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 paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9776)


In 2016, the RoboCup Logistics League (RCLL) scenario has received only minor changes. The Carologistics team used this time to stabilize and improve several of its system’s components to make overall production more robust and support a more elaborated domain modeling. This has been made possible especially through our simulation environment. We describe the major aspects of our efforts that led to winning the competition for the third time in a row.



The team members in 2016 are Alexander Ferrein, Mostafa Gomaa, Christoph Henke, Daniel Künster, Nicolas Limpert, Matthias Löbach, Victor Mataré, Tobias Neumann, Tim Niemueller, Sebastian Reuter, Johannes Rothe, David Schmidt, Sebastian Schönitz, and Frederik Zwilling.

We gratefully acknowledge the financial support of RWTH Aachen University and FH Aachen University of Applied Sciences.

We thank Sick AG, Adolf Hast GmbH & Co. KG and and Xilloc Industrial B.V for sponsoring our efforts by providing hardware and manufacturing support.

F. Zwilling and T. Niemueller were supported by the German National Science Foundation (DFG) research unit FOR 1513 on Hybrid Reasoning for Intelligent Systems (


  1. 1.
    Niemueller, T., Reuter, S., Ferrein, A.: Fawkes for the RoboCup logistics league. In: RoboCup Symposium 2015 - Development Track (2015)CrossRefGoogle Scholar
  2. 2.
    Niemueller, T., Reuter, S., Ewert, D., Ferrein, A., Jeschke, S., Lakemeyer, G.: The carologistics approach to cope with the increased complexity and new challenges of the RoboCup logistics league 2015. In: RoboCup Symposium - Champion Teams Track (2015)CrossRefGoogle Scholar
  3. 3.
    Niemueller, T., Karpas, E., Vaquero, T., Timmons, E.: Planning competition for logistics robots in simulation. In: WS on Planning and Robotics (PlanRob) at International Conference on Automated Planning and Scheduling (ICAPS), London, UK (2016)Google Scholar
  4. 4.
    Niemueller, T., Ewert, D., Reuter, S., Ferrein, A., Jeschke, S., Lakemeyer, G.: RoboCup logistics league sponsored by Festo: a competitive factory automation benchmark. In: RoboCup Symposium 2013 (2013)Google Scholar
  5. 5.
    Niemueller, T., Lakemeyer, G., Ferrein, A., Reuter, S., Ewert, D., Jeschke, S., Pensky, D., Karras, U.: Proposal for advancements to the LLSF in 2014 and beyond. In: ICAR - 1st Workshop on Developments in RoboCup Leagues (2013)Google Scholar
  6. 6.
    Karras, U., Pensky, D., Rojas, O.: Mobile robotics in education and research of logistics. In: IROS 2011 - Workshop on Metrics and Methodologies for Autonomous Robot Teams in Logistics (2011)Google Scholar
  7. 7.
    Niemueller, T., Ferrein, A., Beck, D., Lakemeyer, G.: Design principles of the component-based robot software framework fawkes. In: International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR) (2010)CrossRefGoogle Scholar
  8. 8.
    Quigley, M., Conley, K., Gerkey, B.P., Faust, J., Foote, T., Leibs, J., Wheeler, R., Ng, A.Y.: ROS: an open-source robot operating system. In: ICRA Workshop on Open Source Software (2009)Google Scholar
  9. 9.
    Gat, E.: Three-layer architectures. In: Kortenkamp, D., Bonasso, R.P., Murphy, R. (eds.) Artificial Intelligence and Mobile Robots, pp. 195–210. MIT Press (1998)Google Scholar
  10. 10.
    Niemueller, T., Neumann, T., Henke, C., Schönitz, S., Reuter, S., Ferrein, A., Jeschke, S., Lakemeyer, G.: International harting open source award 2016: fawkes for the RoboCup logistics league. In: RoboCup Symposium - Harting Award Paper (2016)Google Scholar
  11. 11.
    Jacobs, S., Ferrein, A., Schiffer, S., Beck, D., Lakemeyer, G.: Robust collision avoidance in unknown domestic environments. In: Baltes, J., Lagoudakis, M.G., Naruse, T., Ghidary, S.S. (eds.) RoboCup Symposium 2009 (2009)Google Scholar
  12. 12.
    Mataré, V., Niemueller, T., Lakemeyer, G.: Robust multi-modal detection of industrial signal light towers. In: RoboCup Symposium (2016)Google Scholar
  13. 13.
    Niemueller, T., Lakemeyer, G., Ferrein, A.: Incremental task-level reasoning in a competitive factory automation scenario. In: Proceedings of AAAI Spring Symposium 2013 - Designing Intelligent Robots: Reintegrating AI (2013)Google Scholar
  14. 14.
    Niemueller, T., Lakemeyer, G., Ferrein, A.: The RoboCup logistics league as a benchmark for planning in robotics. In: 25th International Conference on Automated Planning and Scheduling (ICAPS) - WS on Planning in Robotics (2015)Google Scholar
  15. 15.
    Niemueller, T., Ferrein, A., Lakemeyer, G.: A Lua-based behavior engine for controlling the humanoid robot Nao. In: RoboCup Symposium 2009 (2009)Google Scholar
  16. 16.
    Wygant, R.M.: CLIPS: a powerful development and delivery expert system tool. Comput. Ind. Eng. 17(1–4), 546–549 (1989)CrossRefGoogle Scholar
  17. 17.
    Niemueller, T., Zwilling, F., Lakemeyer, G., Löbach, M., Reuter, S., Jeschke, S., Ferrein, A.: Cyber-physical system intelligence. In: Jeschke, S., Brecher, C., Song, H., Rawat, D.B. (eds.) Industrial Internet of Things. SSWT, pp. 447–472. Springer, Cham (2017). Scholar
  18. 18.
    Zwilling, F., Niemueller, T., Lakemeyer, G.: Simulation for the RoboCup logistics league with real-world environment agency and multi-level abstraction. In: RoboCup Symposium (2014)Google Scholar
  19. 19.
    Niemueller, T., Reuter, S., Ewert, D., Ferrein, A., Jeschke, S., Lakemeyer, G.: Decisive factors for the success of the carologistics RoboCup team in the RoboCup logistics league 2014. In: RoboCup Symposium - Champion Teams Track (2014)Google Scholar
  20. 20.
    Niemueller, T., Zug, S., Schneider, S., Karras, U.: Knowledge-based instrumentation and control for competitive industry-inspired robotic domains. KI - Künstliche Intelligenz 30, 289–299 (2016)CrossRefGoogle Scholar
  21. 21.
    Zug, S., Niemueller, T., Hochgeschwender, N., Seidensticker, K., Seidel, M., Friedrich, T., Neumann, T., Karras, U., Kraetzschmar, G., Ferrein, A.: An integration challenge to bridge the gap among industry-inspired RoboCup leagues. In: RoboCup Symposium (2016)Google Scholar

Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Tim Niemueller
    • 1
  • Tobias Neumann
    • 2
  • Christoph Henke
    • 3
  • Sebastian Schönitz
    • 3
  • Sebastian Reuter
    • 3
  • Alexander Ferrein
    • 2
  • Sabina Jeschke
    • 3
  • Gerhard Lakemeyer
    • 1
  1. 1.Knowledge-Based Systems GroupRWTH Aachen UniversityAachenGermany
  2. 2.MASCOR InstituteFH Aachen University of Applied SciencesAachenGermany
  3. 3.Institute Cluster IMA/ZLW & IfURWTH Aachen UniversityAachenGermany

Personalised recommendations