Concept
Mobile robot
Publications associées (1 000)
Sense in Motion with Belief Clustering: Efficient Gas Source Localization with Mobile Robots
Alcherio Martinoli, Wanting Jin
Given the patchy nature of gas plumes and the slow response of conventional gas sensors, the use of mobile robots for Gas Source Localization (GSL) tasks presents significant challenges. These aspects increase the difficulties in obtaining gas measurement ...
2024Distributed Predictive Formation Control of Autonomous Rotary-Wing Micro Aerial Vehicles
This doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...
EPFL2024Exact Obstacle Avoidance for Robots in Complex and Dynamic Environments Using Local Modulation
Robots outside of the fenced factories have to deal with continuously changing environment, this requires fast and flexible modes of control. Planning methods or complex learning models can find optimal paths in complex surroundings, but they are computati ...
EPFL2024Passive Obstacle Aware Control to Follow Desired Velocity
Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which remains complia ...
2024Quantifying the biomimicry gap in biohybrid robot-fish pairs
Francesco Mondada, Vaios Papaspyros
Biohybrid systems in which robotic lures interact with animals have become compelling tools for probing and identifying the mechanisms underlying collective animal behavior. One key challenge lies in the transfer of social interaction models from simulatio ...
2024Online Multicontact Receding Horizon Planning via Value Function Approximation
Sylvain Calinon, Teguh Santoso Lembono
Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...
Ieee-Inst Electrical Electronics Engineers Inc2024Hitting with Different Joints of a Robotic Manipulator
This paper builds up the skill of impact aware non prehensile manipulation through a hitting motion by allowing the robot arm to come in contact with the environment with parts other than its end effector. Hitting with other joints allows us to manipulate ...
2024Robot Learning using Tensor Networks
In various robotics applications, the selection of function approximation methods greatly influences the feasibility and computational efficiency of algorithms. Tensor Networks (TNs), also referred to as tensor decomposition techniques, present a versatile ...
EPFL2024Gas Sensing with Rotary-Wing Nano Aerial Vehicles
Harmful chemical compounds are released daily in warehouses, chemical plants and during environmental emergencies. Their uncontrolled dispersion contributes to the pollution of the atmosphere and threatens human and animal lives.When gas leaks occur, their ...
EPFL2024A Biohybrid Superorganism - Investigating honeybees' collective behaviors via interactive robotics
Social insects, such as ants, termites, and honeybees, have evolved sophisticated societies where the collaborative efforts of "simple" individuals can lead to the emergence of complex dynamics. The reliance of each organism on the collective is so great t ...
EPFL2024