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Publications associées (12)

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Keep Rollin’—Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots

Marco Hutter

We show dynamic locomotion strategies for wheeled quadrupedal robots that combine the advantages of both walking and driving. The developed optimization framework tightly integrates the additional degrees of freedom introduced by the wheels. Our approach r ...

2019

Low-Latency Event-Based Visual Odometry

Davide Scaramuzza

The agility of a robotic system is ultimately limited by the speed of its processing pipeline. The use of a Dynamic Vision Sensors (DVS), a sensor producing asynchronous events as luminance changes are perceived by its pixels, makes it possible to have a s ...

2014

Feature-based SLAM using relative quantities and structural knowledge

This thesis is about feature-based mobile robot navigation in unknown environments. The work is focusing on solving the problem of Simultaneous Localization and Mapping (SLAM) including feature extraction, estimation and complete map building solution. The ...

EPFL2008

Theoretical Results on On-line Sensor Self-Calibration

Roland Siegwart, Jan Weingarten

In this paper we derive theoretical results for the problem of on-line sensor calibration for a mobile robot. We consider the case of the odometry sensor. A first series of results regards the problem of understanding if a given system (consisting of a rob ...

2006

3D position tracking for all-terrain robots

Pierre Lamon

Rough terrain robotics is a fast evolving field of research and a lot of effort is deployed towards enabling a greater level of autonomy for outdoor vehicles. Such robots find their application in scientific exploration of hostile environments like deserts ...

EPFL2005

Topological SLAM

Adriana Tapus

This thesis is about topological navigation, more precisely about space representation, perception, localization and mapping. All these elements are needed in order to obtain a robust and reliable framework for navigation. This is essential in order to mov ...

EPFL2005

Estimating the Odometry Error of a Mobile Robot during Navigation

Roland Siegwart

This paper addresses the problem of the odometry error estimation during the robot navigation. The robot is equipped with an external sensor (like laser range finder). Concerning the systematic error an augmented Kalman Filter is introduced. This filter es ...

2003

Evaluating the Odometry Error of a Mobile Robot

This paper focuses on issues of odometry for the special case of synchronous drive wheeled mobile robots. In particular, the uncertainty in odometry is modeled by a four parameter statistical model already introduced in previous works together with a strat ...

2002

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

This paper presents an error modeling of an odometry system for a synchronous-drive system and a possible strategy for evaluating this error. The odometry error is modeled by introducing four parameters characterizing its systematic and nonsystematic compo ...

2002

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

The odometry error of a mobile robot contains both sys- tematic and non-systematic components. The first ones are independent of the environment while the second ones depend on the interaction of the robot with the environ- ment where the robot moves. In t ...

2002