Hybrid, metric-topological representation for localization and mapping
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This tutorial paper is concerned with the identification of hybrid models, i.e. dynamical models whose behavior is determined by interacting continuous and discrete dynamics. Methods specifically aimed at the identification of models with a hybrid structur ...
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 ...
This review highlights several classes of natural product hybrids. First, structural hybrids emanating from different biosynthetic pathways exemplified by the polyketide peptide alkaloid anachelin are discussed. Another class is the so-called functional hy ...
The problem of driving a collection of mobile robots to a given target location is studied in the context of partial difference equations. In particular, we are interested in achieving this transfer while ensuring that the agents stay in the convex polytop ...
We report on the observation of a large production of runaway electrons during a disruptive termination of discharges heated with lower-hybrid waves at the Frascati Tokamak Upgrade. The runaway current plateaus, which can carry up to 80% of the predisrupti ...
In this paper, the observability properties of automotive powertrains with backlash are analysed. We model the powertrain as a hybrid system in the piecewise affine form and use measurements of the torque and the angular speed of the engine for computing t ...
Integrating visual and inertial sensors has become a common practice in navigation due to the increase in computer power, in algorithms advancement and in sensor improvements. One of the problems yet to be solved is the Simultaneous Localisation And Mappin ...
The efficiency of social insect colonies critically depends on their ability to efficiently allocate workers to the various tasks which need to be performed. While numerous models have investigated the mechanisms allowing an efficient colony response to ex ...
The Geodetic Engineering Laboratory at EPFL has designed a mobile mapping system to determine the geometry of the road: the Photobus. This paper describes major steps that move the Photobus towards a real-time mapping system. ...
This thesis is about topological navigation, more precisely about space representation, perception, localization and mapping. All these elements are needed in order to obtain a robust and reliable framework for navigation. This is essential in order to mov ...