Erik Schaffernicht

Erik Schaffernicht
  • 2012 – now: Postdoc in the MRO Lab at the AASS Research Center
  • 2006 – 2012: Researcher and PhD student in the Neuroinformatics and Cognitive Robotics Lab at Ilmenau University of Technology, Germany
  • 2006: Software developer for robotics with Metralabs, Germany
  • 2003 – 2004: Internship at the DaimlerChrysler research center in Ulm
  • 2000 – 2006: Diploma student at Ilmenau University of Technology in computer science

 

Research Interests

SmokeBot in the training facilities of the Dortmund firebrigade.

Apparently, I like to play with [robots close to] fire.

I am interested applications of machine learning techniques both in context of robotics and intelligent control. Currently my research revolves around robot with monitoring or exploration tasks in harsh environments, e.g. for occupational health monitoring in steel foundries, for the detection of gas leaks or for scouting disaster sites in the presence of heavy smoke. Previously, I have been working a lot with learning systems to control combustion processes in coal-fired power plants.

Our Husky operating in a foundry.

One a more theoretical side, I am interested in feature selection techniques, information-theoretic learning, reinforcement learning, sensor planning for mobile robots, spatio-temporal interpolation methods for environmental mapping and people tracking.

I am working as scientific manager in the SmokeBot H2020 project, enabling robots to operate in low visibility scenarios and have been the project leader of RAISE, developing a robot- assisted occupational health monitoring system for foundries.

 

Contact

Dr. Erik Schaffernicht

AASS Research Centre
School of Science and Technology
Örebro University
70182 Örebro, Sweden
Room T1211
Phone +46 (0)19 30 32 27
erik.schaffernicht@oru.se

Publications

Journal Articles

[1] T. P. Kucner, M. Magnusson, E. Schaffernicht, V. M. Hernandez Bennetts and A. Lilienthal. Enabling Flow Awareness for Mobile Robots in Partially Observable Environments. IEEE Robotics and Automation Letters 2017BibTeX | DiVA  ]
[2] 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, 2017BibTeX | DiVA  ]
[3] Y. Zhang, M. Gulliksson, V. Hernandez Bennetts and E. Schaffernicht. Reconstructing gas distribution maps via an adaptive sparse regularization algorithm. Inverse Problems in Science and Engineering, 24(7):1186-1204, 2016BibTeX | DiVA  ]
[4] 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, 2015BibTeX | DiVA  | PDF ]
[5] 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, 2015BibTeX | DiVA  ]
[6] 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, 2014BibTeX | DiVA  ]
[7] 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, 2014BibTeX | DiVA  ]
[8] 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, 2014BibTeX | DiVA  ]
[9] 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, 2014BibTeX | DiVA  ]
[10] 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, 2013BibTeX | DiVA  | PDF ]
[11] J. Funkquist, V. Stephan, E. Schaffernicht, C. Rosner and M. Berg. SOFCOM -- Self-Optimising Strategy for Control of the Combustion Process. VGB PowerTech Journal (VGB), 3:48-54, 2011BibTeX ]
[12] C. Rosner, H. Roepell, F. Wintrich, V. Stephan and E. Schaffernicht. Wirkungsgradverbesserung an steinkohlebefeuerten Dampferzeugern mittels lernfaehiger, videogestuetzter Lufverteilungsoptimierung. VGB PowerTech Journal (VGB), 12:94-99, 2008BibTeX ]
[13] C. Martin, E. Schaffernicht, A. Scheidig and H. M. Gross. Multi-Modal Sensor Fusion Using a Probabilistic Aggregation Scheme for People Detection and Tracking. Robotics and Autonomous Systems (RAS), 54(9):721-728, 2006BibTeX ]

Book Chapters

[1] 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, 2016BibTeX | DiVA  ]

