Personne
Nicola Tomatis
Cette personne n’est plus à l’EPFL
Publications associées (30)
Hybrid, metric-topological representation for localization and mapping
This chapter describes an approach for indoor spatial representation, which is used to model the environment for the navigation of a fully autonomous robot. The metric and topological paradigms are integrated in a hybrid system for both localization and ma ...
Springer-Verlag New York, Ms Ingrid Cunningham, 175 Fifth Ave, New York, Ny 10010 Usa2008Robots Meet Humans Interaction in Public Spaces
Roland Siegwart, Nicola Tomatis, Björn Jensen
This paper presents experiences from Robotics, a long-term project at the Swiss National Exposition Expo.02, where mobile robots served as tour guides. It includes a description of the design and implementation of the robot and addresses reliability and sa ...
2005A Comparison of Line Extraction Algorithms using 2D Laser Rangefinder for Indoor Mobile Robotics
Roland Siegwart, Nicola Tomatis
This paper presents an experimental evaluation of different line extraction algorithms on 2D laser scans for indoor environment. Six popular algorithms in mobile robotics and computer vision are selected and tested. Experiments are performed on 100 real da ...
2005Topological Global Localization and Mapping with Fingerprint and Uncertainty
Roland Siegwart, Nicola Tomatis, Adriana Tapus
Navigation in unknown or partially unknown environments remains one of the biggest challenges in today's mobile robotics. Environmental modeling, perception, localization and mapping are all needed for a successful approach. The contribution of this paper ...
2004Slam based on quantities invariant of the robot's configuration
Roland Siegwart, Nicola Tomatis
This paper presents a solution to the Simultaneous Localization and Mapping (SLAM) problem in the stochastic map framework for a mobile robot navigating in an indoor environment. The approach is based on the concept of the relative map. The idea consists i ...
2004SLAM with Corner Features Based on a Relative Map
Roland Siegwart, Nicola Tomatis
This paper presents a solution to the Simultaneous Localization and Mapping (SLAM) problem in the stochastic map framework for a mobile robot navigating in an indoor environment. The approach is based on the concept of the relative map. The idea consists i ...
2004"May You Have a Strong (-Typed) Foundation", Why Strong-Typed Programming Languages Do Matter
Roland Siegwart, Nicola Tomatis
Programming efficient and reliable code can be considered a non-trivial task, as it requires deep understanding of the problem to be solved along with good programming skills. However, software frameworks and programming paradigms can provide a dependable ...
2004Open Challenges in SLAM: An Optimal Solution Based on Shift and Rotation Invariants
Roland Siegwart, Nicola Tomatis
This paper starts with a discussion of the open challenges in the SLAM problem. In our opinion they can be grouped in two main and distinct areas: convergence of the built map and computation requirement for real world application. To deal with the previou ...
2004Autonomous Navigation and Security: A 13000h/3000km Case Study
Roland Siegwart, Nicola Tomatis, Grégoire Terrien
This paper presents the design of an autonomous mobile platform and its security system. The MB835 mobile platform has been adopted for RoboX, a fully autonomous tour guide robot. In 2002, 11 of these tour guides have served the Robotics exhibition at Expo ...
2004A Navigation Framework for Multiple Mobile Robots and its Application at the Expo.02 Exhibition
Roland Siegwart, Nicola Tomatis, Kai Oliver Arras, Roland Philippsen
This paper presents a navigation framework which enables multiple mobile robots to attain individual goals, coordinate their actions and work safely and reliably in a highly dynamic environment. We give an overview of the framework architecture, its layeri ...
2003