Publications

WorkBenchMark: A LEGO-Based Assembly Benchmark with an Assembly-by-Disassembly Baseline for the Smart Manufacturing League

Wenbo Ma, Daniel Swoboda, Matteo Tschesche, Till Hofmann

Conference RoboCup Symposium

Oral presentation, Incheon.

• arXiv:2606.19358
• workbenchmark.github.io

Making Robots Play by the Rules: The ROS 2 CLIPS-Executive

Tarik Viehmann, Daniel Swoboda, Samridhi Kalra, Himanshu Grover, Gerhard Lakemeyer

Conference ICAART

• doi:10.5220/0014302000004052
• arXiv:2512.12722

From Production Logistics to Smart Manufacturing: The Vision for a New RoboCup Industrial League

Supun Dissanayaka, Alexander Ferrein, Till Hofmann, Kosuke Nakajima, Mario Sanz-Lopez, Jesus Savage, Daniel Swoboda, Matteo Tschesche, Wataru Uemura, Tarik Viehmann, Shohei Yasuda

Preprint arXiv preprint

The league's own account of the RCLL-to-SML transition.

• arXiv:2507.11402

A ROS 2-Based Navigation and Simulation Stack for the Robotino

Saurabh Borse, Tarik Viehmann, Alexander Ferrein, Gerhard Lakemeyer

Conference RoboCup Symposium

• doi:10.1007/978-3-031-85859-8_2
• arXiv:2411.09441

Using Off-the-Shelf Deep Neural Networks for Position-Based Visual Servoing

Matteo Tschesche, Till Hofmann, Alexander Ferrein, Gerhard Lakemeyer

Conference RoboCup Symposium

• doi:10.1007/978-3-031-85859-8_3

A Light-Weighted Event-Based Simulation for the RoboCup Logistics League

Dominik Lampel, Marco De Bortoli, Alain Rohr, Tarik Viehmann, Gerald Steinbauer-Wagner

Conference RoboCup Symposium

• doi:10.1007/978-3-031-85859-8_25

Planning and Execution for Mobile Robots Using Distributed Persistent Memory

Tim Niemueller

Thesis PhD thesis, RWTH Aachen University

• publications.rwth-aachen.de

Towards Bridging the Gap Between High-Level Reasoning and Execution on Robots

Till Hofmann

Thesis PhD thesis, RWTH Aachen University

• publications.rwth-aachen.de
• arXiv:2401.00880

Winning the RoboCup Logistics League with Visual Servoing and Centralized Goal Reasoning

Tarik Viehmann, Nicolas Limpert, Till Hofmann, Mike Henning, Alexander Ferrein, Gerhard Lakemeyer

Conference RoboCup Symposium

Champion paper for the 2022 title.

• doi:10.1007/978-3-031-28469-4_25

Towards Using Promises for Multi-Agent Cooperation in Goal Reasoning

Daniel Swoboda, Till Hofmann, Tarik Viehmann, Gerhard Lakemeyer

Preprint arXiv preprint

• arXiv:2206.09864

Multi-Agent Goal Reasoning with the CLIPS Executive in the RoboCup Logistics League

Till Hofmann, Tarik Viehmann, Mostafa Gomaa, Daniel Habering, Tim Niemueller, Gerhard Lakemeyer

Conference ICAART

• doi:10.5220/0010252600800091

Transforming Robotic Plans with Timed Automata to Solve Temporal Platform Constraints

Tarik Viehmann, Till Hofmann, Gerhard Lakemeyer

Conference IJCAI

• doi:10.24963/ijcai.2021/287

Portable High-Level Agent Programming with golog++

Victor Mataré, Tarik Viehmann, Till Hofmann, Gerhard Lakemeyer, Alexander Ferrein, Stefan Schiffer

Conference ICAART

• doi:10.5220/0010253902180227

Using Platform Models for a Guided Explanatory Diagnosis Generation for Mobile Robots

Daniel Habering, Till Hofmann, Gerhard Lakemeyer

Conference IJCAI

• doi:10.24963/ijcai.2021/263

Macro Operator Synthesis for ADL Domains

Till Hofmann, Tim Niemueller, Gerhard Lakemeyer

Conference ECAI

• doi:10.3233/FAIA200164

Winning the RoboCup Logistics League with Fast Navigation, Precise Manipulation, and Robust Goal Reasoning

Till Hofmann, Nicolas Limpert, Victor Mataré, Alexander Ferrein, Gerhard Lakemeyer

Conference RoboCup Symposium

Champion paper for the 2019 title.

