Publications by Roland Siegwart

The current state and future outlook of rescue robotics

Dario Floreano, Roland Siegwart, Auke Ijspeert, Davide Scaramuzza, Stefano Mintchev, Tomislav Horvat, Kamilo Andres Melo Becerra, Marco Hutter

Robotic technologies, whether they are remotely operated vehicles, autonomous agents, assistive devices, or novel control interfaces, offer many promising capabilities for deployment in real‐world environments. Postdisaster scenarios are a particularly rel ...

2019

In-Flight Collision Avoidance Controller Based Only on OS4 Embedded Sensors

Roland Siegwart, Vincent de Perrot, Samir Bouabdallah

The major goal of this research was the development and implementation of a control system able to avoid collisions during the flight for a mini-quadrotor helicopter, based only on its embedded sensors without changing the environment. However, it is impor ...

Abcm Brazilian Soc Mechanical Sciences & Engineering2012

Anticipation- and Error-related EEG Signals during Realistic Human-Machine interaction: A Study on Visual and Tactile Feedback

Roland Siegwart, Ricardo Andres Chavarriaga Lozano, Xavier Perrin, José del Rocio Millán Ruiz

The exploitation of EEG signatures of cognitive processes can provide valuable information to improve interaction with brain actuated devices. In this work we study these correlates in a realistic situation simulated in a virtual reality environment. We fo ...

Ieee2012

Quadrupedal robots with stiff and compliant actuation

Roland Siegwart, Marco Hutter

In the broader context of quadrupedal locomotion, this overview article introduces and compares two platforms that are similar in structure, size, and morphology, yet differ greatly in their concept of actuation. The first, ALoF, is a classically stiff act ...

2012

Highly Compact Robots for Inspection of Power Plants

Francesco Mondada, Roland Moser, Roland Siegwart, Gilles Caprari, Fabien Tâche, Olivier Truong-Dat Nguyen, Patrick Schoeneich, Andreas Breitenmoser

John Wiley & Sons2012

Highly Compact Robots for Inspection of Power Plants

Francesco Mondada, Roland Moser, Roland Siegwart, Gilles Caprari, Fabien Tâche, Frédéric Rochat, Patrick Schoeneich, Andreas Breitenmoser

This paper reports on a 3 years applied research project dealing with several inspection scenarios of power plants and resulting in many robot prototypes and 3 main achievements. The project is a common effort between industry and university, including ALS ...

IEEE Press2010

Brain-coupled Interaction for Semi-autonomous Navigation of an Assistive Robot

Roland Siegwart, Ricardo Andres Chavarriaga Lozano, Xavier Perrin, José del Rocio Millán Ruiz

This paper presents a novel semi-autonomous navigation strategy designed for low throughput interfaces. A mobile robot (e.g. intelligent wheelchair) proposes the most probable action, as analyzed from the environment, to a human user who can either accept ...

Elsevier2010

A Perching Mechanism for Micro Aerial Vehicles

Dario Floreano, Roland Siegwart, Mirko Kovac, Jürg Markus Germann

Micro Aerial Vehicles (MAVs) with perching capabilities can be used to efficiently place sensors in aloft locations. A major challenge for perching is to build a lightweight mechanism that can be easily mounted on a MAV, allowing it to perch (attach and de ...

2010

MagneBike: Compact magnetic wheeled robot for power plant inspection

Francesco Mondada, Roland Moser, Roland Siegwart, Gilles Caprari, Fabien Tâche, François Pomerleau

IEEE Press2010

Magnebike: A Magnetic Wheeled Robot with High Mobility for Inspecting Complex-Shaped Structures

Francesco Mondada, Roland Moser, Roland Siegwart, Gilles Caprari, Fabien Tâche

This paper describes the Magnebike robot, a compact robot with two magnetic wheels in a motorbike arrangement, which is intended for inspecting the inner casing of ferromagnetic pipes with complex-shaped structures. The locomotion concept is based on an ad ...

2009

What do people expect from robots?

Francesco Mondada, Roland Siegwart

IEEE Press2008

Knowledge-based Extraction of Area of Expertise for Cooperation in Learning

Roland Siegwart, Masoud Asadpour

Using each other's knowledge and expertise in learning - what we call cooperation in learning- is one of the major existing methods to reduce the number of learning trials, which is quite crucial for real world applications. In situated systems, robots bec ...

2007

Social Integration of Robots into Groups of Cockroaches to Control Self-Organized Choices

Francesco Mondada, Alcherio Martinoli, Roland Siegwart, Gilles Caprari, Fabien Tâche, Jean-Louis Deneubourg, Masoud Asadpour, Nicolaus Correll

Collective behavior based on self-organization has been shown in group-living animals from insects to vertebrates. These findings have stimulated engineers to investigate approaches for the coordination of autonomous multirobot systems based on self-organi ...

American Association for the Advancement of Science2007

Compact Magnetic Wheeled Robot with High Mobility for Inspecting Complex Shaped Pipes Structures

Francesco Mondada, Roland Moser, Roland Siegwart, Fabien Tâche

IEEE Press2007

Adapted magnetic wheel unit for compact robots inspecting complex shaped pipe structures

Francesco Mondada, Roland Moser, Roland Siegwart, Fabien Tâche

IEEE Press2007

Comprehensive Locomotion Performance Evaluation of All-Terrain Robots

Roland Siegwart

Information about the locomotion performance of known rovers is sparse. A comprehensive evaluation of wheeled passive systems is presented in this work. It is based on a static 2D approach that includes optimization of the wheel torques in order to minimiz ...

2006

Heterogeneous and Hierarchical Cooperative Learning via Combining Decision Trees

Roland Siegwart, Masoud Asadpour

2006

Reduction of Learning Time for Robots Using Automatic State Abstraction

Roland Siegwart, Masoud Asadpour

Springer-Verlag2006

A Cognitive Modeling of Space using Fingerprints of Places for Mobile Robot Navigation

Roland Siegwart, Adriana Tapus

2006

Results on Range Image Segmentation for Service Robots

Roland Siegwart

This paper presents an experimental evaluation of a plane extraction method using various line extraction algorithms. Four different algorithms are chosen, which are well known in mobile robotics and computer vision. Experiments are performed on two sets o ...

2006