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Auflistung nach Autor:in "Berns, Karsten"

1 - 10 von 10
  • Konferenzbeitrag
    Applications of visualization technology in robotics software development
    (Software Engineering 2009, 2009) Reichardt, Max; Wilhelm, Lisa; Proetzsch, Martin; Berns, Karsten
    Control software for experimental autonomous robots is typically complex and subject to frequent changes – posing numerous challenges for software engineers. When based on general-purpose robotics frameworks, significant parts of such systems are modular and data-flow-oriented – a natural fit for visualization in graph structures. In this paper, we present approaches to visualize different aspects of robotics software which proved helpful or even essential in our development process. Furthermore, we briefly introduce central abstractions in our software framework which greatly facilitate generic solutions.
  • Zeitschriftenartikel
    Behaviour-Based Off-Road Robot Navigation
    (KI - Künstliche Intelligenz: Vol. 25, No. 2, 2011) Armbrust, Christopher; Proetzsch, Martin; Berns, Karsten
    This paper describes concepts for the control of the autonomous off-road vehicle ravon. The complexity of the target environment comprising rough terrain as well as vegetation requires capabilities reaching from low-level safety aspects to high-level planning. It is shown how the modular implementation using the behaviour-based architecture iB2C allows for the realisation of complex behaviour networks based on a concept for the uniform representation of sensor data. The effectiveness of the presented approach is briefly shown in a real-world experiment.
  • Konferenzbeitrag
    Design principles in robot control frameworks
    (INFORMATIK 2013 – Informatik angepasst an Mensch, Organisation und Umwelt, 2013) Reichardt, Max; Föhst, Tobias; Berns, Karsten
    Robotic software frameworks have critical impact on development effort and quality of robot control systems. This paper provides a condensed overview on the complex topic of robotic framework design. Important areas of design are discussed – together with design principles applied in state-of-the-art solutions. They are related to software quality attributes with a brief discussion on their impact. Based on this analysis, the approaches taken in the framework FINROC are briefly presented.
  • Zeitschriftenartikel
    Detection of Field Structures for Agricultural Vehicle Guidance
    (KI - Künstliche Intelligenz: Vol. 27, No. 4, 2013) Fleischmann, Patrick; Föhst, Tobias; Berns, Karsten
    This paper introduces a model based detection approach for typical structures in the agricultural environment. In contrast to other existing approaches in this area it exclusively relies on distance data information generated by a laser scanner which makes the detection robust against varying illumination. Additionally, the method was designed to be easily adaptable to different agricultural structures as well as to minimize computation power. To test the performance and the capabilities of the presented approach a prototypical baling assistance system was implemented where a tractor had to follow a straw windrow while the implement created round bales.
  • Konferenzbeitrag
    Interconnection of the behavior-based control architecture and a detailed mechatronic machine model for realistic behavior verification of the THOR project
    (INFORMATIK 2013 – Informatik angepasst an Mensch, Organisation und Umwelt, 2013) Schmidt, Daniel; Juhasz, Tamas; Berns, Karsten; Schmucker, Ulrich
    The enclosing Thor (Terraforming Heavy Outdoor Robot) project's goal is to perform typical tasks of a bucket excavator autonomously, like landscaping, mass excavation, or material transport on construction or mining sites. The paper at hand presents an approach for close interoperateration between its reactive behavior-based control approach for highly dynamic environments with a lot of disturbances and a realistic dynamic simulation of the robot for safe parameter evaluation under given time boundaries.
  • Zeitschriftenartikel
    Interview with John F. Reid Concerning the Future of Service Robots in Forestry and Agricultural Applications
    (KI - Künstliche Intelligenz: Vol. 25, No. 2, 2011) Berns, Karsten
  • Konferenzbeitrag
    Nachhaltige Landwirtschaft mittels Künstlicher Intelligenz – ein plattformbasierter Ansatz für Forschung und Industrie
    (43. GIL-Jahrestagung, Resiliente Agri-Food-Systeme, 2023) Bosse, Sebastian; Berns, Karsten; Bosch, Johannes; Dörr, Jörg; Eichhorn, Frederick Charles; Eisert, Peter; Fischer, Christoph; Gassen, Eike; Gerstenberger, Michael; Gerighausen, Heike; Heil, Jonathan; Hilsmann, Anna; Hirth, Jochen; Huber, Christopher; Hussaini, Mortesa; Kasparick, Martin; Kloke, Peter; Krause-Edler, Hartmut; Mackle, Lukas; Magnusson, Jannes; Möhrle, Felix; Möller, Markus; Pickel, Peter; Rautenberg, Clemens; Schotten, Hans Dieter; Stanczak, Slawomir; Thiele, Lars; Ücdemir, Henrik; Wania, Annett; Stein, Anthony
    Digitale Technologien gelten als möglicher Schlüssel zur Verknüpfung von Nachhaltigkeit, Klimaanpassung und wirtschaftlicher Effizienz in der Pflanzenproduktion. Die Heterogenität und Dezentralität des landwirtschaftlichen Systems stellt besondere Anforderungen an den Entwurf datengetriebener Lösungen: Daten entstehen lokal in landwirtschaftlichen Betrieben unterschiedlicher Größe; ihre Erhebung und Auswertung erfolgt meist multimodal, dezentral und durch Dritte; landwirtschaftliche Stakeholder stellen als Dateneigentümer hohe Ansprüche an die Datensouveränität. Das Forschungsprojekt „Nachhaltige Landwirtschaft mittels Künstlicher Intelligenz“ (NaLamKI) entwickelt einen plattformbasierten Ansatz, um diese Anforderungen zu adressieren und setzt hierzu auf Cloud-Edge Services zur 1) Erhebung divers strukturierter landwirtschaftlicher Daten, 2) KI-gestützte Fusion und Auswertung dieser Daten sowie 3) nutzerorientierte Haltung und Bereitstellung der erzeugten Datenprodukte in einem digitalen Farm-Twin unter Wahrung der Datensouveränität, Schaffung von (Daten-)Interoperabilität sowie GAIA-X-Konformität. Dieser Beitrag leitet die Notwendigkeit dieses Forschungsansatzes her, erläutert dessen zugrunde liegende Konzepte und diskutiert wissenschaftliche Ansatzpunkte und Ergebnisse sowie offene Herausforderungen und Chancen dieses integrierten Ansatzes.
  • Zeitschriftenartikel
    Off-road Robotics—An Overview
    (KI - Künstliche Intelligenz: Vol. 25, No. 2, 2011) Berns, Karsten; Kuhnert, Klaus-Dieter; Armbrust, Christopher
    This article gives an overview of the current state of research in the field of off-road robotics. It focuses on techniques used in the areas of perception, environment representation, as well as navigation, and introduces different types of robot control systems. A presentation of different applications is given along with an outlook on future developments.
  • Konferenzbeitrag
    Seamless extension of a robot control framework to bare metal embedded nodes
    (Informatik 2014, 2014) Schütz, Steffen; Reichardt, Max; Arndt, Michael; Berns, Karsten
    Engineering complex robot control systems typically suffers from a major break in development process between different platforms - powerful computers running an operating systems and bare metal embedded computing nodes. This work presents an approach to close this gap by running an existing state-of-the-art software framework with only minor modifications on all platforms. In this context, we discuss relevant design principles of robotic frameworks and validate their importance.
  • Zeitschriftenartikel
    Themenheft Offroad-Robotik
    (KI - Künstliche Intelligenz: Vol. 25, No. 2, 2011) Berns, Karsten; Armbrust, Christopher