selected publications

• academic article

  • Johnny: An Autonomous Service Robot for Domestic Environments.  Journal of Intelligent and Robotic Systems.  66:245-272. 2011

• blog posting

  • Towards a Robot Perception Specification Language.  arXiv (Cornell University). 2014

• chapter

  • Declarative Specification of Robot Perception Architectures.  Springer eBooks. 291-302. 2014
  • Trends in Robotic Software Frameworks.  Springer eBooks. 259-266. 2007
  • The Ulm Sparrows 99.  Springer eBooks. 638-641. 2000

• conference paper

  • Context-based selection and execution of robot perception graphs.  . 2015