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	T. Röfer. Region-Based Segmentation with Ambiguous Color Classes and 2-D Motion Compensation. In U. Visser, F. Ribeiro, T. Ohashi, F. Dellaert (Eds.), RoboCup 2007: Robot Soccer World Cup XI, Lecture Notes in Artificial Intelligence. Springer.
	M. Wünstel, T. Röfer. Feature Based Registration of Range Images in Domestic Environments. In Computational Imaging and Vision. Kluwer Academic Publishers, Dordrecht, The Netherlands.

Joana Hois, Michael Wünstel, John A. Bateman, Thomas Röfer (2008). Dialog-Based 3D-Image Recognition Using a Domain Ontology. In Thomas Barkowsky, Markus Knauff, Gérard Ligozat, Daniel R. Montello (Eds.), Spatial Cognition V: Reasoning, Action, Interaction, International Conference Spatial Cognition 2006, No. 4387, pp. 107–126, Lecture Notes in Artificial Intelligence. Springer-Verlag Heidelberg.

2007 Back to top

	T. Laue, T. Röfer (2007). Integrating Simple Unreliable Perceptions for Accurate Robot Modeling in the Four-Legged League. In G. Lakemeyer, E. Sklar, D. Sorrenti, T. Takahashi (Eds.), RoboCup 2006: Robot Soccer World Cup X, No. 4434, pp. 474–482, Lecture Notes in Artificial Intelligence. Springer.
	T. Laue, T. Röfer (2007). Particle Filter-based State Estimation in a Competitive and Uncertain Environment. In Proceedings of the 6th International Workshop on Embedded Systems. VAMK, University of Applied Sciences, Vaasa, Finland.
	C. Mandel, U. Frese, T. Röfer (2007). Design Improvements for Proportional Control of Autonomous Wheelchairs Via 3DOF Orientation Tracker. In Proceedings of the 9th International Work-Conference on Artificial Neural Networks (IWANN'2007), Lecture Notes in Computer Science. Springer, Berlin.
	C. Mandel, T. Röfer, U. Frese (2007). Applying a 3DOF Orientation Tracker as a Human-Robot Interface for Autonomous Wheelchairs. In Proceedings of the 10th International Conference on Rehabilitation Robotics.
	C. Niehaus, T. Röfer T. Laue (2007). Gait Optimization on a Humanoid Robot using Particle Swarm Optimization. In C. Zhou, E. Pagello, E. Menegatti, S. Behnke (Eds.), Proceedings of the Second Workshop on Humanoid Soccer Robots in conjunction with the 2007 IEEE-RAS International Conference on Humanoid Robots.
	Thomas Röfer, Christoph Budelmann, Martin Fritsche, Tim Laue, Judith Müller, Cord Niehaus, Florian Penquitt (2007). B-Human Team Description for RoboCup 2007. In RoboCup 2007: Robot Soccer World Cup XI Preproceedings. RoboCup Federation.
	T. Röfer, J. Brose, D. Göhring, M. Jüngel, T. Laue, M. Risler (2007). GermanTeam 2007. In U. Visser, F. Ribeiro, T. Ohashi, F. Dellaert (Eds.), RoboCup 2007: Robot Soccer World Cup XI Preproceedings. RoboCup Federation.

