@inproceedings{61368,
  author       = {{Stumpe, Miriam and Speckenmeyer, Philipp and Schryen, Guido and Kleinjohann, Lisa and Weskamp, Christoph}},
  booktitle    = {{Proceedings of the Thirty-first Americas Conference on Information Systems (AMCIS 2025)}},
  title        = {{{Planning a Swarm-Based Mobility System with Autonomous Vehicles for Sustainable and Flexible Transportation in Rural Areas}}},
  year         = {{2025}},
}

@inproceedings{25119,
  abstract     = {{In case of a disaster it is of utmost importance to obtain an overview of the affected area in order to coordinate rescue operations. Recent research and development has led to affordable unmanned aerial vehicles (UAVs) and enabled (semi-)autonomous surveillance and mapping of a disaster areas by UAVs. Mapping an area from many images incorporates image registration. Commonly used registration techniques expect static images to be registered. However, while mapping a disaster area, it is very likely that objects like vehicles or persons are moving on the ground, thus leading to dynamic scenes. We formerly introduced a fast and robust approach to register large amounts of successively arriving images, e.g., from UAVs. The approach only uses rigid-body transformations, but the usage of virtual forces enables the registration to tolerate small perspective distortions. This paper investigates the performance of our approach when applied to dynamic scenes, which are represented by nonlinear disturbances within image correspondences. We show that our approach not only tolerates small perspective distortions but also is able to register dynamic scenes.
}},
  author       = {{Stern, Claudius and Kleinjohann, Lisa}},
  booktitle    = {{Proceedings of The 2nd International Conference on Intelligent Systems and Image Processing 2014}},
  location     = {{Kitakyushu, Japan, 26. - 29. Sep. 2014}},
  pages        = {{209--215}},
  publisher    = {{ Institute of Industrial Applications Engineers}},
  title        = {{{Evaluating Influence of Nonlinear Disturbances on Image Registration Based on Virtual Forces}}},
  year         = {{2014}},
}

@inbook{25177,
  author       = {{Flaßkamp, Kathrin and Grösbrink, Stefan and Hartmann, Philip and Heinzemann, Christian and Kleinjohann, Bernd and Kleinjohann, Lisa and Krüger, Martin and Ober-Blöbaum, Sina and Priesterjahn, Claudia and Rasche, Christoph and Schäfer, Wilhelm and Steenken, Dominik and Trächtler, Ansgar and Wehrheim, Heike and Ziegert, Steffen}},
  booktitle    = {{Dependability of Self-Optimizing Mechatronic Systems}},
  pages        = {{184--190}},
  publisher    = {{Springer-Verlag }},
  title        = {{{Development of the RailCab Vehicle}}},
  year         = {{2014}},
}

@inbook{25775,
  author       = {{Fla{\ss}kamp, Kathrin and  Gr{\"o}sbrink,  Stefan  and Hartmann, Philip and Heinzemann, Christian and Kleinjohann, Bernd and Kleinjohann, Lisa and  Kr{\"u}ger,  Martin and  Ober-Bl{\"o}baum,  Sina and Priesterjahn, Claudia  and Rasche, Christoph and Sch{\"a}fer, Wilhelm and Steenken, Dominik  and Tr{\"a}chtler, Ansgar and Wehrheim, Heike and Ziegert, Steffen}},
  booktitle    = {{Dependability of Self-Optimizing Mechatronic Systems}},
  pages        = {{184--190}},
  publisher    = {{Springer-Verlag, Heidelberg, Germany}},
  title        = {{{Development of the RailCab Vehicle}}},
  year         = {{2014}},
}

@inbook{25773,
  author       = {{Fla{\ss}kamp, Kathrin and Gr{\"o}sbrink, Stefan  and Hartmann, Philip  and Heinzemann, Christian and Kleinjohann, Bernd and Kleinjohann, Lisa and Kr{\"u}ger,  Martin  and Ober-Bl{\"o}baum, Sina  and Priesterjahn, Claudia and Rasche, Christoph and Sch{\"a}fer, Wilhelm and Steenken, Dominik and Tr{\"a}chtle, Ansgar and Wehrheim, Heike and Ziegert, Steffen}},
  booktitle    = {{Dependability of Self-Optimizing Mechatronic Systems}},
  pages        = {{184--190}},
  publisher    = {{Springer-Verlag, Heidelberg, Germany}},
  title        = {{{Development of the RailCab Vehicle}}},
  year         = {{2014}},
}

@inproceedings{25573,
  author       = {{Stern, Claudius and Rasche, Christoph and Kleinjohann, Lisa and Kleinjohann, Bernd}},
  booktitle    = {{11. Paderborner Workshop Augmented & Virtual Reality in der Produktentstehung}},
  publisher    = {{Verlagsschriftenreihe des Heinz Nixdorf Instituts, Paderborn, Nr. 311}},
  title        = {{{Bildangereicherte Kartenerstellung zur Unterstützung bei Rettungseinsätzen}}},
  volume       = {{311}},
  year         = {{2013}},
}

