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Detection of Slippery Terrain with a Heterogeneous Team of Legged Robots

Related publications (132)

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Multi-Robot Localization Using Relative Observations

Roland Siegwart, Frédéric Pont

In this paper we consider the problem of simultaneously localizing all members of a team of robots. Each robot is equipped with proprioceptive sensors and exteroceptive sensors. The latter provide relative observations between the robots. Proprioceptive an ...

2005

EKF-based 3D SLAM for Structured Environment Reconstruction

Roland Siegwart, Jan Weingarten

This paper presents the extension and experimental validation of the widely used EKF1-based SLAM2 algorithm to 3D space. It uses planar features extracted probabilistically from dense three-dimensional point clouds generated by a rotating 2D laser scanner. ...

2005

MICRON: Small Autonomous Robot for Cell Manipulation Applications

Jean-Marc Breguet, Walter Driesen

Manipulating in the micro- or even nano world still poses a great challenge to robotics. Conventional (stationary) systems suffer from drawbacks regarding integration into process supervision and multi-robot approaches, which become highly relevant to figh ...

2005

Semiparametric Latent Factor Models

Matthias Seeger

We propose a semiparametric model for regression problems involving multiple response variables. The model makes use of a set of Gaussian processes that are linearly mixed to capture dependencies that may exist among the response variables. We propose an e ...

2005

Wheel torque control for a rough terrain rover

Roland Siegwart, Pierre Lamon, Michel Lauria

Navigating in rough terrain is a complex task that requires the robot to be considered as a holistic system. Algorithms, which don’t consider the physical dimensions and capabilities of the mobile robot lead to inefficient motion and suffer from a la ...

2004

Profibus PC based motion control with application to a new 5 axes parallel kinematics

Reymond Clavel, Mohamed Bouri, Patric Pham

Generally the classical control architecture used to carry out a robot position control is based on a classical industrial motion planner that needs encoders cabling and analog cabling to insure the regulation loop. This work proposes a Profibus PC based c ...

2004

Optic-flow-based steering and altitude control for ultra-light indoor aircraft

Dario Floreano, Jean-Christophe Zufferey

Our goal is to demonstrate the ability of bio-inspired techniques to solve the problem of piloting an autonomous 40-grams aircraft within textured indoor environments. Because of severe weight and energy constraints, inspiration has been taken from the fly ...

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

Computational elements of robot learning by imitation

Aude Billard

Robot learning by imitation makes an increasing body of robotics research. Imitation learning complements motor learning techniques by restricting the search space to a computationally tractable subset. Imitation learning search for spatial and temporal in ...

2002

Ago Ergo Sum

Dario Floreano

In this paper I explore the hypothesis that some of today's robots might possess a form of consciousness whose substrate is a mere algorithm. First, consciousness is defined within an evolutionary framework as awareness of one's own state in relation to th ...

John Benjamins Publishing2002