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Lidar-Based Relative Position Estimation and Tracking for Multi-Robot Systems

Publications associées (246)

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A Forward Model of Optic Flow for Detecting External Forces

Leonidas Georgopoulos

Robot positioning is an important function of autonomous intelligent robots. However, the application of external forces to a robot can disrupt its normal operation and cause localisation errors. We present a novel approach for detecting external disturban ...

IEEE/RSJ2007

Performance Benefits of Self-Assembly in a Swarm-Bot

Francesco Mondada, Michael Bonani, Roderich Gross

Mobile robots are said to be capable of self-assembly when they can autonomously form physical connections with each other. Despite the recent proliferation of self-assembling systems, little work has been done on using self-assembly to add functional valu ...

IEEE Computer Society Press2007

Miniaturized mobile robot for inspection of ferromagnetic structures

Pascal Gilbert

This project aims to develop a miniaturized mobile robot for inspection of ferromagnetic structures. The robot should be small enough to fit inside water pipes with a diameter of typically 1 inch (2.5 cm), for inspection purposes. However, if a mechanism i ...

2007

Minimizing Trilateration Errors in the Presence of Uncertain Landmark Positions

Alexander Bahr

Trilateration is a technique for position estimation from range measurements which is often used in robot navigation. Most applications assume that there is no error associated with the landmarks used for trilateration. In cooperative navigation, in which ...

2007

Learning the natural grasping component of an unknown object

Sahar El Khoury

A grasp is the beginning of any manipulation task. Therefore, an autonomous robot should be able to grasp objects it sees for the first time. It must hold objects appropriately in order to successfully perform the task. This paper considers the problem of ...

2007

Autonomous Self-assembly in a Swarm-bot

Francesco Mondada, Michael Bonani, Roderich Gross

Multi-robot systems have been studied in tasks that require the robots to be physically linked. In such a configuration, a group of robots may navigate a terrain that proves too difficult for a single robot. On the contrary, many collective tasks can be ac ...

Springer Verlag2006

Automatic Self-Calibration of a Vision System during Robot Motion

Roland Siegwart, Davide Scaramuzza

This paper presents a new technique to estimate the extrinsic parameters of a robot-vision sensor system. More in general, this technique can be adopted to calibrate any robot bearing sensor. It is based on the Extended Kalman Filter. It is very simple and ...

2006

On Learning the Statistical Representation of a Task and Generalizing it to Various Contexts

Aude Billard, Sylvain Calinon

This paper presents an architecture for solving generically the problem of extracting the relevant features of a given task in a programming by demonstration framework and the problem of generalizing the acquired knowledge to various contexts. We validate ...

2006

Feature-based 3D SLAM

Jan Weingarten

This doctoral thesis deals with an open subproblem of robot navigation, namely simultaneous localization and mapping (SLAM) in three-dimensional space. The goal is to develop a system which is capable of localizing a mobile robot in a reliable way and at t ...

EPFL2006

Toward Online Probabilistic Path Replanning

Roland Siegwart, Björn Jensen, Roland Philippsen

In this talk we present work on sensor-based motion planning in initially unknown dynamic environments. Motion detection and probabilistic motion modeling are combined with a smooth navigation function to perform on-line path planning and replanning in clu ...

2006