Achim J. Lilienthal

Welcome to my home page!

I am a professor of Computer Science and head of the Mobile Robotics & Olfaction (MRO) Lab, a research group at Örebro University.

By design, most research directions of the MRO Lab are aligned with my personal research interest, which is generally focused on perception systems for intelligent systems, mostly mobile robots that operate in unconstrained, dynamic environments. A major aim is to integrate research results timely in industrial demonstrators. More specifically, my research addresses Mobile Robot Olfaction, Robot-assisted Environmental Monitoring, Rich 3D Perception, Long-term Autonomous Navigation, and increasingly also Human Robot Interaction, specifically in semi-controllable (typically industrial) environments. In addition, I recently developed an interest in Mathematics Education Research. Selected papers for each direction are shown below.

Brief CV

Professor at Örebro University since Jun 2013
Lecturer (lektor) at Örebro University since Feb 2012
Associate professor (docent) since Apr 8, 2008
Assisstant senior lecturer (biträdande lektor) at Örebro University from Feb 2008 – Jan 2012
Post-doc (forskarassisstent) at Örebro University from Jul 2005 – Jan 2008
Ph.D. at the WSI Computer Science Department, University of Tübingen, Germany from Mar 1999 – Jul 2004

You can find further information on my CV page.

Scientific Publications

I am author/co-author of about 170 refereed conference papers and journal publications. Most of them are available through , see the list of publications at the end of this page. You can also find my publications and corresponding bibliometric information in my and profiles. Please note issues of Google Scholar and Research Gate with erroneous metadata and inflated counts due to self-citations (as pointed out by Gaurav S. Sukhatme).

Current Trends in the Use of Eye Tracking in Mathematics Education Research: A PME Survey

Contact

Prof. Achim J. Lilienthal

AASS Research Centre
School of Science and Technology
Örebro University
70182 Örebro, Sweden
Room T1222
Phone +46 (0)19 30 36 02
achim.lilienthal@oru.se

