FORSCHUNGSGRUPPE
CONTROL OF NETWORKED SYSTEMS

Publikationen

Aktuelle Publikationen

Brommer, Christian and Fornasier, Alessandro and Scheiber, Martin and Delaune, Jeff and Brockers, Roland and Steinbrener, Jan and Weiss, Stephan, “INSANE: Cross-Domain UAV Data Sets with Increased Number of Sensors for developing Advanced and Novel Estimators.” arXiv, Oct. 17, 2022. doi: 10.48550/arXiv.2210.09114.

Alessandro Fornasier, Yonhon Ng, Christian Brommer, Christoph Böhm, Robert Mahony and Stephan Weiss
Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation with Online Calibration
Accepted for Publication at Robotics and Automation Letters, 2022

Thomas Jantos, Mohamed Amin Hamdad, Wolfgang Granig, Stephan Weiss and Jan Steinbrener: PoET: Pose Estimation Transformer for Single-View, Multi-Object 6D Pose Estimation. 6th Annual Conference on Robot Learning (CoRL 2022), Auckland, 2022, Supplementary Material Included

Eren Allak, Axel Barrau, Roland Jung, Jan Steinbrener and Stephan Weiss: Centralized-Equivalent Pairwise Estimation with Asynchronous Communication Constraints for two Robots. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Kyoto, 2022

Eren Allak, Rooholla Khorrambakht, Christian Brommer and Stephan Weiss: Kinematics-Inertial Fusion for Localization of a 4-Cable Underactuated Suspended Robot Considering Cable Sag. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Kyoto, 2022

Martin Scheiber, Alexandre Cardaillac, Christian Brommer, Stephan Weiss, and Martin Ludvigsen: Modular Multi-Sensor Fusion for Underwater Localization for Autonomous ROV Operations. Accepted to OCEANS22, 2022.

Jan Michalczyk, Christian Schoffmann, Alessandro Fornasier, Jan Steinbrener, Stephan Weiss: Radar-Interial State-Estimation for UAV Motion in Highly Agile Manoeuvres. ICUAS (International Conference on Unmanned Aircraft Systems), (IEEE), Dubrovnik, 2022

Jan Michalczyk, Roland Jung, Stephan Weiss: Tightly-Coupled EKF-Based Radar-Inertial Odometry. IROS (International Conference on Robots and Systems), (IEEE), Kyoto, 2022

Rohit Dhakate, Christian Brommer, Christoph Böhm, Harald Gietler, Stephan Weiss and Jan Steinbrener:
Title: Autonomous Control of Redundant Hydraulic Manipulator Using Reinforcement Learning with Action Feedback. International Conference on Intelligent Robots and Systems (IROS), IEEE, Kyoto, 2022

Roland Jung und Stephan Weiss: Scalable and Modular Ultra-Wideband Aided Inertial Navigation, International Conference on Intelligent Robots and Systems (IROS), IEEE, Kyoto, 2022.

Martin Scheiber, Alessandro Fornasier , Roland Jung, Christoph Böhm, Rohit Dhakate, Christian Stewart, Jan Steinbrener, Stephan Weiss, and Christian Brommer: CNS Flight Stack for Reproducible, Customizable, and Fully Autonomous Applications. IEEE Robotics and Automation Letters (RA-L), 2022.

Jan Steinbrener, Christian Brommer, Thomas Jantos, Alessandro Fornasier and Stephan Weiss: Improved State Propagation through AI-based Pre-processing and Down-sampling of High-Speed Inertial Data. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE, Philadelphia, 2022.

Christoph Böhm, Pascal Brault, Quentin Delamare, Paolo Robuffo Giordano and Stephan Weiss: COP: Control & Observability-aware Planning. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE, Philadelphia, 2022.

Alessandro Fornasier , Yonhon Ng , Robert Mahony and Stephan Weiss: Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE, Philadelphia, 2022.

Javier Gibran Apud Baca, Thomas Jantos, Mario Theuermann, Mohamed Amin Hamdad, Jan Steinbrener, Stephan Weiss, Alexander Almer and Roland Perko: Automated Data Annotation for 6-DoF AI-Based Navigation Algorithm Development. Journal of Imaging 7, no. 11: 236, November 2021

Roland Jung and Stephan Weiss: Modular Multi-Sensor Fusion: A Collaborative State Estimation Perspective.
In IEEE Robotics and Automation Letters (RA-L), July 2021. https://ieeexplore.ieee.org/document/9479759

Christoph Böhm, Martin Scheiber and Stephan Weiss: Filter-Based Online System-Parameter Estimation for Multicopter UAVs. Robotics: Science and Systems (RSS), Robotics: Science and Systems Foundation, 2021.

