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Automated mobile robots under the influence of random disturbances

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Containment Control in Mobile Networks

Giancarlo Ferrari Trecate

In this paper, the problem of driving a collection of mobile robots to a given target destination is studied. In particular, we are interested in achieving this transfer in an orderly manner so as to ensure that the agents remain in the convex polytope spa ...

2008

Odor Source Localization with Mobile Robots

Alcherio Martinoli, Thomas Lochmatter, Xavier Raemy

Because of their excellent olfactory sense, dogs are often used to find bombs, mines, drugs, or people buried by avalanches. For such applications, autonomous mobile robots could be used in the future. Electronic sensors already exist for a wide variety of ...

2007

3D Vision-based Navigation for Indoor Microflyers

Dario Floreano, Jean-Christophe Zufferey, Antoine Beyeler

Fully autonomous control of ultra-light indoor airplanes has not yet been achieved because the strong limitations on the kind of sensors that can be embedded make it difficult to obtain good estimations of altitude. We propose to revisit altitude control b ...

2007

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

Towards a Cognitive Probabilistic Representation of Space for Mobile Robots

Roland Siegwart

Robots are rapidly evolving from factory workhorses to robot-companions. The future of robots, as our companions, is highly dependent on their abilities to understand, interpret and represent the environment in an efficient and consistent fashion, in a ...

2006

Topological SLAM

Adriana Tapus

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 ...

EPFL2005

Slam based on quantities invariant of the robot's configuration

Roland Siegwart, Nicola Tomatis

This paper presents a solution to the Simultaneous Localization and Mapping (SLAM) problem in the stochastic map framework for a mobile robot navigating in an indoor environment. The approach is based on the concept of the relative map. The idea consists i ...

2004

SLAM with Corner Features Based on a Relative Map

Roland Siegwart, Nicola Tomatis

2004

Fast Color-Independent Ball Detection for Mobile Robots

Sara Mitri

This paper presents a novel scheme for fast color invariant ball detection in the RoboCup context. Edge ﬁltered camera images serve as an input for an Ada Boost learning procedure that constructs a cascade of classiﬁcation and regression trees (CARTs). Our ...

2004

Bayesian Programming for Topological Global Localization with Fingerprints

Roland Siegwart, Adriana Tapus

This paper presents a localization algorithm for indoor environments. The environmental model is topological and the approach describes how a multimodal perception increases the reliability for the topological localization problem for mobile robots, by usi ...

2004