PUBLICATIONS

Journal Articles

Prinz, T., & Li, J. (2025, May). Design and Evaluation of a Gamepad-Based Control Scheme for the Teleoperation of a Stationary Robot. In International Conference on Human-Computer Interaction (pp. 138-154). Cham: Springer Nature Switzerland.
https://doi.org/10.1007/978-3-031-93982-2_9
Deshpande, Y., Sulkaj, E., & Kellerer, W. (2025, May). Twinran: Twinning the 5g ran in azure cloud. In NOMS 2025-2025 IEEE Network Operations and Management Symposium (pp. 1-10). IEEE.
https://doi.org/10.1109/NOMS57970.2025.11073616
Zhang, L., Chen, K., Cai, K., Zhang, Y., Dang, Y., Wu, Y., … & Knoll, A. (2025, May). Direction Informed Trees (DIT*): Optimal Path Planning via Direction Filter and Direction Cost Heuristic. In 2025 IEEE International Conference on Robotics and Automation (ICRA) (pp. 1766-1772). IEEE.
https://doi.org/10.1109/ICRA55743.2025.11127725
Pavlic, M., & Burschka, D. Adaptable Distributed Vision System for Robot Manipulation Tasks. In Proceedings of the 20th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2025)- Volume 2: VISAPP, 651 – 658.
https://doi.org/10.5220/0013115600003912
Wu, Y., Chen, Z., Wu, F., Chen, L., Zhang, L., Bing, Z., … & Knoll, A. (2025, May). Tacdiffusion: Force-domain diffusion policy for precise tactile manipulation. In 2025 IEEE International Conference on Robotics and Automation (ICRA) (pp. 11831-11837). IEEE.
https://doi.org/10.1109/ICRA55743.2025.11127334
Ao, J., Wu, F., Wu, Y., Swiki, A., & Haddadin, S. (2025, May). LLM-as-BT-Planner: Leveraging LLMs for behavior tree generation in robot task planning. In 2025 IEEE International Conference on Robotics and Automation (ICRA) (pp. 1233-1239). IEEE.
https://doi.org/10.1109/ICRA55743.2025.11128454
Nagrath, V., Rajaei, N., Lehsing, C., Burschka, D., & Lilienthal, A. J. (2025, August). AI. Lock: A Model-Driven Adaptive Framework for Secure AI Integration in Cyber-Physical Production Systems. In Intelligent Systems Conference (pp. 572-586). Cham: Springer Nature Switzerland.
https://doi.org/10.1007/978-3-031-99965-9_35
Zhang, L., Cai, K., Zhang, Y., Bing, Z., Wang, C., Wu, F., … & Knoll, A. (2025). Estimated Informed Anytime Search for Sampling-Based Planning via Adaptive Sampler. IEEE Transactions on Automation Science and Engineering.
Doi: https://doi.org/10.1007/978-3-031-99965-9_35
Kirschner, R. J., Karacan, K., Melone, A., & Haddadin, S. (2025). Categorizing robots by performance fitness into the tree of robots. Nature Machine Intelligence, 1-12.
Meng, Y., Bing, Z., Yao, X., Chen, K., Huang, K., Gao, Y., … & Knoll, A. (2025). Preserving and combining knowledge in robotic lifelong reinforcement learning. Nature Machine Intelligence, 1-14.
Vogel-Heuser, B., Deshpande, Y., Hartl, F., Zhao, J., Hou, X., Hujo, D., Prinz, T., Pavlic, M., Burschka, D., Bengler, K., Kellerer, W., Kraft, A., Vojanec, B. & Markert, T. (2024). Modellierung und Validierung von Latenzzeiten in industriellen Agentensystemen mit Digitalen Zwillingen der KI.Fabrik. at – Automatisierungstechnik, 72(10), 958-979. https://doi.org/10.1515/auto-2023-0221
Vogel-Heuser, B., Hartl, F., Wittemer, M., Zhao, J., Mayr, A., Fleischer, M., … & Wudy, K. (2024). Long living human-machine systems in construction and production enabled by digital twins: Exploring applications, challenges, and pathways to sustainability. at-Automatisierungstechnik, 72(9), 789-814.