Publications

Journal Articles

[1]	R. T. Chadalavada, H. Andreasson, M. Schindler, R. Palm and A. J. Lilienthal. Bi-directional navigation intent communication using spatial augmented reality and eye-tracking glasses for improved safety in human-robot interaction. Robotics and Computer-Integrated Manufacturing, 61, 2020 [ BibTeX \| DiVA ]
[2]	J. Burgues, V. Hernandez Bennetts, A. J. Lilienthal and S. Marco. Gas Distribution Mapping and Source Localization Using a 3D Grid of Metal Oxide Semiconductor Sensors. Sensors and actuators. B, Chemical, 304, 2020 [ BibTeX \| DiVA ]
[3]	H. R. Hou, A. J. Lilienthal and Q. H. Meng. Gas Source Declaration with Tetrahedral Sensing Geometries and Median Value Filtering Extreme Learning Machine. IEEE Access, 8:7227-7235, 2020 [ BibTeX \| DiVA \| PDF ]
[4]	D. C. Hoang, A. Lilienthal and T. Stoyanov. Object-RPE : Dense 3D Reconstruction and Pose Estimation with Convolutional Neural Networks. Robotics and Autonomous Systems, 133, 2020 [ BibTeX \| DiVA \| PDF ]
[5]	D. C. Hoang, A. Lilienthal and T. Stoyanov. Panoptic 3D Mapping and Object Pose Estimation Using Adaptively Weighted Semantic Information. IEEE Robotics and Automation Letters, 5(2):1962-1969, 2020 [ BibTeX \| DiVA ]
[6]	M. A. Arain, V. Hernandez Bennetts, E. Schaffernicht and A. Lilienthal. Sniffing out fugitive methane emissions : autonomous remote gas inspection with a mobile robot. The international journal of robotics research 2020 [ BibTeX \| DiVA ]
[7]	M. Schindler and A. J. Lilienthal. Students' Creative Process in Mathematics : Insights from Eye-Tracking-Stimulated Recall Interview on Students' Work on Multiple Solution Tasks. International Journal of Science and Mathematics Education, 18(8):1565-1586, 2020 [ BibTeX \| DiVA \| PDF ]
[8]	A. Rudenko, T. P. Kucner, C. S. Swaminathan, R. T. Chadalavada, K. O. Arras and A. J. Lilienthal. THÖR : Human-Robot Navigation Data Collection and Accurate Motion Trajectories Dataset. IEEE Robotics and Automation Letters, 5(2):676-682, 2020 [ BibTeX \| DiVA ]
[9]	P. P. Neumann, D. Hüllmann, D. Krentel, M. Kluge, M. Dzierliński, A. J. Lilienthal and M. Bartholmai. Aerial-based gas tomography : from single beams to complex gas distributions. European Journal of Remote Sensing, 52(Sup. 3):2-16, 2019 [ BibTeX \| DiVA \| PDF ]
[10]	T. Wiedemann, A. J. Lilienthal and D. Shutin. Analysis of Model Mismatch Effects for a Model-based Gas Source Localization Strategy Incorporating Advection Knowledge. Sensors, 19(3), 2019 [ BibTeX \| DiVA \| PDF ]
[11]	M. Schindler and A. J. Lilienthal. Domain-specific interpretation of eye tracking data : towards a refined use of the eye-mind hypothesis for the field of geometry. Educational Studies in Mathematics, 101(1):123-139, 2019 [ BibTeX \| DiVA ]
[12]	Y. Xing, T. A. Vincent, H. Fan, E. Schaffernicht, V. Hernandez Bennetts, A. J. Lilienthal, M. Cole and J. W. Gardner. FireNose on Mobile Robot in Harsh Environments. IEEE Sensors Journal, 19(24):12418-12431, 2019 [ BibTeX \| DiVA ]
[13]	T. Wiedemann, D. Shutin and A. J. Lilienthal. Model-based gas source localization strategy for a cooperative multi-robot system-A probabilistic approach and experimental validation incorporating physical knowledge and model uncertainties. Robotics and Autonomous Systems, 118:66-79, 2019 [ BibTeX \| DiVA \| PDF ]
[14]	V. Hernandez Bennetts, K. Kamarudin, T. Wiedemann, T. P. Kucner, S. L. Somisetty and A. J. Lilienthal. Multi-Domain Airflow Modeling and Ventilation Characterization Using Mobile Robots, Stationary Sensors and Machine Learning. Sensors, 19(5), 2019 [ BibTeX \| DiVA \| PDF ]
[15]	M. Schindler, E. Bader, A. J. Lilienthal, F. Schindler and A. Schabmann. Quantity Recognition in Structured Whole Number Representations of Students with Mathematical Difficulties : An Eye-Tracking Study. Learning Disabilities: A Contemporary Journal, 17(1):5-28, 2019 [ BibTeX \| DiVA \| PDF ]
[16]	J. Burgués, V. Hernandez Bennetts, A. J. Lilienthal and S. Marco. Smelling Nano Aerial Vehicle for Gas Source Localization and Mapping. Sensors, 19(3), 2019 [ BibTeX \| DiVA \| PDF ]
[17]	M. Mielle, M. Magnusson and A. J. Lilienthal. The Auto-Complete Graph : Merging and Mutual Correction of Sensor and Prior Maps for SLAM. Robotics, 8(2), 2019 [ BibTeX \| DiVA \| PDF ]
[18]	H. Fan, V. Hernandez Bennetts, E. Schaffernicht and A. J. Lilienthal. Towards Gas Discrimination and Mapping in Emergency Response Scenarios Using a Mobile Robot with an Electronic Nose. Sensors, 19(3), 2019 [ BibTeX \| DiVA \| PDF ]
[19]	M. Mielle, M. Magnusson and A. J. Lilienthal. URSIM : Unique Regions for Sketch Map Interpretation and Matching. Robotics, 8(2), 2019 [ BibTeX \| DiVA \| PDF ]
[20]	J. Burgués, V. Hernandez Bennetts, A. Lilienthal and S. Marco. 3D Gas Distribution with and without Artificial Airflow : An Experimental Study with a Grid of Metal Oxide Semiconductor Gas Sensors. Proceedings, 2(13), 2018 [ BibTeX \| DiVA \| PDF ]
[21]	H. Fan, V. Hernandez Bennetts, E. Schaffernicht and A. Lilienthal. A cluster analysis approach based on exploiting density peaks for gas discrimination with electronic noses in open environments. Sensors and actuators. B, Chemical, 259:183-203, 2018 [ BibTeX \| DiVA \| PDF ]
[22]	H. Fan, T. P. Kucner, M. Magnusson, T. Li and A. Lilienthal. A Dual PHD Filter for Effective Occupancy Filtering in a Highly Dynamic Environment. IEEE transactions on intelligent transportation systems (Print), 19(9):2977-2993, 2018 [ BibTeX \| DiVA ]
[23]	H. Almqvist, M. Magnusson, T. P. Kucner and A. Lilienthal. Learning to detect misaligned point clouds. Journal of Field Robotics, 35(5):662-677, 2018 [ BibTeX \| DiVA ]
[24]	D. Hüllmann, N. Paul, H. Kohlhoff, P. P. Neumann and A. Lilienthal. Measuring rotor speed for wind vector estimation on multirotor aircraft. Materials Today: Proceedings, 5(13):26703-26708, 2018 [ BibTeX \| DiVA ]
[25]	D. R. Canelhas, E. Schaffernicht, T. Stoyanov, A. Lilienthal and A. J. Davison. Compressed Voxel-Based Mapping Using Unsupervised Learning. Robotics, 6(3), 2017 [ BibTeX \| DiVA ]
[26]	T. P. Kucner, M. Magnusson, E. Schaffernicht, V. M. Hernandez Bennetts and A. J. Lilienthal. Enabling Flow Awareness for Mobile Robots in Partially Observable Environments. IEEE Robotics and Automation Letters, 2(2):1093-1100, 2017 [ BibTeX \| DiVA \| PDF ]
[27]	J. Monroy, V. Hernandez Bennetts, H. Fan, A. Lilienthal and J. Gonzalez-Jimenez. GADEN : A 3D Gas Dispersion Simulator for Mobile Robot Olfaction in Realistic Environments. Sensors, 17(7):1479-1494, 2017 [ BibTeX \| DiVA \| PDF ]
[28]	V. Hernandez Bennetts, T. P. Kucner, E. Schaffernicht, P. P. Neumann, H. Fan and A. J. Lilienthal. Probabilistic Air Flow Modelling Using Turbulent and Laminar Characteristics for Ground and Aerial Robots. IEEE Robotics and Automation Letters, 2(2):1117-1123, 2017 [ BibTeX \| DiVA ]
[29]	S. Asadi, H. Fan, V. Hernandez Bennetts and A. Lilienthal. Time-dependent gas distribution modelling. Robotics and Autonomous Systems, 96:157-170, 2017 [ BibTeX \| DiVA ]
[30]	A. Rituerto, H. Andreasson, A. C. Murillo, A. Lilienthal and J. Jesus Guerrero. Building an Enhanced Vocabulary of the Robot Environment with a Ceiling Pointing Camera. Sensors, 16(4), 2016 [ BibTeX \| DiVA ]
[31]	D. R. Canelhas, T. Stoyanov and A. J. Lilienthal. From Feature Detection in Truncated Signed Distance Fields to Sparse Stable Scene Graphs. IEEE Robotics and Automation Letters, 1(2):1148-1155, 2016 [ BibTeX \| DiVA \| PDF ]
[32]	T. Stoyanov, N. Vaskevicius, C. A. Mueller, T. Fromm, R. Krug, V. Tincani, R. Mojtahedzadeh, S. Kunaschk, R. M. Ernits, D. R. Canelhas, M. Bonilla, S. Schwertfeger, M. Bonini, H. Halfar, K. Pathak, M. Rohde, G. Fantoni, A. Bicchi, A. Birk, A. J. Lilienthal and W. Echelmeyer. No More Heavy Lifting : Robotic Solutions to the Container-Unloading Problem. IEEE robotics & automation magazine, 23(4):94-106, 2016 [ BibTeX \| DiVA \| PDF ]
[33]	R. Krug, T. Stoyanov, V. Tincani, H. Andreasson, R. Mosberger, G. Fantoni and A. J. Lilienthal. The Next Step in Robot Commissioning : Autonomous Picking and Palletizing. IEEE Robotics and Automation Letters, 1(1):546-553, 2016 [ BibTeX \| DiVA \| PDF ]
[34]	H. Andreasson, A. Bouguerra, M. Cirillo, D. N. Dimitrov, D. Driankov, L. Karlsson, A. J. Lilienthal, F. Pecora, J. P. Saarinen, A. Sherikov and T. Stoyanov. Autonomous transport vehicles : where we are and what is missing. IEEE robotics & automation magazine, 22(1):64-75, 2015 [ BibTeX \| DiVA ]
[35]	M. A. Arain, M. Trincavelli, M. Cirillo, E. Schaffernicht and A. J. Lilienthal. Global coverage measurement planning strategies for mobile robots equipped with a remote gas sensor. Sensors, 15(3):6845-6871, 2015 [ BibTeX \| DiVA \| PDF ]
[36]	R. Mojtahedzadeh, A. Bouguerra, E. Schaffernicht and A. J. Lilienthal. Support relation analysis and decision making for safe robotic manipulation tasks. Robotics and Autonomous Systems, 71(SI):99-117, 2015 [ BibTeX \| DiVA ]
[37]	R. Mosberger, H. Andreasson and A. J. Lilienthal. A customized vision system for tracking humans wearing reflective safety clothing from industrial vehicles and machinery. Sensors, 14(10):17952-17980, 2014 [ BibTeX \| DiVA \| PDF ]
[38]	P. P. Neumann, M. Schnürmacher, V. Hernandez Bennetts, A. J. Lilienthal, M. Bartholmai and J. H. Schiller. A Probabilistic Gas Patch Path Prediction Approach for Airborne Gas Source Localization in Non-Uniform Wind Fields. Sensor Letters, 12(6-7):1113-1118, 2014 [ BibTeX \| DiVA ]
[39]	E. Schaffernicht, M. Trincavelli and A. J. Lilienthal. Bayesian Spatial Event Distribution Grid Maps for Modeling the Spatial Distribution of Gas Detection Events. Sensor Letters, 12(6-7):1142-1146, 2014 [ BibTeX \| DiVA ]
[40]	V. Hernandez Bennetts, E. Schaffernicht, V. Pomadera Sese, A. J. Lilienthal, S. Marco and M. Trincavelli. Combining Non Selective Gas Sensors on a Mobile Robot for Identification and Mapping of Multiple Chemical Compounds. Sensors, 14(9):17331-17352, 2014 [ BibTeX \| DiVA ]
[41]	H. Andreasson, J. Saarinen, M. Cirillo, T. Stoyanov and A. Lilienthal. Drive the Drive : From Discrete Motion Plans to Smooth Drivable Trajectories. Robotics, 3(4):400-416, 2014 [ BibTeX \| DiVA \| PDF ]
[42]	H. Almqvist, M. Magnusson and A. J. Lilienthal. Improving Point Cloud Accuracy Obtained from a Moving Platform for Consistent Pile Attack Pose Estimation. Journal of Intelligent and Robotic Systems, 75(1):101-128, 2014 [ BibTeX \| DiVA ]
[43]	V. Hernandez Bennetts, M. Trincavelli, A. J. Lilienthal and E. Schaffernicht. Online parameter selection for gas distribution mapping. Sensor Letters, 12(6-7):1147-1151, 2014 [ BibTeX \| DiVA ]
[44]	S. Pashami, A. J. Lilienthal, E. Schaffernicht and M. Trincavelli. rTREFEX: Reweighting norms for detecting changes in the response of MOX gas sensors. Sensor Letters, 12(6/7):1123-1127, 2014 [ BibTeX \| DiVA ]
[45]	J. Saarinen, H. Andreasson, T. Stoyanov and A. J. Lilienthal. 3D normal distributions transform occupancy maps : an efficient representation for mapping in dynamic environments. The international journal of robotics research, 32(14):1627-1644, 2013 [ BibTeX \| DiVA ]
[46]	T. Stoyanov, R. Mojtahedzadeh, H. Andreasson and A. J. Lilienthal. Comparative evaluation of range sensor accuracy for indoor mobile robotics and automated logistics applications. Robotics and Autonomous Systems, 61(10):1094-1105, 2013 [ BibTeX \| DiVA ]
[47]	T. Stoyanov, M. Magnusson and A. J. Lilienthal. Comparative evaluation of the consistency of three-dimensional spatial representations used in autonomous robot navigation. Journal of Field Robotics, 30(2):216-236, 2013 [ BibTeX \| DiVA ]
[48]	P. Neumann, V. Hernandez Bennetts, A. J. Lilienthal, M. Bartholmai and J. H. Schiller. Gas source localization with a micro-drone using bio-inspired and particle filter-based algorithms. Advanced Robotics, 27(9):725-738, 2013 [ BibTeX \| DiVA ]
[49]	P. Neumann, S. Asadi, V. Hernandez Bennetts, A. J. Lilienthal and M. Bartholmai. Monitoring of CCS areas using micro unmanned aerial vehicles (MUAVs). Energy Procedia, 37:4182-4190, 2013 [ BibTeX \| DiVA ]
[50]	J. Gonzàlez Monroy, A. J. Lilienthal, J. L. Blanco, J. Gonzàlez Jimenez and M. Trincavelli. Probabilistic gas quantification with MOX sensors in open sampling systems : a gaussian process approach. Sensors and actuators. B, Chemical, 188:298-312, 2013 [ BibTeX \| DiVA ]
[51]	T. Duckett and A. J. Lilienthal. Special Issue : Selected Papers from the 5th European Conference on Mobile Robots (ECMR 2011). Robotics and Autonomous Systems, 61(10):1049-1050, 2013 [ BibTeX \| DiVA ]
[52]	S. Pashami, A. J. Lilienthal, E. Schaffernicht and M. Trincavelli. TREFEX : trend estimation and change detection in the response of mox gas sensors. Sensors, 13(6):7323-7344, 2013 [ BibTeX \| DiVA \| PDF ]
[53]	P. P. Neumann, S. Asadi, A. J. Lilienthal, M. Bartholmai and J. H. Schiller. Autonomous gas-sensitive microdrone wind vector estimation and gas distribution mapping. IEEE robotics & automation magazine, 19(1):50-61, 2012 [ BibTeX \| DiVA ]
[54]	S. Pashami, A. J. Lilienthal and M. Trincavelli. Detecting changes of a distant gas source with an array of MOX gas sensors. Sensors, 12(12):16404-16419, 2012 [ BibTeX \| DiVA \| PDF ]
[55]	T. Stoyanov, M. Magnusson, A. J. Lilienthal and H. Andreasson. Fast and accurate scan registration through minimization of the distance between compact 3D NDT Representations. The international journal of robotics research, 31(12):1377-1393, 2012 [ BibTeX \| DiVA ]
[56]	V. Hernandez Bennetts, A. J. Lilienthal, P. P. Neumann and M. Trincavelli. Mobile robots for localizing gas emission sources on landfill sites : is bio-inspiration the way to go?. Frontiers in Neuroengineering, 4(20):1-12, 2012 [ BibTeX \| DiVA ]
[57]	I. Petrovitc and A. J. Lilienthal. Special issue ECMR 2009. Robotics and Autonomous Systems, 59(5):263-264, 2011 [ BibTeX \| DiVA ]
[58]	H. Andreasson and A. J. Lilienthal. 6D scan registration using depth-interpolated local image features. Robotics and Autonomous Systems, 58(2):157-165, 2010 [ BibTeX \| DiVA \| PDF ]
[59]	G. Cielniak, T. Duckett and A. J. Lilienthal. Data association and occlusion handling for vision-based people tracking by mobile robots. Robotics and Autonomous Systems, 58(5):435-443, 2010 [ BibTeX \| DiVA ]
[60]	C. Valgren and A. J. Lilienthal. SIFT, SURF \& seasons : Appearance-based long-term localization in outdoor environments. Robotics and Autonomous Systems, 58(2):149-156, 2010 [ BibTeX \| DiVA ]
[61]	M. Reggente, A. Mondini, G. Ferri, B. Mazzolai, A. Manzi, M. Gabelletti, P. Dario and A. J. Lilienthal. The DustBot System : Using Mobile Robots to Monitor Pollution in Pedestrian Area. Chemical Engineering Transactions, 23:273-278, 2010 [ BibTeX \| DiVA ]
[62]	M. Magnusson, H. Andreasson, A. Nüchter and A. J. Lilienthal. Automatic appearance-based loop detection from three-dimensional laser data using the normal distributions transform. Journal of Field Robotics, 26(11-12):892-914, 2009 [ BibTeX \| DiVA \| PDF ]
[63]	A. Loutfi, S. Coradeschi, A. J. Lilienthal and J. Gonzalez. Gas Distribution Mapping of Multiple Odour Sources using a Mobile Robot. Robotica (Cambridge. Print), 27(2):311-319, 2009 [ BibTeX \| DiVA \| PDF ]
[64]	C. Stachniss, C. Plagemann and A. J. Lilienthal. Learning Gas Distribution Models Using Sparse Gaussian Process Mixtures. Autonomous Robots, 26(2-3):187-202, 2009 [ BibTeX \| DiVA \| PDF ]
[65]	H. Andreasson, T. Duckett and A. J. Lilienthal. A Minimalistic Approach to Appearance-Based Visual SLAM. IEEE Transactions on Robotics, 24(5):991-1001, 2008 [ BibTeX \| DiVA \| PDF ]
[66]	M. Persson, T. Duckett and A. J. Lilienthal. Fusion of aerial images and sensor data from a ground vehicle for improved semantic mapping. Robotics and Autonomous Systems, 56(6):483-492, 2008 [ BibTeX \| DiVA \| PDF ]
[67]	M. Magnusson, A. J. Lilienthal and T. Duckett. Scan registration for autonomous mining vehicles using 3D-NDT. Journal of Field Robotics, 24(10):803-827, 2007 [ BibTeX \| DiVA \| PDF ]
[68]	M. Persson, T. Duckett and A. J. Lilienthal. Virtual sensors for human concepts : building detection by an outdoor mobile robot. Robotics and Autonomous Systems, 55(5):383-390, 2007 [ BibTeX \| DiVA \| PDF ]
[69]	A. J. Lilienthal, A. Loutfi and T. Duckett. Airborne chemical sensing with mobile robots. Sensors, 6(11):1616-1678, 2006 [ BibTeX \| DiVA \| PDF ]
[70]	A. J. Lilienthal and T. Duckett. Building gas concentration gridmaps with a mobile robot. Robotics and Autonomous Systems, 48(1):3-16, 2004 [ BibTeX \| DiVA \| PDF ]
[71]	A. J. Lilienthal and T. Duckett. Experimental analysis of gas-sensitive Braitenberg vehicles. Advanced Robotics, 18(8):817-834, 2004 [ BibTeX \| DiVA \| PDF ]
[72]	P. P. Neumann, M. Schnürmacher, V. Hernandez Bennetts, A. J. Lilienthal, M. Bartholmai and J. Schiller. A Probabilistic Gas Patch Path Prediction Approach for Airborne Gas Source Localization in Non-Uniform Wind Fields. Sensor Letters [ BibTeX \| DiVA ]

