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A Unified Framework for Coordinated Multi-Arm Motion Planning

Publications associées (32)

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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

Imitation Learning of Motion Coordination in Robots

Elena Gribovskaya

The ease with which humans coordinate all their limbs is fascinating. Such a simplicity is the result of a complex process of motor coordination, i.e. the ability to resolve the biomechanical redundancy in an efficient and repeatable manner. Coordination e ...

EPFL2012

Aerial Locomotion in Cluttered Environments

Dario Floreano, Mirko Kovac, Jean-Christophe Zufferey, Adam Klaptocz, Jürg Markus Germann

Many environments where robots are expected to operate are cluttered with objects, walls, debris, and different horizontal and vertical structures. In this chapter, we present four design features that allow small robots to rapidly and safely move in 3 dim ...

2011

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

Towards a self-deploying and gliding robot

Dario Floreano, Mirko Kovac, Jean-Christophe Zufferey

Strategies for hybrid locomotion such as jumping and gliding are used in nature by many different animals for traveling over rough terrain. This combination of locomotion modes also allows small robots to overcome relatively large obstacles at a minimal en ...

Springer Berlin Heidelberg2009

Active Vision for Goal-Oriented Humanoid Robot Walking

Dario Floreano, Mototaka Suzuki

Complex visual tasks may be tackled with remarkably simple neural architectures generated by a co-evolutionary process of active vision and feature selection. This hypothesis has recently been tested in several robotic applications such as shape discrimina ...

Springer-Verlag2009

How robot morphology and training order affect the learning of multiple behaviors

Joshua Evan Auerbach

Automatically synthesizing behaviors for robots with articulated bodies poses a number of challenges beyond those encountered when generating behaviors for simpler agents. One such challenge is how to optimize a controller that can orchestrate dynamic moti ...

IEEE2009

Brain-Controlled Robots

José del Rocio Millán Ruiz

The idea of moving robots or prosthetic devices not by manual control, but by mere thinking (i.e., the brain activity of human subjects) has fascinated researchers for the last 30 years, but it is only now that first experiments have shown the possibility ...

2008

Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach

Auke Ijspeert, Ludovic Righetti, Sarah Dégallier Rochat

Locomotion on an irregular surface is a challenging task in robotics. Among different problems to solve to obtain robust locomotion, visually guided locomotion and accurate foot placement are of crucial importance. Robust controllers able to adapt to senso ...

2007

Cooperation through self-assembly in multi-robot

Francesco Mondada, Michael Bonani, Roderich Gross

This article illustrates the methods and results of two sets of experiments in which a group of mobile robots, called s-bots, are required to physically connect to each other, that is, to self-assemble, to cope with environmental conditions that prevent th ...

2006