Person

Pierre Lamon

This person is no longer with EPFL

Related publications (10)

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3D position tracking for all-terrain robots

Pierre Lamon

Rough terrain robotics is a fast evolving field of research and a lot of effort is deployed towards enabling a greater level of autonomy for outdoor vehicles. Such robots find their application in scientific exploration of hostile environments like deserts ...

EPFL2005

Wheel Torque Control in Rough Terrain - Modeling and Simulation

Roland Siegwart, Pierre Lamon

This paper presents a method for wheel-ground contact angle measurement and a traction control strategy minimizing slip in rough terrain. The slip minimization algorithm has been tested and compared with a standard speed control in simulation, which allows ...

2005

3D Position Tracking in Challenging Terrain

Roland Siegwart, Pierre Lamon

The intent of this paper is to show how the accuracy of 3D position tracking can be improved by considering rover locomotion in rough terrain as a holistic problem. An appropriate locomotion concept endowed with a controller min- imizing slip improves the ...

2005

Wheel torque control for a rough terrain rover

Roland Siegwart, Pierre Lamon, Michel Lauria

Navigating in rough terrain is a complex task that requires the robot to be considered as a holistic system. Algorithms, which don’t consider the physical dimensions and capabilities of the mobile robot lead to inefficient motion and suffer from a la ...

2004

Modeling and optimization of wheeled rovers

Roland Siegwart, Pierre Lamon

Due to the different properties of the dynamical simulation of multi-body systems, it is important to introduce a classification that allows for the right selection of a simulation type according to the users needs. The proposed classification divides sim ...

2004

Inertial and 3D-odometry fusion in rough terrain Towards real 3D navigation

Roland Siegwart, Pierre Lamon

Many algorithms related to localization need good pose prediction in order to produce accurate results. This is especially the case for data association algorithms, where false feature matches can lead to the localization system failure. In rough terrain, ...

2004

LameAlice, a Nanorover for Planetary Exploration

Roland Siegwart, Gilles Caprari, Pierre Lamon, Michel Lauria

The recent advances in micro-technology made it possible to realize very small autonomous robots. Such mobile micro-robots have many potential applications. Especially in space exploration, where weight and size is a very dominant issue, mobile micro-robot ...

2003

3D-Odometry for rough terrain - Towards real 3D navigation

Roland Siegwart, Pierre Lamon

Up to recently autonomous mobile robots were mostly designed to run within an indoor, yet partly structured and flat, environment. In rough terrain many problems arise and position tracking becomes more difficult. The robot has to deal with wheel slippage ...

2003

Environmental Modeling with Fingerprint Sequences for Topological Global Localization

Roland Siegwart, Nicola Tomatis, Adriana Tapus, Pierre Lamon

In this paper a perception approach allowing for high distinctiveness is presented. The method works in accordance to the fingerprint concept. Such representation allows using a very flexible matching approach based on the minimum energy algorithm. The who ...

2003

SOLERO : Solar Powered Exploration Rover

Roland Siegwart, Pierre Lamon

This abstract presents a perform study on SOLERO, a new and innovative rover concept for regional mobility on planetary surfaces. A rover is the most suited element to bring scientific instrument to a specific site in order to examine geology, mineralogy o ...

2002