSI.pdf},
  timestamp = {2007.05.23}
}

@inproceedings{ECC99_Hanebeck,
  author    = {Uwe D. Hanebeck and Joachim Horn},
  title     = {{N}ew {E}stimators for {M}ixed {S}tochastic and {S}et {T}heoretic {U}ncertainty {M}odels: {T}he {V}ector {C}ase},
  booktitle = {Proceedings of the 5th European Control Conference (ECC 1999)},
  year      = {1999},
  address   = {Karlsruhe, Germany},
  month     = sep,
  owner     = {klumpp},
  pdf       = {ECC99.pdf},
  timestamp = {2007.05.23}
}

@article{AUTO99_Hanebeck,
  author    = {Uwe D. Hanebeck and Joachim Horn and G{\"u}nther Schmidt},
  title     = {{O}n {C}ombining {S}tatistical {a}nd {S}et {T}heoretic {E}stimation},
  journal   = {Automatica},
  year      = {1999},
  volume    = {35},
  pages     = {1101--1109},
  number    = {6},
  month     = jun,
  owner     = {klumpp},
  pdf       = {AUTO99_Hanebeck.pdf},
  timestamp = {2007.05.23}
}

@inproceedings{ICRA99_Hanebeck,
  author    = {Uwe D. Hanebeck and Joachim Horn},
  title     = {{A} {N}ew {E}stimator {f}or {M}ixed {S}tochastic {a}nd {S}et {T}heoretic {U}ncertainty {M}odels {A}pplied {t}o {M}obile {R}obot {L}ocalization},
  booktitle = {Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA 1999)},
  year      = {1999},
  pages     = {1335--1340},
  address   = {Detroit, Michigan, USA},
  month     = may,
  owner     = {klumpp},
  pdf       = {ICRA99_SSI.pdf},
  timestamp = {2007.05.23}
}

@inproceedings{SPIE99_Hanebeck,
  author    = {Uwe D. Hanebeck and Joachim Horn},
  title     = {{A} {N}ew {S}tate {E}stimator {f}or {a} {M}ixed {S}tochastic {a}nd {S}et {T}heoretic {U}ncertainty {M}odel},
  booktitle = {Proceedings of SPIE, Vol. 3720, AeroSense Symposium},
  year      = {1999},
  pages     = {336--344},
  address   = {Orlando, Florida, USA},
  month     = apr,
  owner     = {klumpp},
  pdf       = {SPIE99.pdf},
  timestamp = {2007.05.23}
}

@incollection{ISER98_Hanebeck,
  author    = {Uwe D. Hanebeck and G{\"u}nther Schmidt},
  title     = {{M}obile {R}obot {L}ocalization {B}ased on {E}fficient {P}rocessing of {S}ensor {D}ata and {S}et-theoretic {S}tate {E}stimation},
  booktitle = {Experimental Robotics V, The Fifth International Symposium, Barcelona, Catalonia, Lecture Notes in Control and Information Sciences 223},
  publisher = {Springer},
  year      = {1998},
  url       = {https://link.springer.com/chapter/10.1007/BFb0112978},
  editor    = {A. Casals and A. T. de Almeida},
  pages     = {385--396},
  address   = {Barcelona, Spain},
  owner     = {klumpp},
  timestamp = {2007.05.23}
}

@incollection{AMS98_Furtwaengler,
  author    = {Ralf Furtw{\"a}ngler and Uwe D. Hanebeck and G{\"u}nther Schmidt},
  title     = {{D}ynamische {B}{\"a}nder zur {B}ewegungsplanung f{\"u}r mobile {M}anipulatoren},
  booktitle = {Autonome Mobile Systeme 1998 (AMS 1998), 14.~Fachgespr{\"a}ch, Karlsruhe, Informatik Aktuell},
  publisher = {Springer},
  year      = {1998},
  url       = {https://link.springer.com/chapter/10.1007/978-3-642-60043-2_20},
  editor    = {Heinz W{\"o}rn and R{\"u}diger Dillmann and Dominik Henrich},
  pages     = {164--171},
  month     = nov,
  owner     = {klumpp},
  timestamp = {2007.05.23}
}

