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Towards Efficient Gas Leak Detection in Built Environments: Data-Driven Plume Modeling for Gas Sensing Robots

Publications associées (39)

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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

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

The control of compliant robots is, due to their often nonlinear and complex dynamics, inherently difficult. The vision of morphological computation proposes to view these aspects not only as problems, but rather also as parts of the solution. Non-rigid bo ...

2011

Bio-inspired and probabilistic algorithms for distributed odor source localization using mobile robots

Thomas Lochmatter

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

Aggregation-mediated Collective Perception and Action in a Group of Miniature Robots

Alcherio Martinoli, William Christopher Evans, Grégory Mermoud

We introduce a novel case study in which a group of miniaturized robots screen an environment for undesirable cells, and destroy them. Because miniaturized robots are usually endowed with reactive controllers and minimalist sensing and actuation capabiliti ...

2010

Collaborative coverage using a swarm of networked miniature robots

Alcherio Martinoli, Nicolaus Correll, Samuel Rutishauser

We study distributed coverage of environments with unknown extension using a team of networked miniature robots analytically and experimentally. Algorithms are analyzed by incrementally raising the abstraction level starting from physical robots, to realis ...

2009

Velocity-Scheduling Control for a Unicycle Mobile Robot: Theory and Experiments

Dominique Bonvin, Philippe Müllhaupt, Davide Buccieri, Damien Perritaz

Improvement over classical dynamic feedback linearization for a unicycle mobile robots is proposed. Compared to classical extension, the technique uses a higher-dimensional state extension, which allows rejecting a constant disturbance on the robot rotatio ...

2009

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A new algorithm for the control of formations of mobile robots is presented. Formations with a triangular lattice structure are created using distributed control rules, using only local information on each robot. The overall direction of movement of the fo ...

2008

Bio-inspired climbing robots relying on adhesion systems are believed to become essential tools for several industrial applications in the near future. In recent years, research has mainly focused on modeling micro-scale adhesion phenomena; a macro-scale a ...

2008

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The need for efficient security systems led to the development of automatic behavioral identification tools using video tracking. However, in the field of mobile robotics, trajectories are seldom taken into account to qualify robot behavior. Most metrics r ...

2007