VP-STO: Via-point-based Stochastic Trajectory Optimization for Reactive Robot Behavior
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Human-Robot interaction is an area full of challenges for artificial intelligence: dynamic, partially unknown environments that are not originally designed for autonomous machines; a large variety of situations and objects to deal with, with possibly compl ...
In this thesis we present the design and implementation of a novel self-reconfiguring modular (SR-MR) robotic system: Roombots. We are aiming at three main applications with Roombots; locomotion through self-reconfiguration in the regular cubic 3D-lattice ...
Miniaturisation will be the key challenge for the next decade in numerous industrial fields, such as microelectronics, optics and biomedical engineering. Although most of their products already achieve footprints of some square millimeters, the trend towar ...
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 ...
Institutional robotics (IR) is an approach to the coordination of multi-robot systems that draws inspiration from social sciences, namely from institutional economics. Using the concept of institution, it aims to provide a comprehensive strategy for specif ...
The ease with which humans coordinate all their limbs is fascinating. Such a simplicity is the result of a complex process of motor coordination, i.e. the ability to resolve the biomechanical redundancy in an efficient and repeatable manner. Coordination e ...
The principles of embodied cognition dictate that intelligent behavior must arise out of the coupled dynamics of an agent's brain, body, and environment. While the relationship between controllers and morphologies (brains and bodies) has been investigated, ...
We address the recognition of people’s visual focus of attention (VFOA), the discrete version of gaze that indicates who is looking at whom or what. As a good indicator of addressee-hood (who speaks to whom, and in particular is a person speaking to the ro ...
While anthropomorphism in human-robot interaction is often discussed, it still appears to lack formal grounds. We recently proposed a first model of the dynamics of anthropomorphism that reflects the evolution of anthropomorphism in the human-robot interac ...
Computing infrastructures of mobile robots have grown in complexity in the last decades; They have evolved from single processor systems to networks of microcontrollers communicating through a shared bus. This has induced additional architectural constrain ...