Roland Jung and Stephan Weiss: Distributed Collaborative State Estimation: Joint Observations for Reliable Autonomous Navigation in Swarms. Proceedings of the Austrian Robotics Workshop (ARW), Vienna, 2021

Samira Hayat, Roland Jung, Hermann Hellwagner, Christian Bettstetter, Driton Emini, and Dominik Schnieders: Edge computing in 5G for drone navigation: What to Offload? IEEE Robotics and Automation Letters (RA-L), 2021. Also accepted for presentation at the IEEE International Conference on Robotics and Automation (ICRA), IEEE, Xi’an, 2021.

Christian Schöffmann, Barnaba Ubezio, Christoph Böhm, Stephan Mühlbacher-Karrer and Hubert Zangl: Virtual Radar: Real-Time Millimeter-Wave Radar Sensor Simulation for Perception-driven Robotics. IEEE Robotics and Automation Letters, doi: 10.1109/LRA.2021.3068916.

Paul Ladinig, Bernhard Rinner, Stephan Weiss: Time and Energy Optimized Trajectory Generation for Multi-Agent Constellation Changes. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE, Xi’an, 2021.

Roland Jung and Stephan Weiss: Scalable Recursive Distributed Collaborative State Estimation for Aided Inertial Navigation. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE, Xi’an, 2021

Julian Blueml, Alessandro Fornasier, Stephan Weiss: Bias Compensated UWB Anchor Initialization using Information-Theoretic Supported Triangulation Points. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE, Xi’an, 2021.

Bryan Starbuck, Alessandro Fornasier, Stephan Weiss and Cédric Pradalier: Consistent State Estimation on Manifolds for Autonomous Metal Structure Inspection. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE, Xi’an, 2021

Martin Scheiber, Jeff Delaune, Stephan Weiss, and Roland Brockers: Mid-Air Range-Visual-Inertial Estimator Initialization for Micro Air Vehicles. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE, Xi’an, 2021.

Alessandro Fornasier, Martin Scheiber, Alexander Hardt-Stremayr, Roland Jung and Stephan Weiss: VINSEval: Evaluation Framework for Unified Testing of Consistency and Robustness of Visual-Inertial Navigation System Algorithms. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE, Xi’an, 2021

Christoph Böhm, Christian Brommer, Alexander Hardt-Stremayr and Stephan Weiss: Combined System Identification and State Estimation for a Quadrotor UAV. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE, Xi’an, 2021

Christian Brommer, Roland Jung, Jan Steinbrener, and Stephan Weiss: MaRS: A Modular and Robust Sensor-Fusion Framework. In IEEE Robotics and Automation Letters (RA-L), November 2020.

Eren Allak, Christian Brommer, Diego Dallenbach, Stephan Weiss. AMADEE-18 : Vision-Based Unmanned Aerial Vehicle Navigation for Analog Mars Mission ( AVI-NAV ). Astrobiology Nov 2020, 1321-1337

Christian Brommer, Alessandro Fornasier, et al.: AMADEE-20 Exploration Cascade using Robotic Vehicles. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop, Las Vegas, 2020

Christoph Böhm, Guanrui Li, Giuseppe Loianno, Stephan Weiss: Observability-Aware Trajectories for Geometric and Inertial Self-Calibration. Power On and Go Robots 2020, RSS’20, (Virtual) Workshop, 2020.

Eren Allak, Alessandro Fornasier, Stephan Weiss: Consistent Covariance Pre-Integration for Invariant Filters with Delayed Measurements. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Las Vegas, 2020

Alexander Hardt-Stremayr and Stephan Weiss: Monocular Visual-Inertial Odometry in Low-Textured Environments with Smooth Gradients: A Fully Dense Direct Filtering Approach. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE, Paris, 2020

