@inproceedings {INPROC-2005-81,
   author = {V. Avrutin and M. Schanz},
   title = {{On special Types of two- and three-parametric Bifurcations in piecewise-smooth dynamical Systems}},
   booktitle = {Proc. of 4th WSEAS Int. Conf. on non-linear Analysis, non-linear Systems and Chaos NOLASC 2005},
   editor = {V. Mladenov and N. Bardis and A. Slavova and S. Yordanova and V. Damgov},
   address = {Sofia},
   publisher = {n. a.},
   institution = {University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Germany},
   pages = {1--7},
   type = {Conference Paper},
   month = {January},
   year = {2005},
   language = {English},
   cr-category = {G.1.10 Numerical Analysis Applications},
   department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
   abstract = {The aim of this paper is to present a brief overview about a special kind of
      two-parametric (or co-dimension two) bifurcations in piecewise-smooth dynamical
      systems. The characteristic property of these bifurcations is, that at the
      bifurcation point in a 2D parameter space an infinite number of bifurcation
      curves intersect. Several types of these bifurcations are discussed.
      Additionally, a new type of three parametric (or co-dimension three)
      bifurcations is reported.},
   url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2005-81&engl=1}
}

@inproceedings {INPROC-2005-80,
   author = {Mohamed Oubbati and Michael Schanz and Paul Levi},
   title = {{Mobile Robot Motion using Neural Networks: An Overview}},
   booktitle = {Autonome Mobile Systeme 2005 (AMS)},
   editor = {P. Levi and Schanz M. and et. al},
   address = {Berlin, Heidelberg, New York},
   publisher = {Springer-Verlag},
   institution = {University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Germany},
   series = {Informatik Aktuell},
   pages = {303--309},
   type = {Conference Paper},
   month = {December},
   year = {2005},
   isbn = {978-3-540-30291-9},
   keywords = {neural network, mobile robot control},
   language = {English},
   cr-category = {I.2.8 Problem Solving, Control Methods, and Search},
   contact = {Mohamed.Oubbati@informatik.uni-stuttgart.de Michael.Schanz@informatik.uni-stuttgart.de},
   department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
   abstract = {In this paper, we provide a summary of our recent results in motion control of
      mobile robots using recurrent neural networks. The most important asociated
      problems are discussed.},
   url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2005-80&engl=1}
}

@inproceedings {INPROC-2005-79,
   author = {V. Avrutin and A. Koch and R. Lafrenz and P. Levi and M. Schanz},
   title = {{A Unified Architecture for the Control Software of a Robot Swarm: Design and Investigation Results}},
   booktitle = {Autonome Mobile Systeme 2005 (AMS)},
   editor = {P. Levi and Schanz M. and R. Lafrenz and V. Avrutin},
   address = {Berlin, Heidelberg, New York},
   publisher = {Springer-Verlag},
   institution = {University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Germany},
   series = {Informatik Aktuell},
   pages = {41--48},
   type = {Conference Paper},
   month = {December},
   year = {2005},
   isbn = {978-3-540-30291-9},
   language = {English},
   cr-category = {G.1.10 Numerical Analysis Applications},
   contact = {Viktor.Avrutin@informatik.uni-stuttgart.de Michael.Schanz@informatik.uni-stuttgart.de},
   department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
   abstract = {In this work a unied approach for modeling of micro-robot swarms and for
      development of the controlling software architecture for individual robots is
      presented. The approach leads to swarm models with self-organized behavior and
      re ects the complexity of the considered swarm scenarios. The application of
      the presented approach is demonstrated by example scenarios with several
      complexity levels. Additionally, some techniques for the investigation of the
      phenomena of self-organization are discussed. These techniques allow for
      instance the determination of areas in the parameter space, i.e. the parameter
      settings leading to a specic aimed behavior. Through our simulation experiments
      we demonstrated, that the hardware requirements for applications using real
      micro-robots can be determined.},
   url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2005-79&engl=1}
}

@inproceedings {INPROC-2005-76,
   author = {V. Avrutin and M. Schanz},
   title = {{AnT 4.669 - A Tool for Simulating and Investigating dynamical Systems}},
   booktitle = {Proc. of XXV Int. Conf. Dynamic Days Europe},
   editor = {E. Sch{\"o}ll and K. L{\"u}dge},
   address = {Berlin, Germany},
   publisher = {n. n.},
   institution = {University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Germany},
   series = {Europhysics Conference Series},
   volume = {29 E},
   pages = {101--102},
   type = {Conference Paper},
   month = {January},
   year = {2005},
   language = {English},
   cr-category = {G.1.10 Numerical Analysis Applications},
   department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
   abstract = {A software package for the simulation and investigation of dynamical systems
      called AnT 4.669 will be presented in this paper. Due to its flexible
      architecture, the AnT 4.669 software package is able to cope with dynamical
      systems belonging to various classes, such as ordinary and recurrent maps,
      ordinary, delayed, functional and partial differential equations currently with
      only one spatial component. Further supported classes are: coupled maps,
      coupled ordinary and delayed differential equations lattices as well as hybrid
      systems, stochastic systems and external data. Many investigation methods are
      implemented in the AnT 4.669 software package, like for instance general
      trajectory evaluations, basic statistics, period and region analysis,
      calculation of bifurcation diagrams, spectral analysis, principal component
      decomposition, symbolic sequence evaluation and the calculation of Lyapunov
      exponents using two different algorithms. Additionally a generalized
      implementation of Poincar{\'e} sections and Poincar{\'e} return maps exists, with
      several pre-implemented conditions and an additional possibility with a user
      defined condition. Furthermore, the box-counting based calculation of the
      invariant measure, the entropy and several fractal dimensions are available.
      Additionally, a collection of investigation methods based on the calculation of
      the symbolic image of a dynamical system is implemented. Using these methods,
      one is able to determine stable and unstable invariant sets, stable and
      unstable manifolds of fixed points and periodic orbits, as well as basins of
      attraction. For dynamical systems discrete in time, the calculation of backward
      orbits is implemented.
      
