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Software integration in mobile robotics, a science to scale up machine intelligence

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Design and Control of an Indoor Micro Quadrotor

Roland Siegwart

Recent progress in sensor technology, data processing and integrated actuators has made the development of miniature flying robots fully possible. Micro VTOL1 systems represent a useful class of flying robots because of their strong capabilities for small- ...

2004

Open Challenges in SLAM: An Optimal Solution Based on Shift and Rotation Invariants

Roland Siegwart, Nicola Tomatis

This paper starts with a discussion of the open challenges in the SLAM problem. In our opinion they can be grouped in two main and distinct areas: convergence of the built map and computation requirement for real world application. To deal with the previou ...

2004

Micro manipulation by adhesion with two collaborating mobile micro robots

Jean-Marc Breguet, Walter Driesen

A micro manipulation platform consisting of several cm3-sized 4 DOF micro robots has been developed by EPFL. This paper discusses four different strategies for grasping, transferring and releasing a micro object by manipulation by adhesion. The strategies ...

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

Topological Analysis of Robotic N-Wheeled Ground Vehicles

Roland Siegwart, Michel Lauria

Robotic ground vehicles are systems that use gravity and contact forces with the ground to perform motion. In this paper we will focus on n-wheeled vehicles able to perform motion with all the wheels maintaining contact at the same time. The main goal of t ...

2003

Smooth and Efficient Obstacle Avoidance for a Tour Guide Robot

Roland Siegwart, Roland Philippsen

We present the local path planning and obstacle avoidance method used on the autonomous tour-guide robot RoboX. It has proven its value during a 5 month operation of ten such robots in a real-world application, a very crowded exhibition. Three known approa ...

2003

Evolving Vision-based Flying Robots

Dario Floreano, Jean-Christophe Zufferey

We describe a new experimental approach whereby an indoor flying robot evolves the ability to navigate in a textured room using only visual information and neuromorphic control. The architecture of a spiking neural circuit, which is connected to the vision ...

2002

Octopus - An Autonomous Wheeled Climbing Robot

Roland Siegwart, Yves Henri Philippe Piguet, Michel Lauria

This paper presents an innovative off-road wheeled mobile robot, named Octopus, able to deal autonomously with obstacles in rough terrain without getting stuck. To achieve such a performance, the robot is equipped with tilt sensors and tactile wheels. The ...

2002

Modeling and Estimating the Odometry Error of a Mobile Robot

This paper presents both an error modeling of an odometry system and a possible procedure in order to evaluate this error. This error contains systematic and non-systematic components. In this paper both components have been evaluated for the mobile robot ...

2001

Incremental Robot Shaping

Dario Floreano, Mirco Dorigo, Joseba Urzelai

We propose a modular architecture for autonomous robots which allows for the implementation of basic behavioral modules by both programming and training, and accommodates for an evolutionary development of the interconnections among modules. This architect ...

1998