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Coordination schemes for distributed boundary coverage with a swarm of miniature robots

Publications associées (147)

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Swarm Robotic Plume Tracking for Intermittent and Time-Variant Odor Dispersion

Ali Marjovi

This paper presents a method for odor plume tracking by a swarm of robots in realistic conditions. In real world environments, the chemical concentration within an odor plume is patchy, intermittent and time-variant. This study shows that swarm robots can ...

IEEE2013

Beat-Based Synchronization and Steering for Groups of Fixed-Wing Flying Robots

Dario Floreano, Jean-Christophe Zufferey, Sabine Hauert, Severin Leven

Groups of fixed-wing robots can benefit from moving in synchrony to share sensing and communication capabilities, avoid collisions or produce visually pleasing choreographies. Synchronous motion is especially challenging when using fixed-wing robots that r ...

Springer-Verlag Berlin2013

Evolutionary robotics–the use of evolutionary algorithms to automate the production of autonomous robots–has been an active area of research for two decades. However, previous work in this domain has been limited by the simplicity of the evolved robots and ...

University of Vermont2013

Finding the best spatial formation of stationary gas sensors in detection of odor clues is the first step of searching for olfactory targets in a given space using a swarm of robots. Considering no movement for a network of gas sensors, this paper formulat ...

Springer Verlag2013

A Plume Tracking Algorithm Based on Crosswind Formations

Alcherio Martinoli, Inaki Navarro Oiza, Thomas Lochmatter

We introduce a plume tracking algorithm based on robot formations. The algorithm is inherently designed for multi-robot systems, and requires at least two robots to collaborate. The robots try to keep themselves centered around the plume while moving upwin ...

Springer-Verlag Berlin2013

Sparse Iterative Closest Point

Mark Pauly, Sofien Bouaziz, Andrea Tagliasacchi

Rigid registration of two geometric data sets is essential in many applications, including robot navigation, surface reconstruction, and shape matching. Most commonly, variants of the Iterative Closest Point (ICP) algorithm are employed for this task. Thes ...

Wiley-Blackwell2013

Robotic clusters: Multi-robot systems as computer clusters A topological map merging demonstration

Ali Marjovi, Sarvenaz Choobdar

In most multi-robot systems, an individual robot is not capable of solving computationally hard problems due to lack of high processing power. This paper introduces the novel concept of robotic clusters to empower these systems in their problem solving. A ...

Elsevier2012

A Behavior-Based Mission Planner for Cooperative Autonomous Underwater Vehicles

Laura Toni

Due to its applications in marine research, oceanographic, and undersea exploration, Autonomous Underwater Vehicles (AUVs) and the related control algorithms has been recently under intense investigation. In this work, we address target detection and track ...

Marine Technology Society2012

Design of Flying Robots for Collision Absorption and Self-Recovery

Adam Klaptocz

Flying robots have the unique advantage of being able to move through the air unaffected by the obstacles or precipices below them. This ability quickly becomes a disadvantage, however, as the amount of free space is reduced and the risk of collisions incr ...

EPFL2012

An Active Uprighting Mechanism for Flying Robots

Dario Floreano, Jean-Christophe Zufferey, Adrien Briod, Adam Klaptocz, Ludovic Daler

Flying robots have unique advantages in the exploration of cluttered environments such as caves or collapsed buildings. Current systems however have difficulty in dealing with the large amount of obstacles inherent to such environments. Collisions with obs ...

Ieee-Inst Electrical Electronics Engineers Inc2012