      Another important feature of the AnT 4.669 software package, is the capability
      to perform so-called scan runs, that is the ability to investigate a dynamical
      system by varying one, two or even more relevant influence quantities, such as
      the control parameters, initial values, or even some parameters of the
      investigation methods, which is interesting in the context of optimizing the
      results obtained by an investigation method. When dealing with scans in
      high-dimensional parameter and/or state spaces, a significant advantage of the
      AnT 4.669 software package is the distributed computing capability. This
      capability is based on a client/server architecture and allows the calculation
      of time consuming scan runs on an arbitrary number of computing nodes (both, in
      homogeneous clusters as well as in heterogeneous networks).
      
      The AnT 4.669 software package possesses also an interactive visualization
      module, based on the OpenGL standard, which supports animations of trajectories
      and an intuitive graphical user front-end, that guides a user of the system
      through the complex initialization phase of a simulation run.
      
      Finally there exists a web front-end to the AnT computation engine, which
      allows the remote execution of simulation runs.
      
      AnT 4.669 is free software (published under the GPL) and is available for
      several UNIX as well as Windows platforms. More information about the
      AnT-project can be found on the website: www.AnT4669.de.},
   url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2005-76&engl=1}
}

@inproceedings {INPROC-2005-75,
   author = {V. Avrutin and M. Schanz},
   title = {{On multi-parametric Bifurcations in piecewise-smooth dynamical Systems}},
   booktitle = {Proc. of XXV Int. Conf. Dynamic Days Europe},
   editor = {E. Sch{\"o}ll and K. L{\"u}dge},
   address = {Berlin, Germany},
   publisher = {n. n.},
   institution = {University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Germany},
   series = {Europhysics Conference Series},
   volume = {29 E},
   pages = {100--101},
   type = {Conference Paper},
   month = {January},
   year = {2005},
   language = {English},
   cr-category = {G.1.10 Numerical Analysis Applications},
   department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
   abstract = {Dynamical systems with a discontinuous system function represent a central
      topic of many scientific works published in the recent years. This research
      area is motivated by several practical applications, ranging from power
      electronic circuits (for instance DC/DC converters) to mechanical systems with
      impact or stick-slip phenomena, as well as hybrid and relay controlled systems.
      In the field of nonlinear dynamics 1D maps with a piecewise-smooth system
      function are well-known as return maps, obtained by the investigation of
      Poincar$\backslash$'e sections of dynamical systems continuous in time. The discontinuity
      of these return maps is caused by the stretching, squeezing and folding
      phenomena, which are inherent for chaotic attractors. This discontinuity
      represents a border in the state space, which leads to the basic property of
      piecewise-smooth dynamical systems, namely their ability to undergo
      border-collision bifurcations.
      
      Multi-parametric bifurcations (also known as co-dimension-\$n\$ bifurcations with
      \$n$>$1\$) are bifurcations, which can be adequately described only in an
      \$n\$-dimensional parameter space. The characteristic property of these
      bifurcations is, that at these points a number \$m$>$1\$ of \$(n-1)\$-dimensional
      bifurcation hyper-surfaces (for instance, curves for \$n=2\$) intersect each
      other. The fundamental consequence of this property is, that a single
      bifurcation point of this type can dominate the dynamic behavior of the
      investigated system in a large area of the \$n\$-dimensional parameter space.
      Until now these phenomena were mostly investigated for smooth dynamical
      systems. Several types of these bifurcations are known, like cusps,
      double-Hopf, Shilnikov-Hopf, etc., which are induced by simple local
      bifurcations (saddle-node, Hopf). In piecewise-smooth dynamical systems,
      multi-parametric bifurcations can be induced by border-collision bifurcations
      as well. In this work, we investigate an important special case of such a
      bifurcation, where the aforementioned number \$m\$ is infinite.
      
      Therefore, a 1D dynamical system, discrete in time, with a single point of
      discontinuity is considered. This map has \$3\$ parameters and represents some
      kind of normal form for maps with discontinuous system function. The part of
      the 3D parameter space, where this map shows periodic dynamics, is investigated
      in detail. It is demonstrated, that the behavior of the investigated map is
      determined by border collision bifurcations, whereby the areas in the parameter
      space leading to specific limit cycles can be obtained analytically. The main
      result of the presented work is a detailed description of the multi-parametric
      bifurcations in the investigated piecewise-linear map. The complete structure
      of the 3D parameter space is described, and it is shown, that the investigated
      map shows not only the usual one-parametric bifurcations, but also an infinite
      number of two-parametric bifurcations. Additionally, it is shown, that in the
      investigated system a three-parametric bifurcation occurs. It turns out, that
      the complete structure of the 3D parameter space is reflected in the structure
      of an infinite small vicinity of this bifurcation point. In other words: the
      complete structure of the 3D parameter space can be explained and described by
      the investigation of the single point, where this three-parametric bifurcation
      occurs.},
   url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2005-75&engl=1}
}

