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We study a distributed approach to path planning. We focus on holonomic kinematic motion in cluttered 2D areas. The problem consists in defining the precise sequence of roto-translations of a rigid object of arbitrary shape that has to be transported from ...
Aerial swarms have the potential to search for forest fires, chemical plumes or victims and serve as communication and sensor networks in the sky. Flying robots are interesting for such applications because they are fast, can easily overcome difficult terr ...
Exploration of an unknown environment is a fundamental concern in mobile robotics. This paper presents an approach for cooperative multi-robot exploration, fire searching and mapping in an unknown environment. The proposed approach aims to minimize the ove ...
This paper introduces the mechanical design and the control concept of the Series Compliant Articulated Robotic Leg ScarlETH which was developed at ETH Zurich for fast, efficient, and versatile locomotion. Inspired by biological systems, we seek to achieve ...
For many real-life applications such as monitoring, mapping, search-and-rescue or ad-hoc communication networks, fleets of flying robots are expected to out-perform existing solutions. Robots can join forces to cover larger areas in less time, act as effic ...
Swarms of flying robots are a promising alternative to ground-based robots for search in indoor environments with advantages such as increased speed and the ability to fly above obstacles. However, there are numerous problems that must be surmounted includ ...
This paper presents a novel semi-autonomous navigation strategy designed for low throughput interfaces. A mobile robot (e.g. intelligent wheelchair) proposes the most probable action, as analyzed from the environment, to a human user who can either accept ...
In this paper, the decentralized coordination of point-mass autonomous vehicles at intersections using navigation functions is considered. As main contribution, the inertia of the vehicles is taken into account to enable on-board energy optimization for cr ...
The present work tackles integration in mobile robotics. Integration is often considered to be a mere technique, unworthy of scientific investigation. On the contrary, we show that integrating capabilities in a mobile robot entails new questions that the p ...
Optic-flow is believed to be the main source of information allowing insects to control their flight. Some researchers have tried to apply this paradigm to small unmanned aerial vehicles (UAVs). So far, none of them has been able to demonstrate a fully aut ...