@inproceedings{25574,
  author       = {{Rasche, Christoph and Bieshaar, Maarten and Jungmann, Alexander and Kleinjohann, Lisa and Kleinjohann, Bernd}},
  booktitle    = {{Entwurf mechatronischer Systeme, Verlagsschriftenreihe des Heinz Nixdorf Instituts, Paderborn, Band 310}},
  pages        = {{133--146}},
  publisher    = {{Verlagsschriftenreihe des Heinz Nixdorf Instituts, Paderborn}},
  title        = {{{Statistisches Planen in einem realen Roboterszenario}}},
  volume       = {{310}},
  year         = {{2013}},
}

@misc{25615,
  author       = {{Engels, Gregor and Gerth, Christian and Kleinjohann, Lisa and Kleinjohann, Bernd and Müller, Wolfgang}},
  booktitle    = {{ForschungsForum Paderborn }},
  title        = {{{ Informationstechnik spart Ressourcen}}},
  year         = {{2013}},
}

@article{25618,
  abstract     = {{The as a service paradigm reflects the fundamental idea of providing basic coherent functionality in terms of components that can be utilised on demand. These so-called services may also be interconnected in order to provide more complex functionality. Automation of this service composition process is indeed a formidable challenge. In our work, we are addressing this challenge by decomposing service composition into sequential decision making steps. Each step is supported by a recommendation mechanism. If composition requests recur over time and if evaluations of composition results are fed back, a proper recommendation strategy can evolve over time through learning from experience. In this paper, we describe our approach of modelling this service composition and recommendation process as Markov decision process and of solving it by means of reinforcement learning. A case study serves as proof of concept.}},
  author       = {{Jungmann, Alexander and Kleinjohann, Bernd and Kleinjohann, Lisa}},
  journal      = {{International Journal of Business Process Integration and Management 6(4)}},
  pages        = {{284--297}},
  title        = {{{Learning Service Recommendations}}},
  year         = {{2013}},
}

@inbook{25625,
  abstract     = {{After big disasters, search and rescue missions take place. During these missions it is essential to obtain an overview of the overall situation to arrange efficient rescue tasks as soon as possible. Afterwards, this information has to be continuously updated during the complete mission in order to quickly respond to changing conditions. The use of unmanned aerial vehicles (UAVs) is a viable choice to obtain such an overview in a fast and efficient way. Using multiple UAVs, the problem of coordination has to be solved to decrease the time needed to explore an area. We present an approach for the coordination of UAVs by setting up formation patterns using bifurcation theory. We combine this theory with a potential field approach for exploration, based on harmonic functions.}},
  author       = {{Rasche, Christoph and Stern, Claudius and Kleinjohann, Lisa and Kleinjohann, Bernd}},
  booktitle    = {{Recent Advances in Robotics and Automation, Studies in Computational Intelligence, Band 480}},
  editor       = {{Sen Gupta, Gourab and Bailey, Donald and Demidenko, Serge and Carnegie, Dale}},
  pages        = {{103--113}},
  publisher    = {{Springer }},
  title        = {{{A 3D Path Planning Approach Extended by Bifurcation Theory for Formation Flights}}},
  volume       = {{480}},
  year         = {{2013}},
}

@inbook{25743,
  author       = {{Anacker, Harald and Dellnitz, Michael and Flaßkamp, Kathrin and Grösbrink, Stefan and Hartmann, Philip and Heinzemann, Christian and Horenkamp, Christian and Kleinjohann, Lisa and Kleinjohann, Bernd and Korf, Sebastian and Krüger, Martin and Müller, Wolfgang and Ober-Blöbaum, Sina and Oberthür, Simon and Porrmann, Mario and Priesterjahn, Claudia and Radkowski, W. and Rasche, Christoph and Rieke, Jan and Ringkamp, Maik and Stahl, Katharina and Steenken, Dominik and Stöcklein, Jörg and Timmermann, Robert and Trächtler, Ansgar and Witting, Katrin and Xie, Tao and Ziegert, Steffen}},
  booktitle    = {{Design Methodology for Intelligent Technical Systems Systems – Develop Intelligent Technical Systems of the Future}},
  pages        = {{187--356}},
  publisher    = {{Springer-Verlag}},
  title        = {{{Methods for the Design and Development}}},
  year         = {{2013}},
}