@inproceedings {INPROC-2005-64,
   author = {T. Buchheim and U. K{\"a}ppeler and R. Lafrenz and M. Oubbati and H. Rajaie and M. Schanz and F. Schreiber and O. Zweigle and P. Levi},
   title = {{Team Description Paper 2005 CoPS Stuttgart}},
   booktitle = {RoboCup 2005},
   address = {Osaka, Japan},
   publisher = {Springer-Verlag},
   institution = {University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Germany},
   pages = {1--2},
   type = {Conference Paper},
   month = {July},
   year = {2005},
   language = {English},
   cr-category = {G.1.10 Numerical Analysis Applications},
   department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
   abstract = {n. n.},
   url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2005-64&engl=1}
}

@inproceedings {INPROC-2005-60,
   author = {M. Schanz and J. Starke and R. Lafrenz and O. Zweigle and M. Oubbati and H. Rajaie and F. Schreiber and T. Buchheim and U. K{\"a}ppeler and P. Levi},
   title = {{Dynamic Task Assignment in a Team of Agents}},
   booktitle = {Autonome Mobile Systeme 2005 (AMS)},
   editor = {P. Levi and Schanz M. and et. al},
   address = {Berlin, Heidelberg, New York},
   publisher = {Springer-Verlag},
   institution = {University of Stuttgart : Collaborative Research Center SFB 627 (Nexus: World Models for Mobile Context-Based Systems), Germany},
   series = {Informatik Aktuell},
   pages = {11--18},
   type = {Conference Paper},
   month = {December},
   year = {2005},
   isbn = {978-3-540-30291-9},
   keywords = {combinatorial optimization; self-organization; coupled-selection equations; autonomous systems; soccer playing robots},
   language = {English},
   cr-category = {G.1.10 Numerical Analysis Applications},
   contact = {Michael.Schanz@informatik.uni-stuttgart.de},
   department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
   abstract = {In dynamic and complex multi-robot scenarios, the task assignment is a
      challenging and crucial topic, because it has to be very exible and robust or
      in some sense fault-tolerant to achieve a certain degree of redundancy which is
      often required in these scenarios. To cope with these requirements, a dynamic
      task assignment approach based on selforganization principles adopted from
      nature is presented. In this work, a team of soccer playing robots is used to
      validate the suggested selforganized dynamic task assignment in dynamic domains
      with real-time constraints.},
   url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2005-60&engl=1}
}

@inproceedings {INPROC-2005-53,
   author = {Kornienko and Kornienko and Levi},
   title = {{Informationstechnologien f{\"u}r den Wandel}},
   booktitle = {Wandlungsf{\"a}hige Unternehmensstrukturen},
   editor = {E. Westk{\"a}mper and E. Zahn},
   publisher = {Springer-Verlag},
   institution = {University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Germany},
   series = {Das Stuttgarter Unternehmensmodell},
   pages = {160--183},
   type = {Conference Paper},
   month = {January},
   year = {2005},
   language = {German},
   cr-category = {G.1.10 Numerical Analysis Applications},
   department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
   abstract = {n. n.},
   url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2005-53&engl=1}
}

@inproceedings {INPROC-2005-52,
   author = {S. Kornienko and O. Kornienko and P. Levi},
   title = {{Minimalistic Approach towards Communication and Perception in Microrobotic Swarms}},
   booktitle = {Proceedings of IROS 2005},
   address = {Edmonton, Canada},
   publisher = {Springer-Verlag},
   institution = {University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Germany},
   pages = {1--2},
   type = {Conference Paper},
   month = {January},
   year = {2005},
   language = {English},
   cr-category = {G.1.10 Numerical Analysis Applications},
   department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
   abstract = {n. n.},
   url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2005-52&engl=1}
}

@inproceedings {INPROC-2005-51,
   author = {S. Kornienko and O. Kornienko and P. Levi},
   title = {{Collective AI: Context-Awareness via Communication}},
   booktitle = {Proceedings of the 19th European Conference on Artificial Intelligence (IJCAI)},
   address = {Edinburgh, Great Britain},
   publisher = {Springer-Verlag},
   institution = {University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Germany},
   pages = {1--2},
   type = {Conference Paper},
   month = {January},
   year = {2005},
   language = {English},
   cr-category = {G.1.10 Numerical Analysis Applications},
   department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
   abstract = {n. n.},
   url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2005-51&engl=1}
}

@inproceedings {INPROC-2005-47,
   author = {M. Oubbati and M. Schanz and P. Levi},
   title = {{Fixed-Weight RNN Adaptive Controller for an Omnidirectional Robot}},
   booktitle = {Proceedings of the 9th International Conference on Engineering Applications of Neural Networks (EANN05)},
   address = {Lille, France},
   publisher = {Springer-Verlag},
   institution = {University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Germany},
   pages = {1--2},
   type = {Conference Paper},
   month = {August},
   year = {2005},
   language = {English},
   cr-category = {G.1.10 Numerical Analysis Applications},
   department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
   abstract = {n. n.},
   url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2005-47&engl=1}
}

