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Synthesis, modeling, and experimental validation of distributed robotic search

Publications associées (373)

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Multi-level Spatial Modeling for Stochastic Distributed Robotic Systems

Alcherio Martinoli, Nicolaus Correll, Amanda Stella Markowska Prorok

We propose a combined spatial and non-spatial probabilistic modeling methodology motivated by an inspection task performed by a group of miniature robots. Our models explicitly consider spatiality and yield accurate predictions on system performance. An ag ...

2011

Bayesian Rendezvous for Distributed Robotic Systems

Alcherio Martinoli, Sven Adrian Gowal

In this paper, we state, using thorough mathe- matical analysis, sufficient conditions to perform a rendezvous maneuver with a group of differential-wheeled robots endowed with an on-board, noisy, local positioning system. In particular, we extend the exis ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2011

Learning Nonlinear Multivariate Dynamics of Motion in Robotic Manipulators [accepted]

Aude Billard, Seyed Mohammad Khansari Zadeh, Elena Gribovskaya

Motion imitation requires reproduction of a dynamical signature of a movement, i.e. a robot should be able to encode and reproduce a particular path together with a specific velocity and/or an acceleration profile. Furthermore, a human provides only few de ...

SAGE Publications2011

Soft Robotics: Challenges and Perspectives

There has been an increasing interest in the use of unconventional materials and morphologies in robotic systems because the underlying mechanical properties (such as body shapes, elasticity, viscosity, softness, density and stickiness) are crucial researc ...

Elsevier Science, Reg Sales Off, Customer Support Dept, 655 Ave Of The Americas, New York, Ny 10010 Usa2011

An Overview of 3D Object Grasp Synthesis Algorithms

Sahar El Khoury

This overview presents computational algorithms for generating 3D object grasps with autonomous multi-fingered robotic hands. Robotic grasping has been an active research subject for decades, and a great deal of effort has been spent on grasp synthesis alg ...

Elsevier2011

Tremo: an inspection climbing inchworm based on magnetic switchable device

Francesco Mondada, Hannes Bleuler, Frédéric Rochat, Ricardo Daniel Rita Beira

TREMO is a compact magnetic climbing inchworm with the capability to move in complex ferromagnetic environments. The robot fits inside a cylinder of 500 mm in height and 120 mm in diameter for an approximate weight of 800 g. It has a modular configuration ...

World Scientific2011

Bio-inspired and probabilistic algorithms for distributed odor source localization using mobile robots

Thomas Lochmatter

We compare six different algorithms for localizing odor sources with mobile robots. Three algorithms are bio-inspired and mimic the behavior of insects when exposed to airborne pheromones. Two algorithms are based on probability and information theory, and ...

EPFL2010

Evolutionary Synthesis of Communication-Based Aerial Swarms

Sabine Hauert

Aerial swarms have the potential to search for forest fires, chemical plumes or victims and serve as communication and sensor networks in the sky. Flying robots are interesting for such applications because they are fast, can easily overcome difficult terr ...

EPFL2010

Software integration in mobile robotics, a science to scale up machine intelligence

Stéphane Magnenat

The present work tackles integration in mobile robotics. Integration is often considered to be a mere technique, unworthy of scientific investigation. On the contrary, we show that integrating capabilities in a mobile robot entails new questions that the p ...

EPFL2010

A Survey of Tactile Human-Robot Interactions

Aude Billard, Brenna Dee Argall

Robots come into physical contact with humans in both experimental and operational settings. Many potential factors motivate the detection of human contact, ranging from safe robot operation around humans, to robot behaviors that depend on human guidance. ...

Elsevier2010