2006 Back to top

	T. Laue, T. Röfer (2006). Getting Upright: Migrating Concepts and Software from Four-Legged to Humanoid Soccer Robots. In E. Pagello, C. Zhou, E. Menegatti (Eds.), Proceedings of the Workshop on Humanoid Soccer Robots in conjunction with the 2006 IEEE International Conference on Humanoid Robots.
	T. Laue, K. Spiess, T. Röfer (2006). SimRobot - A General Physical Robot Simulator and Its Application in RoboCup. In A. Bredenfeld, A. Jacoff, I. Noda, Y. Takahashi (Eds.), RoboCup 2005: Robot Soccer World Cup IX, No. 4020, pp. 173–183, Lecture Notes in Artificial Intelligence. Springer.
	C. Mandel, U. Frese, T. Röfer (2006). Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006), pp. 205–210.
	Michael Wünstel, Thomas Röfer (2006). Feature Based Registration of Range Images in Domestic Environments. In Computer Vision and Graphics, ICCVG 2004, pp. 648–654, Computational Imaging and Vision. Springer, Dordrecht, The Netherlands.
	Michael Wünstel, Thomas Röfer (2006). A Probabilistic Approach for Object Recognition in a Real 3-D Office Environment. In Vaclav Skala (Ed.), WSCG’2006 Posters Proceedings, pp. 41–42.
	W. Nistico, T. Röfer (2006). Improving percept reliability in the Sony Four-Legged League. In A. Bredenfeld, A. Jacoff, I. Noda, Y. Takahashi (Eds.), RoboCup 2005: Robot Soccer World Cup IX, No. 4020, pp. 545–552, Lecture Notes in Artificial Intelligence. Springer.
	Thomas Röfer, Martin Fritsche, Matthias Hebbel, Thomas Kindler, Tim Laue, Cord Niehaus, Walter Nistico, Philippe Schober (2006). BreDoBrothers Team Description for RoboCup 2006. In RoboCup 2006: Robot Soccer World Cup X Preproceedings. RoboCup Federation.
	T. Röfer, J. Brose, E. Carls, J. Carstens, D. Göhring, M. Jüngel, T. Laue, T. Oberlies, S. Oesau, M. Risler, M. Spranger, C. Werner, J. Zimmer (2006). GermanTeam 2006. In G. Lakemeyer, E. Sklar, D. Sorrenti, T. Takahashi (Eds.), RoboCup 2006: Robot Soccer World Cup X Preproceedings. RoboCup Federation.
	T. Röfer, T. Laue, D. Thomas (2006). Particle-filter-based self-localization using landmarks and directed lines. In A. Bredenfeld, A. Jacoff, I. Noda, Y. Takahashi (Eds.), RoboCup 2005: Robot Soccer World Cup IX, No. 4020, pp. 608–615, Lecture Notes in Artificial Intelligence. Springer.

2005 Back to top

	F. Dylla, A. Ferrein, G. Lakemeyer, J. Murray, O. Obst, T. Röfer, F. Stolzenburg, U. Visser, T. Wagner (2005). Towards a League-Independent Qualitative Soccer Theory for RoboCup. In RoboCup 2004: Robot World Cup VIII, No. 3276, pp. 611–618, Lecture Notes in Artificial Intelligence. Springer.
	T. Laue, T. Röfer (2005). A Behavior Architecture for Autonomous Mobile Robots Based on Potential Fields. In RoboCup 2004: Robot World Cup VIII, No. 3276, pp. 122–133, Lecture Notes in Artificial Intelligence. Springer.
	P. Lima, L. Custódio, L. Akin, A. Jacoff, G. Kraezschmar, N. B. Kiat, O. Obst, T. Röfer, Y. Takahashi, C. Zhou (2005). RoboCup 2004 Competitions and Symposium: A Small Kick for Robots, a Giant Score for Science. In AI Magazine, 26 (2), pp. 36–61.
	T. Röfer (2005). Evolutionary Gait-Optimization Using a Fitness Function Based on Proprioception. In RoboCup 2004: Robot World Cup VIII, No. 3276, pp. 310–322, Lecture Notes in Artificial Intelligence. Springer.
	T. Röfer (2005). From Perception to Action in the Sony Four-Legged Robot League. In Raul Rojas (Ed.). IT - Information Technology. Schwerpunktthema: Autonomous Robotic Soccer, No. 5, pp. 266–273. Oldenbourg Wissenschaftsverlag.
	T. Röfer, R. Brunn, S. Czarnetzki, M. Dassler, M. Hebbel, M. Jüngel, T. Kerkhof, W. Nistico, T. Oberlies, C. Rohde, M. Spranger, C. Zarges (2005). GermanTeam 2005. In A. Bredenfeld, A. Jacoff, I. Noda, Y. Takahashi (Eds.), RoboCup 2005: Robot Soccer World Cup IX Preproceedings. RoboCup Federation.
	T. Röfer, T. Laue, M. Weber, H.-D. Burkhard, M. Jüngel, D. Göhring, J. Hoffmann, B. Altmeyer, T. Krause, M. Spranger, O. v. Stryk, R. Brunn, M. Dassler, M. Kunz, T. Oberlies, M. Risler, etc. (2005). GermanTeam RoboCup 2005. Online. 247 pages.
	T. Röfer, O. v. Stryk (2005). Softwarearchitektur: Ein Erfolgsfaktor beim Roboterfußball!. In OBJEKTspektrum, 2005 (4), pp. 31–32.
	D. Wilking, T. Röfer (2005). Real-time Object Recognition Using Decision Tree Learning. In RoboCup 2004: Robot World Cup VIII, No. 3276, pp. 556–563, Lecture Notes in Artificial Intelligence. Springer.