@inproceedings {INPROC-2005-46,
   author = {M. Oubbati and M. Schanz and Th. Buchheim and P. Levi},
   title = {{Velocity Control of Omnidirectional RoboCup Player with Recurrent Neural Networks}},
   booktitle = {Proceedings of the RoboCup Symposium},
   address = {Osaka},
   publisher = {n. n.},
   institution = {University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Germany},
   pages = {1--2},
   type = {Conference Paper},
   month = {January},
   year = {2005},
   language = {English},
   cr-category = {G.1.10 Numerical Analysis Applications},
   department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
   abstract = {n. n.},
   url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2005-46&engl=1}
}

@inproceedings {INPROC-2005-45,
   author = {V. Avrutin and C. Constantinescu and A. Koch and M. Schanz and P. Levi},
   title = {{Hierarchical Self-Organization in Swarms of Nano-Robots}},
   booktitle = {Proceedings of the XXV Int. Conf. Of Dynamic Days Europe},
   editor = {E. Sch{\"o}ll and K. L{\"u}dge},
   address = {Berlin (TU Berlin), Germany},
   publisher = {Europhysics Conference Series},
   institution = {University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Germany},
   series = {Europhysics Conference Series},
   volume = {29 E},
   pages = {272--273},
   type = {Conference Paper},
   month = {January},
   year = {2005},
   language = {English},
   cr-category = {G.1.10 Numerical Analysis Applications},
   department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
   abstract = {The fundamental vision of modern nano-robotics is a swarm of micro-robots,
      which is capable of performing tasks that are not possible with either a single
      micro-robot, or even with a small group of micro-robots. Using principles of
      artificial physics and self-organization for the control algorithms of such a
      swarm of micro-robots, it is expected, that the swarm controlled in such a way
      shows self-organized behavior similar to the self-organization phenomena
      occurring in many biological or ecological systems like ant tribes, bee
      colonies and other insect aggregations or flocking birds and shoals. There are
      many potential benefits of such a system including greater flexibility and
      adaptability to the environment, robustness to failures, compensation of
      breakdowns from one or several units, etc.
      
      In this work we describe a basic mathematical approach for modeling of the
      swarm behavior and for developing the control software of individual
      micro-robots. The approach is based on laws of artificial physics and coupled
      hybrid automata. Designing the interaction patterns between robots, we are able
      to achieve the desired self-organized behavior. For the modeling of these
      interactions we use so-called virtual power functions (also known as social
      powers). Depending on the complexity of the considered swarm scenarios,
      specific classes of hybrid automata, namely degenerated, standard or
      hierarchical ones, are used. In the last case complex swarm scenarios are
      implemented using the concept of hierarchical self-organization. According to
      this concept, the whole system consists of a hierarchy of subsystems. The most
      simple subsystems (atomic entities, robots) build simple formations via a usual
      self-organization process. In the presented approach these simple formations
      are chains of robots with a pre-defined or variable length. Then the simple
      formations operate as entities (non-atomic self-organized entities) and build
      more complex formations via a self-organization process on the next hierarchy
      level. Theoretically, the number of the self-organization levels in a
      hierarchical self-organization process is not restricted, however in our
      approach we restrict it firstly to two levels. This restriction is sufficient
      in order to demonstrate the applicability of the presented concept and can be
      extended in future work.
      
      The application of the presented approach is demonstrated by example scenarios
      with several complexity levels. Additionally, some techniques for the
      investigation of the self-organization phenomena, applied from the fields of
      coupled map lattices and hybrid systems, are discussed.},
   url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2005-45&engl=1}
}

@inproceedings {INPROC-2005-44,
   author = {V. Avrutin and P. Levi and M. Schanz},
   title = {{Border-Collision induced Bifurcation Phenomena and multi-parametric Bifurcations in a piecewise-quadratic map on the Interval}},
   booktitle = {Proceedings of Fifth EUROMECH Nonlinear Dynamics Conf. (ENOC'2005)},
   address = {Eindhoven, NL},
   publisher = {Springer-Verlag},
   institution = {University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Germany},
   pages = {1--10},
   type = {Conference Paper},
   month = {January},
   year = {2005},
   language = {English},
   cr-category = {G.1.10 Numerical Analysis Applications},
   department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
   abstract = {This article describes some bifurcation phenomena, induced by border-collisions
      in a piecewise--quadratic map on interval representing a special kind of
      Poincar{\'e} return map for dynamical systems of the Lorenz type. It is shown that
      the structure of the 2D parameter space of this map is dominated by
      singularities, which we denote as big bang bifurcation points. These
      bifurcations can be observed only if two parameters are varied simultaneously
      and cause an infinite number of different periodic dynamics. The investigated
      system shows an infinite number of the big bang bifurcations, which lead to the
      complex self-similar structure of the 2D parameter space.},
   url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2005-44&engl=1}
}

@inproceedings {INPROC-2005-35,
   author = {Mohamed Oubbati and Schanz Michael and Paul Levi},
   title = {{Kinematic and dynamic adaptive control of a nonholonomic mobile robot using a RNN}},
   booktitle = {Proceedings of the 6th IEEE Symposium on Computational Intelligence in Robtics and Automation (CIRA05)},
   address = {Helsinki, Finland},
   publisher = {IEEE},
   institution = {University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Germany},
   pages = {27--33},
   type = {Conference Paper},
   month = {June},
   year = {2005},
   keywords = {Nonholonomic mobile robots; adaptive control; recurrent neural networks; meta-learning},
   language = {English},
   cr-category = {I.2.9 Robotics,
                   I.2 Artificial Intelligence},
   contact = {Mohamed.Oubbati@informatik.uni-stuttgart.de},
   department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
   abstract = {In this paper, an adaptive neurocontrol system with two levels is proposed for
      the motion control of a nonholonomic mobile robot. In the first level, a
      recurrent network improves the robustness of a kinematic controller and
      generates linear and angular velocities, necessary to track a reference
      trajectory. In the second level, another network converts the desired
      velocities, provided by the first level, into a torque control. The advantage
      of the control approach is that, no knowledge about the dynamic model is
      required, and no synaptic weight changing is needed in presence of parameters
      variation. This capability is acquired through prior meta-learning. Simulation
      results are demonstrated to validate the robustness of the proposed approach.},
   url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2005-35&engl=1}
}

