Robotics Research Lab

Dr.-Ing. Daniel Lettler

(Birth name: Schmidt)

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Vita

Daniel Lettler was born in 1983 and finished his final secondary-school examinations in 2002. After his civilian service he attended the University of Kaiserslautern from 2003 until he graduated with a degree in applied computer sciences (Dipl.-Inf.) in 2009.
He wrote his diploma thesis titled "Soil Simulation and Behavior-Based Control for Landscaping Tasks of an Autonomous Bucket Excavator" at the Robotics Research Lab.
Since June 2009 he was doing his Ph.D. in the context of automation of complex landscaping task of a mobile excavator for medium sized excavation sites and daylight mines. He has been working on the parallel particle simulation of material on GPUs, development of hierarchically ordered behavior-based system architecture, and algorithms for rating and planning within the highly dynamic area around the machines.

Publications

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  • Entwicklung eines Ultraschallsensorgürtels zur Kollisionsvermeidung von mobilen Robotern.
    Daniel Schmidt and Robotics Research Lab, Department of Computer Science, University of Kaiserslautern
    (2005-June 23)
  • Selbstständige Erstellung einer abstrakten topologiebasierten Karte für die autonome Exploration.
    Kalle Kleinlützum, Tobias Luksch, Daniel Schmidt and Karsten Berns
    Autonome Mobile Systeme (AMS) 2005, S. 149 - 155. (2005-December)
  • Entwicklung einer verhaltensbasierten Steuerung zur autonomen Exploration in strukturierter Umgebung von einem Indoor-Roboter.
    Daniel Schmidt and Robotics Research Lab, Department of Computer Science, University of Kaiserslautern
    (2006-March 1)
  • Autonomous Behavior-Based Exploration of Office Environments.
    Daniel Schmidt, Tobias Luksch, Jens Wettach and Karsten Berns
    Proceedings of the 3rd International Conference on Informatics in Control, Automation and Robotics (ICINCO), S. 235 - 240. (2006-August 1-5)
  • Development of a sealing system for a climbing robot with negative pressure adhesion.
    Carsten Hillenbrand, Daniel Schmidt, Karsten Berns, Tim Leichner, Tobias Gastauer and Bernd Sauer
    10th International Conference on Climbing and Walking Robots (CLAWAR), S. 115 - 124. (2007-July 16-18)
  • Map Learning and High-Speed Navigation in RHINO.
    Sebastian Thrun, Arno Buecken, Wolfram Burgard, Dieter Fox, Thorsten Froehlinghaus, Daniel Hennig, Thomas Hofmann, Michael Krell and Timo Schmidt
    Nr. IAI-TR-96-3, (1996)
  • Design and development of a sealing-system for climbing-robots.
    Tim Leichner, Tobias Gastauer, Bernd Sauer, Carsten Hillenbrand, Daniel Schmidt and Karsten Berns
    6th National Conference on Mechanical Engineering (Gepeszet), (2008-May 29-30)
  • Cromsci - A Climbing Robot With Multiple Sucking Chambers For Inspection Tasks.
    Carsten Hillenbrand, Daniel Schmidt and Karsten Berns
    11th International Conference on Climbing and Walking Robots (CLAWAR), S. 311 - 318. (2008-September 8-10)
  • The ADAPTIVE Communication Environment - An Object-Oriented Network Programming Toolkit for Developing Communication Software.
    D Schmidt
    Proceedings of the 12th Annual Sun Users Group Conference, S. 214 - 225. (1994-June 14-17)
  • Dynamic modelling and control of a mobile bucket excavator.
    Daniel Schmidt and Robotics Research Lab, Department of Computer Sciences, University of Kaiserslautern
    (2008-September 11)
  • Force and traction controlled propulsion of the omnidirectional climbing robot Cromsci.
    Christian Marx, Daniel Schmidt, Carsten Hillenbrand and Karsten Berns
    12th International Conference on Climbing and Walking Robots (CLAWAR) , S. 757 - 764. (2009-September 9-11)
  • Soil Simulation and Behaviour-Based Control for Landscaping Tasks of an Autonomous Bucket Excavator.
    Daniel Schmidt and Robotics Research Lab, Department of Computer Sciences, University of Kaiserslautern
    (2009-April 24)
  • Simulation and Control of an Autonomous Bucket Excavator for Landscaping Tasks.
    Daniel Schmidt, Martin Proetzsch and Karsten Berns
    Proceedings of the 2010 IEEE International Conference on Robotics and Automation (ICRA 2010), S. 5108 - 5113. (2010-May 3-8)
