Publications

Journal Articles and Book Chapters
[1] Moritz Tenorth, Michael Beetz, "Representations for robot knowledge in the KnowRob framework", In Artificial Intelligence, Elsevier, 2015. [bib]
[2] Moritz Tenorth, Jan Winkler, Daniel Beßler, Michael Beetz, "Open-EASE -- A Cloud-Based Knowledge Service for Autonomous Learning", In KI -- K√ľnstliche Intelligenz, Springer Berlin Heidelberg, 2015. [bib] [doi]
[3] Luis Riazuelo, Moritz Tenorth, Daniel Di Marco, Marta Salas, Dorian Gálvez-López, Lorenz Mösenlechner, Lars Kunze, Michael Beetz, Juan D. Tardós, Luis Montano, J. M. M. Montiel, "RoboEarth Semantic Mapping: A Cloud Enabled Knowledge-Based Approach", In IEEE Transactions on Automation Science and Engineering (T-ASE), 2015. [bib] [pdf]
[4] Jan Winkler, Moritz Tenorth, Asil Kaan Bozcuoglu, Michael Beetz, "CRAMm -- Memories for Robots Performing Everyday Manipulation Activities", In Advances in Cognitive Systems, vol. 3, pp. 47-66, 2014. [bib]
[5] Moritz Tenorth, Alexander Clifford Perzylo, Reinhard Lafrenz, Michael Beetz, "Representation and Exchange of Knowledge about Actions, Objects, and Environments in the RoboEarth Framework", In IEEE Transactions on Automation Science and Engineering (T-ASE), vol. 10, no. 3, pp. 643-651, 2013. Best Paper Award Finalist [bib] [doi]
[6] Moritz Tenorth, Michael Beetz, "KnowRob -- A Knowledge Processing Infrastructure for Cognition-enabled Robots", In Int. Journal of Robotics Research, vol. 32, no. 5, pp. 566 - 590, 2013. [bib] [pdf]
[7] Michael Beetz, Dominik Jain, Lorenz Mösenlechner, Moritz Tenorth, Lars Kunze, Nico Blodow, Dejan Pangercic, "Cognition-Enabled Autonomous Robot Control for the Realization of Home Chore Task Intelligence", In Proceedings of the IEEE, vol. 100, no. 8, pp. 2454-2471, 2012. [bib]
[8] Markus Waibel, Michael Beetz, Raffaello D'Andrea, Rob Janssen, Moritz Tenorth, Javier Civera, Jos Elfring, Dorian Gálvez-López, Kai Häussermann, J.M.M. Montiel, Alexander Perzylo, Björn Schießle, Oliver Zweigle, René van de Molengraft, "RoboEarth - A World Wide Web for Robots", In Robotics & Automation Magazine, IEEE, vol. 18, no. 2, pp. 69-82, 2011. [bib] [pdf]
[9] Moritz Tenorth, Ulrich Klank, Dejan Pangercic, Michael Beetz, "Web-enabled Robots -- Robots that Use the Web as an Information Resource", In Robotics & Automation Magazine, IEEE, vol. 18, no. 2, pp. 58-68, 2011. [bib] [pdf]
[10] Moritz Tenorth, Dominik Jain, Michael Beetz, "Knowledge Representation for Cognitive Robots", In Künstliche Intelligenz, Springer, vol. 24, no. 3, pp. 233-240, 2010. [bib] [pdf]
[11] Michael Beetz, Dominik Jain, Lorenz Mösenlechner, Moritz Tenorth, "Towards Performing Everyday Manipulation Activities", In Robotics and Autonomous Systems, Elsevier, vol. 58, no. 9, pp. 1085-1095, 2010. [bib] [pdf]
[12] Michael Beetz, Moritz Tenorth, Dominik Jain, Jan Bandouch, "Towards Automated Models of Activities of Daily Life", In Technology and Disability, IOS Press, vol. 22, no. 1-2, pp. 27-40, 2010. [bib] [pdf]
Conference Papers
[13] Michael Beetz, Daniel Beßler, Jan Winkler, Jan-H. Worch, Ferenc Balint-Benczedi, Georg Bartels, Aude Billard, Asil K. Bozcuoglu, Zhou Fang, Nadia Figueroa, Andrei Haidu, Hagen Langer, Alexis Maldonado, Ana-Lucia Pais, Moritz. Tenorth, Thiemo Wiedemeyer, "Open Robotics Research Using Web-based Knowledge Services", In International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 2016. [bib] [pdf]
[14] Michael Beetz, Moritz Tenorth, Jan Winkler, "Open-EASE -- A Knowledge Processing Service for Robots and Robotics/AI Researchers", In IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA, 2015. Finalist for the Best Cognitive Robotics Paper Award. [bib]
