Publications related to Cooperative Multi-Robot Systems for Aquatic Environmental Sensing

An Autonomous Robotic Platform to Manipulate Collective Behavior in Ants

Eusocial life is characterized by division of labour, collective decision making and self organization, and regarded as the highest form of social organisation in groups. Ants are a model organism for research in collective behavior and the evolution of eu ...

EPFL2023

Coordination and control of a group of ground robots

Pierre Chassagne

The aim of this project was to assemble, interconnect, and program a group of ground robots. The objective of the robot control is to cooperatively complete a set of tasks where each task represents a goal location that needs to be visited. For the hardwar ...

2022

VIO-UWB-Based Collaborative Localization and Dense Scene Reconstruction within Heterogeneous Multi-Robot Systems

Fabrizio Schiano

Effective collaboration in multi-robot systems requires accurate and robust estimation of relative localization: from cooperative manipulation to collaborative sensing, and including cooperative exploration or cooperative transportation. This paper introdu ...

IEEE2022

Blind as a Bat: Audible Echolocation on Small Robots

Martin Vetterli, Mihailo Kolundzija, Adrien Guillaume Olivier Hoffet, Adam James Scholefield, Frederike Dümbgen

For safe and efficient operation, mobile robots need to perceive their environment, and in particular, perform tasks such as obstacle detection, localization, and mapping. Although robots are often equipped with microphones and speakers, the audio modality ...

2022

How to Swoop and Grasp Like a Bird With a Passive Claw for a High-Speed Grasping

Dario Floreano, William John Stewart, Enrico Ajanic, Matthias Müller

There is a growing interest in unmanned aerial vehicles (UAVs) grasping, perching, and interacting with their surroundings by means of claws, arms, hooks, and other appendages. While multirotor vehicles can slowly lower onto a target object and grasp it, w ...

2022

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

Passive Perching with Energy Storage for Winged Aerial Robots

Dario Floreano, Yegor Piskarev, William John Stewart, Luca Guarino

Perching in unmanned aerial vehicles (UAVs) offers the possibility of extending the range of aerial robots beyond the limits of their batteries. It has been a topic of intense study for multirotor UAVs. Perching in winged UAVs is harder because a kinetic e ...

2021

A Distributed Source Term Estimation Algorithm for Multi-Robot Systems

Alcherio Martinoli, Faezeh Rahbar

Finding sources of airborne chemicals with mobile sensing systems finds applications in safety, security, and emergency situations related to medical, domestic, and environmental domains. Given the often critical nature of all the applications, it is impor ...

2020

Piezoelectric Grippers for Mobile Micromanipulation

Tristan Abondance, Kaushik Jayaram

The ability to efficiently and precisely manipulate objects in inaccessible environments is becoming an essential requirement for many applications of mobile robots, particularly at small sizes. Here, we propose and implement a mobile micromanipulation sol ...

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

Cooperative Multi-Robot Systems for Aquatic Environmental Sensing

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An Autonomous Robotic Platform to Manipulate Collective Behavior in Ants

Coordination and control of a group of ground robots

VIO-UWB-Based Collaborative Localization and Dense Scene Reconstruction within Heterogeneous Multi-Robot Systems

Blind as a Bat: Audible Echolocation on Small Robots

How to Swoop and Grasp Like a Bird With a Passive Claw for a High-Speed Grasping

Safety Concerns Emerging from Robots Navigating in Crowded Pedestrian Areas

Passive Perching with Energy Storage for Winged Aerial Robots

A Distributed Source Term Estimation Algorithm for Multi-Robot Systems

Piezoelectric Grippers for Mobile Micromanipulation

Measurement Scheduling for Cooperative Localization in Resource-Constrained Conditions

How to Swoop and Grasp Like a Bird With a Passive Claw for a High-Speed Grasping

Safety Concerns Emerging from Robots Navigating in Crowded Pedestrian Areas

Coordination and control of a group of ground robots

An Autonomous Robotic Platform to Manipulate Collective Behavior in Ants

Measurement Scheduling for Cooperative Localization in Resource-Constrained Conditions

VIO-UWB-Based Collaborative Localization and Dense Scene Reconstruction within Heterogeneous Multi-Robot Systems

Blind as a Bat: Audible Echolocation on Small Robots

Passive Perching with Energy Storage for Winged Aerial Robots

A Distributed Source Term Estimation Algorithm for Multi-Robot Systems

Piezoelectric Grippers for Mobile Micromanipulation