Alessandro Fornasier, Yonhon Ng, Christian Brommer, Christoph Böhm, Robert Mahony, Stephan Michael Weiss: Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation With Online Calibration. IEEE Robotics and Automation Letters , IEEE, 7, Piscataway (NJ), 2022, S. 12118 - 12125.
Harald Gietler, Christoph Böhm, Stefan Ainetter, Christian Schöffmann, Friedrich Fraundorfer, Stephan Michael Weiss, Hubert Zangl: Forestry Crane Automation using Learning-based Visual Grasping Point Prediction. 2022 IEEE Sensors Applications Symposium (SAS), IEEE, Piscataway (NJ), 2022, S. 1 - 6.
Hikmet Beyoglu, Stephan Michael Weiss, Bernhard Rinner: Multi-Agent Path Planning and Trajectory Generation for Confined Environments. Proceedings of the 2022 International Conference on Unmanned Aircraft Systems (ICUAS), IEEE, Piscataway (NJ), 2022, S. 655 - 663.
Jan Steinbrener, Christian Brommer, Thomas Georg Jantos, Alessandro Fornasier, Stephan Michael Weiss: Improved State Propagation through AI-based Pre-processing andDown-sampling of High-Speed Inertial Data. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2022) , 2022,
Alessandro Fornasier, Yonhon Ng, Robert Mahony, Stephan Michael Weiss: Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2022) , 2022, S. 4333 - 4339.
Christoph Böhm, Pascal Brault, Quentin Delamare, Paolo Giordano, Stephan Michael Weiss: COP: Control & Observability-aware Planning. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2022) , 2022,
Javier Gibran Apud Baca, Thomas Georg Jantos, Mario Theuermann, Mohamed Amin Hamdad, Jan Steinbrener, Stephan Michael Weiss, Alexander Almer, Roland Perko: Automated Data Annotation for 6-DoF AI-Based Navigation Algorithm Development. Journal of Imaging, MDPI, 7, Basel, 2021, S. 1 - 17.
Bryan Starbuck, Alessandro Fornasier, Stephan Michael Weiss, Cédric Pradalier: Consistent State Estimation on Manifolds for Autonomous Metal Structure Inspection. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2021), IEEE, Piscataway (NJ), 2021,
Martin Scheiber, Jeff Delaune, Stephan Michael Weiss, Roland Brockers: Mid-Air Range-Visual-Inertial Estimator Initialization for Micro Air Vehicles. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2021), IEEE, Piscataway (NJ), 2021, S. 7613 - 7619.
Roland Jung, Stephan Michael Weiss: Scalable Recursive Distributed Collaborative State Estimation for Aided Inertial Navigation. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2021), IEEE, Piscataway (NJ), 2021, S. 1896 - 1902.
Alessandro Fornasier, Martin Scheiber, Alexander Hardt-Stremayr, Roland Jung, Stephan Michael Weiss: VINSEval: Evaluation Framework for Unified Testing of Consistency and Robustness of Visual-Inertial Navigation System Algorithms. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2021), IEEE, Piscataway (NJ), 2021, S. 13754 - 13760.
Christoph Böhm, Christian Brommer, Alexander Hardt-Stremayr, Stephan Michael Weiss: Combined System Identification and State Estimation for a Quadrotor UAV. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2021), IEEE, Piscataway (NJ), 2021, S. 585 - 591.
Christoph Böhm, Martin Scheiber, Stephan Michael Weiss: Filter-Based Online System-Parameter Estimation for Multicopter UAVs. Robotics: Science and Systems (RSS) 2021, Robotics Science and Systems Foundation , http://www.roboticsfoundation.org/, 2021,
Roland Jung, Stephan Michael Weiss: Modular Multi-Sensor Fusion: A Collaborative State Estimation Perspective. IEEE Robotics and Automation Letters, IEEE, 6, Piscataway (NJ), 2021, S. 6891 - 6898.
Visar Arapi, Cosimo Della Santina, Giuseppe Averta, Antonio Bicchi, Matteo Bianchi: Understanding Human Manipulation With the Environment: A Novel Taxonomy for Video Labelling. IEEE Robotics and Automation Letters, IEEE, Piscataway (NJ), 2021,
Roland Jung, Stephan Michael Weiss: Distributed Collaborative State Estimation: Joint Observations forReliable Autonomous Navigation in Swarms. Proceedings of the Austrian Robotics Workshop, Verlag der Technischen Universität Graz, Graz, 2021, S. 64 - 68.
