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An Integrated Approach to Real-Time Mobile Robot Control in Partially Known Indoor Environments

Related publications (37)

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Adaptive Morphology for Multi-Modal Locomotion

Ludovic Daler

There is a growing interest in using robots in dangerous environments, such as for exploration, search-and-rescue or monitoring applications, in order to reduce the risks for workers or rescuers and to improve their efficiency. Typically, flying robots off ...

EPFL2015

A Holistic Approach to Energy Harvesting for Indoor Robots

Florian Christopher Vaussard

Service robotics is a fast expanding market. Inside households, domestic robots can now accomplish numerous tasks, such as floor cleaning, surveillance, or remote presence. Their sales have considerably increased over the past years. Whereas 1.05 million d ...

EPFL2015

Fuzzy Control System for Autonomous Navigation and Parking of Thymio II Mobile Robots

Francesco Mondada

This paper proposed a fuzzy controller for the autonomous navigation problem of robotic systems in a dynamic and uncertain environment. In particular, we are interested in determining the robot motion to reach the target while ensuring their own safety and ...

2014

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

Sparse Iterative Closest Point

Mark Pauly, Sofien Bouaziz, Andrea Tagliasacchi

Rigid registration of two geometric data sets is essential in many applications, including robot navigation, surface reconstruction, and shape matching. Most commonly, variants of the Iterative Closest Point (ICP) algorithm are employed for this task. Thes ...

Wiley-Blackwell2013

Integration of Online Learning into HTN Planning for Robotic Tasks

Francesco Mondada, Jean-Cédric Chappelier, Stéphane Magnenat

This paper extends hierarchical task network (HTN) planning with lightweight learning, considering that in robotics, actions have a non-zero probability of failing. Our work applies to A*-based HTN planners with lifting. We prove that the planner finds the ...

2012

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

Accommodation of NLOS for Ultra-Wideband TDOA Localization in Single- and Multi-Robot Systems

Phillip Tomé, Amanda Stella Markowska Prorok

Ultra-wideband (UWB) localization is one of the most promising indoor localization methods. Yet, non-line-ofsight (NLOS) positioning scenarios remain a challenge and can potentially cause significant localization errors. In this work, we leverage the utili ...

2011

A Framework for NLOS Ultra-Wideband Ranging in Collaborative Mobile Robot Systems

Alcherio Martinoli, Phillip Tomé, Amanda Stella Markowska Prorok

Ultra-wideband (UWB) localization is one of the most promising indoor localization methods. Yet, non-line-of- sight (NLOS) positioning scenarios remain a challenge and can potentially cause significant localization errors. In this work, we leverage the col ...

2011

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