Sebastian Herzog

Group(s): Computer Vision ,
Neural Computation
Email:
sherzog3@gwdg.de
Phone: +49 551 / 39 10761
Room: E.01.106

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    Year
    Title
    Journal / Proceedings / Book
    Herzog, S. and Wörgötter, F. and Kulvicius, T. (2017).
    Generation of movements with boundary conditions based on optimal control theory. Robotics and Autonomous Systems, 1 - 11, 94. DOI: 10.1016/j.robot.2017.04.006.
    BibTeX:
    @article{herzogwoergoetterkulvicius2017,
      author = {Herzog, S. and Wörgötter, F. and Kulvicius, T.},
      title = {Generation of movements with boundary conditions based on optimal control theory},
      pages = {1 - 11},
      journal = {Robotics and Autonomous Systems},
      year = {2017},
      volume= {94},
      url = http://www.sciencedirect.com/science/article/pii/S0921889016300963},
      doi = 10.1016/j.robot.2017.04.006},
      abstract = Abstract Trajectory generation methods play an important role in robotics since they are essential for the execution of actions. In this paper we present a novel trajectory generation method for generalization of accurate movements with boundary conditions. Our approach originates from optimal control theory and is based on a second order dynamic system. We evaluate our method and compare it to the state of the art movement generation methods in both simulations and real robot experiments. We show that the new method is very compact in its representation and can reproduce reference trajectories with zero error. Moreover, it has most of the features of the state of the art movement generation methods such as robustness to perturbations and generalization to new position and velocity boundary conditions. We believe that, due to these features, our method may have potential for robotic applications where high accuracy is required paired with flexibility, for example, in modern industrial robotic applications, where more flexibility will be demanded as well as in medical robotics.}}
    		
    Abstract: Abstract Trajectory generation methods play an important role in robotics since they are essential for the execution of actions. In this paper we present a novel trajectory generation method for generalization of accurate movements with boundary conditions. Our approach originates from optimal control theory and is based on a second order dynamic system. We evaluate our method and compare it to the state of the art movement generation methods in both simulations and real robot experiments. We show that the new method is very compact in its representation and can reproduce reference trajectories with zero error. Moreover, it has most of the features of the state of the art movement generation methods such as robustness to perturbations and generalization to new position and velocity boundary conditions. We believe that, due to these features, our method may have potential for robotic applications where high accuracy is required paired with flexibility, for example, in modern industrial robotic applications, where more flexibility will be demanded as well as in medical robotics.
    Review:
    Herzog, S. and Wörgötter, F. and Kulvicius, T. (2016).
    Optimal trajectory generation for generalization of discrete movements with boundary conditions. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 3143-3149. DOI: 10.1109/IROS.2016.7759486.
    BibTeX:
    @inproceedings{herzogwoergoetterkulvicius2016,
      author = {Herzog, S. and Wörgötter, F. and Kulvicius, T.},
      title = {Optimal trajectory generation for generalization of discrete movements with boundary conditions},
      pages = {3143-3149},
      booktitle = {2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
      year = {2016},
      month = {Oct},
      doi = 10.1109/IROS.2016.7759486},
      abstract = Trajectory generation methods play an important role in robotics since they are essential for the execution of actions. In this paper we present a novel trajectory generation method for generalization of accurate movements with boundary conditions. Our approach originates from optimal control theory and is based on a second order dynamic system. We evaluate our method and compare it to state-of-the-art movement generation methods in both simulations and a real robot experiment. We show that the new method is very compact in its representation and can reproduce demonstrated trajectories with zero error. Moreover, it has most of the properties of the state-of-the-art trajectory generation methods such as robustness to perturbations and generalisation to new boundary position and velocity conditions. We believe that, due to these features, our method has great potential for various robotic applications, especially, where high accuracy is required, for example, in industrial and medical robotics.}}
    		
    Abstract: Trajectory generation methods play an important role in robotics since they are essential for the execution of actions. In this paper we present a novel trajectory generation method for generalization of accurate movements with boundary conditions. Our approach originates from optimal control theory and is based on a second order dynamic system. We evaluate our method and compare it to state-of-the-art movement generation methods in both simulations and a real robot experiment. We show that the new method is very compact in its representation and can reproduce demonstrated trajectories with zero error. Moreover, it has most of the properties of the state-of-the-art trajectory generation methods such as robustness to perturbations and generalisation to new boundary position and velocity conditions. We believe that, due to these features, our method has great potential for various robotic applications, especially, where high accuracy is required, for example, in industrial and medical robotics.
    Review:
    Ivanovska, T. and Herzog, S. and Flores, J. M. and Ciet, P. and Linsen, L. and Duijts, L. and Tiddens, H. and Völzke, H. and Annette Peters, F. W. (2017).
    Potential of Epidemiological Imaging for Image Analysis and Visualization Applications: A Brief Review. In Proceedings of 4th Int.Conf. on Mathematics and Computers in Sciences and Industry (MCSI 2017).
    BibTeX:
    @conference{ivanovskaherzogflores2017,
      author = {Ivanovska, T. and Herzog, S. and Flores, J. M. and Ciet, P. and Linsen, L. and Duijts, L. and Tiddens, H. and Völzke, H. and Annette Peters, F. W.},
      title = {Potential of Epidemiological Imaging for Image Analysis and Visualization Applications: A Brief Review},
      booktitle = {In Proceedings of 4th Int.Conf. on Mathematics and Computers in Sciences and Industry (MCSI 2017)},
      year = {2017},
      abstract = Recently, large population-based studies gain increasing focus in the research community. Epidemiological studies acquire numerous data by means of questionnaires and examinations. Many of these studies also collect imaging data, for instance, magnetic resonance imaging or ultrasonography from hundreds or even thousands of participants. Here, we consider several on-going epidemiological studies conducted in Europe as well as challenges of subsequent image analysis and visualization of heterogeneous data, which were obtained within these studies. In particular, the main focus is on airway extraction tasks and the visual analytics problems. Available solutions and future directions for computer science specialists are presented and analyzed in terms of user-friendliness, speed, and efficiency.}}
    		
    Abstract: Recently, large population-based studies gain increasing focus in the research community. Epidemiological studies acquire numerous data by means of questionnaires and examinations. Many of these studies also collect imaging data, for instance, magnetic resonance imaging or ultrasonography from hundreds or even thousands of participants. Here, we consider several on-going epidemiological studies conducted in Europe as well as challenges of subsequent image analysis and visualization of heterogeneous data, which were obtained within these studies. In particular, the main focus is on airway extraction tasks and the visual analytics problems. Available solutions and future directions for computer science specialists are presented and analyzed in terms of user-friendliness, speed, and efficiency.
    Review:

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