@inproceedings{ROMAN98_Schmidt,
  author    = {G{\"u}nther Schmidt and Uwe D. Hanebeck},
  title     = {{A}spects of {H}uman--{R}obot--{C}ommunication for a {S}emi--autonomous {R}obotic {A}ssistant for the {H}ealth {C}are {E}nvironment},
  booktitle = {Proceedings of 7th IEEE International Workshop on Robot and Human Communication (ROMAN 1998)},
  year      = {1998},
  pages     = {187-194},
  address   = {Takamatsu, Japan},
  month     = sep,
  owner     = {klumpp},
  timestamp = {2007.05.23}
}

@article{JIRSTA98_Ettelt,
  author    = {Eugen Ettelt and Ralf Furtw{\"a}ngler and Uwe D. Hanebeck and G{\"u}nther Schmidt},
  title     = {{D}esign {I}ssues of a {S}emi--{A}utonomous {R}obotic {A}ssistant for the {H}ealth {C}are {E}nvironment},
  journal   = {Journal of Intelligent and Robotic Systems, Kluwer Academic Publishers},
  year      = {1998},
  volume    = {22},
  pages     = {191--209},
  number    = {3--4},
  url       = {https://link.springer.com/article/10.1023/A:1008082024638},
  month     = jul,
  owner     = {klumpp},
  timestamp = {2007.05.23}
}

@inproceedings{AMC98_Furtwaengler,
  author    = {Ralf Furtw{\"a}ngler and Uwe D. Hanebeck and G{\"u}nther Schmidt},
  title     = {{D}ynamic {C}ontrol of a {M}obile {M}anipulator},
  booktitle = {Proceedings of the 5th International Workshop on Advanced Motion Control (AMC 1998)},
  year      = {1998},
  pages     = {440-445},
  url       = {https://ieeexplore.ieee.org/document/743577/},
  address   = {Coimbra, Portugal},
  month     = jun,
  owner     = {klumpp},
  timestamp = {2007.05.23}
}

@inproceedings{ICRA98_Hanebeck,
  author    = {Uwe D. Hanebeck},
  title     = {{P}ipelined {S}ampling {T}echniques for {S}onar {T}racking {S}ystems},
  booktitle = {Proceedings of the 1998 IEEE International Conference on Robotics and Automation (ICRA 1998)},
  year      = {1998},
  pages     = {2813-2818},
  url       = {https://ieeexplore.ieee.org/document/680477/},
  address   = {Leuven, Belgium},
  month     = may,
  owner     = {klumpp},
  timestamp = {2007.05.23}
}

@phdthesis{Diss97_Hanebeck,
  author    = {Uwe D. Hanebeck},
  title     = {{L}okalisierung eines mobilen {R}oboters mittels effizienter {A}uswertung von {S}ensordaten und mengenbasierter {Z}ustandssch{\"a}tzung},
  school    = {TU M{\"u}nchen},
  comment   = {Referent: G.~Schmidt, Korreferent: E.~D.~Dickmanns, Fortschrittsberichte VDI, Reihe 8: Me{\ss}-, Steuerungs- und Regelungstechnik, Nr. 643, VDI Verlag, D{\"u}sseldorf},
  year      = {1997},
  type      = {Dissertation},
  note      = {ISBN 3-18-364308-1},
  owner     = {klumpp},
  pdf       = {Diss_Hnb_1997.pdf},
  timestamp = {2007.05.24}
}

@inproceedings{IARP97_Hanebeck,
  author    = {G{\"u}nther Schmidt and Uwe D. Hanebeck and Christian Fischer},
  title     = {{A} {M}obile {S}ervice {R}obot for the {H}ospital and {H}ome {E}nvironment},
  booktitle = {International Advanced Robotics Programme (IARP 1997), Proceedings of the Second International Workshop on Service and Personal Robots: Technologies and Applications},
  year      = {1997},
  address   = {Genova, Italy},
  month     = oct,
  owner     = {klumpp},
  timestamp = {2007.05.23}
}

@inproceedings{IROS97_Hanebeck,
  author    = {Uwe D. Hanebeck and Christian Fischer and G{\"u}nther Schmidt},
  title     = {{ROMAN}: {A} {M}obile {R}obotic {A}ssistant for {I}ndoor {S}ervice {A}pplications},
  booktitle = {Proceedings of the 1997 IEEE/RSJ/GI International Conference on Intelligent Robots and Systems (IROS 1997)},
  year      = {1997},
  pages     = {518-525},
  address   = {Grenoble, France},
  month     = sep,
  url       = {https://ieeexplore.ieee.org/document/655061/},
  owner     = {klumpp},
  timestamp = {2007.05.23}
}

