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Feature-based SLAM using relative quantities and structural knowledge

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On Learning, Representing and Generalizing a Task in a Humanoid Robot

Aude Billard, Sylvain Calinon

We present a Programming by Demonstration (PbD) framework for generically extracting the relevant features of a given task and for addressing the problem of generalizing the acquired knowledge to different contexts. We validate the architecture through a s ...

2007

Using Reinforcement Learning to Adapt an Imitation Task

Aude Billard

The goal of developing algorithms for programming robots by demonstration is to create an easy way of programming robots that can be accomplished by everyone. When a demonstrator teaches a task to a robot, he/she shows some ways of fulfilling the task, but ...

2007

Coordination schemes for distributed boundary coverage with a swarm of miniature robots

Nicolaus Correll

We provide a comparison of a series of original coordination mechanisms for the distributed boundary coverage problem with a swarm of miniature robots. Our analysis is based on real robot experimentation and models at different levels of abstraction. Distr ...

EPFL2007

Negotiation of goal direction for cooperative transport

Roderich Gross

In this paper, we study the cooperative transport of a heavy object by a group of robots towards a goal. We investigate the case in which robots have partial and noisy knowledge of the goal direction and can not perceive the goal itself. The robots have to ...

Springer Verlag2006

Development of a robotic mobile mapping system by vision-aided inertial navigation

Fadi Atef Bayoud

Vision-based inertial-aided navigation is gaining ground due to its many potential applications. In previous decades, the integration of vision and inertial sensors was monopolised by the defence industry due to its complexity and unrealistic economic burd ...

EPFL2006

On Learning the Statistical Representation of a Task and Generalizing it to Various Contexts

Aude Billard, Sylvain Calinon

This paper presents an architecture for solving generically the problem of extracting the relevant features of a given task in a programming by demonstration framework and the problem of generalizing the acquired knowledge to various contexts. We validate ...

2006

Feature-based 3D SLAM

Jan Weingarten

This doctoral thesis deals with an open subproblem of robot navigation, namely simultaneous localization and mapping (SLAM) in three-dimensional space. The goal is to develop a system which is capable of localizing a mobile robot in a reliable way and at t ...

EPFL2006

Automatic Self-Calibration of a Vision System during Robot Motion

Roland Siegwart, Davide Scaramuzza

This paper presents a new technique to estimate the extrinsic parameters of a robot-vision sensor system. More in general, this technique can be adopted to calibrate any robot bearing sensor. It is based on the Extended Kalman Filter. It is very simple and ...

2006

Robot Navigation by Panoramic Vision and Attention Guided Features

Roland Siegwart, Heinz Hügli, Adriana Tapus, Alexandre Bur

In visual-based robot navigation, panoramic vision emerges as a very attractive candidate for solving the localization task. Unfortunately, current systems rely on specific feature selection processes that do not cover the requirements of general purpose r ...

2006

EKF SLAM vs. FastSLAM -- A comparison

Michael Calonder

The two algorithms are described with a planar robot application in mind. Generalization to any spatial SLAM scenarios is straightforward. ...

2006