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

Publications associées (246)

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Towards a Cognitive Probabilistic Representation of Space for Mobile Robots

Roland Siegwart

Robots are rapidly evolving from factory workhorses to robot-companions. The future of robots, as our companions, is highly dependent on their abilities to understand, interpret and represent the environment in an efficient and consistent fashion, in a ...

2006

A micromanipulation setup for comparative tests of microgrippers

Reymond Clavel, Mélanie Dafflon

A micromanipulation setup allowing comparative tests of manipulation micro tools has been developed. Repeatability measurements of positioning as well as optimization of manipulation conditions can be run with parts of typically 5 to 50μm over a large set ...

2006

Calibration of the 6 DOF High-Precision Flexure Parallel Robot "Sigma 6"

Reymond Clavel, Emanuele Lubrano

In this paper, we present a new method for calibrating a 6 degree-of-freedom (DOF) high-precision flexure parallel robot. The innovative contributions of this work are either in the technological challenge of calibrating a 6 DOF robot with sub-micrometer a ...

Fraunhofer2006

3D SLAM using Planar Segments

Roland Siegwart, Jan Weingarten

This paper presents an improved feature-based 3D SLAM approach for a mobile robot equipped with a rotating laser scanner. The features are represented within the SPmodel, with associated planar segment information based on decimated triangle sets. An Exten ...

2006

Embedded 3D vision system for automated micro-assembly

Heinz Hügli

Machine vision plays an important role in automated assembly. However, present vision systems are not adequate for robot control in an assembly environment where individual components have sizes in the range of 1 to 100 micrometers, since current systems d ...

2006

Precise Bearing Angle Measurement Based on Omnidirectional Conic Sensor and Defocusing

Roland Siegwart, Davide Scaramuzza

Recent studies on multi-robot localization have shown that the uncertainty of robot location may be considerably reduced by optimally fusing odometry and the relative angles of sight (bearing) among the team members. However, the latter requires the capabi ...

2005

Toward a person-follower robot

Solaiman Shokur

In this article we described the attempt to build a robot able to locate and follow an human target moving in a domestic environment. After a brief review of the state of the art in relative location technologies, we described our approach that aims to dev ...

Amedeo Cesta2005

A Windows PC based robot controller: An open architecture

Reymond Clavel, Mohamed Bouri

Robot motion controllers consist of a very important component in a robotic infrastructure. The flexibility is more and more needed to allow fastness in development and adaptation from one robot to another. The laboratory of robotic systems of the Ecole Po ...

2005

EKF-based 3D SLAM for Structured Environment Reconstruction

Roland Siegwart, Jan Weingarten

This paper presents the extension and experimental validation of the widely used EKF1-based SLAM2 algorithm to 3D space. It uses planar features extracted probabilistically from dense three-dimensional point clouds generated by a rotating 2D laser scanner. ...

2005

A Humanoid Robot Drawing Human Portraits

Aude Billard, Sylvain Calinon

This paper presents the creation of a robot capable of drawing artistic portraits. The application is purely entertaining and based on existing tools for face detection and image reconstruction, as well as classical tools for trajectory planning of a 4 DOF ...

2005