Echzeitfähige Merkmalsextraktion und Situationsinterpretation. - Kai Oliver Arras; Sjur J. Vestli; Nadine N. Tschichold-Gürman (AMS, 1996)

Feature extraction and scene interpretation for map-based navigation and map building. - Kai Oliver Arras; Roland Yves Siegwart (Mobile Robots, 1997)

Hybrid, High-Precision Localisation for the Mail Distributing Mobile Robot System MOPS. - Kai Oliver Arras; Sjur J. Vestli (ICRA, 1998)

Sensordatenfusion zur robusten und präzisen EKF Lokalisierung von mobilen Robotern. - Kai Oliver Arras; Nicola Tomatis (AMS, 1999)

Multisensor on-the-fly localization using laser and vision. - Kai Oliver Arras; Nicola Tomatis; Roland Siegwart (IROS, 2000)

The need for autonomy and real-time in mobile robotics: a case study of XO/2 and Pygmalion. - Roberto Brega; Nicola Tomatis; Kai Oliver Arras (IROS, 2000)

The autonomous miniature robot Alice: from prototypes to applications. - Gilles Caprari; Kai Oliver Arras; Roland Siegwart (IROS, 2000)

Multimodal Web interface for task supervision and specification. - Benoit Moreau; Nicola Tomatis; Kai Oliver Arras; Björn Jensen; Roland Yves Siegwart (Mobile Robots / Telemanipulator and Telepresence Technologies, 2000)

A Hybrid Approach for Robust and Precise Mobile Robot Navigation with Compact Environment Modeling. - Nicola Tomatis; Illah R. Nourbakhsh; Kai Oliver Arras; Roland Siegwart (ICRA, 2001)

Multisensor on-the-fly localization: : Precision and reliability for applications. - Kai Oliver Arras; Nicola Tomatis; Björn Jensen; Roland Siegwart (Robotics Auton. Syst., 2001)

Feature-Based Multi-Hypothesis Localization and Tracking for Mobile Robots using Geometric Constraints. - Kai Oliver Arras; José A. Castellanos 001; Roland Siegwart (ICRA, 2002)

Real-Time Obstacle Avoidance for Polygonal Robots with a Reduced Dynamic Window. - Kai Oliver Arras; Jan Persson; Nicola Tomatis; Roland Siegwart (ICRA, 2002)

Robox, a Remarkable Mobile Robot for the Real World. - Kai Oliver Arras; Nicola Tomatis; Roland Siegwart (ISER, 2002)

A navigation framework for multiple mobile robots and its application at the Expo.02 exhibition. - Kai Oliver Arras; Roland Philippsen; Nicola Tomatis; Marc De Battista; Martin Schilt; Roland Siegwart (ICRA, 2003)

Designing a secure and robust mobile interacting robot for the long term. - Nicola Tomatis; Gregoire Terrien; Ralph Piguet; Daniel Burnier; Samir Bouabdallah; Kai Oliver Arras; Roland Siegwart (ICRA, 2003)

Multi-resolution SLAM for Real World Navigation. - Agostino Martinelli; Adriana Tapus; Kai Oliver Arras; Roland Siegwart (ISRR, 2003)

Feature-based multi-hypothesis localization and tracking using geometric constraints. - Kai Oliver Arras; José A. Castellanos 001; Martin Schilt; Roland Siegwart (Robotics Auton. Syst., 2003)

Editorial. - Albert-Jan Baerveldt; Kai Oliver Arras; Christian Balkenius (Robotics Auton. Syst., 2003)

Robox at Expo.02: A large-scale installation of personal robots. - Roland Siegwart; Kai Oliver Arras; Samir Bouabdallah; Daniel Burnier; Gilles Froidevaux; Xavier Greppin; Björn Jensen; Antoine Lorotte; Laetitia Mayor; Mathieu Meisser; Roland Philippsen; Ralph Piguet; et al. (Robotics Auton. Syst., 2003)

2D Mapping of Cluttered Indoor Environments by Means of 3D Perception. - Oliver Wulf; Kai Oliver Arras; Henrik I. Christensen; Bernardo Wagner (ICRA, 2004)