@inproceedings{ISER97_Hanebeck,
  author    = {Uwe D. Hanebeck and G{\"u}nther Schmidt},
  title     = {{M}obile {R}obot {L}ocalization {B}ased on {E}fficient {P}rocessing of {S}ensor {D}ata and {S}et--theoretic {S}tate {E}stimation},
  booktitle = {Fifth International Symposium on Experimental Robotics (ISER 1997)},
  year      = {1997},
  pages     = {321-332},
  address   = {Barcelona, Spain},
  month     = jun,
  owner     = {klumpp},
  timestamp = {2007.05.23}
}

@article{CEP96_Hanebeck,
  author    = {Uwe D. Hanebeck and G{\"u}nther Schmidt},
  title     = {{L}ocalization of {F}ast {M}obile {R}obots {B}ased on an {A}dvanced {A}ngle--{M}easurement {T}echnique},
  journal   = {IFAC Control Engineering Practice, Elsevier Science},
  year      = {1996},
  volume    = {4},
  pages     = {1109--1118},
  number    = {8},
  owner     = {klumpp},
  pdf       = {CEP96_Hanebeck.pdf},
  timestamp = {2007.05.23}
}

@article{FSS96_Hanebeck,
  author    = {Uwe D. Hanebeck and G{\"u}nther Schmidt},
  title     = {{G}enetic {O}ptimization of {F}uzzy {N}etworks},
  journal   = {Journal of Fuzzy Sets and Systems, Special Issue on Neuro--Fuzzy
               Techniques and Applications, Elsevier Science},
  year      = {1996},
  volume    = {79},
  pages     = {59--68},
  owner     = {klumpp},
  pdf       = {FSS96_Hanebeck.pdf},
  timestamp = {2007.05.23}
}

@incollection{AMS96_Daxwanger,
  author    = {Wolfgang Daxwanger and Eugen Ettelt and Christian Fischer and Franz Freyberger and Uwe D. Hanebeck and G{\"u}nther Schmidt},
  title     = {{ROMAN}: {E}in mobiler {S}erviceroboter als pers{\"o}nlicher {A}ssistent in belebten {I}nnenr{\"a}umen},
  booktitle = {Autonome Mobile Systeme 1996 (AMS 1996), 12.~Fachgespr{\"a}ch, M{\"u}nchen, Informatik aktuell},
  publisher = {Springer},
  url       = {https://link.springer.com/chapter/10.1007/978-3-642-80324-6_29},
  year      = {1996},
  editor    = {G{\"u}nther Schmidt and Franz Freyberger},
  pages     = {314--333},
  month     = oct,
  owner     = {klumpp},
  timestamp = {2007.05.23}
}

@inproceedings{ICASSP96_Hanebeck,
  author    = {Uwe D. Hanebeck and G{\"u}nther Schmidt},
  title     = {{C}losed--{F}orm {E}lliptic {L}ocation with an {A}rbitrary {A}rray {T}opology},
  booktitle = {Proceedings of the 1996 IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP 1996)},
  year      = {1996},
  url       = {https://ieeexplore.ieee.org/document/550524/},
  pages     = {3070-3073},
  address   = {Atlanta, Georgia, USA},
  month     = may,
  owner     = {klumpp},
  timestamp = {2007.05.23},
  pdf       = {ICASSP96_Hanebeck.pdf}
}

@inproceedings{ICRA96_Hanebeck-SetBayes,
  author    = {Uwe D. Hanebeck and Joachim Horn and G{\"u}nther Schmidt},
  title     = {{O}n {C}ombining {S}et {T}heoretic and {B}ayesian {E}stimation},
  booktitle = {Proceedings of the 1996 IEEE International Conference on Robotics and Automation (ICRA 1996)},
  year      = {1996},
  pages     = {3081-3086},
  address   = {Minneapolis, Minnesota, USA},
  month     = apr,
  url       = {https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=509180},
  owner     = {klumpp},
  timestamp = {2007.05.23},
  pdf       = {ICRA96_Hanebeck-SetBayes.pdf}
}