@inproceedings {INPROC-2005-34,
   author = {Mohamed Oubbati and Paul Levi and Michael Schanz},
   title = {{Meta-learning for Adaptive Identification of Non-linear Dynamical Systems.}},
   booktitle = {Proceedings of the Joint 20th IEEE International Symposium on Intelligent Control \& 13th Mediterranean Conference on Control and Automation (2005 ISIC-MED).},
   address = {Limassol, Cyprus},
   publisher = {IEEE},
   institution = {University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Germany},
   pages = {473--478},
   type = {Conference Paper},
   month = {June},
   year = {2005},
   keywords = {Adaptive Identification; RNNs; Non-linear Dynamical Systems; Meta-learning.},
   language = {English},
   cr-category = {I.2.8 Problem Solving, Control Methods, and Search},
   contact = {Mohamed.Oubbati@informatik.uni-stuttgart.de},
   department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
   abstract = {Adaptive Identification of Non-linear Dynamical Systems via Recurrent Neural
      Networks (RNNs) is presented in this paper. We explore the notion that a
      fixed-weight RNN needs to change only its internal state to change its behavior
      policy. This ability is acquired through prior training procedure that enable
      the learning of adaptive behaviors. Some simulation results are presented.},
   url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2005-34&engl=1}
}

@inproceedings {INPROC-2005-20,
   author = {Mohamed Oubbati and Paul Levi and Michael Schanz},
   title = {{A Fixed-Weight RNN Dynamic Controller for Multiple Mobile Robots}},
   booktitle = {Proceedings of the 24th IASTED International Conference on MODELLING, IDENTIFICATION, AND CONTROL: MIC 2005; Innsbruck, Austria, February 16-18, 2005.},
   address = {Austria},
   publisher = {ACTA Press},
   institution = {University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Germany},
   pages = {277--282},
   type = {Conference Paper},
   month = {February},
   year = {2005},
   keywords = {Mobile Robot; Recurrent Neural Networks, Meta-Learning; Adaptive Control},
   language = {English},
   cr-category = {I.2.9 Robotics},
   contact = {Mohamed.Oubbati@informatik.uni-stuttgart.de},
   department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
   abstract = {In this paper, we demonstrate the ability of a single fixed-weight RNN to act
      as a dynamic controller for several (here 3) distinct wheeled mobile robots,
      without exact knowledge about their dynamics parameters. The controller is
      properly trained to exhibit adaptive behaviour after its weights have been
      fixed. This capability is a natural consequence of prior meta-learning used
      recently in the area of RNNs.},
   url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2005-20&engl=1}
}

@inproceedings {INPROC-2005-05,
   author = {Uwe-Philipp K{\"a}ppeler and Georg Kindermann and Daniela Nicklas and Nicola H{\"o}nle and Dominique Dudkowski},
   title = {{Shared Dynamic Context Models: Benefits for Advanced Sensor Data Fusion for Autonomous Robots}},
   booktitle = {Proceedings of Artificial Intelligence and Applications 2005; Innsbruck, Austria, February, 14-16, 2005},
   publisher = {IASTED},
   institution = {University of Stuttgart : Collaborative Research Center SFB 627 (Nexus: World Models for Mobile Context-Based Systems), Germany},
   type = {Conference Paper},
   month = {February},
   year = {2005},
   keywords = {Autonomous; Robots; Sensor; Fusion; Nexus; Context; Sensorfusion},
   language = {English},
   cr-category = {H.3.3 Information Search and Retrieval,
                   I.2.9 Robotics},
   contact = {kaeppeler@informatik.uni-stuttgart.de},
   department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Distributed Systems;
                  University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding;
                  University of Stuttgart, Institute of Parallel and Distributed Systems, Applications of Parallel and Distributed Systems},
   abstract = {Information provided by a shared dynamic context model offers new possibilities
      in the realm of autonomous robots. The availability of external context
      information can be used by a robot to extend and to validate the locally
      acquired knowledge about its dynamic environment. A lot of helpful context
      information is already available in digital form and its quantity will increase
      rapidly, according to the vision of ubiquitous computing.
      