Book Chapters

[1]	T. P. Kucner, A. Lilienthal, M. Magnusson, L. Palmieri and C. S. Swaminathan. Closing Remarks. In Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots, pages 143-151, 2020 [ BibTeX \| DiVA ]
[2]	T. P. Kucner, A. Lilienthal, M. Magnusson, L. Palmieri and C. S. Swaminathan. Introduction. In Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots, pages 1-13, 2020 [ BibTeX \| DiVA ]
[3]	T. P. Kucner, A. Lilienthal, M. Magnusson, L. Palmieri and C. S. Swaminathan. Maps of Dynamics. In Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots, pages 15-32, 2020 [ BibTeX \| DiVA ]
[4]	T. P. Kucner, A. Lilienthal, M. Magnusson, L. Palmieri and C. S. Swaminathan. Modelling Motion Patterns with Circular-Linear Flow Field Maps. In Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots, pages 65-113, 2020 [ BibTeX \| DiVA ]
[5]	T. P. Kucner, A. Lilienthal, M. Magnusson, L. Palmieri and C. S. Swaminathan. Modelling Motion Patterns with Conditional Transition Map. In Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots, pages 33-64, 2020 [ BibTeX \| DiVA ]
[6]	T. P. Kucner, A. Lilienthal, M. Magnusson, L. Palmieri and C. S. Swaminathan. Motion Planning Using MoDs. In Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots, pages 115-141, 2020 [ BibTeX \| DiVA ]
[7]	T. P. Kucner, M. Magnusson, C. S. Swaminathan, A. Lilienthal and L. Palmieri. Preface. In Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots, pages vii-x, 2020 [ BibTeX \| DiVA ]
[8]	R. Palm, R. T. Chadalavada and A. Lilienthal. Fuzzy Modeling, Control and Prediction in Human-Robot Systems. In Computational Intelligence : International Joint Conference, IJCCI2016 Porto, Portugal, November 9–11,2016 Revised Selected Papers, pages 149-177, 2019 [ BibTeX \| DiVA ]
[9]	H. Ishida, A. J. Lilienthal, H. Matsukura, V. Hernandez Bennetts and E. Schaffernicht. Using Chemical Sensors as 'Noses' for Mobile Robots. In Essentials of Machine Olfaction and Taste, pages 219-246, 2016 [ BibTeX \| DiVA ]
[10]	A. J. Lilienthal. Improved gas source localization with a mobile robot by learning analytical gas dispersal models from statistical gas distribution maps using evolutionary algorithms. In Intelligent Systems for Machine Olfaction : Tools and Methodologies, pages 249-276, 2011 [ BibTeX \| DiVA \| PDF ]
[11]	S. Asadi, M. Reggente, C. Stachniss, C. Plagemann and A. J. Lilienthal. Statistical gas distribution modeling using kernel methods. In Intelligent systems for machine olfaction : tools and methodologies, pages 153-179, 2011 [ BibTeX \| DiVA ]
[12]	M. Reggente and A. J. Lilienthal. Using local wind information for gas distribution mapping in outdoor environments with a mobile robot. In 2009 IEEE SENSORS, VOLS 1-3, pages 1715-1720, 2009 [ BibTeX \| DiVA ]