  • An autonomous excavator for landscaping tasks.
    Daniel Schmidt and Karsten Berns
    Proceedings for the joint conference of ISR 2010 and ROBOTIK 2010, S. 819 - 826. (2010-June 6-9)
  • Feasibility Study for the Automation of Commercial Vehicles on the Example of a Mobile Excavator.
    Carsten Hillenbrand, Daniel Schmidt, Nureddin Bennett, Peter Bach, Karsten Berns and Christian Schindler
    Commercial Vehicle Technology 2010 - Proceedings of the 1st Commercial Vehicle Technology Symposium (CVT 2010), S. 22 - 31. (2010-March 16-18)
  • Simulating Vehicle Kinematics with SimVis3D and Newton.
    Jens Wettach, Daniel Schmidt and Karsten Berns
    Proceedings of the 2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR’10), S. 156 - 167. (2010-November 15-18)
  • Behavior-based obstacle detection and avoidance system for the omnidirectional climbing robot Cromsci.
    Marcel Jung, Daniel Schmidt and Karsten Berns
    13th International Conference on Climbing and Walking Robots (CLAWAR), S. 73 - 80. (2010-August 31 - September 3)
  • Programmierung mit LEGO MINDSTORMS NXT.
    Karsten Berns and Daniel Schmidt
    eXamen.press, 1. Auflage, Springer (2010)
    http://www.springer.com/computer/swe/book/978-3-642-05469-3
  • Omnidirectional Locomotion and Traction Control of the Wheel-driven Wall-climbing Robot CROMSCI.
    Daniel Schmidt, Carsten Hillenbrand and Karsten Berns
    Robotica Journal, Vol. 29, Nr. 7, S. 991 - 1003. (2011-December)
  • Behavior-Based Adhesion Control System for Safe Adherence of Wall-Climbing Robots.
    Daniel Schmidt and Karsten Berns
    14th International Conference on Climbing and Walking Robots (CLAWAR), S. 857 - 864. (2011-September 7-9)
  • Behavior-based Arm Control for an Autonomous Bucket Excavator.
    Sergey Pluzhnikov, Daniel Schmidt, Jochen Hirth and Karsten Berns
    Proceedings of the 2nd Commercial Vehicle Technology Symposium (CVT 2012), S. 251 - 261. (2012-March 13-15)
  • Generating Behaviour Networks from Finite-State Machines.
    Christopher Armbrust, Daniel Schmidt and Karsten Berns
    Proceedings of the 7th German Conference on Robotics (ROBOTIK 2012), (2012-May 22–25)
  • Analysis of Sliding Suction Cups for Negative Pressure Adhesion of a Robot Climbing on Concrete Walls.
    Daniel Schmidt, Karsten Berns and Jürgen Ohr
    15th International Conference on Climbing and Walking Robots (CLAWAR) , S. 813 - 820. (2012-July 23-26)
  • Risk Prediction of a Behavior-Based Adhesion Control Network for Online Safety Analysis of Wall-Climbing Robots.
    Daniel Schmidt and Karsten Berns
    9th International Conference on Informatics in Control, Automation and Robotics (ICINCO), S. 118 - 123. (2012-July 28-31)
  • Advanced Motion Control for Safe Navigation of an Omnidirectional Wall-Climbing Robot.
    Daniel Schmidt and Karsten Berns
    22nd Conference on Autonomous Mobile Systems (AMS), S. 137 - 145. (2012-September 26-28)
  • Safe Navigation of a Wall-Climbing Robot - Risk Assessment and Control Methods.
    Daniel Schmidt
    1. Auflage, Dr. Hut Verlag, Munich, Germany (2013-March)
    http://www.dr.hut-verlag.de/978-3-8439-0930-3.html
  • Examination of Surface Feature Analysis and Terrain Traversability for a Wall-Climbing Robot.
    Daniel Schmidt, Marcel Jung and Karsten Berns
    16th International Conference on Climbing and Walking Robots (CLAWAR), S. 309 - 316. (2013-July 14-17)
  • 3D Realtime Simulation Framework for a Wall-Climbing Robot using Negative-Pressure Adhesion.
    Daniel Schmidt, Jens Wettach and Karsten Berns
    10th International Conference on Informatics in Control, Automation and Robotics (ICINCO), S. 184 - 191. (2013-July 29-31)
  • Modellierung und verteilte Simulation eines autonomen Mobilbaggers.
    Dr Juhasz, Daniel Schmidt, Lisa Kiekbusch, Prof Schmucker and Prof Berns
    Tagungsband Fachtagung Digitales Engineering zum Planen, Testen und Betreiben Technischer Systeme, S. 123 - 130. (2012-June 26-28)
  • Safe Navigation of a Wall-Climbing Robot by Methods of Risk Prediction and Suitable Counteractive Measures.
    Daniel Schmidt and Karsten Berns
    26th International Conference on Intelligent Robots and Systems (IROS), S. 2309 - 2314. (2013-November 3-7)
  • Development and Applications of a Simulation Framework for a Wall-Climbing Robot.