      In this paper we present the Nexus Platform capable of managing a global
      dynamic context model that can be addressed and accessed in an easy and uniform
      way by all kinds of context-aware applications (like robots). Advantages for an
      autonomous wheelchair robot using the Nexus Platform are depicted within an
      airport scenario. We further present a framework for a sensor fusion agent,
      able to perform multi-sensor data fusion with selective attention control,
      concerning the current situation of the environment.},
   url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2005-05&engl=1}
}

@inproceedings {INPROC-2005-04,
   author = {Nicola H{\"o}nle and Uwe-Philipp K{\"a}ppeler and Daniela Nicklas and Thomas Schwarz},
   title = {{Benefits Of Integrating Meta Data Into A Context Model}},
   booktitle = {Proceedings of 2nd IEEE PerCom Workshop on Context Modeling and Reasoning (CoMoRea) (at 3rd IEEE International Conference on Pervasive Computing and Communication (PerCom'05)); Hawaii, March 12, 2005},
   publisher = {IEEE},
   institution = {University of Stuttgart : Collaborative Research Center SFB 627 (Nexus: World Models for Mobile Context-Based Systems), Germany},
   type = {Conference Paper},
   month = {March},
   year = {2005},
   keywords = {meta data; context model; context-aware applications},
   language = {English},
   cr-category = {H.2.1 Database Management Logical Design},
   department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Applications of Parallel and Distributed Systems;
                  University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
   abstract = {Meta data—data about data—improves the value of the operational data by giving
      applications and users additional information on the data’s origin, its
      precision or staleness. We outline the benefits of modeling meta data in
      context models: it can be used for resource finding, enhanced data selection,
      trust and data quality issues and sensor fusion. We show how meta data included
      into an object-based context model influences the data modeling and the
      selection process in the query language. Finally, we describe our
      implementation of the presented functionality in the Nexus platform.},
   url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2005-04&engl=1}
}

@inproceedings {INPROC-2005-03,
   author = {Matthias Grossmann and Martin Bauer and Nicola H{\"o}nle and Uwe-Philipp K{\"a}ppeler and Daniela Nicklas and Thomas Schwarz},
   title = {{Efficiently Managing Context Information for Large-scale Scenarios}},
   booktitle = {Proceedings of the 3rd IEEE Conference on Pervasive Computing and Communications: PerCom2005; Kauai Island, Hawaii, March 8-12, 2005},
   publisher = {IEEE Computer Society},
   institution = {University of Stuttgart : Collaborative Research Center SFB 627 (Nexus: World Models for Mobile Context-Based Systems), Germany},
   type = {Conference Paper},
   month = {March},
   year = {2005},
   language = {English},
   cr-category = {H.3.0 Information Storage and Retrieval General,
                   H.3.4 Information Storage and Retrieval Systems and Software},
   ee = {http://www.nexus.uni-stuttgart.de},
   contact = {matthias.grossmann@informatik.uni-stuttgart.de},
   department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Applications of Parallel and Distributed Systems;
                  University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding;
                  University of Stuttgart, Institute of Parallel and Distributed Systems, Distributed Systems},
   abstract = {In this paper, we address the data management aspect of large-scale pervasive
      computing systems. We aim at building an infrastructure that simultaneously
      supports many kinds of context-aware applications, ranging from room level up
      to nation level. This allembracing approach gives rise to synergetic benefits
      like data reuse and sensor sharing. We identify major classes of context data
      and detail on their characteristics relevant for efficiently managing large
      amounts of it. Based on that, we argue that for large-scale systems it is
      beneficial to have special-purpose servers that are optimized for managing a
      certain class of context data. In the Nexus project we have implemented five
      servers for different classes of context data and a very flexible federation
      middleware integrating all these servers. For each of them, we highlight in
      which way the requirements of the targeted class of data are tackled and
      discuss our experiences.},
   url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2005-03&engl=1}
}

@article {ART-2005-10,
   author = {J. Starke and T. Kaga and M. Schanz and T. Fukuda},
   title = {{Experimental Study on Self-organized and Error Resistant Control of Distributed Autonomous Robotic Systems}},
   journal = {The International Journal of Robotics Research},
   publisher = {Sage Publications},
   volume = {24},
   number = {6},
   pages = {465--486},
   type = {Article in Journal},
   month = {June},
   year = {2005},
   doi = {10.1177/0278364905053239},
   keywords = {self-organization; selection equation; distributed robotic systems; assignment problem},
   language = {English},
   cr-category = {I.2.9 Robotics,
                   G.1.6 Numerical Analysis Optimization,
                   G.2.1 Discrete Mathematics Combinatorics},
   contact = {Michael.Schanz@informatik.uni-stuttgart.de},
   department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
   abstract = {The assignment of distributed mobile autonomous robots to targets, which occurs
      for instance as an important task in flexible manufacturing environments, is
      solved by using a self-organization approach motivated by pattern formation
      principles in biological, chemical and physical systems. Similar to
      observerations in many natural systems, like ant tribes, pattern formation of
      coloured shells or convection patterns in the Rayleigh-B{\'e}nard problem of fluid
      dynamics, the selforganization principles lead to a robust and fault tolerant
      behaviour where the patterns or structures recover from disturbances. The
      considered problem is the dynamic assignment of a number of robots to given
      targets where the mobile robots have to move to the targets in order to perform
      some tasks there. Hereby, each robot uses only local information, i.e., no
      world coordinate system is necessary. The underlying mathematical problem of
      the robot-target assignment is the so-called two-index assignment problem from
      combinatorial optimization. The used approach guarantees always feasible
      solutions in the assignment of robotic units to targets. As a consequence, for
      scenarios with only convex obstacles with large enough distances to each other,
      no spurious states cause the assignment process to fail. The error resistant
      control method for distributed autonomous robotic systems is demonstrated by
      several experiments with mobile robots. These results are compared and
      supplemented with computer simulations.},
   url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=ART-2005-10&engl=1}
}