@inproceedings{ICRA96_HanebeckSchmidt-Angle,
  author    = {Uwe D. Hanebeck and G{\"u}nther Schmidt},
  title     = {{S}et theoretic {L}ocalization of {F}ast {M}obile {R}obots {U}sing an {A}ngle {M}easurement {T}echnique},
  booktitle = {Proceedings of the 1996 IEEE International Conference on Robotics and Automation (ICRA 1996)},
  year      = {1996},
  pages     = {1387-1394},
  address   = {Minneapolis, Minnesota, USA},
  month     = apr,
  owner     = {klumpp},
  pdf       = {ICRA96_HanebeckSchmidt-Angle.pdf},
  timestamp = {2007.05.23}
}

@incollection{IRS95_Hanebeck,
  author    = {Uwe D. Hanebeck and G{\"u}nther Schmidt},
  title     = {{A} {N}ew {H}igh {P}erformance {M}ultisonar {S}ystem for {F}ast {M}obile {R}obot {A}pplications},
  booktitle = {Intelligent Robots and Systems},
  url       = {https://www.sciencedirect.com/science/article/pii/B9780444822505500013},
  publisher = {Elsevier Science},
  year      = {1995},
  editor    = {V. Graefe},
  pages     = {1--14},
  owner     = {klumpp},
  timestamp = {2007.05.23}
}

@incollection{AMS95_Hanebeck,
  author    = {Uwe D. Hanebeck and G{\"u}nther Schmidt},
  title     = {{S}chnelle {O}bjektdetektion mit {U}ltraschallsensor--{A}rrays},
  booktitle = {Autonome Mobile Systeme 1995 (AMS 1995), 11.~Fachgespr{\"a}ch, Karlsruhe, Informatik Aktuell},
  publisher = {Springer},
  url       = {https://link.springer.com/chapter/10.1007/978-3-642-80064-1_17},
  year      = {1995},
  editor    = {R{\"u}diger Dillmann and Ulrich Rembold and Tim L{\"u}th},
  pages     = {162--171},
  month     = nov,
  owner     = {klumpp},
  timestamp = {2007.05.23}
}

@inproceedings{ICASAV95_Hanebeck,
  author    = {Uwe D. Hanebeck and G{\"u}nther Schmidt},
  title     = {{A}bsolute {L}ocalization of {F}ast {M}obile {R}obots {B}ased on an {A}ngle {M}easurement {T}echnique},
  booktitle = {IFAC Workshop on Intelligent Components for Autonomous and Semi-Autonomous Vehicles (ICASAV 1995)},
  year      = {1995},
  pages     = {87-92},
  address   = {Toulouse, France},
  month     = oct,
  owner     = {klumpp},
  timestamp = {2007.05.23},
  pdf       = {ICASAV95_Hanebeck.pdf}
}

@incollection{KI95_Hanebeck,
  author    = {Uwe D. Hanebeck and G{\"u}nther K. Schmidt},
  title     = {{A}bsolute {L}ocalization of {F}ast {M}obile {R}obots {B}ased on an {A}ngle {M}easurement {T}echnique},
  booktitle = {19th Annual German Conference on Artificial Intelligence (KI'95), Bielefeld, KI--95 Activities: Workshops, Posters, Demos},
  publisher = {Gesellschaft f{\"u}r Informatik e.V.},
  year      = {1995},
  editor    = {Leonie Dreschler--Fischer and Simone Pribbenow},
  pages     = {164--166},
  address   = {Bielefeld, Germany},
  month     = sep,
  owner     = {klumpp},
  timestamp = {2007.05.23}
}

@inproceedings{TELEMAN95_Maier,
  author    = {Stefan Maier and Uwe D. Hanebeck},
  title     = {{F}uzzy {G}uidance of {O}mnidirectional {M}obile {R}obots {I}ncluding {S}ensor--{B}ased {O}bstacle {A}voidance},
  booktitle = {Proceedings of the TELEMAN Student Research Projects Congress},
  year      = {1995},
  pages     = {95--100},
  address   = {Noordwijkerhout, Netherlands},
  month     = jul,
  owner     = {klumpp},
  timestamp = {2007.05.23}
}