Refereed Conference and Workshop Articles

[1]	A. Rudenko, T. P. Kucner, C. S. Swaminathan, R. T. Chadalavada, K. O. Arras and A. Lilienthal. Benchmarking Human Motion Prediction Methods. 2020 [ BibTeX \| DiVA \| PDF ]
[2]	H. Lindner, W. Hill, L. Norling Hermansson and A. J. Lilienthal. Cognitive load in learning to use a multi-function hand. In MEC20 Symposium Proceedings 2020 [ BibTeX \| DiVA \| PDF ]
[3]	N. P. Winkler, P. P. Neumann, A. Säämänen, E. Schaffernicht and A. J. Lilienthal. High-quality meets low-cost : Approaches for hybrid-mobility sensor networks. In MATERIALS TODAY-PROCEEDINGS, 32:250-253, 2020 [ BibTeX \| DiVA ]
[4]	M. Schindler, E. Schaffernicht and A. Lilienthal. Identifying student strategies through eye tracking and unsupervised learning : The case of quantity recognition. In Interim Proceedings of the 44th Conference of the International Group for the Psychology of Mathematics Education. Khon Kaen, Thailand: PME, pages 518-527, 2020 [ BibTeX \| DiVA \| PDF ]
[5]	T. Vintr, Z. Yan, K. Eyisoy, F. Kubis, J. Blaha, J. Ulrich, C. S. Swaminathan, S. Molina, T. P. Kucner, M. Magnusson, G. Cielniak, J. Faigl, T. Duckett, A. J. Lilienthal and T. Krajnik. Natural Criteria for Comparison of Pedestrian Flow Forecasting Models. 2020 [ BibTeX \| DiVA ]
[6]	C. S. Swaminathan, T. P. Kucner, M. Magnusson and A. J. Lilienthal. Quantitative Metrics for Execution-Based Evaluation of Human-Aware Global Motion Planning. In HRI 2020 Workshop on Test Methods and Metrics for Effective HRI in Real World Human-Robot Teams 2020 [ BibTeX \| DiVA ]
[7]	M. Mielle, M. Magnusson and A. J. Lilienthal. A comparative analysis of radar and lidar sensing for localization and mapping. In 2019 European Conference on Mobile Robots (ECMR) 2019 [ BibTeX \| DiVA \| PDF ]
[8]	D. Hüllmann, P. P. Neumann, J. Monroy and A. J. Lilienthal. A Realistic Remote Gas Sensor Model for Three-Dimensional Olfaction Simulations. In ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN) 2019 [ BibTeX \| DiVA ]
[9]	D. Adolfsson, S. Lowry, M. Magnusson, A. J. Lilienthal and H. Andreasson. A Submap per Perspective : Selecting Subsets for SuPer Mapping that Afford Superior Localization Quality. In 2019 European Conference on Mobile Robots (ECMR) 2019 [ BibTeX \| DiVA \| PDF ]
[10]	H. Y. Lindner, W. Hill, L. Hermansson and A. J. Lilienthal. Cognitive load and compensatory movement in learning to use a multi-function hand. In ISPO 17th World Congress: Basics to Bionics : Abstract Book, pages 52-52, 2019 [ BibTeX \| DiVA \| PDF ]
[11]	A. J. Lilienthal and M. Schindler. Current Trends in Eye Tracking Research in Mathematics Education: A PME Literature Review : A PME Survey. In 43rd Annual Meeting of the International Group for the Psychology of Mathematics Education, 4:62-62, 2019 [ BibTeX \| DiVA \| PDF ]
[12]	M. Schindler, E. Schaffernicht and A. J. Lilienthal. Differences in Quantity Recognition Between Students with and without Mathematical Difficulties Analyzed Through Eye : Analysis Through Eye-Tracking and AI. In Proceedings of the 43rd Conference of the International Group for the Psychology of Mathematics Education, 3:281-288, 2019 [ BibTeX \| DiVA \| PDF ]
[13]	D. Hüllmann, P. Neumann, N. Scheuschner, M. Bartholmai and A. J. Lilienthal. Experimental Validation of the Cone-Shaped Remote Gas Sensor Model. In 2019 IEEE SENSORS 2019 [ BibTeX \| DiVA \| PDF ]
[14]	D. Hüllmann, P. P. Neumann and A. J. Lilienthal. Gas Dispersion Fluid Mechanics Simulation for Large Outdoor Environments. In 36th Danubia Adria Symposium on Advances in Experimental Mechanics : Extended Abstracts, pages 49-50, 2019 [ BibTeX \| DiVA ]
[15]	R. Palm and A. J. Lilienthal. Gaussian Noise and the Intersection Problem in Human-Robot Systems : Analytical and Fuzzy Approach. In 2019 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), pages 1-6, 2019 [ BibTeX \| DiVA \| PDF ]
[16]	R. T. Chadalavada, H. Andreasson, M. Schindler and A. J. Lilienthal. Implicit intention transference using eye-tracking glasses for improved safety in human-robot interaction. 2019 [ BibTeX \| DiVA \| PDF ]
[17]	D. C. Hoang, T. Stoyanov and A. J. Lilienthal. Object-RPE : Dense 3D Reconstruction and Pose Estimation with Convolutional Neural Networks for Warehouse Robots. In 2019 European Conference on Mobile Robots, ECMR 2019 : Proceedings 2019 [ BibTeX \| DiVA \| PDF ]
[18]	H. Fan, V. Hernandez Bennetts, E. Schaffernicht and A. J. Lilienthal. Semi-supervised Gas Detection Using an Ensemble of One-class Classifiers. In 18th ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN) 2019 [ BibTeX \| DiVA \| PDF ]
[19]	T. Vintr, S. Molina, R. Senanayake, G. Broughton, Z. Yan, J. Ulrich, T. P. Kucner, C. S. Swaminathan, F. Majer, M. Stachova, A. J. Lilienthal and T. Krajnik. Time-varying Pedestrian Flow Models for Service Robots. In 2019 European Conference on Mobile Robots (ECMR) 2019 [ BibTeX \| DiVA \| PDF ]
[20]	R. Palm and A. J. Lilienthal. Uncertainty and Fuzzy Modeling in Human-Robot Navigation. In Proceedings of the 11th International Joint Conference on Computational Intelligence : Volume 1 (FCTA), pages 296-305, 2019 [ BibTeX \| DiVA \| PDF ]
[21]	H. Fan, D. Lu, T. P. Kucner, M. Magnusson and A. Lilienthal. 2D Spatial Keystone Transform for Sub-Pixel Motion Extraction from Noisy Occupancy Grid Map. In Proceedings of 21st International Conference on Information Fusion (FUSION), pages 2400-2406, 2018 [ BibTeX \| DiVA \| PDF ]
[22]	M. Mielle, M. Magnusson and A. J. Lilienthal. A method to segment maps from different modalities using free space layout MAORIS : map of ripples segmentation. , pages 4993-4999, 2018 [ BibTeX \| DiVA \| PDF ]
[23]	D. R. Canelhas, T. Stoyanov and A. J. Lilienthal. A Survey of Voxel Interpolation Methods and an Evaluation of Their Impact on Volumetric Map-Based Visual Odometry. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA),, pages 6337-6343, 2018 [ BibTeX \| DiVA \| PDF ]
[24]	R. T. Chadalavada, H. Andreasson, M. Schindler, R. Palm and A. Lilienthal. Accessing your navigation plans! Human-Robot Intention Transfer using Eye-Tracking Glasses. In Advances in Manufacturing Technology XXXII : Proceedings of the 16th International Conference on Manufacturing Research, incorporating the 33rd National Conference on Manufacturing Research, September 11–13, 2018, University of Skövde, Sweden, pages 253-258, 2018 [ BibTeX \| DiVA \| PDF ]
[25]	C. S. Swaminathan, T. P. Kucner, M. Magnusson, L. Palmieri and A. Lilienthal. Down the CLiFF : Flow-Aware Trajectory Planning under Motion Pattern Uncertainty. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 7403-7409, 2018 [ BibTeX \| DiVA \| PDF ]
[26]	H. Y. Lindner, A. Lilienthal, G. Karlsson and L. O. Lundqvist. Eye gaze technology to gain access to cognitive processes in individuals with profound intellectual and physical disabilities (PIPD). 2018 [ BibTeX \| DiVA \| PDF ]
[27]	M. Schindler and A. Lilienthal. Eye-Tracking For Studying Mathematical Difficulties : Also In Inclusive Settings. In Proceedings of Annual Meeting of the International Group for the Psychology of Mathematics Education (PME-42), 4:115-122, 2018 [ BibTeX \| DiVA \| PDF ]
[28]	R. Palm and A. Lilienthal. Fuzzy logic and control in Human-Robot Systems : geometrical and kinematic considerations. In WCCI 2018 : 2018 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), pages 827-834, 2018 [ BibTeX \| DiVA ]
[29]	P. P. Neumann, D. Hüllmann, D. Krentel, M. Kluge, H. Kohlhoff and A. Lilienthal. Gas Tomography Up In The Air!. In Proceedings of the IEEE Sensors 2018 2018 [ BibTeX \| DiVA ]
[30]	A. Rudenko, L. Palmieri, A. Lilienthal and K. O. Arras. Human Motion Prediction under Social Grouping Constraints. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3358-3364, 2018 [ BibTeX \| DiVA \| PDF ]
[31]	M. Schindler and A. Lilienthal. Method and Theory in Their Interplay : Using Eye-Tracking for Investigating Mathematical Learning. In Dialogue between ontology and epistemology : New perspectives on theory and methodology in research on learning and education 2018 [ BibTeX \| DiVA \| PDF ]
[32]	M. Schindler, F. Schindler, A. Lilienthal and E. Bader. Vorgehensweisen bei der Anzahlerfassung am 100er Feld und 100er Rahmen : Eine Eye-Tracking Studie bei Kindern mit und ohne Rechenschwierigkeiten sowie sonderpädagogischem Unterstützungsbedarf. In Beiträge zum Mathematikunterricht 2018, pages 1591-1594, 2018 [ BibTeX \| DiVA \| PDF ]
[33]	T. Wiedemann, D. Shutin, V. Hernandez Bennetts, E. Schaffernicht and A. Lilienthal. Bayesian Gas Source Localization and Exploration with a Multi-Robot System Using Partial Differential Equation Based Modeling. In 2017 ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN 2017) : Proceedings, pages 122-124, 2017 [ BibTeX \| DiVA ]
[34]	P. P. Neumann, H. Kohlhoff, D. Hüllmann, A. Lilienthal and M. Kluge. Bringing Mobile Robot Olfaction to the Next Dimension - UAV-based Remote Sensing of Gas Clouds and Source Localization. In 2017 IEEE International Conference on Robotics and Automation (ICRA), pages 3910-3916, 2017 [ BibTeX \| DiVA ]
[35]	A. Lilienthal and M. Schindler. Conducting Dual Portable Eye-Tracking in Mathematical Creativity Research. In Proceedings the 41th Conference of the International Group for the Psychology of Mathematics Education, 1:233-233, 2017 [ BibTeX \| DiVA \| PDF ]