    Daniel Schmidt and Karsten Berns
    26th International Conference on Intelligent Robots and Systems (IROS), S. 2321 - 2326. (2013-November 3-7)
  • Interconnection of the behavior-based control architecture and a detailed mechatronic machine model for realistic behavior verification of the Thor project.
    Daniel Schmidt, Tamas Juhasz, Karsten Berns and Ulrich Schmucker
    Informatik 2013, (2013-September 16-20)
  • Climbing Robots for Maintenance and Inspections of Vertical Structures – A Survey of Design Aspects and Technologies.
    Daniel Schmidt and Karsten Berns
    Journal of Robotics and Autonomous Systems, Vol. 61, S. 1288 - 1305. (2013)
  • Safety for an Autonomous Bucket Excavator During Typical Landscaping Tasks.
    Gregor Zolynski, Daniel Schmidt and Karsten Berns
    New Trends in Medical and Service Robots, Vol. 20, S. 357 - 368. (2014-April)
  • Behavior-based trajectory adaptation based on bucket-volume estimation.
    Daniel Schmidt and Karsten Berns
    Commercial Vehicle Technology 2014 – Proceedings of the 3rd Commercial Vehicle Technology Symposium (CVT 2014), S. 347 - 356. (2014-March 11-13)
  • CREA – A Climbing Robot with Eleven Vacuum Adhesion Chambers.
    Daniel Schmidt, Steffen Schütz, Karsten Berns, Jürgen Ohr, Dustin Homeyer and Christian Klaus
    17th International Conference on Climbing and Walking Robots (CLAWAR), S. 665 - 672. (2014-July 21-23)
  • Friction Optimized Adhesion Control of a Wheel-Driven Wall-Climbing Robot.
    Kai Kopietz, Daniel Schmidt, Steffen Schütz and Karsten Berns
    17th International Conference on Climbing and Walking Robots (CLAWAR), S. 259 - 266. (2014-July 21-23)
  • 3D Realtime Simulation Framework for Wall-Climbing Robots - Towards the new Climbing Robot CREA.
    Daniel Schmidt and Karsten Berns
    17th International Conference on Climbing and Walking Robots (CLAWAR), S. 559 - 566. (2014-July 21-23)
  • Risk and Safety Aspects for Wall-Climbing Robots.
    Daniel Schmidt and Karsten Berns
    8th German Conference on Robotics (Robotik) , (2014-June 2-3)
  • Cromsci - Development of a Climbing Robot with Negative Pressure Adhesion for Inspections.
    Carsten Hillenbrand, Daniel Schmidt and Karsten Berns
    Industrial Robot Journal, Vol. 35, Nr. 3, S. 228 - 237. (2008-May 13)
  • Design of Safe Reactional Controller for Chamber Pressure in Climbing Robot CREA.
    Atabak Nejadfard, Steffen Schütz, Daniel Schmidt and Karsten Berns
    11th International Conference on Informatics in Control, Automation and Robotics (ICINCO), S. 81 - 89. (2014-September 1-3)
  • Construction Site Navigation for the Autonomous Excavator Thor.
    Daniel Schmidt and Karsten Berns
    Proceedings of the Sixth International Conference on Automation, Robotics and Applications, (2015-February 16-19)
  • Estimating the absolute position of a mobile robot using position probability grids.
    Wolfram Burgard, Dieter Fox, Daniel Hennig and Timo Schmidt
    Proceedings of the national conference on artificial intelligence, S. 896 - 901. (1996)
  • Real-time multi-platform pedestrian detection in a heavy duty driver assistance system.
    Songlin Piao, Lisa Kiekbusch, Daniel Schmidt, Karsten Berns, Daniel Hering, Stefan Wirtz, Nils Hering and Jürgen Weiland
    Commercial Vehicle Technology 2016 – Proceedings of the Commercial Vehicle Technology Symposium (CVT 2016), S. 61 - 70. (2016-March 8-10)
  • 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)
  • Shaping the Future - A Control Architecture for Autonomous Landscaping with an Excavator.
    Daniel Schmidt
    RRLab Dissertations, Verlag Dr. Hut, München (2016)
    http://www.dr.hut-verlag.de/978-3-8439-2816-8.html ISBN-13: 978-3-8439-2816-8
  • Behavior-based Collision Avoidance using a Cylinder-Coordinate Octree.
    Daniel Schmidt, Fabian Göckel and Karsten Berns
    Proceedings of the 14th International Conference on Intelligent Autonomous Systems (IAS-14), (2016-July 3-7)
  • The DLR C-Runner. Concept, Design and Experiments.
    F Loeffl, A Werner, D Lakatos, J Reinecke, S Wolf, R Burger, T Gumpert, F Schmidt, C Ott, M Grebenstein and A Albu-Schäffer
    16th IEEE-RAS International Conference on Humanoid Robots (Humanoids), (2016)

 

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