[15] Moritz Tenorth, Georg Bartels, Michael Beetz, "Knowledge-based Specification of Robot Motions", In Proc. of the European Conference on Artificial Intelligence (ECAI), 2014. [bib] [pdf]
[16] Moritz Tenorth, Koji Kamei, Satoru Satake, Takahiro Miyashita, Norihiro Hagita, "Building Knowledge-enabled Cloud Robotics Applications using the Ubiquitous Network Robot Platform", In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo Big Sight, Japan, pp. 5716-5721, 2013. [bib] [pdf]
[17] Moritz Tenorth, Fernando De la Torre, Michael Beetz, "Learning Probability Distributions over Partially-Ordered Human Everyday Activities", In IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, pp. 4539-4544, 2013. [bib] [pdf]
[18] Moritz Tenorth, Alexander Clifford Perzylo, Reinhard Lafrenz, Michael Beetz, "The RoboEarth Language: Representing and Exchanging Knowledge about Actions, Objects, and Environments", In 23rd International Joint Conference on Artificial Intelligence (IJCAI 2013). Special track on Best Papers in Sister Conferences, Beijing, China, 2013. Invited paper. [bib] [pdf]
[19] Moritz Tenorth, Stefan Profanter, Ferenc Balint-Benczedi, Michael Beetz, "Decomposing CAD Models of Objects of Daily Use and Reasoning about their Functional Parts", In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo Big Sight, Japan, pp. 5943-5949, 2013. [bib] [pdf]
[20] Moritz Tenorth, Johannes Ziegltrum, Michael Beetz, "Automated Alignment of Specifications of Everyday Manipulation Tasks", In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo Big Sight, Japan, pp. 5923-5928, 2013. [bib] [pdf]
[21] Charmayne Mary Lee Hughes, Moritz Tenorth, Marta Bienkiewicz, Joachim Hermsdörfer, "Action sequencing and error production in stroke patients with apraxia -- Behavioral modeling using Bayesian Logic Networks", In 6th International Conference on Health Informatics (HEALTHINF 2013), Barcelona, Spain, 2013. [bib] [pdf]
[22] Moritz Tenorth, Michael Beetz, "Knowledge Processing for Autonomous Robot Control", In AAAI Spring Symposium on Designing Intelligent Robots: Reintegrating AI, Stanford, CA, USA, 2012. [bib] [pdf]
[23] Moritz Tenorth, Alexander Clifford Perzylo, Reinhard Lafrenz, Michael Beetz, "The RoboEarth language: Representing and Exchanging Knowledge about Actions, Objects, and Environments", In IEEE International Conference on Robotics and Automation (ICRA), St. Paul, MN, USA, 2012. Best Cognitive Robotics Paper Award. [bib] [pdf]
[24] Moritz Tenorth, Michael Beetz, "A Unified Representation for Reasoning about Robot Actions, Processes, and their Effects on Objects", In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, 2012. [bib] [pdf]
[25] Martin Schuster, Dominik Jain, Moritz Tenorth, Michael Beetz, "Learning Organizational Principles in Human Environments", In IEEE International Conference on Robotics and Automation (ICRA), St. Paul, MN, USA, 2012. [bib] [pdf]
[26] Dejan Pangercic, Moritz Tenorth, Benjamin Pitzer, Michael Beetz, "Semantic Object Maps for Robotic Housework - Representation, Acquisition and Use", In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, 2012. [bib] [pdf]
[27] Daniel di Marco, Moritz Tenorth, Kai Häussermann, Oliver Zweigle, Paul Levi, "RoboEarth Action Recipe Execution", In 12th International Conference on Intelligent Autonomous Systems, 2012. [bib] [pdf]
[28] Moritz Tenorth, Michael Beetz, "Exchange of Action-related Information among Autonomous Robots", In 12th International Conference on Intelligent Autonomous Systems, 2012. [bib] [pdf]
[29] Michael Beetz, Moritz Tenorth, Dejan Pangercic, Benjamin Pitzer, "Semantic Object Maps for Household Tasks", In 5th International Conference on Cognitive Systems (CogSys 2012), 2012. [bib] [pdf]
[30] Michael Beetz, Lorenz Mösenlechner, Moritz Tenorth, Thomas Rühr, "CRAM -- a Cognitive Robot Abstract Machine", In 5th International Conference on Cognitive Systems (CogSys 2012), 2012. [bib] [pdf]