2004 Back to top

	Jörg Kurlbaum, Tim Laue, Björn Lück, Björn Mohrmann, Martin Poloczek, Dschen Reinecke, Tim Riemenschneider, Thomas Röfer, Simon Hendrik, Ubbo Visser (2004). Bremen Small Multi-Agent Robot Team (B-Smart) Team Description for RoboCup 2004. In RoboCup 2004: Robot Soccer World Cup VIII Preproceedings. RoboCup Federation.
	T. Röfer, R. Brunn, I. Dahm, M. Hebbel, J. Hoffmann, M. Jüngel, T. Laue, M. Lötzsch, W. Nistico, M. Spranger (2004). GermanTeam 2004. In RoboCup 2004: Robot World Cup VIII Preproceedings. RoboCup Federation.
	T. Röfer, I. Dahm, U. Düffert, J. Hoffmann, M. Jüngel, M. Kallnik, M. Lötzsch, M. Risler, M. Stelzer, J. Ziegler (2004). GermanTeam 2003. In RoboCup 2003: Robot World Cup VII, No. 3020, Lecture Notes in Artificial Intelligence. Springer. on CD.
	T. Röfer, M. Jüngel (2004). Fast and robust edge-based localization in the Sony Four-Legged Robot League. In RoboCup 2003: Robot World Cup VII, No. 3020, pp. 262–273, Lecture Notes in Artificial Intelligence. Springer.
	T. Röfer, T. Laue, H.-D. Burkhard, J. Hoffmann, M. Jüngel, D. Göhring, M. Lötzsch, U. Düffert, M. Spranger, B. Altmeyer, V. Goetzke, O. v. Stryk, R. Brunn, M. Dassler, M. Kunz, M. Risler, etc. (2004). GermanTeam RoboCup 2004. Online. 299 pages.

2003 Back to top

	A. Lankenau, T. Röfer, B. Krieg-Brückner (2003). Self-Localization in Large-Scale Environments for the Bremen Autonomous Wheelchair. In C. Freksa, W. Brauer, C. Habel, K. F. Wender (Eds.), Spatial Cognition III, No. 2685, pp. 34–61, Lecture Notes in Artificial Intelligence. Springer.
	T. Röfer (2003). An Architecture for a National RoboCup Team. In G. A. Kaminka, P. U. Lima, R. Rojas (Eds.), RoboCup 2002: Robot Soccer World Cup VI, pp. 417–425, Lecture Notes in Artificial Intelligence. Springer.
	T. Röfer, H.-D. Burkhard, U. Düffert, J. Hoffmann, D. Göhring, M. Jüngel, M. Lötzsch, O. v. Stryk, R. Brunn, M. Kallnik, M. Kunz, S. Petters, M. Risler, M. Stelzer, I. Dahm, M. Wachter, K. Engel, etc. (2003). GermanTeam RoboCup 2003. Online. 199 pages.
	T. Röfer, M. Jüngel (2003). Vision-Based Fast and Reactive Monte-Carlo Localization. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA-2003), pp. 856–861.