@article{7276,
  author       = {{Engels, Gregor and Gerth, Christian and Kleinjohann, Bernd and Kleinjohann, Lisa and Müller, Wolfgang and Sauer, Stefan}},
  journal      = {{Forschungsforum Paderborn}},
  pages        = {{54--61}},
  title        = {{{Informationstechnik spart Ressourcen}}},
  volume       = {{16/2013}},
  year         = {{2013}},
}

@article{515,
  abstract     = {{The as a service paradigm reflects the fundamental idea of providing basic coherent functionality in terms of components that can be utilised on demand. These so-called services may also be interconnected in order to provide more complex functionality. Automation of this service composition process is indeed a formidable challenge. In our work, we are addressing this challenge by decomposing service composition into sequential decision making steps. Each step is supported by a recommendation mechanism. If composition requests recur over time and if evaluations of composition results are fed back, a proper recommendation strategy can evolve over time through learning from experience. In this paper, we describe our approach of modelling this service composition and recommendation process as Markov decision process and of solving it by means of reinforcement learning. A case study serves as proof of concept.}},
  author       = {{Jungmann, Alexander and Kleinjohann, Bernd and Kleinjohann, Elisabeth}},
  journal      = {{International Journal of Business Process Integration and Management}},
  number       = {{4}},
  pages        = {{284--297}},
  publisher    = {{InderScience}},
  title        = {{{Learning Service Recommendations}}},
  doi          = {{10.1504/IJBPIM.2013.059135}},
  year         = {{2013}},
}

@inproceedings{25777,
  abstract     = {{This paper presents a hierarchical hyprid planning approach developed for realizing self-optimizing mechatronic systems. The hybrid planning approach is based on a discrete plan and a forecast of continuous system behavior generated by simulation during runtime. This does not only allow an online adaptation of a previously generated plan with regard to the actual system state as well as the current environmental conditions, even the planning objectives may be adapted to newly arising needs during system operation. The planner exploits the hierarchy already present in the system model by considering hierarchical parameterizations of the system as a discrete dimension of choice. The parameterizations are proposed by a novel hierarchical multiobjective optimization, which calculates Pareto points in a bottom up fashion, taking into account the constraints imposed by lower levels of the system hierarchy on the higher ones. Evaluations of the hierarchical hybrid planner in the context of an innovative railbound transport system show that it outperforms its non-hierarchical predecessor.
}},
  author       = {{Esau, Natascha and Krüger, Martin and Rasche, Christoph and Beringer, Steffen and Kleinjohann, Lisa and Kleinjohann, Bernd}},
  booktitle    = {{7th IEEE Conference in Industrial Electronics and Applications}},
  location     = {{Singapore, 18. - 20. Jul. 2012 IEEE, IEEE}},
  publisher    = {{IEEE}},
  title        = {{{Hierarchical Hybrid Planning for a Self-Optimizing Active Suspension System}}},
  year         = {{2012}},
}

@inproceedings{25781,
  author       = {{Stern, Claudius and Rasche, Christoph and Kleinjohann, Lisa and Kleinjohann, Bernd}},
  booktitle    = {{Proceedings of The 16th International Conference on Image Processing, Computer Vision, & Pattern Recognition}},
  location     = {{16. - 19. Jul. 2012; Las Vegas, Nevada, USA}},
  title        = {{{Evaluating Quality of Online Image Registration of Aerial Images Using Virtual Forces}}},
  year         = {{2012}},
}

@inproceedings{26032,
  abstract     = {{Getting a contemporary aerial overview of a disaster area is a foremost task in search and rescue operations. We previously have introduced a novel method for registering a large amount of aerial images when camera parameters are almost unknown and no reference images are available. This paper provides two new methods, which improve our method for image registration based on virtual forces. The goal is to improve the performance of creating a contemporary overview map of a disaster area assembling several images taken by unmanned aerial vehicles (UAVs) equipped with cameras. In this paper, two new methods are introduced: a method for rotation estimation and a method for scale estimation. Both methods use fast heuristic approximation approaches and statistical methods to provide high robustness. We discuss the methods in detail and compare them to our previous approach regarding robustness and calculation speed. We can show that the new methods significantly increase the performance of the image registration process.}},
  author       = {{Stern, Claudius and Rasche, Christoph and Kleinjohann, Lisa and Kleinjohann, Bernd}},
  booktitle    = {{Proceedings of The Eighth International Conference on Autonomic and Autonomous Systems (ICAS)}},
  publisher    = {{IEEE Xplore}},
  title        = {{{Efficient Alignment of Aerial Images Based on Virtual Forces}}},
  year         = {{2012}},
}

