Publications related to Distributed Learning of Cooperative Robotic Behaviors using Particle Swarm Optimization

Model Predictive Control of Aerial Swarms

Aerial robot swarms can have a large socio-economic impact. They can perform time-critical missions faster than a single robot and access dangerous environments without compromising human safety. However, swarm deployment is often limited to free environme ...

EPFL2022

Safety Concerns Emerging from Robots Navigating in Crowded Pedestrian Areas

Aude Billard, Diego Felipe Paez Granados, Pericle Salvini

The slogan “robots will pervade our environment” has become a reality. Drones and ground robots are used for commercial purposes while semi-autonomous driving systems are standard accessories to traditional cars. However, while our eyes have been riveted o ...

2021

Cooperative Multi-Robot Systems for Aquatic Environmental Sensing

Anwar Ahmad Quraishi

Bringing advantages of parallelism and robustness, distributed robotic systems have become an active subject of research since many years. Yet, the progress in that direction with Autonomous Underwater Vehicles (AUVs) has been limited. This project aims at ...

EPFL2021

A Position-Control-Based Framework for Dynamic and Robust Quadrupedal Trotting

Zeya Yin, Boxing Wang, Song Liu, Haoyu Zhang

With the emergence of more and more torque-controlled robots, the agility of leg locomotion has been promoted to a new level, which, however, seems also to imply that only torque-controlled robots are appropriate for leg locomotion. This paper demonstrates ...

IEEE2021

Multi-robot task allocation for safe planning against stochastic hazard dynamics

Maryam Kamgarpour, Orcun Karaca

This paper considers the problem of multi-robot safe mission planning in uncertain dynamic environments. This problem arises in several applications including safety-critical exploration, surveillance, and emergency rescue missions. Computation of a multi- ...

2021

Physical Safety in Collisions Between Robots and Pedestrians

Aude Billard, Diego Felipe Paez Granados, David Julian Gonon, Pericle Salvini

The widespread deployment of mobile service robots in public environments and the growing use of autonomy as control modality will increase the exposure to hazards for people simply sharing the robot floor. The need to ensure safety becomes an ethical and ...

2020

Robotic Insertion of Timber Joints using Visual Detection of Fiducial Markers

Yves Weinand, Nicolas Henry Pierre Louis Rogeau, Victor Tiberghien, Pierre Latteur

Timber building industry is facing a major transformation with digitalization and automation being more broadly adopted. Prefabricated timber frame structures can be mass-produced on large robotic assembly lines, increasing the productivity and competitive ...

2020

Measurement Scheduling for Cooperative Localization in Resource-Constrained Conditions

Qi Yan, Li Jiang

This letter studies the measurement scheduling problem for a group of

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mobile robots moving on a flat surface that are preforming cooperative localization (CL). We consider a scenario in which due to the limited on-board resources such as battery life a ...

2020

Active Improvement of Control Policies with Bayesian Gaussian Mixture Model

Sylvain Calinon, Emmanuel Pignat, Hakan Girgin, Noémie Laure Gwendoline Jaquier

Learning from demonstration (LfD) is an intuitive framework allowing non-expert users to easily (re-)program robots. However, the quality and quantity of demonstrations have a great influence on the generalization performances of LfD approaches. In this pa ...

IEEE2020

Gamified Motor Training With Tangible Robots in Older Adults: A Feasibility Study and Comparison With the Young

Pierre Dillenbourg, Friedhelm Christoph Hummel, Wafa Monia Benkaouar Johal, Maximilian Jonas Wessel, Ayberk Özgür, Jennifer Kaitlyn Olsen

Background: An increasing lifespan and the resulting change in our expectations of later life stages are dependent on a good health state. This emphasizes the importance of the development of strategies to further strengthen healthy aging. One important as ...

2020

Distributed Learning of Cooperative Robotic Behaviors using Particle Swarm Optimization

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Model Predictive Control of Aerial Swarms

Safety Concerns Emerging from Robots Navigating in Crowded Pedestrian Areas

Cooperative Multi-Robot Systems for Aquatic Environmental Sensing

A Position-Control-Based Framework for Dynamic and Robust Quadrupedal Trotting

Multi-robot task allocation for safe planning against stochastic hazard dynamics

Physical Safety in Collisions Between Robots and Pedestrians

Robotic Insertion of Timber Joints using Visual Detection of Fiducial Markers

Measurement Scheduling for Cooperative Localization in Resource-Constrained Conditions

Active Improvement of Control Policies with Bayesian Gaussian Mixture Model

Gamified Motor Training With Tangible Robots in Older Adults: A Feasibility Study and Comparison With the Young

Model Predictive Control of Aerial Swarms

Safety Concerns Emerging from Robots Navigating in Crowded Pedestrian Areas

A Position-Control-Based Framework for Dynamic and Robust Quadrupedal Trotting

Cooperative Multi-Robot Systems for Aquatic Environmental Sensing

Multi-robot task allocation for safe planning against stochastic hazard dynamics

Robotic Insertion of Timber Joints using Visual Detection of Fiducial Markers

Physical Safety in Collisions Between Robots and Pedestrians

Active Improvement of Control Policies with Bayesian Gaussian Mixture Model

Gamified Motor Training With Tangible Robots in Older Adults: A Feasibility Study and Comparison With the Young

Measurement Scheduling for Cooperative Localization in Resource-Constrained Conditions