Publication

Nouveaux concepts de locomotion pour véhicules tout-terrain robotisés

Related publications (51)

Micro-simulation Modeling of Coordination of Automated Guided Vehicles at Intersection

Denis Gillet, André-Gilles Dumont, Laleh Makarem, Minh Hai Pham

One of the challenges with autonomous vehicles is their performance at intersections. An alternative control method for the coordination of autonomous vehicles at intersections is shown. The proposed approach was grounded in multiple-robot coordination and ...

2012

Triangular formation control using range measurements: an application to marine robotic vehicles

Jorge Miguel Dias Almeida Rodrigues Soares, António Pedro Rodrigues de Aguiar

This paper addresses the problem of maintaining an autonomous robotic vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The robotic vehicle has no a priori knowledge of the path described by the leader ...

2012

Enabling Large-Scale Collective Systems in Outdoor Aerial Robotics

Severin Leven

For many real-life applications such as monitoring, mapping, search-and-rescue or ad-hoc communication networks, fleets of flying robots are expected to out-perform existing solutions. Robots can join forces to cover larger areas in less time, act as effic ...

EPFL2011

Distributed motion planning for ground objects using a network of robotic ceiling cameras

We study a distributed approach to path planning. We focus on holonomic kinematic motion in cluttered 2D areas. The problem consists in defining the precise sequence of roto-translations of a rigid object of arbitrary shape that has to be transported from ...

Springer Berlin Heidelberg2011

Energy-Efficient Indoor Search by Swarms of Flying Robots without Global Information

Timothy Stirling

Swarms of robots can quickly search large environments through parallelisation, are robust due to redundancy, and can simplify complex tasks like navigation compared to a single robot. Flying swarms can rapidly cover rough terrain and have elevated sensing ...

EPFL2011

Velocity-Scheduling Control for a Unicycle Mobile Robot: Theory and Experiments

Dominique Bonvin, Philippe Müllhaupt, Davide Buccieri, Damien Perritaz

Improvement over classical dynamic feedback linearization for a unicycle mobile robots is proposed. Compared to classical extension, the technique uses a higher-dimensional state extension, which allows rejecting a constant disturbance on the robot rotatio ...

2009

Magnebike: A Magnetic Wheeled Robot with High Mobility for Inspecting Complex-Shaped Structures

Roland Siegwart, Francesco Mondada, Fabien Tâche, Gilles Caprari, Roland Moser

This paper describes the Magnebike robot, a compact robot with two magnetic wheels in a motorbike arrangement, which is intended for inspecting the inner casing of ferromagnetic pipes with complex-shaped structures. The locomotion concept is based on an ad ...

2009

Flow experiments with gravel and blocks at small scale to investigate parameters and mechanisms involved in rock avalanches

Vincent Labiouse, Irene Manzella

Laboratory experiments play an important role in improving the modelling of rock avalanches since they contribute to a better understanding of the mechanisms that characterise propagation and to identifying parameters influencing velocity and deposit chara ...

2009

Scaling and dynamics of washboard roads

Anne-Florence Raphaëlle Bitbol

Granular surfaces subjected to forces due to rolling wheels develop ripples above a critical speed. The resulting pattern, known as washboard or corrugated road, is common on dry unpaved roads. We investigated this phenomenon theoretically and experimental ...

American Physical Society (APS)2009

On Achieving Periodic Joint-Motion for Redundant Robots

Denis Gillet, Philippe Müllhaupt, Yvan Michellod

The consequence of the loss of involutivity of a specific set of vector fields on the periodicity of the joint motion is examined for redundant robots. An output task, defined as a one dimensional periodic closed curve embedded in a two dimensional working ...

2008

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