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Leveraging Multi-Level Modelling to Automatically Design Behavioral Arbitrators in Robotic Controllers

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Towards a self-deploying and gliding robot

Dario Floreano, Mirko Kovac, Jean-Christophe Zufferey

Strategies for hybrid locomotion such as jumping and gliding are used in nature by many different animals for traveling over rough terrain. This combination of locomotion modes also allows small robots to overcome relatively large obstacles at a minimal en ...

Springer Berlin Heidelberg2009

View-Based Maps

Pascal Fua, Vincent Lepetit, Michael Calonder

Robotic systems that can create and use visual maps in realtime have obvious advantages in many applications, from automatic driving to mobile manipulation in the home. In this paper we describe a mapping system based on retaining views of the environment ...

2009

An Exploration of Online Parallel Learning in Heterogeneous Multi-Robot Swarms

Alcherio Martinoli, James Pugh

Designing effective behavioral controllers for mobile robots can be difficult and tedious; this process can be circumvented by using unsupervised learning techniques which allow robots to evolve their own controllers online in an automated fashion. In mult ...

Springer2008

Synthesis, modeling, and experimental validation of distributed robotic search

James Pugh

The work of this thesis centers around the research subject of distributed robotic search. Within the field of distributed robotic systems, a task of particular interest is attempting to locate one or more targets in a possibly unknown environment. While n ...

EPFL2008

Parallel Learning in Heterogeneous Multi-Robot Swarms

Alcherio Martinoli, James Pugh

2007

A Forward Model of Optic Flow for Detecting External Forces

Leonidas Georgopoulos

Robot positioning is an important function of autonomous intelligent robots. However, the application of external forces to a robot can disrupt its normal operation and cause localisation errors. We present a novel approach for detecting external disturban ...

IEEE/RSJ2007

Autonomous Self-assembly in a Swarm-bot

Francesco Mondada, Michael Bonani, Roderich Gross

Multi-robot systems have been studied in tasks that require the robots to be physically linked. In such a configuration, a group of robots may navigate a terrain that proves too difficult for a single robot. On the contrary, many collective tasks can be ac ...

Springer Verlag2006

A Windows PC based robot controller: An open architecture

Reymond Clavel, Mohamed Bouri

Robot motion controllers consist of a very important component in a robotic infrastructure. The flexibility is more and more needed to allow fastness in development and adaptation from one robot to another. The laboratory of robotic systems of the Ecole Po ...

2005

SLAM with Corner Features Based on a Relative Map

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

The Accuracy on the Parameter Estimation of an Odometry System of a Mobile Robot

The odometry error of a mobile robot contains both sys- tematic and non-systematic components. The first ones are independent of the environment while the second ones depend on the interaction of the robot with the environ- ment where the robot moves. In t ...

2002