@article {ART-2005-09,
   author = {V. Avrutin and M. Schanz},
   title = {{On special types of two- and three-parametric bifurcations in piecewise-smooth dynamical systems}},
   journal = {WSEAS Transactions on Mathematics},
   publisher = {WSEAS Press},
   volume = {3},
   number = {4},
   pages = {224--230},
   type = {Article in Journal},
   month = {July},
   year = {2005},
   keywords = {multi-parametric bifurcations, big bang bifurcations, co-dimension two bifurcations, co-dimension three bifurcations, period increment, period adding, piecewise smooth systems},
   language = {English},
   cr-category = {G.1.10 Numerical Analysis Applications},
   contact = {Michael.Schanz@informatik.uni-stuttgart.de Viktor.Avrutin@informatik.uni-stuttgart.de},
   department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
   abstract = {The aim of this paper is to present a brief overview about a special kind of
      two-parametric (or co-dimension two) bifurcations in piecewise-smooth dynamical
      systems. The characteristic property of these bifurcations is, that at the
      bifurcation point in a 2D parameter space an infinite number of bifurcation
      curves intersect. Several types of these bifurcations are discussed.
      Additionally, a new type of three parametric (or co-dimension three)
      bifurcations is reported.},
   url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=ART-2005-09&engl=1}
}

@article {ART-2005-04,
   author = {Viktor Avrutin and Michael Schanz},
   title = {{Period-doubling Scenario without Flip Bifurcations in a one-dimensional Map}},
   journal = {International Journal of Bifurcation and Chaos},
   publisher = {World Scientific Publishing Company},
   volume = {15},
   number = {4},
   pages = {1267--1284},
   type = {Article in Journal},
   month = {April},
   year = {2005},
   doi = {10.1142/S0218127405012752},
   keywords = {Period-doubling; border collision; piecewise-smooth vector field; kneading orbits},
   language = {English},
   cr-category = {G.1.10 Numerical Analysis Applications,
                   J.2 Physical Sciences and Engineering},
   contact = {Michael.Schanz@informatik.uni-stuttgart.de},
   department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
   abstract = {In this work a one-dimensional piecewise-smooth dynamical system, representing
      a Poincar{\'e} return map for dynamical systems of the Lorenz type, is
      investigated. The system shows a bifurcation scenario similar to the classical
      period-doubling one, but which is influenced by so-called border collision
      phenomena and denoted as border collision period-doubling bifurcation scenario.
      This scenario is formed by a sequence of pairs of bifurcations, whereby each
      pair consists of a border collision bifurcation and a pitchfork bifurcation.
      The mechanism leading to this scenario and its characteristic properties, like
      symmetry-breaking and symmetry-recovering as well as emergence of coexisting
      attractors, are investigated.},
   url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=ART-2005-04&engl=1}
}

@inbook {INBOOK-2005-03,
   author = {V. Avrutin and M. Schanz and P. Levi},
   title = {{AnT 4.669 - a tool for simulating and investigating dynamical systems}},
   series = {Book of Abstracts},
   address = {Berlin, Germany},
   publisher = {European Physical Society},
   series = {XXV Dynamics Days Europe 2005},
   volume = {29 E},
   pages = {1--2},
   type = {Article in Book},
   month = {July},
   year = {2005},
   language = {English},
   cr-category = {G.1.10 Numerical Analysis Applications},
   department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
   abstract = {A software package for the simulation and investigation of dynamical systems
      called AnT 4.669 will be presented in this paper. Due to its flexible
      architecture, the AnT 4.669 software package is able to cope with dynamical
      systems belonging to various classes, such as ordinary and recurrent maps,
      ordinary, delayed, functional and partial differential equations currently with
      only one spatial component. Further supported classes are: coupled maps,
      coupled ordinary and delayed differential equations lattices as well as hybrid
      systems, stochastic systems and external data. Many investigation methods are
      implemented in the AnT 4.669 software package, like for instance general
      trajectory evaluations, basic statistics, period and region analysis,
      calculation of bifurcation diagrams, spectral analysis, principal component
      decomposition, symbolic sequence evaluation and the calculation of Lyapunov
      exponents using two different algorithms. Additionally a generalized
      implementation of Poincare sections and Poincare return maps exists, with
      several pre-implemented conditions and an additional possibility with a user
      defined condition. Furthermore, the box-counting based calculation of the
      invariant measure, the entropy and several fractal dimensions are available.
      Additionally, a collection of investigation methods based on the calculation of
      the symbolic image of a dynamical system is implemented. Using these methods,
      one is able to determine stable and unstable invariant sets, stable and
      unstable manifolds of fixed points and periodic orbits, as well as basins of
      attraction. For dynamical systems discrete in time, the calculation of backward
      orbits is implemented.
      
      Another important feature of the AnT 4.669 software package, is the capability
      to perform so-called scan runs, that is the ability to investigate a dynamical
      system by varying one, two or even more relevant influence quantities, such as
      the control parameters, initial values, or even some parameters of the
      investigation methods, which is interesting in the context of optimizing the
      results obtained by an investigation method. When dealing with scans in
      high-dimensional parameter and/or state spaces, a significant advantage of the
      AnT 4.669 software package is the distributed computing capability. This
      capability is based on a client/server architecture and allows the calculation
      of time consuming scan runs on an arbitrary number of computing nodes (both, in
      homogeneous clusters as well as in heterogeneous networks). The AnT 4.669
      software package possesses also an interactive visualization module, based on
      the OpenGL standard, which supports animations of trajectories and an intuitive
      graphical user front-end, that guides a user of the system through the complex
      initialization phase of a simulation run. Finally there exists a web front-end
      to the AnT 4.669 computation engine, which allows the remote execution of
      simulation runs.
      