Zhao, J., Vogel-Heuser, B., Hartl, F., Höfgen, J., Ocker, F., Vojanec, B., … & Kraft, A. (2024). Erstellung und Integration von Verwaltungsschalen aus Heterogenen Datenquellen. at-Automatisierungstechnik, 72(3), 214-231.
Vogel, Q., Deshpande, Y., Stefanović, C., & Kellerer, W. (2023). Analysis of-ary tree algorithms with successive interference cancellation. Journal of Applied Probability, 1-31.
Haddadin, S., Parusel, S., Johannsmeier, L., Golz, S., Gabl, S., Walch, F., Sabaghian, M., Jaehne, C., Hausperger, L., & Haddadin, S. (2022). The Franka Emika Robot: a reference platform for robotics research and education. IEEE Robotics & Automation Magazine, 29(2), 46–64. https://doi.org/10.1109/mra.2021.3138382
Vogel, Q., Deshpande, Y., Stefanović, C., & Kellerer, W. (2023). Analysis of-ary tree algorithms with successive interference cancellation. Journal of Applied Probability, 1-31.

Conference Papers

Zhang, L., Cai, K., Sun, Z., Bing, Z., Wang, C., Figueredo, L., … & Knoll, A. (2025). Motion planning for robotics: A review for sampling-based planners. Biomimetic Intelligence and Robotics, 100207.
Diederich, P., Deshpande, Y., Becker, L., & Kellerer, W. (2024). LCDN: Providing network determinism with low-cost switches. arXiv preprint arXiv:2408.10171.
Deshpande, Y., Wang, X., & Kellerer, W. (2024). OpenAirLink: Reproducible Wireless Channel Emulation using Software Defined Radios. arXiv preprint arXiv:2404.09660.
Zhao, J., Vogel-Heuser, B., Ao, J., Wu, Y., Zhang, L., Hartl, F., … & Kraft, A. (2024, October). Ontology Based AI Planning and Scheduling for Robotic Assembly. In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 9855-9862). IEEE.
Zhang, L., Bing, Z., Chen, K., Chen, L., Cai, K., Zhang, Y., … & Knoll, A. (2024, October). Flexible Informed Trees (FIT*): Adaptive Batch-Size Approach in Informed Sampling-Based Path Planning. In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 3146-3152). IEEE.
Zhang, L., Bing, Z., Zhang, Y., Cai, K., Chen, L., Wu, F., … & Knoll, A. (2024, October). Elliptical K-Nearest Neighbors-Path Optimization via Coulomb’s Law and Invalid Vertices in C-space Obstacles. In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 12032-12039). IEEE.
Schneider, S., Wu, Y., Johannsmeier, L., Wu, F., & Haddadin, S. (2024, October). A Scalable Platform for Robot Learning and Physical Skill Data Collection. In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 5925-5932). IEEE.
Karacan, K., Zhang, A., Sadeghian, H., Wu, F., & Haddadin, S. (2024, October). Visuo-Tactile Exploration of Unknown Rigid 3D Curvatures by Vision-Augmented Unified Force-Impedance Control. In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 2243-2250). IEEE.
Deshpande, Y., Diederich, P., Luthfi, M., Becker, L., Fontalvo-Hernández, J., & Kellerer, W. (2024, October). Integrating Deterministic Networking with 5G. In 2024 20th International Conference on Network and Service Management (CNSM) (pp. 1-3). IEEE.
Wu, Y., Wu, F., Chen, L., Chen, K., Schneider, S., Johannsmeier, L., … & Haddadin, S. (2024, May). 1 khz behavior tree for self-adaptable tactile insertion. In 2024 IEEE International Conference on Robotics and Automation (ICRA) (pp. 16002-16008). IEEE.
Sacchetto, L., Röhrl, S., & Diepold, K. (2024, June). Iterative Visual Interaction with Latent Diffusion Models. In International Conference on Human-Computer Interaction (pp. 411-421). Cham: Springer Nature Switzerland.
Prado, D. F., Larintzakis, K., Irsperger, J., & Steinbach, E. (2024). Accelerating Virtual Fixture Estimation for Robot Manipulation using Reinforcement Learning and Human Demonstrations. In 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE).