[31] Michael Beetz, Ulrich Klank, Ingo Kresse, Alexis Maldonado, Lorenz Mösenlechner, Dejan Pangercic, Thomas Rühr, Moritz Tenorth, "Robotic Roommates Making Pancakes", In 11th IEEE-RAS International Conference on Humanoid Robots, Bled, Slovenia, 2011. [bib] [pdf]
[32] Daniel Nyga, Moritz Tenorth, Michael Beetz, "How-Models of Human Reaching Movements in the Context of Everyday Manipulation Activities", In IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, 2011. [bib] [pdf]
[33] Nico Blodow, Lucian Cosmin Goron, Zoltan-Csaba Marton, Dejan Pangercic, Thomas Rühr, Moritz Tenorth, Michael Beetz, "Autonomous Semantic Mapping for Robots Performing Everyday Manipulation Tasks in Kitchen Environments", In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, USA, 2011. [bib] [pdf]
[34] Moritz Tenorth, Daniel Nyga, Michael Beetz, "Understanding and Executing Instructions for Everyday Manipulation Tasks from the World Wide Web", In IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, USA, pp. 1486-1491, 2010. [bib] [pdf]
[35] Moritz Tenorth, Michael Beetz, "Priming Transformational Planning with Observations of Human Activities", In IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, USA, pp. 1499-1504, 2010. [bib] [pdf]
[36] Moritz Tenorth, Lars Kunze, Dominik Jain, Michael Beetz, "KNOWROB-MAP -- Knowledge-Linked Semantic Object Maps", In 10th IEEE-RAS International Conference on Humanoid Robots, Nashville, TN, USA, pp. 430-435, 2010. [bib] [pdf]
[37] Lars Kunze, Moritz Tenorth, Michael Beetz, "Putting People's Common Sense into Knowledge Bases of Household Robots", In 33rd Annual German Conference on Artificial Intelligence (KI 2010), Springer, Karlsruhe, Germany, pp. 151-159, 2010. [bib] [pdf]
[38] Dejan Pangercic, Moritz Tenorth, Dominik Jain, Michael Beetz, "Combining Perception and Knowledge Processing for Everyday Manipulation", In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, pp. 1065-1071, 2010. [bib] [pdf]
[39] Michael Beetz, Lorenz Mösenlechner, Moritz Tenorth, "CRAM -- A Cognitive Robot Abstract Machine for Everyday Manipulation in Human Environments", In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, pp. 1012-1017, 2010. [bib] [pdf]
[40] Moritz Tenorth, Michael Beetz, "KnowRob -- Knowledge Processing for Autonomous Personal Robots", In IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4261-4266, 2009. [bib] [pdf]
[41] Freek Stulp, Andreas Fedrizzi, Franziska Zacharias, Moritz Tenorth, Jan Bandouch, Michael Beetz, "Combining Analysis, Imitation, and Experience-based Learning to Acquire a Concept of Reachability", In 9th IEEE-RAS International Conference on Humanoid Robots, pp. 161-167, 2009. [bib] [pdf]
[42] Michael Beetz, Jan Bandouch, Dominik Jain, Moritz Tenorth, "Towards Automated Models of Activities of Daily Life", In First International Symposium on Quality of Life Technology -- Intelligent Systems for Better Living, Pittsburgh, Pennsylvania USA, 2009. [bib] [pdf]
[43] Dejan Pangercic, Rok Tavcar, Moritz Tenorth, Michael Beetz, "Visual Scene Detection and Interpretation using Encyclopedic Knowledge and Formal Description Logic", In Proceedings of the International Conference on Advanced Robotics (ICAR)., Munich, Germany, 2009. [bib] [pdf]
[44] Michael Beetz, Freek Stulp, Bernd Radig, Jan Bandouch, Nico Blodow, Mihai Dolha, Andreas Fedrizzi, Dominik Jain, Uli Klank, Ingo Kresse, Alexis Maldonado, Zoltan Marton, Lorenz Mösenlechner, Federico Ruiz, Radu Bogdan Rusu, Moritz Tenorth, "The Assistive Kitchen -- A Demonstration Scenario for Cognitive Technical Systems", In IEEE 17th International Symposium on Robot and Human Interactive Communication (RO-MAN), Muenchen, Germany, pp. 1-8, 2008. Invited paper. [bib] [pdf]
