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Velocity-Scheduling Control for a Unicycle Mobile Robot: Theory and Experiments

Publications associées (128)

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Design and Control of the Mobile Micro Robot Alice

Roland Siegwart, Gilles Caprari

This paper describes the design methodology to build an autonomous mobile robot of just few cubic centimeters (2 x 2 x 2 cm). Starting from the expected features, the design path will be shown, going through solution proposition, component search, subsyste ...

2003

Searching a Target with a Mobile Robot

Adriana Tapus

This paper presents an application of the Markov Decision Processes to search a target with a mobile robot. The robot does not know the absolute position of the target. It only knows the position of the target relative to its position. Markov Decision Proc ...

2003

A 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

Nouveaux concepts de locomotion pour véhicules tout-terrain robotisés

Michel Lauria

Robotic ground vehicles are mechanisms that use gravity and contact forces with the ground to perform motion. They can either be wheeled, tracked or legged. In this thesis we will focus on n-wheeled vehicles able to perform ground following motion with all ...

EPFL2003

Octopus - An Autonomous Wheeled Climbing Robot

Roland Siegwart, Yves Henri Philippe Piguet, Michel Lauria

This paper presents an innovative off-road wheeled mobile robot, named Octopus, able to deal autonomously with obstacles in rough terrain without getting stuck. To achieve such a performance, the robot is equipped with tilt sensors and tactile wheels. The ...

2002

The Accuracy on the Parameter Estimation of an Odometry System of a Mobile Robot

The odometry error of a mobile robot contains both sys- tematic and non-systematic components. The first ones are independent of the environment while the second ones depend on the interaction of the robot with the environ- ment where the robot moves. In t ...

2002

The Odometry Error of a Mobile Robot with a Synchronous Drive System

This paper presents an error modeling of an odometry system for a synchronous-drive system and a possible strategy for evaluating this error. The odometry error is modeled by introducing four parameters characterizing its systematic and nonsystematic compo ...

2002

Active Vision and Feature Selection in Evolutionary Behavioral Systems

Dario Floreano

We describe an evolutionary approach to active vision systems for dynamic feature selection. After summarizing recent work on evolution of a simulated active retina for complex shape discrimination, we describe in detail experiments that extend this approa ...

2002

Modeling and Estimating the Odometry Error of a Mobile Robot

This paper presents both an error modeling of an odometry system and a possible procedure in order to evaluate this error. This error contains systematic and non-systematic components. In this paper both components have been evaluated for the mobile robot ...

2001

A new approach to define optimal acceleration shape based on an electrical model

Yves Perriard, Cédric Paroz

In modern robots and industrial machine tools, acceleration times begin to prevail over cruising times. This paper demonstrates the important relations between acceleration shape and the various characteristics of a drive system. These characteristics are ...

EPE Assoc2001