2002 Back to top

	R. Brunn, U. Düffert, M. Jüngel, T. Laue, M. Lötzsch, S. Petters, M. Risler, T. Röfer, K. Spiess, A. Sztybryc (2002). GermanTeam 2001. In RoboCup 2001: Robot Soccer World Cup V, No. 2377, pp. 705–708, Lecture Notes in Artificial Intelligence. Springer.
	H.-D. Burkhard, U. Düffert, J. Hoffmann, M. Jüngel, M. Lötzsch, R. Brunn, M. Kallnik, N. Kuntze, M. Kunz, S. Petters, M. Risler, O. v. Stryk, N. Koschmieder, T. Laue, T. Röfer, K. Spiess, A. Cesarz, etc. (2002). GermanTeam RoboCup 2002. Online. 179 pages.
	U. Düffert, M. Jüngel, T. Laue, M. Lötzsch, M. Risler, T. Röfer (2002). GermanTeam 2002. In G. A. Kaminka, P. U. Lima, R. Rojas (Eds.), RoboCup 2002: Robot Soccer World Cup VI Preproceedings. RoboCup Federation.
	A. Lankenau, T. Röfer (2002). Mobile Robot Self-Localization in Large-Scale Environments. In Proceedings of the IEEE International Conference on Robotics and Automation 2002 (ICRA-2002), pp. 1359–1364. IEEE.
	T. Röfer (2002). Using Histogram Correlation to Create Consistent Laser Scan Maps. In Proceedings of the IEEE International Conference on Robotics Systems (IROS-2002), pp. 625–630. EPFL, Lausanne, Switzerland.
	T. Röfer, A. Lankenau (2002). Route-Based Robot Navigation. In C. Freksa (Ed.). Künstliche Intelligenz - Themenheft Spatial Cognition, pp. 29–31. Fachbereich 1 der Gesellschaft für Informatik e.V., arenDTaP.

2001 Back to top

	H.-D. Burkhard, U. Düffert, M. Jüngel, M. Lötzsch, N. Koschmieder, T. Laue, T. Röfer, K. Spiess, A. Sztybryc, R. Brunn, M. Risler, O. v. Stryk (2001). GermanTeam RoboCup 2001. Online. 41 pages.
	A. Lankenau, T. Röfer (2001). Selbstlokalisation in Routengraphen. In P. Levi, M. Schanz (Eds.), Autonome Mobile Systeme 2001, pp. 157–163, Informatik aktuell. Springer.
	A. Lankenau, T. Röfer (2001). A Safe and Versatile Mobility Assistant. In Reinventing the Wheelchair. IEEE Robotics and Automation Magazine, No. 7, pp. 29–37.
	T. Röfer (2001). Konsistente Karten aus Laser Scans. In P. Levi, M. Schanz (Eds.), Autonome Mobile Systeme 2001, pp. 171–177, Informatik aktuell. Springer.
	T. Röfer (2001). Building Consistent Laser Scan Maps. In Proceedings of the 4th European Workshop on Advanced Mobile Robots (Eurobot 2001), Vol. 86, pp. 83–90. Lund University Cognitive Studies.