Using Boosted Features for the Detection of People in 2D Range Data. - Kai Oliver Arras; Óscar Martínez Mozos; Wolfram Burgard (ICRA, 2007)

Efficient people tracking in laser range data using a multi-hypothesis leg-tracker with adaptive occlusion probabilities. - Kai Oliver Arras; Slawomir Grzonka; Matthias Luber; Wolfram Burgard (ICRA, 2008)

Classifying Dynamic Objects: An Unsupervised Learning Approach. - Matthias Luber; Kai Oliver Arras; Christian Plagemann; Wolfram Burgard (Robotics: Science and Systems, 2008)

Tracking groups of people with a multi-model hypothesis tracker. - Boris Lau; Kai Oliver Arras; Wolfram Burgard (ICRA, 2009)

Classifying dynamic objects. - Matthias Luber; Kai Oliver Arras; Christian Plagemann; Wolfram Burgard (Auton. Robots, 2009)

A Layered Approach to People Detection in 3D Range Data. - Luciano Spinello; Kai Oliver Arras; Rudolph Triebel; Roland Siegwart (AAAI, 2010)

Exploiting Repetitive Object Patterns for Model Compression and Completion. - Luciano Spinello; Rudolph Triebel; Dizan Vasquez; Kai Oliver Arras; Roland Siegwart (ECCV (5), 2010)

People tracking with human motion predictions from social forces. - Matthias Luber; Johannes Andreas Stork; Gian Diego Tipaldi; Kai Oliver Arras (ICRA, 2010)

FLIRT - Interest regions for 2D range data. - Gian Diego Tipaldi; Kai Oliver Arras (ICRA, 2010)

FLIRT: Interest Regions for 2D Range Data with Applications to Robot Navigation. - Gian Diego Tipaldi; Manuel Braun; Kai Oliver Arras (ISER, 2010)

Editorial. - Kai Oliver Arras; Óscar Martínez Mozos (Int. J. Soc. Robotics, 2010)

Multi-model Hypothesis Group Tracking and Group Size Estimation. - Boris Lau; Kai Oliver Arras; Wolfram Burgard (Int. J. Soc. Robotics, 2010)

Editorial. - Kai Oliver Arras; Wolfram Burgard; Horst-Michael Gross (Robotics Auton. Syst., 2010)

Planning Problems for Social Robots. - Gian Diego Tipaldi; Kai Oliver Arras (ICAPS, 2011)

Better models for people tracking. - Matthias Luber; Gian Diego Tipaldi; Kai Oliver Arras (ICRA, 2011)

Tracking people in 3D using a bottom-up top-down detector. - Luciano Spinello; Matthias Luber; Kai Oliver Arras (ICRA, 2011)

I want my coffee hot! Learning to find people under spatio-temporal constraints. - Gian Diego Tipaldi; Kai Oliver Arras (ICRA, 2011)

People tracking in RGB-D Data with on-line boosted target models. - Matthias Luber; Luciano Spinello; Kai Oliver Arras (IROS, 2011)

People detection in RGB-D Data. - Luciano Spinello; Kai Oliver Arras (IROS, 2011)

Please do not disturb! Minimum interference coverage for social robots. - Gian Diego Tipaldi; Kai Oliver Arras (IROS, 2011)

Place-dependent people tracking. - Matthias Luber; Gian Diego Tipaldi; Kai Oliver Arras (Int. J. Robotics Res., 2011)

Leveraging RGB-D Data: Adaptive fusion and domain adaptation for object detection. - Luciano Spinello; Kai Oliver Arras (ICRA, 2012)

Socially-aware robot navigation: A learning approach. - Matthias Luber; Luciano Spinello; Jens Silva; Kai Oliver Arras (IROS, 2012)

Robot-specific social cues in emotional body language. - Stephanie Embgen; Matthias Luber; Christian Becker-Asano; Marco Ragni; Vanessa Evers; Kai Oliver Arras (RO-MAN, 2012)