• doi:10.1007/978-3-030-35699-6_41

Goal Reasoning in the CLIPS Executive for Integrated Planning and Execution

Tim Niemueller, Till Hofmann, Gerhard Lakemeyer

Conference ICAPS

The CLIPS Executive the team's agents still build on.

• ojs.aaai.org

Integrated Synthesis and Execution of Optimal Plans for Multi-Robot Systems in Logistics

Francesco Leofante, Erika Ábrahám, Tim Niemueller, Gerhard Lakemeyer, Armando Tacchella

Journal Information Systems Frontiers 21(1)

• doi:10.1007/s10796-018-9858-3

RoboCup 2019: Robot World Cup XXIII

Stephan K. Chalup, Tim Niemüller, Jackrit Suthakorn, Mary-Anne Williams

Edited volume Springer LNCS 11531

Proceedings volume, as editor.

• doi:10.1007/978-3-030-35699-6

ASP-Based Time-Bounded Planning for Logistics Robots

Björn Schäpers, Tim Niemueller, Gerhard Lakemeyer, Martin Gebser, Torsten Schaub

Conference ICAPS

• aaai.org

Constraint-Based Online Transformation of Abstract Plans into Executable Robot Actions

Till Hofmann, Victor Mataré, Stefan Schiffer, Alexander Ferrein, Gerhard Lakemeyer

Conference AAAI Spring Symposium

• aaai.org

Enhancing Software and Hardware Reliability for a Successful Participation in the RoboCup Logistics League 2017

Till Hofmann, Victor Mataré, Tobias Neumann, Sebastian Schönitz, Christoph Henke, Nicolas Limpert, Tim Niemueller, Alexander Ferrein, Sabina Jeschke, Gerhard Lakemeyer

Conference RoboCup Symposium

Champion paper for the 2017 title.

• doi:10.1007/978-3-030-00308-1_40

Initial Results on Generating Macro Actions from a Plan Database for Planning on Autonomous Mobile Robots

Till Hofmann, Tim Niemueller, Gerhard Lakemeyer

Conference ICAPS

• aaai.org

On the Synthesis of Guaranteed-Quality Plans for Robot Fleets in Logistics Scenarios via Optimization Modulo Theories

Francesco Leofante, Erika Ábrahám, Tim Niemueller, Gerhard Lakemeyer, Armando Tacchella

Conference IEEE IRI

• doi:10.1109/IRI.2017.67

Improvements for a Robust Production in the RoboCup Logistics League 2016

Tim Niemueller, Tobias Neumann, Christoph Henke, Sebastian Schönitz, Sebastian Reuter, Alexander Ferrein, Sabina Jeschke, Gerhard Lakemeyer

Conference RoboCup Symposium

Champion paper for the 2016 title.

• doi:10.1007/978-3-319-68792-6_49

International Harting Open Source Award 2016: Fawkes for the RoboCup Logistics League

Tim Niemueller, Tobias Neumann, Christoph Henke, Sebastian Schönitz, Sebastian Reuter, Alexander Ferrein, Sabina Jeschke, Gerhard Lakemeyer

Conference RoboCup Symposium

The open-source award submission for the full stack release.

• doi:10.1007/978-3-319-68792-6_53

Robust Multi-modal Detection of Industrial Signal Light Towers

Victor Mataré, Tim Niemueller, Gerhard Lakemeyer

Conference RoboCup Symposium

• doi:10.1007/978-3-319-68792-6_35

An Integration Challenge to Bridge the Gap Among Industry-Inspired RoboCup Leagues

Sebastian Zug, Tim Niemueller, Nico Hochgeschwender, Kai Seidensticker, Martin Seidel, Tim Friedrich, Tobias Neumann, Ulrich Karras, Gerhard K. Kraetzschmar, Alexander Ferrein

Conference RoboCup Symposium

• doi:10.1007/978-3-319-68792-6_13

Knowledge-Based Instrumentation and Control for Competitive Industry-Inspired Robotic Domains

