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Cooperative Sensing and Recognition by a Swarm of Mobile Robots

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Parallel Learning in Heterogeneous Multi-Robot Swarms

Alcherio Martinoli, James Pugh

Designing effective behavioral controllers for mobile robots can be difficult and tedious; this process can be circumvented by using unsupervised learning techniques which allow robots to evolve their own controllers in an automated fashion. In multi-robot ...

2007

A Forward Model of Optic Flow for Detecting External Forces

Leonidas Georgopoulos

Robot positioning is an important function of autonomous intelligent robots. However, the application of external forces to a robot can disrupt its normal operation and cause localisation errors. We present a novel approach for detecting external disturban ...

IEEE/RSJ2007

Confidence-based Cue Integration for Visual Place Recognition

Barbara Caputo

A distinctive feature of intelligent systems is their capability to analyze their level of expertise for a give task; in other words, they know what they know. As a way towards this ambitious goal, this paper presents an algorithm for recognition able to m ...

IDIAP2007

Autonomous Self-assembly in a Swarm-bot

Francesco Mondada, Michael Bonani, Roderich Gross

Multi-robot systems have been studied in tasks that require the robots to be physically linked. In such a configuration, a group of robots may navigate a terrain that proves too difficult for a single robot. On the contrary, many collective tasks can be ac ...

Springer Verlag2006

Multi-Robot Learning with Particle Swarm Optimization

Alcherio Martinoli, James Pugh

We apply an adapted version of Particle Swarm Optimization to distributed unsupervised robotic learning in groups of robots with only local information. The performance of the learning technique for a simple task is compared across robot groups of various ...

2006

SwisTrack: A Tracking Tool for Multi-Unit Robotic and Biological Systems

Alcherio Martinoli, Nicolaus Correll, Jean-Louis Deneubourg

Tracking of miniature robotic platforms involves major challenges in image recognition and data association. We present our 3-year effort into developing the platform-independent, easy-to-use, and robust tracking software SwisTrack, which is tailored to re ...

2006

Results on Range Image Segmentation for Service Robots

Roland Siegwart

This paper presents an experimental evaluation of a plane extraction method using various line extraction algorithms. Four different algorithms are chosen, which are well known in mobile robotics and computer vision. Experiments are performed on two sets o ...

2006

Analyse du contexte à l'aide de méthodes probabilistes pour l'interaction hommes-robots

Guy Ramel

Mobile robots are gradually appearing in our daily environments. In order to autonomously navigate in real world environments and interact with objects and humans, robots are facing various major technological challenges. Among the required key competences ...

EPFL2006

A Discriminative Approach to Robust Visual Place Recognition

Barbara Caputo

An important competence for a mobile robot system is the ability to localize and perform context interpretation. This is required to perform basic navigation and to facilitate local specific services. Usually localization is performed based on a purely geo ...

2006

Precise Bearing Angle Measurement Based on Omnidirectional Conic Sensor and Defocusing

Roland Siegwart, Davide Scaramuzza

Recent studies on multi-robot localization have shown that the uncertainty of robot location may be considerably reduced by optimally fusing odometry and the relative angles of sight (bearing) among the team members. However, the latter requires the capabi ...

2005