Audio-based human activity recognition using Non-Markovian Ensemble Voting. - Johannes Andreas Stork; Luciano Spinello; Jens Silva; Kai Oliver Arras (RO-MAN, 2012)

Range-Based People Detection and Tracking for Socially Enabled Service Robots. - Kai Oliver Arras; Boris Lau; Slawomir Grzonka; Matthias Luber; Óscar Martínez Mozos; Daniel Meyer-Delius; Wolfram Burgard (Towards Service Robots for Everyday Environments, 2012)

Robot embodiment, operator modality, and social interaction in tele-existence: a project outline. - Christian Becker-Asano; Severin Gustorff; Kai Oliver Arras; Kohei Ogawa; Shuichi Nishio; Hiroshi Ishiguro; Bernhard Nebel (HRI, 2013)

Multi-Hypothesis Social Grouping and Tracking for Mobile Robots. - Matthias Luber; Kai Oliver Arras (Robotics: Science and Systems, 2013)

Schedule-Based Robotic Search for Multiple Residents in a Retirement Home Environment. - Markus Sebastian Schwenk; Tiago Stegun Vaquero; Goldie Nejat; Kai Oliver Arras (AAAI, 2014)

Multi-model hypothesis tracking of groups of people in RGB-D data. - Timm Linder; Kai Oliver Arras (FUSION, 2014)

Robotic tele-presence with DARYL in the wild. - Christian Becker-Asano; Kai Oliver Arras; Bernhard Nebel (HAI, 2014)

A novel RRT extend function for efficient and smooth mobile robot motion planning. - Luigi Palmieri; Kai Oliver Arras (IROS, 2014)

Inverse Reinforcement Learning algorithms and features for robot navigation in crowds: An experimental comparison. - Dizan Vasquez; Billy Okal; Kai Oliver Arras (IROS, 2014)

R2-D2 Reloaded: A flexible sound synthesis system for sonic human-robot interaction design. - Markus Sebastian Schwenk; Kai Oliver Arras (RO-MAN, 2014)

SPENCER: A Socially Aware Service Robot for Passenger Guidance and Help in Busy Airports. - Rudolph Triebel; Kai Oliver Arras; Rachid Alami 001; Lucas Beyer; Stefan Breuers; Raja Chatila 001; Mohamed Chetouani; Daniel Cremers; Vanessa Evers; Michelangelo Fiore; Hayley Hung; Omar A. Islas Ramírez; et al. (FSR, 2015)

Real-time full-body human gender recognition in (RGB)-D data. - Timm Linder; Sven Wehner; Kai Oliver Arras (ICRA, 2015)

Distance metric learning for RRT-based motion planning with constant-time inference. - Luigi Palmieri; Kai Oliver Arras (ICRA, 2015)

Real-time full-body human attribute classification in RGB-D using a tessellation boosting approach. - Timm Linder; Kai Oliver Arras (IROS, 2015)

A Fast Randomized Method to Find Homotopy Classes for Socially-Aware Navigation. - Luigi Palmieri; Andrey Rudenko; Kai Oliver Arras (CoRR, 2015)

On multi-modal people tracking from mobile platforms in very crowded and dynamic environments. - Timm Linder; Stefan Breuers; Bastian Leibe; Kai Oliver Arras (ICRA, 2016)

Learning socially normative robot navigation behaviors with Bayesian inverse reinforcement learning. - Billy Okal; Kai Oliver Arras (ICRA, 2016)

RRT-based nonholonomic motion planning using any-angle path biasing. - Luigi Palmieri; Sven Koenig; Kai Oliver Arras (ICRA, 2016)

Practical Bayesian Inverse Reinforcement Learning for Robot Navigation. - Billy Okal; Kai Oliver Arras (ECML/PKDD (3), 2016)

Errare humanum est: Erroneous robots in human-robot interaction. - Marco Ragni; Andrey Rudenko; Barbara Kuhnert; Kai Oliver Arras (RO-MAN, 2016)

Formalizing Normative Robot Behavior. - Billy Okal; Kai Oliver Arras (ICSR, 2016)