[36]	M. Vuka, E. Schaffernicht, M. Schmuker, V. Hernandez Bennetts, F. Amigoni and A. J. Lilienthal. Exploration and Localization of a Gas Source with MOX Gas Sensorson a Mobile Robot : A Gaussian Regression Bout Amplitude Approach. In 2017 ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN 2017) : Proceedings, pages 164-166, 2017 [ BibTeX \| DiVA ]
[37]	M. Schindler and A. Lilienthal. Eye-Tracking and its Domain-Specific Interpretation : A Stimulated Recall Study on Eye Movements in Geometrical Tasks. In Proceedings of the 41st Conference of the International Group for the Psychology of Mathematics Education, 4:153-160, 2017 [ BibTeX \| DiVA \| PDF ]
[38]	M. Schindler and A. Lilienthal. Eye-Tracking As A Tool For Investigating Mathematical Creativity. In The 10th Mathematical Creativity and Giftedness International Conference : Proceedings, pages 45-50, 2017 [ BibTeX \| DiVA \| PDF ]
[39]	H. Fan, M. A. Arain, V. Hernandez Bennetts, E. Schaffernicht and A. J. Lilienthal. Improving Gas Dispersal Simulation For Mobile Robot Olfaction : Using Robot-Created Occupancy Maps And Remote Gas Sensors In The Simulation Loop. In 2017 ISOCS/IEEE International Symposium on Olfaction andElectronic Nose (ISOEN 2017) Proceedings 2017 [ BibTeX \| DiVA ]
[40]	M. A. Arain, H. Fan, V. Hernandez Bennetts, E. Schaffernicht and A. J. Lilienthal. Improving Gas Tomography With Mobile Robots : An Evaluation of Sensing Geometries in Complex Environments. In 2017 ISOCS/IEEE International Symposium on Olfaction andElectronic Nose (ISOEN 2017) Proceedings 2017 [ BibTeX \| DiVA ]
[41]	H. Andreasson, D. Adolfsson, T. Stoyanov, M. Magnusson and A. Lilienthal. Incorporating Ego-motion Uncertainty Estimates in Range Data Registration. In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 1389-1395, 2017 [ BibTeX \| DiVA ]
[42]	L. Palmieri, T. Kucner, M. Magnusson, A. J. Lilienthal and K. Arras. Kinodynamic Motion Planning on Gaussian Mixture Fields. In IEEE International Conference on Robotics and Automation (ICRA 2017), pages 6176-6181, 2017 [ BibTeX \| DiVA \| PDF ]
[43]	R. Palm and A. Lilienthal. Long distance prediction and short distance control in Human-Robot Systems. In 2017 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE) 2017 [ BibTeX \| DiVA ]
[44]	Y. Xing, T. A. Vincent, M. Cole, J. W. Gardner, H. Fan, V. Hernandez Bennetts, E. Schaffernicht and A. Lilienthal. Mobile robot multi-sensor unit for unsupervised gas discrimination in uncontrolled environments. In IEEE SENSORS 2017 : Conference Proceedings, pages 1691-1693, 2017 [ BibTeX \| DiVA \| PDF ]
[45]	E. Schaffernicht, V. Hernandez Bennetts and A. Lilienthal. Mobile robots for learning spatio-temporal interpolation models in sensor networks - The Echo State map approach : The Echo State map approach. In 2017 IEEE International Conference on Robotics and Automation (ICRA), pages 2659-2665, 2017 [ BibTeX \| DiVA \| PDF ]
[46]	D. Hüllmann, N. Paul, P. P. Neumann and A. Lilienthal. Motor Speed Transfer Function for Wind Vector Estimation on Multirotor Aircraft. In 34th Danubia-Adria Symposium on Advances in Experimental Mechanics : Book of proceedings, pages 75-77, 2017 [ BibTeX \| DiVA ]
[47]	T. Wiedemann, C. Manss, D. Shutin, A. Lilienthal, V. Karolj and A. Viseras. Probabilistic modeling of gas diffusion with partial differential equations for multi-robot exploration and gas source localization. In 2017 European Conference on Mobile Robots (ECMR) 2017 [ BibTeX \| DiVA ]
[48]	M. Magnusson, T. P. Kucner, S. Gholami Shahbandi, H. Andreasson and A. Lilienthal. Semi-Supervised 3D Place Categorisation by Descriptor Clustering. In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 620-625, 2017 [ BibTeX \| DiVA \| PDF ]
[49]	M. Mielle, M. Magnusson, H. Andreasson and A. J. Lilienthal. SLAM auto-complete : completing a robot map using an emergency map. In 2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), pages 35-40, 2017 [ BibTeX \| DiVA \| PDF ]
[50]	M. Mielle, M. Magnusson, H. Andreasson and A. Lilienthal. Using emergency maps to add not yet explored places into SLAM. 2017 [ BibTeX \| DiVA ]
[51]	R. Krug, A. J. Lilienthal, D. Kragic and Y. Bekiroglu. Analytic Grasp Success Prediction with Tactile Feedback. In 2016 IEEE International Conference on Robotics and Automation, ICRA 2016, pages 165-171, 2016 [ BibTeX \| DiVA ]
[52]	M. Schindler, A. Lilienthal, R. Chadalavada and M. Ögren. Creativity in the eye of the student : Refining investigations of mathematical creativity using eye-tracking goggles. In Proceedings of the 40th Conference of the International Group for the Psychology of Mathematics Education (PME) 2016 [ BibTeX \| DiVA ]
[53]	R. T. Chadalavada, H. Andreasson, R. Krug and A. Lilienthal. Empirical evaluation of human trust in an expressive mobile robot. In Proceedings of RSS Workshop Social Trust in Autonomous Robots 2016 2016 [ BibTeX \| DiVA \| PDF ]
[54]	P. P. Neumann, V. Hernandez Bennetts, A. J. Lilienthal and M. Bartholmai. From Insects to Micro Air Vehicles : A Comparison of Reactive Plume Tracking Strategies. In Intelligent Autonomous Systems 13, pages 1533-1548, 2016 [ BibTeX \| DiVA ]
[55]	R. Palm, R. Chadalavada and A. Lilienthal. Fuzzy Modeling and Control for Intention Recognition in Human-Robot Systems. In Proceedings of the 8th International Joint Conference on Computational Intelligence (IJCCI 2016), 2:67-74, 2016 [ BibTeX \| DiVA ]
[56]	R. Mosberger, E. Schaffernicht, H. Andreasson and A. J. Lilienthal. Inferring human body posture information from reflective patterns of protective work garments. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4131-4136, 2016 [ BibTeX \| DiVA \| PDF ]
[57]	R. Palm, A. Bouguerra, M. Abdullah and A. Lilienthal. Navigation in Human-Robot and Robot-Robot Interaction using Optimization Methods. In SMC 2016 : 2016 IEEE International Conference on Systems, Man, and Cybernetics, pages 4489-4494, 2016 [ BibTeX \| DiVA ]
[58]	R. Palm, R. Chadalavada and A. Lilienthal. Recognition of Human-Robot Motion Intentions by Trajectory Observation. In 2016 9th International Conference on Human System Interactions, HSI 2016 : Proceedings, pages 229-235, 2016 [ BibTeX \| DiVA ]
[59]	E. Bunz, R. T. Chadalavada, H. Andreasson, R. Krug, M. Schindler and A. Lilienthal. Spatial Augmented Reality and Eye Tracking for Evaluating Human Robot Interaction. In Proceedings of RO-MAN 2016 Workshop : Workshop on Communicating Intentions in Human-Robot Interaction 2016 [ BibTeX \| DiVA \| PDF ]
[60]	R. Triebel, K. Arras, R. Alami, L. Beyer, S. Breuers, R. Chatila, M. Chetouani, D. Cremers, V. Evers, M. Fiore, H. Hung, O. A. I. Ramirez, M. Joosse, H. Khambhaita, T. Kucner, B. Leibe, A. J. Lilienthal, T. Linder, M. Lohse, M. Magnusson, B. Okal, L. Palmieri, U. Rafi, M. van Rooij and L. Zhang. SPENCER : A Socially Aware Service Robot for Passenger Guidance and Help in Busy Airports. In Field and Service Robotics : Results of the 10th International Conference, pages 607-622, 2016 [ BibTeX \| DiVA ]
[61]	T. Kucner, M. Magnusson, E. Schaffernicht, V. Hernandez Bennetts and A. Lilienthal. Tell me about dynamics! : Mapping velocity fields from sparse samples with Semi-Wrapped Gaussian Mixture Models. In Robotics : Science and Systems Conference (RSS 2016) 2016 [ BibTeX \| DiVA \| PDF ]
[62]	M. A. Arain, E. Schaffernicht, V. Hernandez Bennetts and A. J. Lilienthal. The Right Direction to Smell : Efficient Sensor Planning Strategies for Robot Assisted Gas Tomography. In 2016 IEEE International Conference on Robotics and Automation (ICRA), pages 4275-4281, 2016 [ BibTeX \| DiVA \| PDF ]
[63]	V. Hernandez Bennetts, E. Schaffernicht, A. J. Lilienthal, H. Fan, T. P. Kucner, L. Andersson and A. Johansson. Towards occupational health improvement in foundries through dense dust and pollution monitoring using a complementary approach with mobile and stationary sensing nodes. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 131-136, 2016 [ BibTeX \| DiVA ]
[64]	J. R. Siddiqui, H. Andreasson, D. Driankov and A. J. Lilienthal. Towards visual mapping in industrial environments : a heterogeneous task-specific and saliency driven approach. In 2016 IEEE International Conference on Robotics and Automation (ICRA), pages 5766-5773, 2016 [ BibTeX \| DiVA \| PDF ]
[65]	H. Fan, V. Hernandez Bennetts, E. Schaffernicht and A. J. Lilienthal. Unsupervised gas discrimination in uncontrolled environments by exploiting density peaks. In 2016 IEEE SENSORS 2016 [ BibTeX \| DiVA ]
[66]	M. Mielle, M. Magnusson and A. J. Lilienthal. Using sketch-maps for robot navigation : interpretation and matching. In 2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pages 252-257, 2016 [ BibTeX \| DiVA \| PDF ]
[67]	R. Mojtahedzadeh and A. J. Lilienthal. A principle of minimum translation search approach for object pose refinement. In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 2897-2903, 2015 [ BibTeX \| DiVA \| PDF ]
[68]	S. Asadi and A. Lilienthal. Approaches to Time-Dependent Gas Distribution Modelling. In 2015 European Conference on Mobile Robots (ECMR) 2015 [ BibTeX \| DiVA ]
[69]	A. Khaliq, S. Pashami, E. Schaffernicht, A. J. Lilienthal and V. Hernandez Bennetts. Bringing Artificial Olfaction and Mobile Robotics Closer Together : An Integrated 3D Gas Dispersion Simulator in ROS. In Proceedings of the 16th International Symposium on Olfaction and Electronic Noses 2015 [ BibTeX \| DiVA ]
[70]	M. A. Arain, M. Cirillo, V. Hernandez Bennetts, E. Schaffernicht, M. Trincavelli and A. J. Lilienthal. Efficient Measurement Planning for Remote Gas Sensing with Mobile Robots. In 2015 IEEE International Conference on Robotics and Automation (ICRA), pages 3428-3434, 2015 [ BibTeX \| DiVA \| PDF ]