Prinz, T., & Bengler, K. (2024). A Human-Centered Evaluation of Visualization Techniques for Teleoperated Assembly Tasks for Non-Expert Users. In Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction (pp. 842-846).
Bhadauria, S., Plaku, K., Deshpande, Y., & Kellerer, W. (2024). Evaluation of NR-Sidelink for Cooperative Industrial AGVs. In 2024 IEEE 21st Consumer Communications & Networking Conference (CCNC) (pp. 777-783). IEEE.
Chen, K., Bing, Z., Wu, Y., Wu, F., Zhang, L., Haddadin, S., & Knoll, A. (2024). Real-time Contact State Estimation in Shape Control of Deformable Linear Objects under Small Environmental Constraints. arXiv preprint arXiv:2401.17154.
Prado, D. F., Ramachandrareddy, P., & Steinbach, E. (2024). Demonstration Quality-Based Teleoperated Learning With Visual and Haptic Data in Bandwidth-Limited Environments. In 2024 IEEE 22nd Mediterranean Electrotechnical Conference-IEEE MELECON 2024.
Karacan, K., Kirschner, R. J., Sadeghian, H., Wu, F., & Haddadin, S. (2023, December). The Inherent Representation of Tactile Manipulation Using Unified Force-Impedance Control. In 2023 62nd IEEE Conference on Decision and Control (CDC) (pp. 4745-4752). IEEE.
Birjandi, S. a. B., Dehio, N., Kheddar, A., & Haddadin, S. (2022). Robust Cartesian kinematics estimation for Task-Space control systems. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). https://doi.org/10.1109/iros47612.2022.9981233
Chen, K., Bing, Z., Wu, F., Meng, Y., Kraft, A., Haddadin, S., & Knoll, A. (2023, October). Contact-Aware Shaping and Maintenance of Deformable Linear Objects With Fixtures. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1-8). IEEE.
Johannsmeier, L., & Haddadin, S. (2022). Can we reach human expert programming performance? A tactile manipulation case study in learning time and task performance. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). https://doi.org/10.1109/iros47612.2022.9982025
Karacan, K., Grover, D., Sadeghian, H., Wang, F., & Haddadin, S. (2023). Tactile exploration using Unified Force-Impedance control. IFAC-PapersOnLine, 56(2), 5015–5020. https://doi.org/10.1016/j.ifacol.2023.10.1279
Karacan, K., Sadeghian, H., Kirschner, R. J., & Haddadin, S. (2022). Passivity-Based skill motion learning in Stiffness-Adaptive Unified Force-Impedance control. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). https://doi.org/10.1109/iros47612.2022.9981728
Knobbe, D., Zwirnmann, H., Eckhoff, M., & Haddadin, S. (2022). Core processes in intelligent Robotic lab assistants: flexible liquid handling. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). https://doi.org/10.1109/iros47612.2022.9981636
Muchacho, R. I. C., Laha, R., Figueredo, L. F. C., & Haddadin, S. (2022). A solution to slosh-free robot trajectory optimization. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). https://doi.org/10.1109/iros47612.2022.9981173
Valle, C., Kurdas, A., Fortunić, E. P., Abdolshah, S., & Haddadin, S. (2022). Real-time IMU-Based Learning: a Classification of Contact Materials. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). https://doi.org/10.1109/iros47612.2022.9981139
Vogel, Q., Deshpande, Y., Stefanovicl, C., & Kellerer, W. (2023, October). An Advanced Tree Algorithm with Interference Cancellation in Uplink and Downlink. In 2023 57th Asilomar Conference on Signals, Systems, and Computers (pp. 72-79). IEEE.
Vorndamme, J., Figueredo, L. F. C., & Haddadin, S. (2022). Robot contact reflexes: adaptive maneuvers in the contact reflex space. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). https://doi.org/10.1109/iros47612.2022.9981904
Wu, Y., Chen, L., Mahiques, I. P., Bing, Z., Wang, F., Knoll, A., & Haddadin, S. (2023). Learning Dynamic Robot-to-Robot object handover. IFAC-PapersOnLine, 56(2), 4368–4374. https://doi.org/10.1016/j.ifacol.2023.10.1814.
