Publications de Laleh Makarem | EPFL Graph Search

Priority coordination of fiber positioners in multi-objects spectrographs

Denis Gillet, Jean-Paul Richard Kneib, Mohamed Bouri, Laleh Makarem

Projects such as "The Dark Energy Spectroscopic Instrument" (DESI) [1] or "The Multi Object Optical and Near-infrared Spectrograph" (MOONS) [5] are developing spectrographs, composed of more than thousand of optical fibers in a confined hexagonal focal pla ...

SPIE-INT SOC OPTICAL ENGINEERING2018

A Virtual Vehicle Based Coordination Framework For Autonomous Vehicles in Heterogeneous Scenarios

Denis Gillet, Laleh Makarem

This work presents a novel virtual vehicle based decentralized coordination framework for Connected Autonomous Vehicles (CAVs). We explore the idea of CAVs being capable of positioning virtual vehicles to share their intended maneuver as well as request co ...

2017

Target-based fiber assignment for large survey spectrographs

Jean-Paul Richard Kneib, Laleh Makarem, Christoph Ernst René Schäfer

Next generation massive spectroscopic survey projects have to process a massive amount of targets. The preparation of subsequent observations should be feasible in a reasonable amount of time. We present a fast algorithm for target assignment that scales a ...

Spie-Int Soc Optical Engineering2016

An 8-mm diameter fibre robot positioner for massive spectroscopy surveys

Denis Gillet, Hannes Bleuler, Jean-Paul Richard Kneib, Mohamed Bouri, Laleh Makarem, Laurent Frédéric Jenni

Massive spectroscopic survey are becoming trendy in astrophysics and cosmology, as they can address new fundamental knowledge such as understanding the formation of the Milky Way and probing the nature of the mysterious dark energy. To enable massive spect ...

Oxford University Press2015

Decentralized multi-robot coordination in crowded workspaces

Laleh Makarem

The coordination of multi-robot systems is becoming one of the most important areas of research in robotics, mostly because it is required by numerous complex applications. These applications range from intelligent transportation systems, search and rescue ...

EPFL2015

Collision avoidance in next-generation fiber positioner robotic systems for large survey spectrographs

Denis Gillet, Hannes Bleuler, Jean-Paul Richard Kneib, Mohamed Bouri, Laleh Makarem, Laurent Frédéric Jenni

Some of the next generation massive spectroscopic survey projects, plan to use thousands of fiber positioner robots packed at a focal plane to quickly move in parallel the fiber-ends from the previous to the next target points. The most direct trajectories ...

2014

Micro-simulation Modeling of Coordination of Automated Guided Vehicles at Intersection

Denis Gillet, André-Gilles Dumont, Laleh Makarem, Minh Hai Pham

One of the challenges with autonomous vehicles is their performance at intersections. An alternative control method for the coordination of autonomous vehicles at intersections is shown. The proposed approach was grounded in multiple-robot coordination and ...

National Academy of Sciences2012

Information sharing among autonomous vehicles crossing an intersection

Denis Gillet, Laleh Makarem

In this paper we compare the performance of autonomous vehicles at intersections with respect to the type of information shared. For this purpose we consider the cases where vehicles share or not information about their inertia and their intention at the i ...

2012

Collision-Free Intersection Crossing of Mobile Robots Using Decentralized Navigation Functions on Predefined Paths

Denis Gillet, Laleh Makarem, Benjamin Fankhauser

This paper deals with the coordination of a group of mobile robots at an intersection. It focusses on decentralized navigation functions (DNFs) to achieve efficient traffic control. The main challenge is to define virtual potentials, which are used by dece ...

2011

Decentralized Coordination of Autonomous Vehicles at intersections

Denis Gillet, Laleh Makarem

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 ...

2011