Simon Stelter

Research Staff

Tel: –49 -421 218 64014
Fax: –49 -421 218 64047
Room: TAB 1.78
Mail: stelter(at)cs[dot]uni-bremen[dot]de

About

I'm a PhD student at the Institute for Artificial Intelligence of the University of Bremen. My main research interest is optimization and constraint base robot motion control and I'm the main developer of Giskard.

I first came into contact with the IAI during my studies at the University of Bremen, during the Bachelor and later Master project SUTURO. Afterwards, I did my Bachelor's and Master's thesis under the supervision of Georg Bartels, worked for the group as a student assistant and later got hired for a PhD position in 2017. After Georg left to founded the start-up Ubica, I took over his role as the main developer of Giskard.

Teaching

  • Co-supervisor for master project Suturo (WS20/21, SS21, WS22/23)
  • Co-supervisor for bachelor project Suturo (WS19/20, SS20, WS21/22)
  • Co-lecturer and Co-tutor for Integrated Intelligent Systems (WS20/21, WS21/22)
  • Supervisor of master's thesis 'Articulation model aware constraint based manipulation planning of a kitchen environment' (WS20/21)
  • Supervisor of bachelor's thesis 'Erweiterung eines constraint-basierten Bewegungsplanungs-Frameworks um ein Kollisionsvermeidungsverfahren unter Verwendung von 2D-Lidar-Daten' (WS21/22)
  • Supervisor of master's thesis 'Enhancing constraint-based robot motion control by utilizing path planners to avoid local minima' (SS22)
  • Co-Supervisor of master's thesis 'Integration of Grasping Into a Constraint-Based Whole-Body Controller' (WS22/23)

Publications

Books
[1]Beetz, Michael, Stelter, Simon, Beßler, Daniel, Dhanabalachandran, Kaviya, Neumann, Michael, Mania, Patrick and Haidu, Andrei, "Robots Collecting Data: Modelling Stores", Springer International Publishing, Cham, pp. 41–64, 2022. [bibtex] [url] [doi]
[2]Cavallo, Alberto, Costanzo, Marco, De Maria, Giuseppe, Natale, Ciro, Pirozzi, Salvatore, Stelter, Simon, Kazhoyan, Gayane, Koralewski, Sebastian and Beetz, Michael, "Robotic Clerks: Autonomous Shelf Refilling", Springer International Publishing, Cham, pp. 137–170, 2022. [bibtex] [url] [doi]
Journal Articles and Book Chapters
[3]Stelter, Simon, Bartels, Georg, and Beetz, Michael, "Multidimensional Time Series Shapelets Reliably Detect and Classify Contact Events in Force Measurements of Wiping Actions", In Robotics and Automation Letters, IEEE, 2018. (c) 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. [bibtex] [pdf] [doi]
[4]Bozcuoglu, Asil Kaan, Kazhoyan, Gayane, Furuta, Yuki, Stelter, Simon, Beetz, Michael, Okada, Kei and Inaba, Masayuki, "The Exchange of Knowledge using Cloud Robotics", In Robotics and Automation Letters, IEEE, vol. 3, no. 2, pp. 1072-1079, 2018. [bibtex] [doi]
[5]Costanzo, Marco, Stelter, Simon, Natale, Ciro, Pirozzi, Salvatore, Bartels, Georg, Maldonado, Alexis and Beetz, Michael, "Manipulation Planning and Control for Shelf Replenishment", In IEEE Robotics and Automation Letters, IEEE, vol. 5, no. 2, pp. 1595–1601, 2020. [bibtex]
[6]Dennis Mronga, Andreas Bresser, Fabias Maas genannt Bermpohl, Adrian Danzglock, Simon Stelter, Alina Hawkin, Giang Nguyen, Michael Beetz and Frank Kirchner, "MARLIN: A cloud integrated robotic solution to support intralogistics in retail", In Robotics and Autonomous Systems, vol. 175, pp. 104654, 2024. [bibtex] [url] [doi]
Conference Papers
[7]Stelter, Simon, Bartels, Georg, and Beetz, Michael, "Multidimensional Time Series Shapelets Reliably Detect and Classify Contact Events in Force Measurements of Wiping Actions", In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017. Finalist for the Best Cognitive Robotics Paper Award. [bibtex]
[8]Bozcuoglu, Asil Kaan, Kazhoyan, Gayane, Furuta, Yuki, Stelter, Simon, Beetz, Michael, Okada, Kei and Inaba, Masayuki, "The Exchange of Knowledge using Cloud Robotics", In International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 2018. Finalist for the Best Cognitive Robotics Paper Award, Finalist for the Best Service Robotics Paper Award. [bibtex]
[9]Gayane Kazhoyan, Simon Stelter, Franklin Kenghagho Kenfack, Sebastian Koralewski and Michael Beetz, "The Robot Household Marathon Experiment", In IEEE International Conference on Robotics and Automation (ICRA), 2021. Accepted for publication. [bibtex] [url]
[10]Nils Leusmann, Glareh Mir, Giang Nguyen, Simon Stelter, Kaviya Dhanabalachandran, Cagatay Odabasi, Maik Malki, Alina Hawkin, Felix Bazlen and Michael Beetz, "Retail SemDT Collection Knowledge-base, A Platform Architecture", In 2023 IEEE Smart World Congress (SWC), pp. 1–6, 2023. [bibtex]
[11]Giang Nguyen, Daniel Beßler, Simon Stelter, Mihai Pomarlan and Michael Beetz, "Translating Universal Scene Descriptions into Knowledge Graphs for Robotic Environment", In 2024 International Conference on Robotics and Automation (ICRA), 2024. Accepted for publication [bibtex]
[12]Mania, Patrick, Stelter, Simon, Kazhoyan, Gayane and Beetz, Michael, "An Open and Flexible Robot Perception Framework for Mobile Manipulation Tasks", In 2024 International Conference on Robotics and Automation (ICRA), 2024. Accepted for publication [bibtex]
Other Publications
[13]Gayane Kazhoyan, Simon Stelter, Franklin Kenghagho Kenfack, Sebastian Koralewski and Michael Beetz, "The Robot Household Marathon Experiment", 2020. [bibtex] [url]

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