      AnT 4.669 is free software (published under the GPL) and is available for
      several UNIX as well as Windows platforms. More information about the AnT
      4.669-project can be found on the website: www.AnT4669.de.},
   url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INBOOK-2005-03&engl=1}
}

@inbook {INBOOK-2005-02,
   author = {V. Avrutin and M. Schanz and P. Levi},
   title = {{On multi-parametric bifurcations in piecewise-smooth dynamical systems}},
   series = {Book of Abstracts},
   address = {Berlin, Germany},
   publisher = {European Physical Society},
   series = {XXV Dynamics Days Europe 2005},
   volume = {29 E},
   pages = {25--28},
   type = {Article in Book},
   month = {July},
   year = {2005},
   language = {English},
   cr-category = {G.1.10 Numerical Analysis Applications},
   department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
   abstract = {Dynamical systems with a discontinuous system function represent a central
      topic of many scientific works published in the recent years. This research
      area is motivated by several practical applications, ranging from power
      electronic circuits (for instance DC/DC converters) to mechanical systems with
      impact or stick-slip phenomena, as well as hybrid and relay controlled systems.
      In the field of nonlinear dynamics 1D maps with a piecewise-smooth system
      function are well-known as return maps, obtained by the investigation of
      Poincar{\'e} sections of dynamical systems continuous in time. The discontinuity of
      these return maps is caused by the stretching, squeezing and folding phenomena,
      which are inherent for chaotic attractors. This discontinuity represents a
      border in the state space, which leads to the basic property of
      piecewise-smooth dynamical systems, namely their ability to undergo
      border-collision bifurcations.
      
      Multi-parametric bifurcations (also known as co-dimension-n bifurcations with
      n$>$1) are bifurcations, which can be adequately described only in an
      n-dimensional parameter space. The characteristic property of these
      bifurcations is, that at these points a number m$>$1 of (n-1)-dimensional
      bifurcation hyper-surfaces (for instance, curves for n=2) intersect each other.
      The fundamental consequence of this property is, that a single bifurcation
      point of this type can dominate the dynamic behavior of the investigated system
      in a large area of the n-dimensional parameter space. Until now these phenomena
      were mostly investigated for smooth dynamical systems. Several types of these
      bifurcations are known, like cusps, double-Hopf, Shilnikov-Hopf, etc., which
      are induced by simple local bifurcations (saddle-node, Hopf). In
      piecewise-smooth dynamical systems, multi-parametric bifurcations can be
      induced by border-collision bifurcations as well. In this work, we investigate
      an important special case of such a bifurcation, where the aforementioned
      number m is infinite.
      
      Therefore, a 1D dynamical system, discrete in time, with a single point of
      discontinuity is considered. This map has 3 parameters and represents some kind
      of normal form for maps with discontinuous system function. The part of the 3D
      parameter space, where this map shows periodic dynamics, is investigated in
      detail. It is demonstrated, that the behavior of the investigated map is
      determined by border collision bifurcations, whereby the areas in the parameter
      space leading to specific limit cycles can be obtained analytically. The main
      result of the presented work is a detailed description of the multi-parametric
      bifurcations in the investigated piecewise-linear map. The complete structure
      of the 3D parameter space is described, and it is shown, that the investigated
      map shows not only the usual one-parametric bifurcations, but also an infinite
      number of two-parametric bifurcations. Additionally, it is shown, that in the
      investigated system a three-parametric bifurcation occurs. It turns out, that
      the complete structure of the 3D parameter space is reflected in the structure
      of an infinite small vicinity of this bifurcation point. In other words: the
      complete structure of the 3D parameter space can be explained and described by
      the investigation of the single point, where this three-parametric bifurcation
      occurs.},
   url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INBOOK-2005-02&engl=1}
}

@proceedings {PROC-2005-01,
   editor = {Paul Levi and Michael Schanz},
   title = {{Autonome Mobile Systeme 2005}},
   address = {Berlin, Heidelberg, New York},
   publisher = {Springer-Verlag},
   institution = {University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Germany},
   series = {Informatik Aktuell},
   pages = {332},
   type = {Proceedings},
   month = {December},
   year = {2005},
   isbn = {978-3-540-30291-9},
   keywords = {Autonome Mobile Systeme},
   language = {German},
   cr-category = {I.2.9 Robotics,
                   I.2.10 Vision and Scene Understanding,
                   I.2.11 Distributed Artificial Intelligence,
                   I.4.7 Image Processing and Computer Vision Feature Measurement,
                   I.4.8 Image Processing and Computer Vision Scene Analysis,
                   I.5.4 Pattern Recognition Applications,
                   J.7 Computers in Other Systems},
   contact = {Michael.Schanz@informatik.uni-stuttgart.de},
   department = {University of Stuttgart, Institute of Parallel and Distributed Systems, Image Understanding},
   abstract = {Die Fachgespr{\"a}che Autonome Mobile Systeme (AMS) repr{\"a}sentieren ein Forum, in
      dem die neuesten Entwicklungen auf dem Gebiet wissenschaftlicher und
      industrieller autonomer Robotersysteme, sowie verwandter Gebiete vorgestellt
      werden.},
   url = {http://www2.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=PROC-2005-01&engl=1}
}