Refereed Conference and Workshop Articles

[1] T. Wiedemann, D. Shutin, V. Hernandez Bennetts, E. Schaffernicht and A. Lilienthal. Bayesian Gas Source Localization and Explorationwith a Multi-Robot System Using PartialDifferential Equation Based Modeling. In 2017 ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN 2017) : Proceedings, pages 122-124, 2017BibTeX | DiVA  ]
[2] 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, 2017BibTeX | DiVA  ]
[3] H. Fan, M. A. Arain, V. Hernandez Bennetts, E. Schaffernicht and A. J. Lilienthal. Improving Gas Dispersal Simulation For Mobile Robot Olfaction: Using Robotcreatedoccupancy Maps And Remote Gas Sensors In The Simulation Loop. In 2017 ISOCS/IEEE International Symposium on Olfaction andElectronic Nose (ISOEN 2017) Proceedings 2017BibTeX | DiVA  ]
[4] 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 2017BibTeX | DiVA  ]
[5] 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, 2016BibTeX | DiVA  | PDF ]
[6] 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) 2016BibTeX | DiVA  | PDF ]
[7] 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, 2016BibTeX | DiVA  | PDF ]
[8] 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, 2016BibTeX | DiVA  ]
[9] 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 2016BibTeX | DiVA  ]
[10] 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 2015BibTeX | DiVA  ]
[11] 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, 2015BibTeX | DiVA  | PDF ]
[12] 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 2015BibTeX | DiVA  ]
[13] 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 2014BibTeX | DiVA  ]
[14] 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, 2014BibTeX | DiVA  ]
[15] 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, 2014BibTeX | DiVA  ]
[16] 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 2014BibTeX | DiVA  ]
[17] V. Hernandez Bennetts, E. Schaffernicht, T. Stoyanov, A. J. Lilienthal and M. Trincavelli. Robot assisted gas tomography : localizing methane leaks in outdoor environments. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2014BibTeX | DiVA  ]
[18] R. Kaltenhaeuser, E. Schaffernicht, F. F. Steege and H. M. Gross. Evolutionary computation based system decomposition with neural networks. In ESANN 2013 proceedings, European Symposium on Artificial Neural Networks, Computational Intelligenceand Machine Learning, pages 191-196, 2013BibTeX | DiVA  ]
[19] 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) 2013BibTeX | DiVA  ]
[20] 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 2013BibTeX | DiVA  ]
[21] E. Schaffernicht and H. M. Gross. Weighted Mutual Information for Feature Selection. In Int. Conf. on Artificial Neural Networks (ICANN), 6792(2):181-188, 2011BibTeX ]
[22] F. F. Steege, A. Hartmann, E. Schaffernicht and H. M. Gross. Reinforcement Learning Based Neural Controllers for Dynamic Processes without Exploration. In Int. Conf. on Artificial Neural Networks (ICANN), 6353(2):222-227, 2010BibTeX ]
[23] E. Schaffernicht, R. Kaltenhaeuser, S. S. Verma and H. M. Gross. On Estimating Mutual Information for Feature Selection. In Int. Conf. on Artificial Neural Networks (ICANN), 6352(1):362-367, 2010BibTeX ]
[24] C. Vollmer, E. Schaffernicht and H. M. Gross. Exploring Continuous Action Spaces with Diffusion Trees for Reinforcement Learning. In Int. Conf. on Artificial Neural Networks (ICANN), 6353(2):190-199, 2010BibTeX ]
[25] E. Schaffernicht, C. Moeller, K. Debes and H. M. Gross. Forward Feature Selection Using Residual Mutual Information. In Europ. Symp. on Artificial Neural Networks, Computational Intelligence and Learning (ESANN), pages 583-588, 2009BibTeX ]
[26] E. Schaffernicht, V. Stephan and H. M. Gross. Adaptive Feature Transformation for Image Data from Non-Stationary Processes. In Int. Conf. on Artificial Neural Networks (ICANN), 5769(2):735-744, 2009BibTeX ]
[27] E. Schaffernicht, V. Stephan, K. Debes and H. M. Gross. Machine Learning Techniques for Selforganizing Combustion Control. In German Conf. on Artificial Intelligence (KI), 5803:395-402, 2009BibTeX ]
[28] S. Mueller, S. Hellbach, E. Schaffernicht, A. Ober, A. Scheidig and H. M. Gross. Whom to Talk to? Estimating User Interest from Movement Trajectories. In IEEE Int. Symp. on Robot and Human Interactive Communication (RO-MAN), pages 532-538, 2008BibTeX ]
[29] S. Mueller, E. Schaffernicht, A. Scheidig, H. J. Boehme and H. M. Gross. Are You Still Following Me?. In Europ. Conf. on Mobile Robots (ECMR), pages 211-216, 2007BibTeX ]
[30] E. Schaffernicht, V. Stephan and H. M. Gross. An Efficient Search Strategy for Feature Selection Using Chow-Liu Trees. In Int. Conf. on Artificial Neural Networks (ICANN), 4669(2):190-199, 2007BibTeX ]
[31] C. Martin, E. Schaffernicht, A. Scheidig and H. M. Gross. Sensor Fusion Using a Probabilistic Aggregation Scheme for People Detection and Tracking. In Europ. Conf. on Mobile Robots (ECMR), pages 176-181, 2005BibTeX ]
[32] E. Schaffernicht, C. Martin, A. Scheidig and H. M. Gross. A Probabilistic Multimodal Sensor Aggregation Scheme Applied for a Mobile Robot. In German Conf. on Artificial Intelligence (KI), 3698:320-334, 2005BibTeX ]

Theses

[1] E. Schaffernicht. Lernbeiträge im Rahmen einer kognitiven Architektur zur intelligenten Prozessführung. Ilmenau University of Technology, Germany, Doctoral Thesis, 2012BibTeX | PDF ]
[2] E. Schaffernicht. Teilautonomer Serviceroboter für den interaktiven Outdoor-Einsatz auf bevölkertem Campusgelände. Ilmenau University of Technology, Germany, Diploma Thesis, 2006BibTeX ]

Find the complete BibTeX record here.

 
clear