@inproceedings{ICONIP94_Hanebeck,
  author    = {Uwe D. Hanebeck and G{\"u}nther K. Schmidt},
  title     = {{O}ptimization of {F}uzzy {N}etworks via {G}enetic {A}lgorithms},
  booktitle = {Proceedings of the 1994 International Conference on Neural Information Processing (ICONIP 1994)},
  year      = {1994},
  pages     = {1583--1588},
  address   = {Seoul, Republic of Korea},
  month     = oct,
  owner     = {klumpp},
  timestamp = {2007.05.23}
}

@inproceedings{EUFIT94_Hanebeck,
  author    = {Uwe D. Hanebeck and G{\"u}nther Schmidt},
  title     = {{O}ptimization of {F}uzzy {N}etworks via {G}enetic {A}lgorithms},
  booktitle = {Proceedings of the 2nd European Congress on Intelligent Techniques and Soft Computing (EUFIT 1994)},
  year      = {1994},
  pages     = {1011--1013},
  address   = {Aachen, Germany},
  month     = sep,
  owner     = {klumpp},
  timestamp = {2007.05.23}
}

@inproceedings{IROS94_Hanebeck,
  author    = {Uwe D. Hanebeck and G{\"u}nther Schmidt},
  title     = {{A} {N}ew {H}igh {P}erformance {M}ultisonar {S}ystem for {F}ast {M}obile {R}obots},
  booktitle = {Proceedings of the 1994 IEEE/RSJ/GI International Conference on Intelligent Robots and Systems (IROS 1994)},
  year      = {1994},
  pages     = {1853--1860},
  address   = {Munich, Germany},
  month     = sep,
  url       = {https://ieeexplore.ieee.org/document/407607/},
  owner     = {klumpp},
  timestamp = {2007.05.23}
}

@article{AT93_Hanebeck,
  author    = {Uwe D. Hanebeck and G{\"u}nther Schmidt},
  title     = {{E}xperimentelle {V}ertiefung der {A}usbildung im {F}uzzy-{L}ogik-{R}eglerentwurf},
  journal   = {at -- Automatisierungstechnik},
  year      = {1993},
  volume    = {41},
  pages     = {300--306},
  url       = {https://www.degruyter.com/view/j/auto.1993.41.issue-8/auto-1993-0806/auto-1993-0806.xml},
  number    = {8},
  owner     = {klumpp},
  publisher = {Oldenbourg Verlag},
  timestamp = {2007.05.23}
}

@inproceedings{IFAC93_Hanebeck,
  author    = {G{\"u}nther Schmidt and Uwe D. Hanebeck},
  title     = {{T}eaching {F}uzzy {L}ogic {C}ontrol {D}esign {T}hrough {L}aboratory {E}xperiments and {S}tudent {P}rojects},
  booktitle = {Proceedings of the 12th World Congress of the International Federation of Automatic Control (IFAC 1993)},
  year      = {1993},
  pages     = {147--150},
  address   = {Sydney, Australia},
  url       = {https://www.sciencedirect.com/science/article/pii/S1474667017483716},
  month     = jul,
  owner     = {klumpp},
  timestamp = {2007.05.23}
}

@mastersthesis{DA91_Hanebeck,
  author    = {Uwe D. Hanebeck},
  title     = {{U}ntersuchungen zur {V}erwendung von {M}arkov-{P}rozessen f{\"u}r die {E}rzeugung von {S}prachmodellsignalen},
  school    = {Arbeitsgruppe Digitale Signalverarbeitung, Prof.~Dr.--Ing.~Ulrich Heute, Lehrstuhl f{\"u}r Nachrichtentechnik, Ruhr--Universit{\"a}t Bochum},
  year      = {1991},
  type      = {Diplomarbeit},
  owner     = {klumpp},
  timestamp = {2007.05.24}
}

@mastersthesis{SA89_Hanebeck,
  author    = {Uwe D. Hanebeck},
  title     = {{A}ufbau einer {S}ignalprozessorkarte f{\"u}r den {DSP} 5011},
  school    = {{L}ehrstuhl f{\"u}r {N}achrichtentechnik, Prof.~Dr.~Dr.~h.c.~mult.~Alfred Fettweis, Ruhr--Universit{\"a}t Bochum},
  year      = {1989},
  type      = {Studienarbeit},
  owner     = {klumpp},
  timestamp = {2007.05.24}
}

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repository: KIT-ISAS/ISAS-Publications

repo_name: KIT-ISAS/ISAS-Publications