Robotics Research Lab

Dr.-Ing. Bernd-Helge Leroch

(birth name: Schäfer)

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Vita

In 1979 Bernd-Helge Leroch (born Schäfer) was born in Mainz at the river Rhein. From 1999 until 2005 he studied Informatics at the University of Kaiserslautern. He graduated in the field of robotics handing in the Diploma Thesis 'Securtity Aspects of Motion Execution in Outdoor Terrain'. The Thesis was prepared in cooperation with the 'Royal Military Academy Belgium' and has been carried out in equal shares at Kaiserslautern and Bruxelles.

Mr. Leroch is student in the PhD Programme of the Informatics Department since October 2003. In this context he was given the possibility to integrate early into research activities of the Robotics Research Lab.

From 2005 to 2010 Mr. Leroch worked on his PhD thesis with the title "Control System Design Schemata and their Application in O?-road Robotics". Besides the theoretical specification of design schemata Mr. Leroch pushed the development of the off-road platform RAVON.

Bernd-Helge Leroch is IEEE Member and initiator of the robotics research compendium RRLib (Robotics Research Lib). Currently Mr. Leroch prepares the spin-off company RobotMakers together with his colleagues Mr. Hillenbrand and Mr. Wettach. Since November 2010 the three founders are supported in their innovative endeavour by the federal programme Exist.