Kinodynamic motion planning on Gaussian mixture fields. - Luigi Palmieri; Tomasz Piotr Kucner; Martin Magnusson 002; Achim J. Lilienthal; Kai Oliver Arras (ICRA, 2017)

A Fast Random Walk Approach to Find Diverse Paths for Robot Navigation. - Luigi Palmieri; Andrey Rudenko; Kai Oliver Arras (IEEE Robotics Autom. Lett., 2017)

Semantic Labeling of Indoor Environments from 3D RGB Maps. - Manuel Brucker; Maximilian Durner; Rares Ambrus; Zoltan Csaba Marton; Axel Wendt; Patric Jensfelt; Kai Oliver Arras; Rudolph Triebel (ICRA, 2018)

Gradient-Informed Path Smoothing for Wheeled Mobile Robots. - Eric Heiden; Luigi Palmieri; Sven Koenig; Kai Oliver Arras; Gaurav S. Sukhatme (ICRA, 2018)

Joint Long-Term Prediction of Human Motion Using a Planning-Based Social Force Approach. - Andrey Rudenko; Luigi Palmieri; Kai Oliver Arras (ICRA, 2018)

Human Motion Prediction Under Social Grouping Constraints. - Andrey Rudenko; Luigi Palmieri; Achim J. Lilienthal; Kai Oliver Arras (IROS, 2018)

Deep Person Detection in 2D Range Data. - Lucas Beyer; Alexander Hermans; Timm Linder; Kai Oliver Arras; Bastian Leibe (CoRR, 2018)

How Robust is 3D Human Pose Estimation to Occlusion? - István Sárándi; Timm Linder; Kai Oliver Arras; Bastian Leibe (CoRR, 2018)

Synthetic Occlusion Augmentation with Volumetric Heatmaps for the 2018 ECCV PoseTrack Challenge on 3D Human Pose Estimation. - István Sárándi; Timm Linder; Kai Oliver Arras; Bastian Leibe (CoRR, 2018)

Deep Person Detection in Two-Dimensional Range Data. - Lucas Beyer; Alexander Hermans; Timm Linder; Kai Oliver Arras; Bastian Leibe (IEEE Robotics Autom. Lett., 2018)

Informed Information Theoretic Model Predictive Control. - Raphael Kusumoto; Luigi Palmieri; Markus Spies; Akos Csiszar; Kai Oliver Arras (ICRA, 2019)

Better Lost in Transition Than Lost in Space: SLAM State Machine. - Mirco Colosi; Sebastian Haug; Peter Biber; Kai Oliver Arras; Giorgio Grisetti (IROS, 2019)

THÖR: Human-Robot Indoor Navigation Experiment and Accurate Motion Trajectories Dataset. - Andrey Rudenko; Tomasz Piotr Kucner; Chittaranjan Srinivas Swaminathan; Ravi T. Chadalavada; Kai Oliver Arras; Achim J. Lilienthal (CoRR, 2019)

An NMPC Approach using Convex Inner Approximations for Online Motion Planning with Guaranteed Collision Freedom. - Tobias Schoels; Luigi Palmieri; Kai Oliver Arras; Moritz Diehl (CoRR, 2019)

Dispertio: Optimal Sampling for Safe Deterministic Sampling-Based Motion Planning. - Luigi Palmieri; Leonard Bruns; Michael Meurer; Kai Oliver Arras (CoRR, 2019)

Multi-Path Learning for Object Pose Estimation Across Domains. - Martin Sundermeyer; Maximilian Durner; En Yen Puang; Zoltan-Csaba Marton; Narunas Vaskevicius; Kai O. Arras; Rudolph Triebel (CVPR, 2020)

Metric-Scale Truncation-Robust Heatmaps for 3D Human Pose Estimation. - István Sárándi; Timm Linder; Kai O. Arras; Bastian Leibe (FG, 2020)

Accurate detection and 3D localization of humans using a novel YOLO-based RGB-D fusion approach and synthetic training data. - Timm Linder; Kilian Y. Pfeiffer; Narunas Vaskevicius; Robert Schirmer; Kai O. Arras (ICRA, 2020)