Workshop Papers
[45] Georg Bartels, Daniel Beßler, Michael Beetz, Moritz Tenorth, Jan Winkler, "How to Use OpenEASE: An Online Knowledge Processing System for Robots and Robotics Researchers", In Proceedings of the 14th International Conference on Autonomous Agents and Multiagent Systems (AAMAS), Istanbul, Turkey, 2015. [bib] [pdf]
[46] Ferenc Balint-Benczedi, Thiemo Wiedemeyer, Moritz Tenorth, Daniel Beßler, Michael Beetz, "A Knowledge-Based Approach to Robotic Perception using Unstructured Information Management", In Proceedings of the 14th International Conference on Autonomous Agents and Multiagent Systems (AAMAS), Istanbul, Turkey, 2015. [bib]
[47] Luis Riazuelo, Moritz Tenorth, Daniel Di Marco, Marta Salas, Lorenz Mösenlechner, Lars Kunze, Michael Beetz, Juan D. Tardos, Luis Montano, J. M. M. Montiel, "RoboEarth Web-Enabled and Knowledge-Based Active Perception", In IROS 2013 Workshop on AI-based Robotics, Tokyo, Japan, 2013. [bib]
[48] Moritz Tenorth, Koji Kamei, Satoru Satake, Takahiro Miyashita, Norihiro Hagita, "Towards a Networked Robot Architecture\\ for Distributed Task Execution and Knowledge Exchange", In Third International Workshop on Standards and Common Platforms for Robotics (SCPR 2012), in conjunction with SIMPAR 2012, Tsukuba, Japan, 2012. [bib] [pdf]
[49] Nico Blodow, Zoltan-Csaba Marton, Dejan Pangercic, Thomas Rühr, Moritz Tenorth, Michael Beetz, "Inferring Generalized Pick-and-Place Tasks from Pointing Gestures", In IEEE International Conference on Robotics and Automation (ICRA), Workshop on Semantic Perception, Mapping and Exploration, 2011. [bib] [pdf]
[50] Moritz Tenorth, Jan Bandouch, Michael Beetz, "The TUM Kitchen Data Set of Everyday Manipulation Activities for Motion Tracking and Action Recognition", In IEEE International Workshop on Tracking Humans for the Evaluation of their Motion in Image Sequences (THEMIS), in conjunction with ICCV2009, 2009. [bib] [pdf]
[51] Moritz Tenorth, Michael Beetz, "Towards Practical and Grounded Knowledge Representation Systems for Autonomous Household Robots", In Proceedings of the 1st International Workshop on Cognition for Technical Systems, München, Germany, 6-8 October, 2008. [bib] [pdf]
[52] Zoltan Csaba Marton, Nico Blodow, Mihai Dolha, Moritz Tenorth, Radu Bogdan Rusu, Michael Beetz, "Autonomous Mapping of Kitchen Environments and Applications", In Proceedings of the 1st International Workshop on Cognition for Technical Systems, Munich, Germany, 6-8 October, 2008. [bib] [pdf]
Other Publications
[53] Daniel Di Marco, Andreas Koch, Oliver Zweigle, Kai Häussermann, Björn Schieß le, Paul Levi, Dorian Galvez Lopez, Luis Riazuelo, Javier Civera, J.M.M Montiel, Moritz Tenorth, Alexander Clifford Perzylo, Markus Waibel, Marinus Jacobus Gerardus van de Molengraft, "Creating and using RoboEarth object models", St. Paul, MN, USA, 2012. [bib]
[54] Moritz Tenorth, "Knowledge Processing for Autonomous Robots", PhD thesis, Technische Universität München, 2011. [bib] [pdf]
[55] Dejan Pangercic, Koppany Mathe, Zoltan-Csaba Marton, Lucian Cosmin Goron, Monica-Simona Opris, Martin Schuster, Moritz Tenorth, Dominik Jain, Thomas Ruehr, Michael Beetz, "A Robot that Shops for and Stores Groceries", San Francisco, CA, USA, 2011. [bib] [pdf]
[56] Moritz Tenorth, Michael Beetz, "Deliverable D5.2: The RoboEarth Language -- Language Specification", Technical report, FP7-ICT-248942 RoboEarth, no. D5.2, 2010. [bib]
[57] Moritz Tenorth, Daniel Nyga, Michael Beetz, "Understanding and Executing Instructions for Everyday Manipulation Tasks from the World Wide Web", Technical report, IAS group, Technische Universität München, Fakultät für Informatik, 2009. [bib]
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