Publications

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  • SmoothBrake - A Prototyping Case Study.
    Jens Brandt and Bernd-Helge Schäfer
    (2003)
  • Mapping of Indoor Environments with Mobile Robots.
    Bernd-Helge Schäfer and Robotics Research Lab, Department of Computer Sciences, University of Kaiserslautern
    (2004-June)
  • Stereo Vision for Mobile Robotics.
    Bernd-Helge Schäfer
    (2004)
  • Security Aspects of Motion Execution in Outdoor Terrain.
    Bernd-Helge Schäfer and Robotics Research Lab, Department of Computer Sciences, University of Kaiserslautern
    (2005-April)
  • Obstacle Detection and Avoidance for Mobile Outdoor Robotics.
    Bernd-Helge Schäfer, Tobias Luksch and Karsten Berns
    EOS Conference on Industrial Imaging and Machine Vision, (2005)
  • Detection of Negative Obstacles in Outdoor Terrain.
    Bernd-Helge Schäfer
    (2005)
  • Extension Approach for the Behaviour-Based Control System of the Outdoor Robot RAVON.
    Bernd-Helge Schäfer, Martin Proetzsch and Karsten Berns
    Autonome Mobile Systeme, S. 123 - 129. (2005-December 8-9)
  • Terrain Negotiation in Rough Outdoor Environments.
    Bernd-Helge Schäfer
    (2005)
  • Stereo-Vision-Based Obstacle Avoidance in Rough Outdoor Terrain.
    Bernd-Helge Schäfer, Martin Proetzsch and Karsten Berns
    International Symposium on Motor Control and Robotics (ISMCR), (2005-November)
  • Terrain Negotiation in Rough Outdoor Environments.
    Bernd-Helge Schäfer
    (2005-September)
  • Komposition von Systemkomponenten im Rahmen des PROBAnD Framework.
    Jens Brandt and Bernd-Helge Schäfer
    (2003)
  • RAVON - A Robust Autonomous Vehicle for Off-road Navigation.
    Bernd-Helge Schäfer, Martin Proetzsch, Tim Braun, Jan Koch, Norbert Schmitz and Karsten Berns
    European Land Robot Trial - ELROB, (2006-May)
  • RAVON - An autonomous Vehicle for Risky Intervention and Surveillance.
    Bernd-Helge Schäfer and Karsten Berns
    International Workshop on Robotics for risky intervention and environmental surveillance - RISE, (2006-06)
  • OBSTACLE DETECTION IN MOBILE OUTDOOR ROBOTS - A Short-term Memory for the Mobile Outdoor Platform RAVON.
    Bernd-Helge Schäfer, Martin Proetzsch and Karsten Berns
    Proceedings of the 4th International Conference on Informatics in Control, Automation and Robotics 2007 (ICINCO 2007), S. 141 - 148. (2007-May 9-12)
  • Real-time Visual Self-localisation in Dynamic Environments.
    Bernd-Helge Schäfer, Petra Hahnfeld and Karsten Berns
    Autonome Mobile Systeme, S. 50 - 56. (2007)
  • 3D Obstacle Detection and Avoidance in Vegetated Off-road Terrain.
    Bernd-Helge Schäfer, Andreas Hach, Martin Proetzsch and Karsten Berns
    Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA), S. 923 - 928. (2008-May 19-23)
  • Action/Perception-Oriented Robot Software Design. An Application in Off-road Terrain.
    Bernd-Helge Schäfer, Martin Proetzsch and Karsten Berns
    IEEE 10th International Conference on Control, Automation, Robotics and Vision (ICARCV), (2008-December 17–20)
  • RAVON — The Robust Autonomous Vehicle for Off-road Navigation.
    Christopher Armbrust, Tim Braun, Tobias Föhst, Martin Proetzsch, Alexander Renner, Bernd-Helge Schäfer and Karsten Berns
    Proceedings of the IARP International Workshop on Robotics for Risky Interventions and Environmental Surveillance 2009 (RISE 2009), (2009-January 12–14)
  • RAVON – The Robust Autonomous Vehicle for Off-road Navigation.
    Christopher Armbrust, Tim Braun, Tobias Föhst, Martin Proetzsch, Alexander Renner, Bernd-Helge Schäfer and Karsten Berns
    Using robots in hazardous environments, (2010)
  • Using Passages to Support Off-road Robot Navigation.
    Christopher Armbrust, Bernd-Helge Schäfer and Karsten Berns
    Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2009), S. 189 - 194. (2009-July 2-5)
  • Topological Large-Scale Off-road Navigation and Exploration - RAVON at the European Land Robot Trial 2008.
    Tim Braun, Bernd-Helge Schäfer and Karsten Berns
    IROS’09, S. 4387 - 4392. (2009-October 11-15)
  • Studie Wassererkenner (Zwischenbericht) – TRVS-AQVI-010809-HSTB.
    Bernd-Helge Schäfer and Tim Braun
    (2009-August)
  • Studie Wassererkenner (Abschlussbericht) – TRVS-AQVI-011209-HSJW.
    Bernd-Helge Schäfer and Jens Wettach
    (2009-December)
  • A Behaviour-based Integration of Fully Autonomous, Semi-autonomous and Tele-operated Control Modes for an Off-road Robot.
    Christopher Armbrust, Martin Proetzsch, Bernd-Helge Schäfer and Karsten Berns
    Proceedings of the 2nd IFAC Symposium on Telematics Applications, (2010-October 5-8)
  • Control System Design Schemata and their Application in Off-road Robotics.
    Bernd-Helge Schäfer and University of Kaiserslautern
    (2010)
  • Control System Design Schemata and their Application in Off-road Robotics.
    Bernd-Helge Schäfer
    RRLab Dissertations, Verlag Dr. Hut (2011)
    http://www.dr.hut-verlag.de/978-3-86853-865-6.html
  • Studie Wassererkenner – Phase II (Zwischenbericht) – TRVS-AQVI-250811-HSCH.
    Bernd-Helge Schäfer and Carsten Hillenbrand
    (2011-August)
  • The Application of Design Schemata in Off-Road Robotics.
    Bernd-Helge Schäfer, Christopher Armbrust, Tobias Föhst and Karsten Berns
    Intelligent Transportation Systems Magazine, IEEE, Vol. 5, Nr. 1, S. 4 - 27. (2013-Spring)
  • Petrinetze - Modellierungstechnik, Analysemethoden, Fallstudien.
    Wolfgang Reisig, Bernd Becker, Friedemann Mattern, Heinrich Müller, Wilhelm Schäfer, Dorothea Wagner and Ingo Wegener
    Leitfäden der Informatik, 1st. Auflage, Vieweg+Teubner Verlag (2010)
  • Closed-Loop Joint Angle Control for a Multi-Axes Hydraulics Arms - Towards Autonomous Construction Machines.
    Carsten Hillenbrand, Jochen Hirth, Bernd Leroch and Martin Frank
    Commercial Vehicle Technology 2014 - Proceedings of the Commercial Vehicle Technology Symposium (CVT 2014), S. 37 - 46. (2014-March 11-13)
  • Sensor Data Representation A System for Processing, Combining, and Visualizing Information from Various Sensor Systems.
    Bernd Leroch, Jochen Hirth, Daniel Schmidt and Karsten Berns
    Commercial Vehicle Technology 2016 – Proceedings of the Commercial Vehicle Technology Symposium (CVT 2016), S. 71 - 79. (2016-March 8-10)

 

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