An NMPC Approach using Convex Inner Approximations for Online Motion Planning with Guaranteed Collision Avoidance. - Tobias Schoels; Luigi Palmieri; Kai O. Arras; Moritz Diehl (ICRA, 2020)

Plug-and-Play SLAM: A Unified SLAM Architecture for Modularity and Ease of Use. - Mirco Colosi; Irvin Aloise; Tiziano Guadagnino; Dominik Schlegel; Bartolomeo Della Corte; Kai O. Arras; Giorgio Grisetti (IROS, 2020)

CIAO$^ star$: MPC-based Safe Motion Planning in Predictable Dynamic Environments. - Tobias Schoels; Per Rutquist; Luigi Palmieri; Andrea Zanelli; Kai O. Arras; Moritz Diehl (CoRR, 2020)

Experimental Comparison of Global Motion Planning Algorithms for Wheeled Mobile Robots. - Eric Heiden; Luigi Palmieri; Kai Oliver Arras; Gaurav S. Sukhatme; Sven Koenig (CoRR, 2020)

Human motion trajectory prediction: a survey. - Andrey Rudenko; Luigi Palmieri; Michael Herman; Kris M. Kitani; Dariu M. Gavrila; Kai O. Arras (Int. J. Robotics Res., 2020)

Dispertio: Optimal Sampling For Safe Deterministic Motion Planning. - Luigi Palmieri; Leonard Bruns; Michael Meurer; Kai O. Arras (IEEE Robotics Autom. Lett., 2020)

THÖR: Human-Robot Navigation Data Collection and Accurate Motion Trajectories Dataset. - Andrey Rudenko; Tomasz Piotr Kucner; Chittaranjan Srinivas Swaminathan; Ravi T. Chadalavada; Kai O. Arras; Achim J. Lilienthal (IEEE Robotics Autom. Lett., 2020)

Cross-Modal Analysis of Human Detection for Robotics: An Industrial Case Study. - Timm Linder; Narunas Vaskevicius; Robert Schirmer; Kai O. Arras (IROS, 2021)

Bench-MR: A Motion Planning Benchmark for Wheeled Mobile Robots. - Eric Heiden; Luigi Palmieri; Leonard Bruns; Kai O. Arras; Gaurav S. Sukhatme; Sven Koenig (IEEE Robotics Autom. Lett., 2021)

Guest Editorial: Introduction to the Special Issue on Long-Term Human Motion Prediction. - Luigi Palmieri; Andrey Rudenko; Jim Mainprice; Marc Hanheide; Alexandre Alahi; Achim J. Lilienthal; Kai O. Arras (IEEE Robotics Autom. Lett., 2021)

Learning Occupancy Priors of Human Motion From Semantic Maps of Urban Environments. - Andrey Rudenko; Luigi Palmieri; Johannes Doellinger; Achim J. Lilienthal; Kai O. Arras (IEEE Robotics Autom. Lett., 2021)

MeTRAbs: Metric-Scale Truncation-Robust Heatmaps for Absolute 3D Human Pose Estimation. - István Sárándi; Timm Linder; Kai Oliver Arras; Bastian Leibe (IEEE Trans. Biom. Behav. Identity Sci., 2021)

The Atlas Benchmark: an Automated Evaluation Framework for Human Motion Prediction. - Andrey Rudenko; Luigi Palmieri; Wanting Huang; Achim J. Lilienthal; Kai O. Arras (RO-MAN, 2022)

How a Social Robot's Vocalization Affects Children's Speech, Learning, and Interaction. - Lauren L. Wright; Aditi Kothiyal; Kai O. Arras; Barbara Bruno (RO-MAN, 2022)

The Magni Human Motion Dataset: Accurate, Complex, Multi-Modal, Natural, Semantically-Rich and Contextualized. - Tim Schreiter; Tiago Rodrigues de Almeida 001; Yufei Zhu; Eduardo Gutiérrez-Maestro; Lucas Morillo-Méndez; Andrey Rudenko; Tomasz Piotr Kucner; Óscar Martínez Mozos; Martin Magnusson 002; Luigi Palmieri; Kai O. Arras; Achim J. Lilienthal (CoRR, 2022)

