Publications by Sven Adrian Gowal

Real-time Optimized Rendezvous on Nonholonomic Resource-Constrained Robots

In this work, we consider a group of differential-wheeled robots endowed with noisy relative positioning capabilities. We develop a decentralized approach based on a receding horizon controller to generate, in real-time, trajectories that guarantee the con ...

Springer2013

A Framework for Graph-Based Distributed Rendezvous of Nonholonomic Multi-Robot Systems

Sven Adrian Gowal

EPFL2013

A new collision warning system for lead vehicles in rear-end collisions

Alcherio Martinoli, Sven Adrian Gowal, Adrian Cabrera

Collision Warning Systems (CWS) are safety sys- tems designed to warn the driver about an imminent collision. A CWS monitors the dynamic state of the traffic in real- time by processing information from various proprioceptive and exteroceptive sensors. It ...

Ieee2012

Real-time Optimization of Trajectories that Guarantee the Rendezvous of Mobile Robots

Alcherio Martinoli, Sven Adrian Gowal

Since the 1960s, consensus problems have puzzled the minds of many researchers in ﬁelds ranging from computer science to information aggregation. In this work, although speciﬁcally addressing the rendezvous problem for a team of robots, we develop a method ...

2012

Bayesian Rendezvous for Distributed Robotic Systems

Alcherio Martinoli, Sven Adrian Gowal

In this paper, we state, using thorough mathe- matical analysis, sufficient conditions to perform a rendezvous maneuver with a group of differential-wheeled robots endowed with an on-board, noisy, local positioning system. In particular, we extend the exis ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2011

Two-Phase Online Calibration for Infrared-based Inter-Robot Positioning Modules

Alcherio Martinoli, Amanda Stella Markowska Prorok, Sven Adrian Gowal

Multi-robot systems can solve complex tasks that require the coordination of the team-member positions with respect to each other.While the development of ad-hoc relative positioning platforms embedding cheap off-the-shelf components is a practical choice, ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2011

Graph based distributed control of non-holonomic vehicles endowed with local positioning information engaged in escorting missions

Alcherio Martinoli, Sven Adrian Gowal, Riccardo Falconi

Using graph theory, this paper investigates how a group of robots, endowed with local positioning (range and bearing from other robots), can be engaged in a leader- following mission whilst keeping a predefined configuration. The possibility to locally cha ...

IEEE2010

A Realistic Simulator for the Design and Evaluation of Intelligent Vehicles

Alcherio Martinoli, Sven Adrian Gowal

The number of vehicles hitting the road each day is rapidly increasing, and several problems, such as traffic conges- tion or driver safety, can no longer be solved in the same fashion as before. Intelligent transportation systems could potentially solve p ...

2010

Local Graph-based Distributed Control for Safe Highway Platooning

Alcherio Martinoli, Sven Adrian Gowal, Riccardo Falconi

Using graph theory, this paper investigates how a group of vehicles, endowed with local positioning capabilities (range and bearing to other vehicles), can keep a predefined formation. We propose a longitudinal and lateral controller that stabilizes a syst ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2010

Graph-Based Distributed Control for Non-holonomic Vehicles Engaged in a Reconfiguration Task using Local Positioning Information

Alcherio Martinoli, Sven Adrian Gowal, Riccardo Falconi

Formation building and keeping among vehicles has been studied for many years, since 1987 with Reynold's rules. This paper presents a control algorithm, based on recent work in graph theory, able to reconfigure static formations of non-holonomic vehicles e ...

2009