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Information-Driven Gas Distribution Mapping for Autonomous Mobile Robots

Publications associées (56)

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Optimal Task Assignment and Collision Avoidance for Mobile Robots

This report serves as a general overview of the semester project conducted in the SYCAMORE lab during the Spring 2022 semester. It focuses on multi- agent optimal task assignment methods, which have been implemented on state of the art simulation methods u ...

2022

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In this paper we tackle the problem of finding the source of particulate matter with a mobile robot equipped with a low-cost multi-channel optical particle counting sensor. The proposed method is based on the Infotaxis odor source localization algorithm an ...

2020

Mobile Robotic Painting of Texture

Andreas Krause, Majed El Helou

Robotic painting is well-established in controlled factory environments, but there is now potential for mobile robots to do functional painting tasks around the everyday world. An obvious first target for such robots is painting a uniform single color. A s ...

2019

Mobile Robotic Painting of Texture

Andreas Krause, Majed El Helou

IEEE2019

For mobile robots to localize robustly, actively considering the perception requirement at the planning stage is essential. In this paper, we propose a novel representation for active visual localization. By formulating the Fisher information and sensor vi ...

2019

Learning Ground Traversability From Simulations

Mobile ground robots operating on unstructured terrain must predict which areas of the environment they are able to pass in order to plan feasible paths. We address traversability estimation as a heightmap classification problem: we build a convolutional n ...

2018

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A robot introduced into an animal group, accepted by the animals as conspecifics, and capable of interacting with them is an ecient tool for ethological research, particularly in studies of collective and social behaviour. In this paper, we present the imp ...

2018

A 3-D Bio-inspired Odor Source Localization and its Validation in Realistic Environmental Conditions

Alcherio Martinoli, Ali Marjovi, Faezeh Rahbar, Pierre Charles Marie Kibleur

Finding the source of gaseous compounds released in the air with robots finds several applications in various critical situations, such as search and rescue. While the distribution of gas in the air is inherently a 3D phenomenon, most of the previous works ...

2017

In recent years, the emergence of artificial intelligence increases the demand of automatic and robust localization outdoors and indoors. While GPS provides enough accuracy in most outdoor cases, there is still a lack of robust and efficient indoor localiz ...

2017

Automatic Calibration of Ultra Wide Band Tracking Systems Using A Mobile Robot: A Person Localization Case-study

Alcherio Martinoli, Zeynab Talebpour, Alessio Canepa

Ultra Wide Band (UWB) is an emerging technology in the field of indoor localization, mainly due to its high performances in indoor scenarios and relatively easy deployment. However, in complex indoor environments, its positioning accuracy may drastically d ...

Ieee2017