2000 Back to top

	J. Kollmann, T. Röfer (2000). Echtzeitkartenaufbau mit einem 180°-Laser-Entfernungssensor. In R. Dillmann, H. Wörn, von M. Ehr (Eds.), Autonome Mobile Systeme 2000, pp. 121–128, Informatik aktuell. Springer.
	A. Lankenau, T. Röfer (2000). Rollstuhl "Rolland" unterstützt ältere und behinderte Menschen. In FIfF-Kommunikation. Informationstechnik und Behinderung, No. 2, pp. 48–50. Forum InformatikerInnen für Frieden und gesellschaftliche Verantwortung (FIfF).
	A. Lankenau, T. Röfer (2000). The Role of Shared Control in Service Robots - The Bremen Autonomous Wheelchair as an Example. In T. Röfer, A. Lankenau, R. Moratz (Eds.), Service Robotics - Applications and Safety Issues in an Emerging Market. Workshop Notes, pp. 27–31.
	A. Lankenau, T. Röfer (2000). Smart Wheelchairs - State of the Art in an Emerging Market. In Künstliche Intelligenz. Schwerpunkt Autonome Mobile Systeme, No. 4, pp. 37–39. Fachbereich 1 der Gesellschaft für Informatik e.V., arenDTaP.
	A. Musto, K. Stein, A. Eisenkolb, T. Röfer, W. Brauer, K. Schill (2000). From Motion Observation to Qualitative Motion Representation. In C. Freksa, W. Brauer, C. Habel, K. F. Wender (Eds.), Spatial Cognition II, No. 1849, pp. 115–126, Lecture Notes in Artificial Intelligence. Springer.
	R. Müller, T. Röfer, A. Lankenau, A. Musto, K. Stein, A. Eisenkolb (2000). Coarse Qualitative Descriptions in Robot Navigation. In C. Freksa, W. Brauer, C. Habel, K. F. Wender (Eds.), Spatial Cognition II, No. 1849, pp. 265–276, Lecture Notes in Artificial Intelligence. Springer.
	T. Röfer (2000). Route Navigation and Panoramic Image Processing. In Künstliche Intelligenz. Schwerpunkt Autonome Mobile Systeme, No. 1, pp. 62–64. Fachbereich 1 der Gesellschaft für Informatik e.V., arenDTaP.
	T. Röfer, A. Lankenau (2000). Architecture and Applications of the Bremen Autonomous Wheelchair. In P. Wang (Ed.), Information Sciences, 1-4 (126), pp. 1–20. Elsevier Science BV.
	T. Röfer, A. Lankenau, R. Moratz (Eds.) (2000). Service Robotics - Applications and Safety Issues in an Emerging Market. Workshop Notes. European Conference on Artificial Intelligence 2000 (ECAI-2000).

1999 Back to top

	A. Musto, K. Stein, A. Eisenkolb, T. Röfer (1999). Qualitative and Quantitative Representations of Locomotion and their Application in Robot Navigation. In Proceedings of the 16th International Joint Conference on Artificial Intelligence (IJCAI-99), pp. 1067–1073. Morgan Kaufman Publishers, Inc, San Francisco, CA.
	T. Röfer (1999). Route Navigation Using Motion Analysis. In C. Freksa, D. M. Mark (Eds.), Proceedings of the Conference on Spatial Information Theory (COSIT-99), No. 1661, pp. 21–36, Lecture Notes in Computer Science. Springer.
	T. Röfer (1999). Route Navigation and Panoramic Image Processing. In Ausgezeichnete Informatikdissertationen 1998, pp. 132–141. B. G. Teubner, Stuttgart, Leipzig.
	T. Röfer, A. Lankenau (1999). Ensuring Safe Obstacle Avoidance in a Shared-Control System. In J. M. Fuertes (Ed.), Proceedings of the 7th International Conference on Emergent Technologies and Factory Automation (ETFA-99), pp. 1405–1414.
	T. Röfer, A. Lankenau (1999). Ein Fahrassistent für ältere und behinderte Menschen. In G. Schmidt, U. Hanebeck, F. Freyberger (Eds.), Autonome Mobile Systeme 1999, pp. 334–343, Informatik aktuell. Springer.