THÖR-Magni: Comparative Analysis of Deep Learning Models for Role-conditioned Human Mtion Prediction. - Tiago Rodrigues de Almeida 001; Andrey Rudenko; Tim Schreiter; Yufei Zhu; Eduardo Gutiérrez-Maestro; Lucas Morillo-Méndez; Tomasz Piotr Kucner; Óscar Martínez Mozos; Martin Magnusson 002; Luigi Palmieri; Kai O. Arras; Achim J. Lilienthal (ICCV (Workshops), 2023)

Semantically Informed MPC for Context-Aware Robot Exploration. - Yash Goel; Narunas Vaskevicius; Luigi Palmieri; Nived Chebrolu; Kai O. Arras; Cyrill Stachniss (IROS, 2023)

Proactive Model Predictive Control with Multi-Modal Human Motion Prediction in Cluttered Dynamic Environments. - Lukas Heuer; Luigi Palmieri; Andrey Rudenko; Anna Mannucci; Martin Magnusson 002; Kai O. Arras (IROS, 2023)

CLiFF-LHMP: Using Spatial Dynamics Patterns for Long- Term Human Motion Prediction. - Yufei Zhu; Andrey Rudenko; Tomasz Piotr Kucner; Luigi Palmieri; Kai O. Arras; Achim J. Lilienthal; Martin Magnusson 002 (IROS, 2023)

Advantages of Multimodal versus Verbal-Only Robot-to-Human Communication with an Anthropomorphic Robotic Mock Driver. - Tim Schreiter; Lucas Morillo-Méndez; Ravi T. Chadalavada; Andrey Rudenko; Erik Billing; Martin Magnusson 002; Kai O. Arras; Achim J. Lilienthal (RO-MAN, 2023)

STARK: A Unified Framework for Strongly Coupled Simulation of Rigid and Deformable Bodies with Frictional Contact. - José Antonio Fernández-Fernández; Ralph Lange; Stefan Laible; Kai O. Arras; Jan Bender (ICRA, 2024)

The e-Bike motor assembly: Towards advanced robotic manipulation for flexible manufacturing. - Leonel Rozo; Andras G. Kupcsik; Philipp Schillinger; Meng Guo 002; Robert Krug 003; Niels van Duijkeren; Markus Spies; Patrick Kesper; Sabrina Hoppe; Hanna Ziesche; Mathias Bürger; Kai O. Arras (Robotics Comput. Integr. Manuf., 2024)

The Child Factor in Child-Robot Interaction: Discovering the Impact of Developmental Stage and Individual Characteristics. - Irina Rudenko; Andrey Rudenko; Achim J. Lilienthal; Kai O. Arras; Barbara Bruno (Int. J. Soc. Robotics, 2024)

The ILIAD Safety Stack: Human-Aware Infrastructure-Free Navigation of Industrial Mobile Robots. - Sergi Molina Mellado; Anna Mannucci; Martin Magnusson 002; Daniel Adolfsson; Henrik Andreasson; Mazin Hamad; Saeed Abdolshah; Ravi Teja Chadalavada; Luigi Palmieri; Timm Linder; Chittaranjan Srinivas Swaminathan; Tomasz Piotr Kucner; et al. (IEEE Robotics Autom. Mag., 2024)

FunGraph: Functionality Aware 3D Scene Graphs for Language-Prompted Scene Interaction. - Dennis Rotondi; Fabio Scaparro; Hermann Blum; Kai O. Arras (CoRR, 2025)

Long-Term Planning Around Humans in Domestic Environments with 3D Scene Graphs. - Ermanno Bartoli; Dennis Rotondi; Kai O. Arras; Iolanda Leite (CoRR, 2025)

Interactive Expressive Motion Generation Using Dynamic Movement Primitives. - Till Hielscher; Andreas Bulling; Kai O. Arras (CoRR, 2025)