[71]	H. Andreasson, J. Saarinen, M. Cirillo, T. Stoyanov and A. Lilienthal. Fast, continuous state path smoothing to improve navigation accuracy. In IEEE International Conference on Robotics and Automation (ICRA), 2015, pages 662-669, 2015 [ BibTeX \| DiVA ]
[72]	R. Krug, T. Stoyanov and A. Lilienthal. Grasp Envelopes for Constraint-based Robot Motion Planning and Control. In Robotics: Science and Systems Conference : Workshop on Bridging the Gap between Data-driven and Analytical Physics-based Grasping and Manipulation 2015 [ BibTeX \| DiVA \| PDF ]
[73]	V. Hernandez Bennetts, A. J. Lilienthal, E. Schaffernicht, S. Ferrari and J. Albertson. Integrated Simulation of Gas Dispersion and Mobile Sensing Systems. In Workshop on Realistic, Rapid and Repeatable Robot Simulation 2015 [ BibTeX \| DiVA ]
[74]	R. Mosberger, B. Leibe, H. Andreasson and A. Lilienthal. Multi-band Hough Forests for detecting humans with Reflective Safety Clothing from mobile machinery. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 697-703, 2015 [ BibTeX \| DiVA \| PDF ]
[75]	R. Krug, T. Stoyanov, V. Tincani, H. Andreasson, R. Mosberger, G. Fantoni, A. Bicchi and A. Lilienthal. On Using Optimization-based Control instead of Path-Planning for Robot Grasp Motion Generation. In IEEE International Conference on Robotics and Automation (ICRA) - Workshop on Robotic Hands, Grasping, and Manipulation 2015 [ BibTeX \| DiVA \| PDF ]
[76]	M. Magnusson, T. Kucner and A. J. Lilienthal. Quantitative Evaluation of Coarse-To-Fine Loading Strategies for Material Rehandling. In Proceedings of the IEEE International Conference on Automation Science and Engineering (CASE), pages 450-455, 2015 [ BibTeX \| DiVA ]
[77]	V. Tincani, M. Catalano, G. Grioli, T. Stoyanov, R. Krug, A. J. Lilienthal, G. Fantoni and A. Bicchi. Sensitive Active Surfaces on the Velvet II Dexterous Gripper. , pages 2744-2750, 2015 [ BibTeX \| DiVA ]
[78]	R. T. Chadalavada, H. Andreasson, R. Krug and A. Lilienthal. That’s on my Mind! : Robot to Human Intention Communication through on-board Projection on Shared Floor Space. In 2015 European Conference on Mobile Robots (ECMR) 2015 [ BibTeX \| DiVA ]
[79]	V. Tincani, T. Stoyanov, R. Krug, M. Catalano, G. Grioli, A. J. Lilienthal, G. Fantoni and A. Bicchi. The Grasp Acquisition Strategy of the Velvet II. 2015 [ BibTeX \| DiVA ]
[80]	T. P. Kucner, M. Magnusson and A. J. Lilienthal. Where am I? : An NDT-based prior for MCL. In 2015 European Conference on Mobile Robots (ECMR) 2015 [ BibTeX \| DiVA ]
[81]	V. Hernandez Bennetts, E. Schaffernicht, V. Pomadera Sese, A. J. Lilienthal and M. Trincavelli. A Novel Approach for Gas Discrimination in Natural Environments with Open Sampling Systems. In Proceedings of the IEEE Sensors Conference 2014 2014 [ BibTeX \| DiVA ]
[82]	R. Krug, T. Stoyanov, M. Bonilla, V. Tincani, N. Vaskevicius, G. Fantoni, A. Birk, A. Lilienthal and A. Bicchi. Improving Grasp Robustness via In-Hand Manipulation with Active Surfaces. In Workshop on Autonomous Grasping and Manipulation : An Open Challenge 2014 [ BibTeX \| DiVA \| PDF ]
[83]	R. Valencia, J. Saarinen, H. Andreasson, J. Vallvé, J. Andrade-Cetto and A. J. Lilienthal. Localization in highly dynamic environments using dual-timescale NDT-MCL. In 2014 IEEE International Conference on Robotics and Automation (ICRA), pages 3956-3962, 2014 [ BibTeX \| DiVA \| PDF ]
[84]	N. Vaskevicius, C. A. Mueller, M. Bonilla, V. Tincani, T. Stoyanov, G. Fantoni, K. Pathak, A. J. Lilienthal, A. Bicchi and A. Birk. Object recognition and localization for robust grasping with a dexterous gripper in the context of container unloading. , pages 1270-1277, 2014 [ BibTeX \| DiVA ]
[85]	R. Mojtahedzadeh, A. Bouguerra, E. Schaffernicht and A. J. Lilienthal. Probabilistic Relational Scene Representation and Decision Making Under Incomplete Information for Robotic Manipulation Tasks. In Robotics and Automation (ICRA), 2014 IEEE International Conference on, pages 5685-5690, 2014 [ BibTeX \| DiVA ]
[86]	V. H. Bennetts, E. Schaffernicht, T. Stoyanov, A. J. Lilienthal and M. Trincavelli. Robot Assisted Gas Tomography - Localizing Methane Leaks in Outdoor Environments. In 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), pages 6362-6367, 2014 [ BibTeX \| DiVA ]
[87]	V. Hernandez Bennetts, E. Schaffernicht, T. Stoyanov, A. J. Lilienthal and M. Trincavelli. Robot assisted gas tomography : an alternative approach for the detection of fugitive methane emissions. In Workshop on Robot Monitoring 2014 [ BibTeX \| DiVA ]
[88]	R. Krug, T. Stoyanov, M. Bonilla, V. Tincani, N. Vaskevicius, G. Fantoni, A. Birk, A. J. Lilienthal and A. Bicchi. Velvet fingers : grasp planning and execution for an underactuated gripper with active surfaces. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 3669-3675, 2014 [ BibTeX \| DiVA ]
[89]	J. L. Blanco, J. G. Monroy, J. Gonzalez-Jimenez and A. J. Lilienthal. A Kalman Filter Based Approach To Probabilistic Gas Distribution Mapping. , pages 217-222, 2013 [ BibTeX \| DiVA \| PDF ]
[90]	P. Neumann, M. Schnürmacher, V. Hernandez Bennetts, A. J. Lilienthal, M. Bartholmai and J. Schiller. A Probabilistic Gas Patch Prediction Approach for Airborne Gas Source Localization in Non-Uniform Wind Fields. In Proceedings of the 15th ISOEN 2013 [ BibTeX \| DiVA ]
[91]	S. Pashami, A. J. Lilienthal and M. Trincavelli. A trend filtering approach for change point detection in MOX gas sensors. 2013 [ BibTeX \| DiVA \| PDF ]
[92]	R. Mojtahedzadeh, T. Stoyanov and A. J. Lilienthal. Application Based 3D Sensor Evaluation : A Case Study in 3D Object Pose Estimation for Automated Unloading of Containers. In Proceedings of the European Conference on Mobile Robots (ECMR), pages 313-318, 2013 [ BibTeX \| DiVA ]
[93]	R. Mojtahedzadeh, A. Bouguerra and A. J. Lilienthal. Automatic relational scene representation for safe robotic manipulation tasks. , pages 1335-1340, 2013 [ BibTeX \| DiVA \| PDF ]
[94]	V. Pomareda, V. Hernandez Bennetts, A. Abdul Khaliq, M. Trincavelli, A. J. Lilienthal and S. Marco. Chemical source localization in real environments integrating chemical concentrations in a probabilistic plume mapping approach. In Proceedings of the 15th International Symposium on Olfaction and Electronic Nose (ISOEN 2013) 2013 [ BibTeX \| DiVA ]
[95]	T. Kucner, J. Sarinen, M. Magnusson and A. J. Lilienthal. Conditional transition maps: learning motion patterns in dynamic environments. In IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1196-1201, 2013 [ BibTeX \| DiVA \| PDF ]
[96]	J. Saarinen, T. Stoyanov, H. Andreasson and A. J. Lilienthal. Fast 3D mapping in highly dynamic environments using normal distributions transform occupancy maps. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4694-4701, 2013 [ BibTeX \| DiVA ]
[97]	D. R. Canelhas, T. Stoyanov and A. J. Lilienthal. Improved local shape feature stability through dense model tracking. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3203-3209, 2013 [ BibTeX \| DiVA \| PDF ]
[98]	H. Almqvist, M. Magnusson, T. Stoyanov and A. J. Lilienthal. Improving Point-Cloud Accuracy from a Moving Platform in Field Operations. In 2013 IEEE International Conference on Robotics and Automation (ICRA), pages 733-738, 2013 [ BibTeX \| DiVA ]
[99]	A. J. Lilienthal, M. Trincavelli and E. Schaffernicht. It's always smelly around here! Modeling the Spatial Distribution of Gas Detection Events with BASED Grid Maps. In Proceedings of the 15th International Symposium on Olfaction and Electronic Nose (ISOEN 2013) 2013 [ BibTeX \| DiVA ]
[100]	R. Mosberger, H. Andreasson and A. J. Lilienthal. Multi-human Tracking using High-visibility Clothing for Industrial Safety. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 638-644, 2013 [ BibTeX \| DiVA \| PDF ]
[101]	J. Saarinen, H. Andreasson, T. Stoyanov and A. J. Lilienthal. Normal distributions transform monte-carlo localization (NDT-MCL). In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 382-389, 2013 [ BibTeX \| DiVA ]
[102]	T. Stoyanov, J. Saarinen, H. Andreasson and A. J. Lilienthal. Normal distributions transform occupancy map fusion : simultaneous mapping and tracking in large scale dynamic environments. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4702-4708, 2013 [ BibTeX \| DiVA ]
[103]	J. Saarinen, H. Andreasson, T. Stoyanov, J. Ala-Luhtala and A. J. Lilienthal. Normal distributions transform occupancy maps : application to large-scale online 3D mapping. In IEEE International Conference on Robotics and Automation, pages 2233-2238, 2013 [ BibTeX \| DiVA ]
[104]	V. Hernandez Bennetts, M. Trincavelli, A. J. Lilienthal, V. Pomadera Sese and E. Schaffernicht. Online parameter selection for gas distribution mapping. In Proceedings of the ISOEN conference 2013 2013 [ BibTeX \| DiVA ]
[105]	D. R. Canelhas, T. Stoyanov and A. J. Lilienthal. SDF tracker : a parallel algorithm for on-line pose estimation and scene reconstruction from depth images. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3671-3676, 2013 [ BibTeX \| DiVA \| PDF ]
[106]	V. M. Hernandez Bennetts, A. J. Lilienthal, A. A. Khaliq, V. Pomareda Sese and M. Trincavelli. Towards Real-World Gas Distribution Mapping and Leak Localization Using a Mobile Robot with 3D and Remote Gas Sensing Capabilities. In 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), pages 2335-2340, 2013 [ BibTeX \| DiVA ]
