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Localization of inexpensive robots with low-bandwidth sensors

Publications associées (43)

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Kinematic Batch Calibration for Legged Robots

Roland Siegwart, Marco Hutter

This paper introduces a novel batch optimization based calibration framework for legged robots. Given a nondegenerate calibration dataset and considering the stochastic models of the sensors, the task is formulated as a maximum likelihood problem. In order ...

2013

Multi-robot and swarm olfactory search, PhD Thesis

Ali Marjovi

Searching for olfactory targets with mobile robots has received much attention in the recent years due to its applications in chemical leak detection, environmental monitoring, pollution monitoring, inspection of landfills, and search and rescue operations ...

LAMBERT Academic Publishing2013

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Autonomous navigation in obstacle-dense indoor environments is very challenging for flying robots due to the high risk of collisions, which may lead to mechanical damage of the platform and eventual failure of the mission. While conventional approaches in ...

2013

Low-Cost Collaborative Localization for Large-Scale Multi-Robot Systems

Alcherio Martinoli, Alexander Bahr, Amanda Stella Markowska Prorok

Large numbers of collaborating robots are advantageous for solving distributed problems. In order to efficiently solve the task at hand, the robots often need accurate localization. In this work, we address the localization problem by developing a solution ...

Ieee2012

A Multiple Hypothesis Gaussian Mixture Filter for Acoustic Source Localization and Tracking

In this work, we address the problem of tracking an acoustic source based on measured time difference of arrivals (TDOAs). The classical solution to this problem consists in using a detector, which estimates the TDOA for each microphone pair, and then appl ...

Idiap2012

In this work, we address the problem of tracking an acoustic source based on measured time differences of arrival (TDOA). The classical solution to this problem consists in using a detector, which estimates the TDOA for each microphone pair, and then apply ...

2012

Enabling Large-Scale Collective Systems in Outdoor Aerial Robotics

Severin Leven

For many real-life applications such as monitoring, mapping, search-and-rescue or ad-hoc communication networks, fleets of flying robots are expected to out-perform existing solutions. Robots can join forces to cover larger areas in less time, act as effic ...

EPFL2011

Swarms of robots can quickly search large environments through parallelisation, are robust due to redundancy, and can simplify complex tasks like navigation compared to a single robot. Flying swarms can rapidly cover rough terrain and have elevated sensing ...

EPFL2011

A Social Approach for Target Localization: Simulation and Implementation in the marXbot Robot

Francesco Mondada, Philippe Rétornaz, Andres Perez-Uribe, Andres Upegui

Foraging is a common benchmark problem in collective robotics in which a robot (the forager) explores a given environment while collecting items for further deposition at specific locations. A typical real-world application of foraging is garbage collectio ...

2011

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