@inproceedings{26034,
  abstract     = {{In this paper, a color based feature extraction and classification approach for image processing in embedded systems in presented. The algorithms and data structures developed for this approach pay particular attention to reduce memory consumption and computation power of the entire image processing, since embedded systems usually impose strong restrictions regarding those resources. The feature extraction is realized in terms of an image segmentation algorithm. The criteria of homogeneity for merging pixels and regions is provided by the color classification mechanism, which incorporates appropriate methods for defining, representing and accessing subspaces in the working color space. By doing so, pixels and regions with color values that belong to the same color class can be merged. Furthermore, pixels with redundant color values that do not belong to any pre-defined color class can be completely discarded in order to minimize computational effort. Subsequently, the extracted regions are converted to a more convenient feature representation in terms of statistical moments up to and including second order. For evaluation, the whole image processing approach is applied to a mobile representative of embedded systems within the scope of a simple real-world scenario.}},
  author       = {{Jungmann, Alexander and Kleinjohann, Bernd and Kleinjohann, Lisa and Bieshaar, Maarten}},
  booktitle    = {{Proceedings of the 4th International Conference on Resource Intensive Applications and Services (INTENSIVE)}},
  publisher    = {{Xpert Publishing Services}},
  title        = {{{Efficient Color-Based Image Segmentation and Feature Classification for Image Processing in Embedded Systems}}},
  year         = {{2012}},
}

@inproceedings{617,
  abstract     = {{In this paper, a color based feature extraction and classification approach for image processing in embedded systems in presented. The algorithms and data structures developed for this approach pay particular attention to reduce memory consumption and computation power of the entire image processing, since embedded systems usually impose strong restrictions regarding those resources. The feature extraction is realized in terms of an image segmentation algorithm. The criteria of homogeneity for merging pixels and regions is provided by the color classification mechanism, which incorporates appropriate methods for defining, representing and accessing subspaces in the working color space. By doing so, pixels and regions with color values that belong to the same color class can be merged. Furthermore, pixels with redundant color values that do not belong to any pre-defined color class can be completely discarded in order to minimize computational effort. Subsequently, the extracted regions are converted to a more convenient feature representation in terms of statistical moments up to and including second order. For evaluation, the whole image processing approach is applied to a mobile representative of embedded systems within the scope of a simple real-world scenario.}},
  author       = {{Jungmann, Alexander and Kleinjohann, Bernd and Kleinjohann, Elisabeth and Bieshaar, Maarten}},
  booktitle    = {{Proceedings of the Fourth International Conference on Resource Intensive Applications and Services (INTENSIVE)}},
  pages        = {{22--29}},
  title        = {{{Efficient Color-Based Image Segmentation and Feature Classification for Image Processing in Embedded Systems}}},
  year         = {{2012}},
}

@inproceedings{26281,
  abstract     = {{This paper introduces a novel method for registering a large amount of aerial images when camera parameters are almost unknown and no reference images are available. The envisioned application is the creation of an overview map of a disaster area from images made by unmanned aerial vehicles (UAVs) equipped with cameras. The camera systems only have uncertain information about flight attitude. With traditional methods, the relatively small perspective errors per image sum up over time resulting in perspective errors which prevent building a consistent map from successively arriving images. By using virtual forces between images, the image parameters are continuously adapted to the current map. The small projective errors of quasi orthographic images are distributed among overlapping images. Having UAVs which deliver quasi orthographic images, our approach can build a contemporary overview without the need to have all images in advance.}},
  author       = {{Stern, Claudius and Rasche, Christoph and Kleinjohann, Lisa and Kleinjohann, Bernd}},
  booktitle    = {{The 5th International Conference on Automation, Robotics and Applications (ICARA 2011)}},
  location     = {{Wellington, New Zealand, Dez. 2011}},
  title        = {{{Towards Using Virtual Forces for Image Registration}}},
  year         = {{2011}},
}

@inproceedings{26660,
  abstract     = {{During rescue scenarios it is indispensable to obtain an overview of the situation. Unmanned aerial vehicles (UAVs) can gather the necessary information in a fast and efficient way. This paper presents an approach for path planning in 3D environments offering a solution to explore disaster areas including, e.g., partially or completely destroyed buildings. Using multiple UAVs decreases the time needed to receive a complete overview if the problem of coordination and task allocation is solved. We present an approach for the use of multiple UAVs. The UAVs work in a distributed manner without any central coordination instance and cover the exploration of terrains as well as goal-oriented path planning. When using multiple UAVs redundant exploration is avoided through the use of inter-UAV-communication. The approach is based on potential fields and uses the simplicity of the gradient method to calculate paths for fast exploration of the terrain.
}},
  author       = {{Rasche, Christoph and Stern, Claudius and Kleinjohann, Lisa and Kleinjohann, Bernd}},
  booktitle    = {{The 5th International Conference on Automation, Robotics and Applications (ICARA 2011)}},
  title        = {{{A Distributed Multi-UAV Path Planning Approach for 3D Environments}}},
  year         = {{2011}},
}