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Laplacian sheep: a hybrid, stop-go policy for leader-based containment control

Related publications (52)

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Hybrid Simultaneous Localization and Map Building: Closing the Loop with Multi-Hypotheses Tracking

Roland Siegwart, Nicola Tomatis

In this paper simultaneous localization and map building is performed with a hybrid, metric - topological, approach. A global topological map connects local metric maps, allowing a compact environment model, which does not require global metric consistency ...

2002

Recent progresses in the technology of the Ni-Zn batteries have a direct influence on the improvement of the performance of hybrid electric vehicles. This paper evaluates the progresses of these batteries in particular for application on hybrid light vehic ...

IEEE2002

Moving Horizon Estimation for Hybrid Systems

Giancarlo Ferrari Trecate

We propose a state smoothing algorithm for hybrid systems based on Moving Horizon Estimation (MHE) by exploiting the equivalence between hybrid systems modeled in the Mixed Logic Dynamical form and piecewise affine systems. We provide sufficient conditions ...

2002

Three-dimensional miniaturised power Inductors realised in a batch-type hybrid technology

Martinus Gijs

We present a new hybrid technology for the realization of three-dimensional millimetre-size inductors for low-power (0.1–1 W) applications. Our devices consist of electroplated planar Cu coils, realized within a high-resolution (5 µm) polyimide flex-foil p ...

2002

This thesis presents a recent research on the problem of environmental modeling for both localization and map building for wheel-based, differential driven, fully autonomous and self-contained mobile robots. The robots behave in an indoor office environmen ...

EPFL2001

Lower hybrid dynamics by ECE spectra in Tore Supra

The suprathermal electron cyclotron radiation is used to investigate fundamental phenomena governing electron tail formation during lower hybrid current drive (LHCD). To this end, an approximate analytical solution of the 2-D time-dependent Fokker-Planck e ...

2001

A New Multi-Objective Optimisation Technique Applied to a Vehicle Drive Train Simulation

Daniel Favrat, Adam Molyneaux, Geoffrey Basil Leyland

This paper presents a methodology for optimisation of vehicle drivetrain configuration and their design with respect to multiple parameters. Some preliminary results from such optimisations are presented. Multi-objective optimisation algorithms have been d ...

2001

An Hybrid Approach for Robust and Precise Mobile Robot Navigation with Compact Environment Modeling

Roland Siegwart, Nicola Tomatis, Kai Oliver Arras

In this paper a new localization approach combining the metric and topological paradigm is presented. The main idea is to connect local metric maps by means of a global topological map. This allows a compact environment model which does not require global ...

2001

Moving Horizon Estimation for Hybrid Systems

Giancarlo Ferrari Trecate

In this paper, by exploiting the equivalence between hybrid systems modeled in the Mixed Logic Dynamical form and Piece-Wise Affine systems, we propose a state smoothing algorithm based on Moving Horizon Estimation (MHE). We provide sufficient conditions o ...

2000

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