Team Homer@UniKoblenz — Approaches and Contributions to the RoboCup@Home Competition

  • Viktor SeibEmail author
  • Stephan Manthe
  • Raphael Memmesheimer
  • Florian Polster
  • Dietrich Paulus
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9513)


In this paper we present the approaches and contributions of team homer@UniKoblenz that were developed for and applied during the RoboCup@Home competitions. In particular, we highlight the different abstraction layers of our software architecture that allows for rapid application development based on the ROS actionlib. This architectural design enables us to focus on the development of new algorithms and approaches and significantly helped us in winning the RoboCup@Home competition in 2015. We further give an outlook on recently published open-source software for service robots that can be downloaded from our ROS package repository on


RoboCup@Home Service robots homer@UniKoblenz Robot lisa Robotic architecture 


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Authors and Affiliations

  • Viktor Seib
    • 1
    Email author
  • Stephan Manthe
    • 1
  • Raphael Memmesheimer
    • 1
  • Florian Polster
    • 1
  • Dietrich Paulus
    • 1
  1. 1.Active Vision Group (AGAS)University of Koblenz-LandauKoblenzGermany

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