[107]	M. Trincavelli, V. Hernandez Bennetts and A. J. Lilienthal. A Least Squares approach for learning gas distribution maps from a set of integral gas concentration measurements obtained with a TDLAS sensor. In Proceedings of the IEEE Sensors Conference, 2012, pages 550-553, 2012 [ BibTeX \| DiVA ]
[108]	J. G. Monroy, A. J. Lilienthal, J. L. Blanco, J. González-Jimenez and M. Trincavelli. Calibration of mox gas sensors in open sampling systems based on gaussian processes. In Proceedings of the IEEE Sensors Conference, 2012, pages 1-4, 2012 [ BibTeX \| DiVA ]
[109]	S. Pashami, A. J. Lilienthal and M. Trincavelli. Change detection in an array of MOX sensors. 2012 [ BibTeX \| DiVA \| PDF ]
[110]	V. Hernandez Bennetts, A. J. Lilienthal and M. Trincavelli. Creating true gas concentration maps in presence of multiple heterogeneous gas sources. In Sensors, 2012 IEEE, pages 554-557, 2012 [ BibTeX \| DiVA ]
[111]	V. Hernandez Bennetts, A. Lilienthal, A. A. Khaliq, V. Pomareda Sese and M. Trincavelli. Gasbot : A Mobile Robotic Platform for Methane Leak Detection and Emission Monitoring. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on Robotics for Environmental Monitoring (WREM), Vilamoura, Portugal, October 7-12, 2012 2012 [ BibTeX \| DiVA \| PDF ]
[112]	J. Saarinen, H. Andreasson and A. Lilienthal. Independent Markov Chain Occupancy Grid Maps for Representation of Dynamic Environments. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 3489-3495, 2012 [ BibTeX \| DiVA \| PDF ]
[113]	T. Stoyanov, M. Magnusson and A. J. Lilienthal. Point Set Registration through Minimization of the L-2 Distance between 3D-NDT Models. In 2012 IEEE International Conference on Robotics and Automation (ICRA), pages 5196-5201, 2012 [ BibTeX \| DiVA ]
[114]	P. Neumann, S. Asadi, J. H. Schiller, A. J. Lilienthal and M. Bartholmai. An artificial potential field based sampling strategy for a gas-sensitive micro-drone. , pages 34-38, 2011 [ BibTeX \| DiVA \| PDF ]
[115]	T. Stoyanov, A. Louloudi, H. Andreasson and A. J. Lilienthal. Comparative evaluation of range sensor accuracy in indoor environments. In Proceedings of the 5th European Conference on Mobile Robots, ECMR 2011, pages 19-24, 2011 [ BibTeX \| DiVA \| PDF ]
[116]	S. Asadi, C. Badica, T. Comes, C. Conrado, V. Evers, F. Groen, S. Illie, J. Steen Jensen, A. J. Lilienthal, B. Milan, T. Neidhart, K. Nieuwenhuis, S. Pashami, G. Pavlin, J. Pehrsson, R. Pinchuk, M. Scafes, L. Schou-Jensen, F. Schultmann and N. Wijngaards. ICT solutions supporting collaborative information acquisition, situation assessment and decision making in contemporary environmental management problems : the DIADEM approach. In Proceedings of the 25th EnviroInfo Conference Environmental Informatics, pages 920-931, 2011 [ BibTeX \| DiVA \| PDF ]
[117]	T. Stoyanov, M. Magnusson, H. Almqvist and A. J. Lilienthal. On the Accuracy of the 3D Normal Distributions Transform as a Tool for Spatial Representation. In 2011 IEEE International Conference on Robotics and Automation (ICRA) 2011 [ BibTeX \| DiVA ]
[118]	M. Trincavelli, A. Vergara, N. Rulkov, J. S. Murguia, A. J. Lilienthal and R. Huerta. Optimizing the operating temperature for an array of MOX sensors on an open sampling system. In Olfaction and electronic nose : Proceedings of the 14th international symposium on olfaction and electonic nose, pages 225-227, 2011 [ BibTeX \| DiVA ]
[119]	W. Echelmeyer, A. Kirchheim, A. Lilienthal, H. Akbiyik and M. Bonini. Performance Indicators for Robotics Systems in Logistics Applications. 2011 [ BibTeX \| DiVA ]
[120]	S. Asadi, S. Pashami, A. Loutfi and A. J. Lilienthal. TD Kernel DM+V : time-dependent statistical gas distribution modelling on simulated measurements. In Olfaction and Electronic Nose : proceedings of the 14th International Symposium on Olfaction and Electronic Nose (ISOEN), pages 281-282, 2011 [ BibTeX \| DiVA \| PDF ]
[121]	G. Ferri, A. Mondini, A. Manzi, B. Mazzolai, C. Laschi, V. Mattoli, M. Reggente, T. Stoyanov, A. J. Lilienthal, M. Lettere and P. Dario. DustCart, a Mobile Robot for Urban Environments : Experiments of Pollution Monitoring and Mapping during Autonomous Navigation in Urban Scenarios. In Proceedings of ICRA Workshop on Networked and Mobile Robot Olfaction in Natural, Dynamic Environments 2010 [ BibTeX \| DiVA ]
[122]	S. Pashami, S. Asadi and A. J. Lilienthal. Integration of OpenFOAM Flow Simulation and Filament-Based Gas Propagation Models for Gas Dispersion Simulation. 2010 [ BibTeX \| DiVA ]
[123]	T. Stoyanov, M. Magnusson, H. Andreasson and A. J. Lilienthal. Path planning in 3D environments using the normal distributions transform. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems (IROS 2010), pages 3263-3268, 2010 [ BibTeX \| DiVA \| PDF ]
[124]	M. Reggente and A. J. Lilienthal. The 3D-kernel DM+V/W algorithm : using wind information in three dimensional gas distribution modelling with a mobile robot. In 2010 IEEE SENSORS, pages 999-1004, 2010 [ BibTeX \| DiVA ]
[125]	A. J. Lilienthal, M. Reggente, M. Trincavelli, J. L. Blanco and J. Gonzalez. A statistical approach to gas distribution modelling with mobile robots : the Kernel DM+V algorithm. In IEEE/RSJ international conference on intelligent robots and systems : IROS 2009, pages 570-576, 2009 [ BibTeX \| DiVA \| PDF ]
[126]	B. \AAstrand, T. Rögnvaldsson, A. Bouguerra, H. Andreasson and A. J. Lilienthal. An Autonomous Robotic System for Load Transportation. In Proceedings of the 4th Swedish Workshop on Autonomous Robotics (SWAR), pages 56-57, 2009 [ BibTeX \| DiVA \| PDF ]
[127]	A. Bouguerra, H. Andreasson, A. J. Lilienthal, B. \AAstrand and T. Rögnvaldsson. An autonomous robotic system for load transportation. In 2009 IEEE Conference on Emerging Technologies & Factory Automation (EFTA 2009), pages 1563-1566, 2009 [ BibTeX \| DiVA \| PDF ]
[128]	M. Magnusson, H. Andreasson, A. Nüchter and A. J. Lilienthal. Appearance-based loop detection from 3D laser data using the normal distributions transform. In IEEE International Conference on Robotics and Automation 2009 (ICRA '09), pages 23-28, 2009 [ BibTeX \| DiVA \| PDF ]
[129]	A. J. Lilienthal, S. Asadi and M. Reggente. Estimating predictive variance for statistical gas distribution modelling. In Olfaction and electronic nose : proceedings, pages 65-68, 2009 [ BibTeX \| DiVA \| PDF ]
[130]	M. Magnusson, A. Nüchter, C. Lörken, A. J. Lilienthal and J. Hertzberg. Evaluation of 3D registration reliability and speed : a comparison of ICP and NDT. In Proceedings of the 2009 IEEE international conference on Robotics and Automation, ICRA'09, pages 2263-2268, 2009 [ BibTeX \| DiVA \| PDF ]
[131]	K. Charusta, D. Dimitrov, A. J. Lilienthal and B. Iliev. Extraction of grasp-related features by human dual-hand object exploration. In 2009 International Conference on Advanced Robotics, pages 1-6, 2009 [ BibTeX \| DiVA ]
[132]	A. Bouguerra, H. Andreasson, A. J. Lilienthal, B. \AAstrand and T. Rögnvaldsson. MALTA : a system of multiple autonomous trucks for load transportation. In Proceedings of the 4th European conference on mobile robots (ECMR), pages 93-98, 2009 [ BibTeX \| DiVA \| PDF ]
[133]	T. Stoyanov and A. J. Lilienthal. Maximum Likelihood Point Cloud Acquisition from a Rotating Laser Scanner on a Moving Platform. In Proceedings of the IEEE International Conference on Advanced Robotics (ICAR) 2009 [ BibTeX \| DiVA ]
[134]	T. Stoyanov and A. J. Lilienthal. Maximum likelihood point cloud acquisition from a mobile platform. In International conference on advanced robotics, ICAR 2009., pages 1-6, 2009 [ BibTeX \| DiVA \| PDF ]
[135]	M. Reggente and A. J. Lilienthal. Statistical evaluation of the kernel DM+V/W algorithm for building gas distribution maps in uncontrolled environments. In Proceedings of Eurosensors XXIII conference, 1(1):481-484, 2009 [ BibTeX \| DiVA \| PDF ]
[136]	M. Reggente and A. J. Lilienthal. Three-dimensional statistical gas distribution mapping in an uncontrolled indoor environment. In Olfaction and electronic nose, pages 109-112, 2009 [ BibTeX \| DiVA \| PDF ]
[137]	M. Reggente and A. J. Lilienthal. Using local wind information for gas distribution mapping in outdoor environments with a mobile robot. In IEEE sensors, vols 1-3, pages 1637-1642, 2009 [ BibTeX \| DiVA \| PDF ]
[138]	M. Magnusson, A. Nüchter, C. Lörken, A. J. Lilienthal and J. Hertzberg. 3D mapping the Kvarntorp mine : a rield experiment for evaluation of 3D scan matching algorithms. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop 2008 [ BibTeX \| DiVA \| PDF ]
[139]	C. Stachniss, C. Plagemann, A. J. Lilienthal and W. Burgard. Gas distribution modeling using sparse Gaussian process mixture models. In Robotics : science and systems IV, 4:310-317, 2008 [ BibTeX \| DiVA \| PDF ]
[140]	M. Persson, T. Duckett and A. J. Lilienthal. Improved mapping and image segmentation by using semantic information to link aerial images and ground-level information. In Recent Progress in Robotics : Viable Robotic Service to Human, pages 157-169, 2008 [ BibTeX \| DiVA \| PDF ]
[141]	C. Valgren and A. J. Lilienthal. Incremental spectral clustering and seasons : appearance-based localization in outdoor environments. In 2008 IEEE international conference on robotics and automation, pages 1856-1861, 2008 [ BibTeX \| DiVA \| PDF ]
