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The Odometry Error of a Mobile Robot with a Synchronous Drive System

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Many environments where robots are expected to operate are cluttered with objects, walls, debris, and different horizontal and vertical structures. In this chapter, we present four design features that allow small robots to rapidly and safely move in 3 dim ...

2011

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A model-based Design of Experiments method was employed for the optimisation of measurements on a Solid Oxide Fuel Cell (SOFC). Based on a simplified SOFC model, a variation of the D-optimality was used as optimisation criterion for the calculation of opti ...

2011

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This paper provides a robustness analysis of the method we recently developed for rhythmic movement assistance using adaptive oscillators. An adaptive oscillator is a mathematical tool capable of extracting high-level features (i.e. amplitude, frequency, o ...

IEEE2011

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

Bio-inspired and probabilistic algorithms for distributed odor source localization using mobile robots

Thomas Lochmatter

We compare six different algorithms for localizing odor sources with mobile robots. Three algorithms are bio-inspired and mimic the behavior of insects when exposed to airborne pheromones. Two algorithms are based on probability and information theory, and ...

EPFL2010

A generic calibration framework for joint estimation of car following models using microscopic data

Microscopic simulation models have become widely applied tools in traffic engineering. Nevertheless, parameter identification of these models remains a difficult task. This is for one caused by the fact that parameters are generally not directly observable ...

2010

Multicriteria methods for assessing pharmaceuticals hazard for the environment

Luca Rossi, Sylvain Coutu

Among emerging pollutants found in surface and ground waters, pharmaceuticals are currently receiving a particular interest. There are several physico/chemical parameters that could describe the fate of pharmaceuticals in the environment, so as their toxic ...

2010

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

Identiﬁcation and the information matrix: how to get just sufﬁciently rich?

Ljubisa Miskovic

In prediction error identiﬁcation, the information matrix plays a central role. Speciﬁcally, when the system is in the model set, the covariance matrix of the parameter estimates converges asymptotically, up to a scaling factor, to the inverse of the infor ...

2009

Characterization of natural sand under complex dynamic loading

Laurent Vulliet, Emilie Rascol

An experimental study, conducted with an advanced triaxial press, evaluates the effect of different loading paths on the dynamic behavior of natural Swiss sand. Emphasis is put on comparison between the dynamic parameters evaluated in a single loading (wit ...

Taylor & Francis Group2009