Publication

Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories

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Movement Curvature Planning through Force Field Internal Models

Aude Billard, Biljana Petreska von Ritter-Zahony

Human motion studies have focused primarily on modeling straight point-to-point reaching movements. However, many goal-directed reaching movements, such as movements directed towards oneself, are not straight but rather follow highly curved trajectories. T ...

2009

Learning and Control of UAV maneuvers Based on Demonstrations

Aude Billard, Seyed Mohammad Khansari Zadeh

Many maneuvers of Unmanned Aerial Vehicles (UAV) can be considered within a framework of trajectory following. Though this issue can differ from one application to another, they all share the same problem of finding an optimal path (or signal) to perform t ...

2009

Implicit methods for modeling gene regulatory networks

Abhishek Garg

Advancements in high-throughput technologies to measure increasingly complex biological phenomena at the genomic level are rapidly changing the face of biological research from single-gene single-protein experimental approach to studying the behaviour of a ...

EPFL2009

Jet-scheduling control for flat systems

Davide Buccieri

The control of cranes and nonholonomic robots has gained increased interest mainly because of the civilian and military industrial need to achieve fast and accurate transport of goods and equipment. Old and new harbors are now venturing into fully automate ...

EPFL2008

SONDe, a Self-Organizing Object Deployment Algorithm in Large-Scale Dynamic Systems

Anne-Marie Kermarrec, Vincent Gramoli

We present the design, correctness, and analysis of SONDe, a simple fully decentralized object deployment algorithm for highly requested systems. Given an object (service or data), SONDe provides a node with a constant upper bound (h) on the number of logi ...

2008

Map-based Autonomous Personal Localization and Tracking

Michel Bierlaire, Bertrand Merminod

An autonomous localisation and tracking method is a method independent from the reception of external data. In our approach we ignore methods like GPS- and WiFi- positioning and we focus on the use of inertial navigation system (INS) carried by the person ...

2007

Engineering limit cycle systems

Jonas Buchli

In this thesis, we present a dynamical systems approach to adaptive controllers for locomotion control. The approach is based on a rigorous mathematical framework using nonlinear dynamical systems and is inspired by theories of self-organization. Nonlinear ...

EPFL2007

Measurement-based optimization of batch processes with terminal constraint

Carsten Welz

This thesis deals with dynamic optimization of batch processes, i.e. processes that are characterized by a finite time of operation and the frequent repetition of batches. The objective is to maximize the quantity of the desired product at final time while ...

EPFL2007

Learning Dynamical System Modulation for Constrained Reaching Tasks

Aude Billard, Sylvain Calinon, Micha Hersch

In this paper we combine kinesthetic demonstrations and dynamical systems to enable a humanoid robot to imitate constrained reaching gestures directed toward a target. Using a learning algorithm based on Gaussian Mixture Regression, the task constraints ar ...

2006

Dynamic hebbian learning in adaptive frequency oscillators

Auke Ijspeert, Jonas Buchli, Ludovic Righetti

Nonlinear oscillators are widely used in biology, physics and engineering for modeling and control. They are interesting because of their synchronization properties when coupled to other dynamical systems. In this paper, we propose a learning rule for osci ...

2006