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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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Rigid body dynamics simulation for robot motion planning

Alan Ettlin

The development of robot motion planning algorithms is inherently a challenging task. This is more than ever true when the latest trends in motion planning are considered. Some motion planners can deal with kinematic and dynamic constraints induced by the ...

EPFL2006

Automatic Self-Calibration of a Vision System during Robot Motion

Roland Siegwart, Davide Scaramuzza

This paper presents a new technique to estimate the extrinsic parameters of a robot-vision sensor system. More in general, this technique can be adopted to calibrate any robot bearing sensor. It is based on the Extended Kalman Filter. It is very simple and ...

2006

Velocity Scheduling Controller for a Nonholonomic Mobile Robot

Dominique Bonvin, Philippe Müllhaupt, Davide Buccieri

An improvement over classical dynamic feedback linearization for the control of a nonholonomic mobile robot is proposed. The use of a state extension of higher dimension than in the case of dynamic feedback linearization helps reject constant disturbances ...

2006

Multi-Robot Localization Using Relative Observations

Roland Siegwart, Frédéric Pont

In this paper we consider the problem of simultaneously localizing all members of a team of robots. Each robot is equipped with proprioceptive sensors and exteroceptive sensors. The latter provide relative observations between the robots. Proprioceptive an ...

2005

Smooth and Efficient Obstacle Avoidance for a Tour Guide Robot

Roland Siegwart, Roland Philippsen

We present the local path planning and obstacle avoidance method used on the autonomous tour-guide robot RoboX. It has proven its value during a 5 month operation of ten such robots in a real-world application, a very crowded exhibition. Three known approa ...

2003

In this paper we present a new probabilistic feature-based approach to multi-hypothesis global localization and pose tracking. Hypotheses are generated using a constraintbased search in the interpretation tree of possible localto-global pairings. This resu ...

2002

Evolutionary Robotics is a powerful method to generate efficient controllers with minimal human intervention, but its applicability to real-world problems remains a challenge because the method takes long time and it requires software simulations that do n ...

2001

Interface pour le pilotage et l'analyse des robots basée sur un générateur de cinématiques

In robotics we depend on software tools during design, modeling, programming and testing. These tools are essentials, often indispensable aids for developing and operating sophisticated robotic systems. At the same time, these tools are complex and usually ...

EPFL1998

a-Hydroxyalkanesulfonates were prepd. by the addn. of SO2 gas to a soln 0.95-1.0:1 soln. of aldehyde and alkali at such a rate as to maintain a pH of 3.0-4.5. Thus, SO2 was added to a soln. of NaOH and HCHO to give HOCH2SO3Na practically free of ionic impu ...

(Hoechst A.-G., Fed. Rep. Ger.).1976