Zhao, J., Vogel-Heuser, B., Bi, F., Höfgen, J., Ocker, F., Vojanec, B., … & Kraft, A. (2023). A semi-automatic approach for asset administration shell creation from heterogeneous data. IFAC-PapersOnLine, 56(2), 3673-3679.
Höfgen, J., Vogel-Heuser, B., Bi, F., Zhao, J., Kraft, A., Vojanec, B., & Markert, T. (2023, August). Architecture of a versatile digital twin with socket-based communication and azure dt. In 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE) (pp. 1-8). IEEE.
Mansfeld, N., Peña, G. G., Hamad, M., Kurdas, A., Abdolshah, S., & Haddadin, S. (2022). Global safety characteristics of wheeled mobile manipulators. 2022 IEEE 18th International Conference on Automation Science and Engineering (CASE). https://doi.org/10.1109/case49997.2022.9926607
Pavlic, M., Markert, T., Matich, S., & Burschka, D. (2023, August). RobotScale: A Framework for Adaptable Estimation of Static and Dynamic Object Properties with Object-dependent Sensitivity Tuning. In 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) (pp. 668-674). IEEE.
Prado, D. F., & Steinbach, E. (2023, August). Estimating Virtual Fixture Parameters in Digital Twin Environments for Robot Manipulation Tasks using Reinforcement Learning. In 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE) (pp. 1-6). IEEE.
Vogel-Heuser, B., & Bengler, K. (2023). Von Industrie 4.0 zu Industrie 5.0–Idee, Konzept und Wahrnehmung. HMD Praxis der Wirtschaftsinformatik, 60(6), 1124-1142.
Vogel-Heuser, B., Deshpande, Y., Bi, F., Zhao, J., Hujo, D., Kellerer, W., … & Markert, T. (2023, August). Delay Modelling and Measurement of Multi-Agent Systems with Digital Twins in a Gear Assembly Use Case. In 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE) (pp. 1-8). IEEE.
Prinz, T., & Bengler, K. (2023, July). Exploring the Learnability of Two Teleoperation Setups for Assembly Tasks. In International Conference on Human-Computer Interaction (pp. 658-665). Cham: Springer Nature Switzerland.
Bing, Z., Koch, A., Yao, X., Huang, K., & Knoll, A. (2023, May). Meta-reinforcement learning via language instructions. In 2023 IEEE International Conference on Robotics and Automation (ICRA) (pp. 5985-5991). IEEE. doi: 10.1109/ICRA48891.2023.10160626
Deshpande, Y., Diederich, P., & Kellerer, W. (2023, May). Towards a Network Aware Model of the Time Uncertainty Bound in Precision Time Protocol. In IEEE INFOCOM 2023-IEEE Conference on Computer Communications Workshops (INFOCOM WKSHPS) (pp. 1-2). IEEE.
Eckhoff, M., Kirschner, R. J., Kern, E., Abdolshah, S., & Haddadin, S. (2022). An MPC Framework For Planning Safe & Trustworthy Robot Motions. 2022 International Conference on Robotics and Automation (ICRA). https://doi.org/10.1109/icra46639.2022.9812160
Kurdas, A., Hamad, M., Vorndamme, J., Mansfeld, N., Abdolshah, S., & Haddadin, S. (2022). Online payload identification for tactile robots using the Momentum Observer. 2022 International Conference on Robotics and Automation (ICRA). https://doi.org/10.1109/icra46639.2022.9811691
Steinecker, T., Kurdas, A., Mansfeld, N., Hamad, M., Kirschner, R. J., Abdolshah, S., & Haddadin, S. (2022, May). Mean reflected mass: A physically interpretable metric for safety assessment and posture optimization in human-robot interaction. In 2022 International Conference on Robotics and Automation (ICRA) (pp. 11209-11215). IEEE. Deshpande, Y., Diederich, P., Luthfi, M., Becker, L., Fontalvo-Hernández, J., & Kellerer, W. (2024, October).

Book Contributions

Haddadin, S. (2021). Künstliche Intelligenz mit Körper. In Springer Reference Geisteswissenschaften (pp. 1–17). https://doi.org/10.1007/978-3-658-23715-8_21-1