[142]	B. Huhle, M. Magnusson, W. Straßer and A. J. Lilienthal. Registration of colored 3D point clouds with a Kernel-based extension to the normal distributions transform. In 2008 IEEE international conference on robotics and automation, pages 4025-4030, 2008 [ BibTeX \| DiVA \| PDF ]
[143]	M. Trincavelli, M. Reggente, S. Coradeschi, A. Loutfi, H. Ishida and A. J. Lilienthal. Towards environmental monitoring with mobile robots. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 2210-2215, 2008 [ BibTeX \| DiVA \| PDF ]
[144]	A. J. Lilienthal, A. Loutfi, J. L. Blanco, C. Galindo and J. Gonzalez. A Rao-Blackwellisation approach to GDM-SLAM : integrating SLAM and gas distribution mapping (GDM). In ECMR 2007 : Proceedings of the European Conference on Mobile Robots, pages 126-131, 2007 [ BibTeX \| DiVA \| PDF ]
[145]	M. Persson, T. Duckett and A. J. Lilienthal. Fusion of aerial images and sensor data from a ground vehicle for improved semantic mapping. In Proceedings of the IROS Workshop From Sensors to Human Spatial Concepts, pages 17-24, 2007 [ BibTeX \| DiVA \| PDF ]
[146]	H. Andreasson, M. Magnusson and A. Lilienthal. Has something changed here? : Autonomous difference detection for security patrol robots. In 2007 IEEE/RSJ international conference on intelligent robots and systems, pages 3429-3435, 2007 [ BibTeX \| DiVA \| PDF ]
[147]	G. Cielniak, T. Duckett and A. J. Lilienthal. Improved data association and occlusion handling for vision-based people tracking by mobile robots. In 2007 IEEE/RSJ international conference on intelligent robots and systems, pages 3436-3441, 2007 [ BibTeX \| DiVA \| PDF ]
[148]	M. Persson, T. Duckett and A. J. Lilienthal. Improved mapping and image segmentation by using semantic information to link aerial images and ground-level information. In Proceedings of the IEEE international conference on advanced robotics : ICAR 2007, pages 924-929, 2007 [ BibTeX \| DiVA \| PDF ]
[149]	C. Valgren, T. Duckett and A. J. Lilienthal. Incremental spectral clustering and its application to topological mapping. In 2007 IEEE international conference on robotics and automation (ICRA), pages 4283-4288, 2007 [ BibTeX \| DiVA \| PDF ]
[150]	A. J. Lilienthal, A. Loutfi, J. L. Blanco, C. Galindo and J. Gonzalez. Integrating SLAM into gas distribution mapping. In Proceedings of ICRA Workshop on Robotic Olfaction : Towards Real Applications. ICRA 2007, pages 21-28, 2007 [ BibTeX \| DiVA \| PDF ]
[151]	H. Andreasson, T. Duckett and A. J. Lilienthal. Mini-SLAM : minimalistic visual SLAM in large-scale environments based on a new interpretation of image similarity. In 2007 IEEE international conference on robotics and automation (ICRA), pages 4096-4101, 2007 [ BibTeX \| DiVA \| PDF ]
[152]	H. Andreasson, R. Triebel and A. J. Lilienthal. Non-iterative Vision-based Interpolation of 3D Laser Scans. In Autonomos Agents and Robots, 76(76):83-90, 2007 [ BibTeX \| DiVA \| PDF ]
[153]	M. Persson, T. Duckett, C. Valgren and A. J. Lilienthal. Probabilistic semantic mapping with a virtual sensor for building/nature detection. In Proceedings of the 2007 IEEE International symposium on computational intelligence in robotics and automation, CIRA 2007, pages 236-242, 2007 [ BibTeX \| DiVA \| PDF ]
[154]	C. Valgren and A. J. Lilienthal. SIFT, SURF and seasons : long-term outdoor localization using local features. In ECMR 2007 : Proceedings of the European Conference on Mobile Robots, pages 253-258, 2007 [ BibTeX \| DiVA \| PDF ]
[155]	H. Andreasson and A. Lilienthal. Vision aided 3D laser scanner based registration. In ECMR 2007 : Proceedings of the European Conference on Mobile Robots, pages 192-197, 2007 [ BibTeX \| DiVA \| PDF ]
[156]	C. Valgren, A. J. Lilienthal and T. Duckett. Incremental topological mapping using omnidirectional vision. In 2006 IEEE/RSJ international conference on intelligent robots and systems, pages 3441-3447, 2006 [ BibTeX \| DiVA \| PDF ]
[157]	A. J. Lilienthal, T. Duckett, H. Ishida and F. Werner. Indicators of gas source proximity using metal oxide sensors in a turbulent environment. In The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006, pages 733-738, 2006 [ BibTeX \| DiVA \| PDF ]
[158]	L. Jun, A. J. Lilienthal, T. Martìnez-Marìn and T. Duckett. Q-RAN : a constructive reinforcement learning approach for robot behavior learning. In 2006 IEEE/RSJ international conference on intelligent robots and systems, pages 2656-2662, 2006 [ BibTeX \| DiVA \| PDF ]
[159]	A. Skoglund, T. Duckett, B. Iliev, A. J. Lilienthal and R. Palm. Teaching by demonstration of robotic manipulators in non-stationary environments. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) ,2006, pages 4339-4341, 2006 [ BibTeX \| DiVA \| PDF ]
[160]	M. Persson, T. Duckett and A. J. Lilienthal. Virtual sensors for human concepts : building detection by an outdoor mobile robot. In Proceedings of the IROS 2006 workshop : From Sensors toHuman Spatial Concepts, pages 21-26, 2006 [ BibTeX \| DiVA \| PDF ]
[161]	H. Andreasson, A. J. Lilienthal and R. Triebel. Vision based interpolation of 3D laser scans. In Proceedings of the Third International Conference on Autonomous Robots and Agents, pages 455-460, 2006 [ BibTeX \| DiVA \| PDF ]
[162]	A. J. Lilienthal, F. Streichert and A. Zell. Model-based shape analysis of gas concentration grinmaps for improved gas source localisation. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pages 3564-3569, 2005 [ BibTeX \| DiVA \| PDF ]
[163]	A. J. Lilienthal, H. Ulmer, H. Fröhlich, A. Stützle, F. Werner and A. Zell. Gas source declaration with a mobile robot. In 2004 IEEE International Conference on Robotics and Automation, pages 1430-1435, 2004 [ BibTeX \| DiVA \| PDF ]
[164]	A. J. Lilienthal, H. Ulmer, H. Fröhlich, F. Werner and A. Zell. Learning to detect proximity to a gas source with a mobile robot. In 2004 IEEE/RSJ international conference on intelligent robots and systems, 2004 (IROS 2004), 4:1444-1449, 2004 [ BibTeX \| DiVA \| PDF ]
[165]	A. J. Lilienthal and T. Duckett. A stereo electronic nose for a mobile inspection robot. In ROSE 2003 - 1st IEEE International Workshop on Robotic Sensing 2003 2003 [ BibTeX \| DiVA \| PDF ]
[166]	A. J. Lilienthal and T. Duckett. An absolute positioning system for 100 euros. In ROSE 2003 - 1st IEEE International Workshop on Robotic Sensing 2003: Sensing and Perception in 21st Century Robotics : Sensing and Perception in 21st Century Robotics 2003 [ BibTeX \| DiVA \| PDF ]
[167]	G. Cielniak, M. Miladinovic, D. Hammarin, L. Göransson, A. J. Lilienthal and T. Duckett. Appearance-based tracking of persons with an omnidirectional vision sensor. In IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops, 7, 2003 [ BibTeX \| DiVA \| PDF ]
[168]	A. J. Lilienthal and T. Duckett. Approaches to gas source tracing and declaration by pure chemo-tropotaxis. In Autonome Mobile Systeme 2003, 18:161-171, 2003 [ BibTeX \| DiVA \| PDF ]
[169]	A. J. Lilienthal and T. Duckett. Creating gas concentration gridmaps with a mobile robot. In Proceedings : 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), 3:118-123, 2003 [ BibTeX \| DiVA \| PDF ]
[170]	A. J. Lilienthal and T. Duckett. Experimental analysis of smelling Braitenberg vehicles. In Proceedings of the 11th International Conference on Advanced Robotics 2003, 1-3:375-380, 2003 [ BibTeX \| DiVA \| PDF ]
[171]	M. Wandel, A. J. Lilienthal, T. Duckett, U. Weimar and A. Zell. Gas distribution in unventilated indoor environments inspected by a mobile robot. In Proceedings of the IEEE international conference on advanced robotics 2003, 1-3:507-512, 2003 [ BibTeX \| DiVA \| PDF ]
[172]	A. J. Lilienthal and T. Duckett. Gas source localisation by constructing concentration gridmaps with a mobile robot. In Proceedings of the European conference on mobile robots : ECMR 2003, pages 159-164, 2003 [ BibTeX \| DiVA \| PDF ]
[173]	A. J. Lilienthal, D. Reiman and A. Zell. Gas source tracing with a mobile robot using an adapted moth strategy. In Autonome mobile systeme 2003, 18:150-160, 2003 [ BibTeX \| DiVA \| PDF ]
[174]	A. J. Lilienthal, M. R. Wandel, U. Weimar and A. Zell. Detection and Localization of an Odour Source by an autonomous mobile Robot. In Robotik 2002 : Leistungsstand - Anwendungen - Visionen - Trends, 1679(1679):689-694, 2002 [ BibTeX \| DiVA \| PDF ]
[175]	M. Wandel, A. J. Lilienthal, A. Zell and U. Weimar. Mobile robot using different senses. In Proceedings of the international symposium on olfaction and electronic nose : ISOEN 2002, pages 128-129, 2002 [ BibTeX \| DiVA \| PDF ]
[176]	A. J. Lilienthal, A. Zell, M. R. Wandel and U. Weimar. Experiences using gas sensors on an autonomous mobile robot. In Proceedings of EUROBOT 2001, 4th European workshop on advanced mobile robots, pages 1-8, 2001 [ BibTeX \| DiVA \| PDF ]
[177]	M. R. Wandel, U. Weimar, A. J. Lilienthal and A. Zell. Leakage localisation with a mobile robot carrying chemical sensors. In The 8th IEEE international conference on electronics, circuits and systems : ICECS 2001, 3(3):1247-1250, 2001 [ BibTeX \| DiVA \| PDF ]
[178]	A. J. Lilienthal, M. Wandel, U. Weimar and A. Zell. Sensing odour sources in indoor environments without a constant airflow by a mobile robot. In Proceedings 2001 ICRA : IEEE international conference on robotics and automation, 1:4005-4010, 2001 [ BibTeX \| DiVA \| PDF ]
[179]	A. J. Lilienthal, M. Wandel, U. Weimar and A. Zell. Ein autonomer mobiler Roboter mit elektronischer Nase. In Autonome Mobile Systeme 2000, 16(16):201-209, 2000 [ BibTeX \| DiVA \| PDF ]

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