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An Exploration of Online Parallel Learning in Heterogeneous Multi-Robot Swarms

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Cooperation through self-assembly in multi-robot

Francesco Mondada, Michael Bonani, Roderich Gross

This article illustrates the methods and results of two sets of experiments in which a group of mobile robots, called s-bots, are required to physically connect to each other, that is, to self-assemble, to cope with environmental conditions that prevent th ...

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

Theoretical Results on On-line Sensor Self-Calibration

Roland Siegwart, Jan Weingarten

In this paper we derive theoretical results for the problem of on-line sensor calibration for a mobile robot. We consider the case of the odometry sensor. A first series of results regards the problem of understanding if a given system (consisting of a rob ...

2006

The WalkTrainer™: A Robotic System for Walking Rehabilitation*

Reymond Clavel, Mohamed Bouri, Yves Stauffer, Patrick Métrailler, Carl Schmitt, Yves Allemand

Robots are excellent tools for providing motion. Their motion is precise, stiff and as repeatable as we need. This led the Swiss Foundation for Cyberthosis (SFC) to exploit robotics jointly with the muscle electrostimulation as intelligent rehabilitation d ...

2006

3D SLAM using Planar Segments

Roland Siegwart, Jan Weingarten

This paper presents an improved feature-based 3D SLAM approach for a mobile robot equipped with a rotating laser scanner. The features are represented within the SPmodel, with associated planar segment information based on decimated triangle sets. An Exten ...

2006

Flying over the Reality Gap: From Simulated to Real Indoor Airships

Dario Floreano, Jean-Christophe Zufferey, Antoine Beyeler

Because of their ability to naturally float in the air, indoor airships (often called blimps) constitute an appealing platform for research in aerial robotics. However, when confronted to long lasting experiments such as those involving learning or evoluti ...

2006

Particle swarm optimization for unsupervised robotic learning

Alcherio Martinoli, James Pugh

We explore using particle swarm optimization on problems with noisy performance evaluation, focusing on unsupervised robotic learning. We adapt a technique of overcoming noise used in genetic algorithms for use with particle swarm optimization, and evaluat ...

2005

Bio-inspired vision-based flying robots

Jean-Christophe Zufferey

There are not yet autonomous flying robots capable of manoeuvring in small cluttered environments as insects do. Encouraged by this observation, this thesis presents the development of ultra-light flying robots and control systems going one step toward ful ...

EPFL2005

Active Vision and Receptive Field Development in Evolutionary Robots

Dario Floreano, Claudio Mattiussi, Mototaka Suzuki

In this paper, we describe the artificial evolution of adaptive neural controllers for an outdoor mobile robot equipped with a mobile camera. The robot can dynamically select the gazing direction by moving the body and/or the camera. The neural control sys ...

2005

A Control Method for Stable and Smooth Path Following of Mobile Robots

Roland Siegwart

This paper addresses the problem of mobile robot navigation in indoor cluttered environments. A new algorithm for both longitudinal and lateral real-time control of wheel-based mobile robots has been proposed. Its main characteristic is smooth and stable f ...

2005