Concept

Robotic mapping

Publications associées (143)

Social NCE: Contrastive Learning of Socially-aware Motion Representations

Learning socially-aware motion representations is at the core of recent advances in multi-agent problems, such as human motion forecasting and robot navigation in crowds. Despite promising progress, existing representations learned with neural networks sti ...

2021

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Aude Billard, Diego Felipe Paez Granados

Soon human-robot interactions in pedestrian areas will be beyond the novelty effect with the deployment of delivery robots, autonomous personal mobility vehicles, and surveillance robots. Proxemics and other social rules guide these interactions, nonethele ...

2021

Human Detection and Segmentation via Multi-view Consensus

Pascal Fua, Mathieu Salzmann, Isinsu Katircioglu, Helge Jochen Rhodin

Self-supervised detection and segmentation of foreground objects aims for accuracy without annotated training data. However, existing approaches predominantly rely on restrictive assumptions on appearance and motion. For scenes with dynamic activities and ...

IEEE2021

Robust Localization for Multi-robot Formations: An Experimental Evaluation of an Extended GM-PHD Filter

Alcherio Martinoli, Alicja Barbara Roelofsen, Michiaki Hirayama

This paper presents a thorough experimental evaluation of an extended Gaussian Mixture Probability Hypothesis Density filter which is able to provide state estimates for the maintenance of a multirobot formation, even when the communication fails and the t ...

Springer Nature2021

Coordinated Path Planning for Surface Acoustic Beacons for Supporting Underwater Localization

Alcherio Martinoli, Anwar Ahmad Quraishi

Accurate localization is one of the biggest challenges in underwater robotics. The primary reasons behind that are unavailability of satellite-based positioning below the surface, and lack of clear features in natural water bodies for visually aided locali ...

2021

Bluetooth Low Energy Direction Finding Principle

Yves Perriard, Alexis Boegli, Pooneh Mohaghegh

The ubiquitous implementation of 5G networks and the Internet of Things (IoT), brings about the importance of indoor localization. Even though Global Positioning System (GPS) provides an efficient outdoor Positioning System (PS), indoor positioning techniq ...

IEEE2021

Memory of Motion for Warm-Starting Trajectory Optimization

Sylvain Calinon, Emmanuel Pignat, Antonio Paolillo, Teguh Santoso Lembono

Trajectory optimization for motion planning requires good initial guesses to obtain good performance. In our proposed approach, we build a memory of motion based on a database of robot paths to provide good initial guesses. The memory of motion relies on f ...

2020

STC-GAN: Spatio-Temporally Coupled Generative Adversarial Networks for Predictive Scene Parsing

Jie Luo, Yiyu Wang, Mengshi Qi

Predictive scene parsing is a task of assigning pixel-level semantic labels to a future frame of a video. It has many applications in vision-based artificial intelligent systems, e.g., autonomous driving and robot navigation. Although previous work has sho ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2020

Robot skills learning with Riemannian manifolds: Leveraging geometry-awareness in robot learning, optimization and control

Noémie Laure Gwendoline Jaquier

Humans exhibit outstanding learning and adaptation capabilities while performing various types of manipulation tasks. When learning new skills, humans are able to extract important information by observing examples of a task and efficiently refine a priori ...

EPFL2020

Relax and Recover: Guaranteed Range-Only Continuous Localization

Adam James Scholefield, Frederike Dümbgen, Michalina Wanda Pacholska

Range-only localization has applications as diverse as underwater navigation, drone tracking and indoor localization. While the theoretical foundations of lateration---range-only localization for static points---are well understood, there is a lack of unde ...

2020

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