1998 Back to top

	A. Bühlmeier, J. Kollmann, B. Krieg-Brückner, T. Röfer (Eds.) (1998). Studentisches Projekt SAUS: Sensomotorik autonomer Systeme. Informatik Bericht. ISSN 0722-8996. Universität Bremen.
	B. Krieg-Brückner, T. Röfer, H.-O. Carmesin, R. Müller (1998). A Taxonomy of Spatial Knowledge for Navigation and its Application to the Bremen Autonomous Wheelchair. In C. Freksa, C. Habel, K. F. Wender (Eds.), Spatial Cognition, No. 1404, pp. 373–397, Lecture Notes in Artificial Intelligence. Springer.
	A. Lankenau, T. Röfer (1998). Architecture of the Bremen Autonomous Wheelchair. In B. Hildebrand, R. Moratz, Ch. Scheering (Eds.), Architectures in Cognitive Robotics. Technical Report, No. 98/13, pp. 19–24. SFB 360 "Situierte Künstliche Kommunikatoren". Universität Bielefeld.
	T. Röfer (1998). Routenbeschreibung durch Odometrie-Scans. In H. Wörn, R. Dillmann, D. Henrich (Eds.), Autonome Mobile Systeme 1998, pp. 122–129, Informatik aktuell. Springer.
	T. Röfer (1998). Strategies for Using a Simulation in the Development of the Bremen Autonomous Wheelchair. In R. Zobel, D. Moeller (Eds.), Simulation-Past, Present and Future, pp. 460–464. Society for Computer Simulation International.
	T. Röfer (1998). Panoramic Image Processing and Route Navigation. No. 7, BISS Monographs. Shaker-Verlag.
	T. Röfer, A. Lankenau (1998). Architecture and Applications of the Bremen Autonomous Wheelchair. In P. P. Wang (Ed.), Proceedings of the 4th Joint Conference on Information Systems, Vol. 1, pp. 365–368. Association for Intelligent Machinery.
	T. Röfer, R. Müller (1998). Navigation and Routemark Detection of the Bremen Autonomous Wheelchair. In T. Lüth, R. Dillmann, P. Dario, H. Wörn (Eds.), Distributed Autonomous Robotics Systems, pp. 183–192. Springer.

1997 Back to top

	J. Kollmann, A. Lankenau, A. Bühlmeier, B. Krieg-Brückner, T. Röfer (1997). Navigation of a Kinematically Restricted Wheelchair by the Parti-Game Algorithm. In Spatial Reasoning in Mobile Robots and Animals, AISB-97 Workshop, pp. 35–44. Manchester University.
	T. Röfer (1997). Routemark-Based Navigation of a Wheelchair. In Proceedings of the 3rd ECPD International Conference on Advanced Robotics, Intelligent Automation and Active Systems, pp. 333–338.
	T. Röfer (1997). Controlling a Wheelchair with Image-based Homing. In Spatial Reasoning in Mobile Robots and Animals, AISB-97 Workshop, pp. 66–75. Manchester University.

1995 Back to top

	T. Röfer (1995). Image based homing using a self-organizing feature map. In F. Fogelman-Soulie, P. Gallinari (Eds.), Proceedings of the International Conference on Artificial Neural Networks (ICANN-95), Vol. 1, pp. 475–480. EC2 & Cie.
	T. Röfer (1995). Controlling a robot with image based homing. In B. Krieg-Brückner, C. Herwig (Eds.), Tagungsband des Workshops "Kognitive Robotik", No. 3/95, ZKW Bericht. Zentrum für Kognitionswissenschaften. Universität Bremen.
	T. Röfer (1995). Bildbasierte Navigation mit eindimensionalen 360°-Bildern. In R. Dillmann, U. Rembold, T. Lüth (Eds.), Autonome Mobile Systeme 1995, pp. 193–202, Informatik Aktuell. Springer.

1994 Back to top

	T. Röfer (1994). VierLING - Quadruped with Integrated Neural Balance Control. In M. Marinaro, P. Morasso (Eds.), Proceedings of the International Conference on Artificial Neural Networks (ICANN-94), pp. 1311–1314. Springer.
	T. Röfer (1994). VierLING - Vierbeinige Laufmaschine mit Integrierter Neuronaler Gleichgewichtssteuerung.B. Krieg-Brückner, G. Roth, H. Schwegler (Eds.), No. 3/94, ZKW Bericht. Zentrum für Kognitionswissenschaften. Universität Bremen.
	U. Siems, C. Herwig, T. Röfer (1994). SimRobot, ein System zur Simulation sensorbestückter Agenten in einer dreidimensionalen Umwelt.B. Krieg-Brückner, G. Roth, H. Schwegler (Eds.), No. 1/94, ZKW Bericht. Zentrum für Kognitionswissenschaften. Universität Bremen.

1993 Back to top

	T. Röfer (1993). VierLING - Vierbeinige Laufmaschine mit Integrierter Neuronaler Gleichgewichtssteuerung. Universität Bremen. Diplomarbeit.
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Author: Dr. Thomas Röfer

Thomas Röfer

Last updated: August 4, 2005