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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 ...
We present a new approach for estimating the parameters of three-phase untransposed electrically short transmission lines using voltage/current synchrophasor measurements obtained from phasor measurement units. The parameters to be estimated are the entrie ...
Flying robots require a combination of accuracy and low latency in their state estimation in order to achieve stable and robust flight. However, due to the power and payload constraints of aerial platforms, state estimation algorithms must provide these qu ...
We study the problem of learning unknown parameters of stochastic dynamical models from data. Often, these models are high dimensional and contain several scales and complex structures. One is then interested in obtaining a reduced, coarse-grained descript ...
Ultra-wideband (UWB) localization is a recent technology that promises to outperform many indoor localization methods currently available. Yet, non-line-of-sight (NLOS) positioning scenarios can create large biases in the time-difference-of-arrival (TDOA) ...
Mobile robots build on accurate, real-time mapping with onboard range sensors to achieve autonomous navigation over rough terrain. Existing approaches often rely on absolute localization based on tracking of external geometric or visual features. To circum ...
Legged robots come in a range of sizes and capabilities. By combining these robots into heterogeneous teams, joint locomotion and perception tasks can be achieved by utilizing the diversified features of each robot. In this work we present a framework for ...
This paper introduces a novel batch optimization based calibration framework for legged robots. Given a nondegenerate calibration dataset and considering the stochastic models of the sensors, the task is formulated as a maximum likelihood problem. In order ...
In this paper, we develop an autonomous construction system in which self-contained ground robots build a protective barrier by means of compliant pockets. We present a stochastic control algorithm based on two biological mechanisms–stigmergy and templates ...
Many scientific systems are studied using computer codes that simulate the phenomena of interest. Computer simulation enables scientists to study a broad range of possible conditions, generating large quantities of data at a faster rate than the laboratory ...