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

Related publications (171)

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Design and acceptability assessment of a new reversible orthosis

Jamie Paik

We present a new device aimed at being used for upper limb rehabilitation. Our main focus was to design a robot capable of working in both the passive mode (i.e. the robot shall be strong enough to generate human-like movements while guiding the weak arm o ...

2008

On Learning, Representing and Generalizing a Task in a Humanoid Robot

Aude Billard, Sylvain Calinon

We present a Programming by Demonstration (PbD) framework for generically extracting the relevant features of a given task and for addressing the problem of generalizing the acquired knowledge to different contexts. We validate the architecture through a s ...

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

Minimizing Trilateration Errors in the Presence of Uncertain Landmark Positions

Alexander Bahr

Trilateration is a technique for position estimation from range measurements which is often used in robot navigation. Most applications assume that there is no error associated with the landmarks used for trilateration. In cooperative navigation, in which ...

2007

Automatic Self-Calibration of a Vision System during Robot Motion

Roland Siegwart, Davide Scaramuzza

This paper presents a new technique to estimate the extrinsic parameters of a robot-vision sensor system. More in general, this technique can be adopted to calibrate any robot bearing sensor. It is based on the Extended Kalman Filter. It is very simple and ...

2006

Error handling in multimodal voice-enabled interfaces of tour-guide robots using graphical models

Plamen Prodanov

Mobile service robots are going to play an increasing role in the society of humans. Voice-enabled interaction with service robots becomes very important, if such robots are to be deployed in real-world environments and accepted by the vast majority of pot ...

EPFL2006

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

Velocity Scheduling Controller for a Nonholonomic Mobile Robot

Dominique Bonvin, Philippe Müllhaupt, Davide Buccieri

An improvement over classical dynamic feedback linearization for the control of a nonholonomic mobile robot is proposed. The use of a state extension of higher dimension than in the case of dynamic feedback linearization helps reject constant disturbances ...

2006

Toward Online Probabilistic Path Replanning

Roland Siegwart, Björn Jensen, Roland Philippsen

In this talk we present work on sensor-based motion planning in initially unknown dynamic environments. Motion detection and probabilistic motion modeling are combined with a smooth navigation function to perform on-line path planning and replanning in clu ...

2006

Feature-based 3D SLAM

Jan Weingarten

This doctoral thesis deals with an open subproblem of robot navigation, namely simultaneous localization and mapping (SLAM) in three-dimensional space. The goal is to develop a system which is capable of localizing a mobile robot in a reliable way and at t ...

EPFL2006