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Hybrid Simultaneous Localization and Map Building: Closing the Loop with Multi-Hypotheses Tracking

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Models and Algorithms for Ultra-Wideband Localization in Single- and Multi-Robot Systems

Amanda Stella Markowska Prorok

Location is a piece of information that empowers almost any type of application. In contrast to the outdoors, where global navigation satellite systems provide geo-spatial positioning, there are still millions of square meters of indoor space that are unac ...

EPFL2013

A Trajectory-based Calibration Method for Stochastic Motion Models

Alcherio Martinoli, Massimo Mastrangeli, Grégory Mermoud, Ezequiel Leonardo Di Mario

In this paper, we present a quantitative, trajectory-based method for calibrating stochastic motion models of water-floating robots. Our calibration method is based on the Correlated Random Walk (CRW) model, and consists in minimizing the Kolmogorov-Smirno ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2011

Multi-robot olfactory search in structured environments

Ali Marjovi

This paper presents a cooperative distributed approach for searching odor sources in unknown structured environments with multiple mobile robots. While searching and exploring the environment, the robots independently generate on-line local topological map ...

Elsevier2011

View-Based Maps

Pascal Fua, Vincent Lepetit, Michael Calonder

Robotic systems that can create and use visual maps in real-time 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 stereo views of the envi ...

SAGE Publications2010

A Multi Cue Discriminative Approach to Semantic Place Classification

Barbara Caputo, Marco Fornoni, Jesús Martínez Gómez

This paper describes the participation of Idiap-MULTI to the Robot Vision Task at imageCLEF 2010. Our approach was based on a discriminative classification algorithm using multiple cues. Specically, we used an SVM and combined up to four different histogra ...

2010

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

Openness And Convexity For Momentum Maps

Tudor Ratiu, Juan-Pablo Ortega

The purpose of this paper is finding the essential attributes underlying the convexity theorems for momentum maps. It is shown that they are of a topological nature; more specifically, we show that convexity follows if the map is open onto its image and ha ...

2009

On the classification of the coadjoint orbits of the Sobolev Bott-Virasoro group

François Gay-Balmaz

The purpose of this paper is to give the classification of the Bott-Virasoro coadjoint orbits, with nonzero central charge, in the functional analytic setting of smooth Hilbert manifolds. The central object of the paper is thus the completion of the Bott-V ...

2009

Hybrid, metric-topological representation for localization and mapping

Nicola Tomatis

This chapter describes an approach for indoor spatial representation, which is used to model the environment for the navigation of a fully autonomous robot. The metric and topological paradigms are integrated in a hybrid system for both localization and ma ...

Springer-Verlag New York, Ms Ingrid Cunningham, 175 Fifth Ave, New York, Ny 10010 Usa2008

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