Tim Niemueller, Sebastian Zug, Sven Schneider, Ulrich Karras

Journal Künstliche Intelligenz 30(3-4)

• doi:10.1007/s13218-016-0438-8

Continual Planning in Golog

Till Hofmann, Tim Niemueller, Jens Claßen, Gerhard Lakemeyer

Conference AAAI

• doi:10.1609/aaai.v30i1.10414

Interruptible Task Execution with Resumption in Golog

Gesche Gierse, Tim Niemueller, Jens Claßen, Gerhard Lakemeyer

Conference ECAI

• doi:10.3233/978-1-61499-672-9-1265

Controlling Logistics Robots with the Action-Based Language YAGI

Alexander Ferrein, Christopher Maier, Clemens Mühlbacher, Tim Niemueller, Gerald Steinbauer, Stavros Vassos

Conference ICIRA

• doi:10.1007/978-3-319-43506-0_46

The Carologistics Approach to Cope with the Increased Complexity and New Challenges of the RoboCup Logistics League 2015

Tim Niemueller, Sebastian Reuter, Daniel Ewert, Alexander Ferrein, Sabina Jeschke, Gerhard Lakemeyer

Conference RoboCup Symposium

Champion paper for the 2015 title.

• doi:10.1007/978-3-319-29339-4_4

Fawkes for the RoboCup Logistics League

Tim Niemueller, Sebastian Reuter, Alexander Ferrein

Conference RoboCup Symposium

The reference to cite when using the released software stack.

• doi:10.1007/978-3-319-29339-4_31

Evaluation of the RoboCup Logistics League and Derived Criteria for Future Competitions

Tim Niemueller, Sebastian Reuter, Alexander Ferrein, Sabina Jeschke, Gerhard Lakemeyer

Conference RoboCup Symposium

• doi:10.1007/978-3-319-29339-4_3

Decisive Factors for the Success of the Carologistics RoboCup Team in the RoboCup Logistics League 2014

Tim Niemueller, Sebastian Reuter, Daniel Ewert, Alexander Ferrein, Sabina Jeschke, Gerhard Lakemeyer

Conference RoboCup Symposium

Champion paper for the team's first world title.

• doi:10.1007/978-3-319-18615-3_13

Simulation for the RoboCup Logistics League with Real-World Environment Agency and Multi-level Abstraction

Frederik Zwilling, Tim Niemueller, Gerhard Lakemeyer

Conference RoboCup Symposium

• doi:10.1007/978-3-319-18615-3_18

RoboCup Logistics League Sponsored by Festo: A Competitive Factory Automation Testbed

Tim Niemueller, Daniel Ewert, Sebastian Reuter, Alexander Ferrein, Sabina Jeschke, Gerhard Lakemeyer

Conference RoboCup Symposium

• doi:10.1007/978-3-662-44468-9_30

Towards Benchmarking Cyber-Physical Systems in Factory Automation Scenarios

Tim Niemueller, Daniel Ewert, Sebastian Reuter, Ulrich Karras, Alexander Ferrein, Sabina Jeschke, Gerhard Lakemeyer

Conference KI

• doi:10.1007/978-3-642-40942-4_28

Incremental Task-Level Reasoning in a Competitive Factory Automation Scenario

Tim Niemueller, Gerhard Lakemeyer, Alexander Ferrein

Conference AAAI Spring Symposium

• aaai.org

Design Principles of the Component-Based Robot Software Framework Fawkes

Tim Niemüller, Alexander Ferrein, Daniel Beck, Gerhard Lakemeyer

Conference SIMPAR

The framework the team competed on for a decade.

• doi:10.1007/978-3-642-17319-6_29

Providing Ground-Truth Data for the Nao Robot Platform

Tim Niemüller, Alexander Ferrein, Gerhard Eckel, David Pirrò, Patrick Podbregar, Tobias Kellner, Christof Rath, Gerald Steinbauer

Conference RoboCup Symposium

• doi:10.1007/978-3-642-20217-9_12

A Lua-Based Behavior Engine for Controlling the Humanoid Robot Nao

Tim Niemüller, Alexander Ferrein, Gerhard Lakemeyer

Conference RoboCup Symposium

The Behavior Engine still referenced by the team's stack.

• doi:10.1007/978-3-642-11876-0_21