Paul Ladinig, Bernhard Rinner, Stephan Michael Weiss: Time and Energy Optimized Trajectory Generation for Multi-Agent Constellation Changes. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2021), IEEE, Piscataway (NJ), 2021, S. 7400 - 7406.
Rupam Singh, Bharat Bhushan: Evolving Intelligent System for Trajectory Tracking of Unmanned Aerial Vehicles. 2021, S. 1 - 14.
Christian Schöffmann, Barnaba Ubezio, Christoph Böhm, Stephan Muhlbacher-Karrer, Hubert Zangl: Virtual Radar: Real-Time Millimeter-Wave Radar Sensor Simulation for Perception-driven Robotics. IEEE Robotics and Automation Letters , IEEE, 6, Piscataway (NJ), 2021, S. 1 - 1.
Samira Hayat, Roland Jung, Hermann Hellwagner, Christian Bettstetter, Driton Emini, Dominik Schnieders: Edge Computing in 5G for Drone Navigation: What to Offload?. IEEE Robotics and Automation Letters, IEEE, 6, Piscataway (NJ), 2021, S. 2571 - 2578.
Bernhard Rinner, Christian Bettstetter, Hermann Hellwagner, Stephan Michael Weiss: Multidrone Systems: More Than the Sum of the Parts. Computer, IEEE Computer Society Press, 54, Los Alamitos (CA), 2021, S. 34 - 43.
Eren Allak, Alessandro Fornasier, Stephan Michael Weiss: Consistent Covariance Pre-Integration for Invariant Filters with Delayed Measurements. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Piscataway (NJ), 2020, S. 1 - 1.
Christian Brommer, Roland Jung, Jan Steinbrener, Stephan Michael Weiss: MaRS: A Modular and Robust Sensor-Fusion Framework. IEEE Robotics and Automation Letters , IEEE, Piscataway (NJ), 2020,
Jan Steinbrener, Konstantin Posch, Jürgen Pilz: Measuring the Uncertainty of Predictions in Deep Neural Networks with Variational Inference. Sensors, MDPI Publishing, Basel, 2020,
Roland Jung, Christian Brommer, Stephan Michael Weiss: Decentralized Collaborative State Estimation for Aided Inertial Navigation. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2020) , IEEE, Piscataway (NJ), 2020, S. 4673 - 4679.
Christian Brommer, Alessandro Fornasier, Stefanie Garnitschnig, Gernot Grömer, Sophie Gruber, Paolo Guardabasso, Richard Halatschek, Vittorio Netti, Keerthi Ramanna, Gerald Steinbauer, Stephan Michael Weiss: AMADEE-20 Exploration Cascade using Robotic Vehicles. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Piscataway (NJ), 2020, S. 1 - 3.
Christian Brommer, Christoph Böhm, Jan Steinbrener, Roland Brockers, Stephan Michael Weiss: Improved State Estimation in Distorted Magnetic Fields. Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS), IEEE, Athens, 2020, IEEE, Piscataway (NJ), 2020, S. 1007 - 1013.
Christoph Böhm, Guanrui Li, Giuseppe Loianno, Stephan Michael Weiss: Observabilty-Aware Trajectories for Geometric and Inertial Self-Calibration. Power On and Go Robots, 2020,
Alexander Hardt-Stremayr, Stephan Michael Weiss: Monocular Visual-Inertial Odometry in Low-Textured Environments with Smooth Gradients: A Fully Dense Direct Filtering Approach. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2020) , IEEE, Piscataway (NJ), 2020, S. 1 - 1.
Harald Gietler, Christoph Böhm, Tobias Mitterer, Lisa-Marie Faller, Stephan Michael Weiss, Hubert Zangl: 4-DOF Magnetic Field Based Localization for UAV Navigation. Proceedings of the 2018 International Symposium on Experimental Robotics, Springer International Publishing AG, 11, Cham, 2020, S. 222 - 231.
Raheeb Muzaffar, Alexander Hardt-Stremayr, Samira Hayat, Arke Vogell, Evsen Yanmaz: Autonomous Drone Navigator for 3D Reconstruction of Forests. Challenges in Vision-based Drones Navigation, 2019,
Martin Scheiber, Jeff Delaune, Roland Brockers, Stephan Michael Weiss: Visual-Inertial On-Board Throw-and-Go Initialization for Micro Air Vehicles. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Piscataway (NJ), 2019, S. 6899 - 6905.
Eren Allak, Roland Jung, Stephan Michael Weiss: Covariance Pre-Integration for Delayed Measurements in Multi-Sensor Fusion. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Piscataway (NJ), 2019, S. 1 - 1.
Jan Steinbrener, Pratik Desai: Comparison of Deep Learning Architectures on Embedded Devices and Generalized Fixed-point Conversion Algorithm. 2019 5th Experiment International Conference (exp.at'19), IEEE, Piscataway (NJ), 2019, S. 343 - 347.
Alexander Hardt-Stremayr, Stephan Michael Weiss: Towards Fully Dense Direct Filter-Based Monocular Visual-Inertial Odometry. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2019), IEEE, Piscataway (NJ), 2019, S. 4710 - 4716.
Jan Steinbrener, Konstantin Posch, Raimund Leitner: Hyperspectral fruit and vegetable classification using convolutional neural networks. Computers and Electronics in Agriculture, Elsevier B.V., 162, Amsterdam, 2019, S. 364 - 372.
Alexander Hardt-Stremayr, Stephan Michael Weiss: Navigation for UAVs. Encyclopedia of Robotics, Springer Berlin Heidelberg, 2019, S. 1 - 11.
Danylo Malyuta, Christian Brommer, Daniel Hentzen, Thomas Stastny, Roland Siegwart, Roland Brockers: Long-Duration Fully Autonomous Operation of Rotorcraft UAS for Remote-Sensing Data Acquisition. Journal of Field Robotics, John Wiley & Sons Inc., Hoboken (NJ), 2019,
Eren Allak, Alexander Hardt-Stremayr, Stephan Michael Weiss: Key-Frame Strategy During Fast Image-Scale Changes and Zero Motion in VIO Without Persistent Features. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Piscataway (NJ), 2018, S. 6872 - 6879.
Christian Brommer, Danylo Malyuta, Daniel Hentzen, Roland Brockers: Long-Duration Autonomy for Small Rotorcraft UAS Including Recharging. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Piscataway (NJ), 2018, S. 7252 - 7258.
Alexander Hardt-Stremayr, Matthias Schörghuber, Stephan Michael Weiss, Martin Humenberger: Metrics for Real-Time Mono-VSLAM Evaluation Including IMU Induced Drift with Application to UAV Flight. ECCV 2018 Workshops, Springer Nature, 11130, Berlin und London, 2018, S. 1 - 15.
James Preiss, Karol Hausman, Gaurav Sukhatme, Stephan Michael Weiss: Simultaneous self-calibration and navigation using trajectory optimization. The International Journal of Robotics Research, SAGE Journals, 2018,
Hannes Sommer, Igor Gilitschenski, Michael Blösch, Stephan Michael Weiss, Roland Siegwart, Juan Nieto: Why and How to Avoid the Flipped Quaternion Multiplication. Aerospace, MDPI AG, 5, Basel, 2018, S. 1 - 15.
Karol Hausman, James Preiss, Gaurav Sukhatme, Stephan Michael Weiss: Observability-Aware Trajectory Optimization for Self-Calibration with Application to UAVs. IEEE Robotics and Automation Letters, IEEE, 2, Piscataway (NJ), 2017, S. 1770 - 1777.
James Preiss, Karol Hausman, Gaurav Sukhatme, Stephan Michael Weiss: Trajectory Optimization for Self-Calibration and Navigation. Robotics: Science and Systems, Robotics Science and Systems Foundation , http://www.roboticsfoundation.org/, 2017,
Karol Hausman, Stephan Michael Weiss, Roland Brockers, Larry Mathies: Self-Calibrating Multi-Sensor Fusion with Probabilistic Measurement Validation for Seamless Sensor Switching on a UAV. IEEE International Conference on Robotics & Automation (ICRA), IEEE, Piscataway (NJ), 2016, S. 4289 - 4296.
Daniel Donavanik, Alexander Hardt-Stremayr, Gregory Gremillion, Stephan Michael Weiss, William Nothwang: Multi-sensor fusion techniques for state estimation of micro air vehicles. SPIE Defense and Commercial Sensing, SPIE, 9836, San Jose (CA), 2016, S. 98361U - 98361U.
Ryan Kennedy, Roland Brockers, Stephan Michael Weiss: Fail-safe visual-inertial navigation for UAVs. SPIE Defense and Commercial Sensing, SPIE, 9836, San Jose (CA), 2016, S. 98361U - 98361U.
Stephan Michael Weiss: Kleiner Heli geht auf große Reise. Kleine Zeitung, Mediaprint Zeitungs- und Zeitschriftenverlag GmbH & Co KG, Wien, 2015,
Stephan Michael Weiss: Packen eine Ladung Hirn drauf. Die Presse, Die Presse - Verlagsgesellschaft m.b.H. & Co KG, Wien, 2015,
Eren Allak, Christian Brommer, Stephan Michael Weiss: AMADEE-18: Vision-Based Unmanned Aerial Vehicle Navigation for Analog Mars Mission (AVI-NAV). Astrobiology, Mary Ann Liebert, Inc., New Rochelle, 2020, S. 1321 - 1337.

Eine vollständige Liste aller Publikationen des Instituts für Intelligente Systemtechnologien finden Sie in der Forschungsdokumentation (FoDok).