Publications by Steven Adriaan Roelofsen

A Comparative Study of Collision Avoidance Algorithms for Unmanned Aerial Vehicles: Performance and Robustness to Noise

Denis Gillet, Alcherio Martinoli, Steven Adriaan Roelofsen

Over the past years, the field of small unmanned aerial vehicles has grown significantly and several applications have appeared, requiring always more autonomous flight. An important remaining challenge for fully autonomous unmanned aerial vehicles is coll ...

SPRINGER INTERNATIONAL PUBLISHING AG2019

Vision-Based Sense and Avoid Algorithms for Unmanned Aerial Vehicles

Steven Adriaan Roelofsen

The field of Unmanned Aerial Vehicles (UAVs), also known as drones, is rapidly growing, both in terms of size and of number of applications. Civil applications range from mapping, inspection, search and rescue, taking aerial footage, to art show, entertain ...

EPFL2017

Collision Avoidance with Limited Field of View Sensing: A Velocity Obstacle Approach

Denis Gillet, Alcherio Martinoli, Steven Adriaan Roelofsen

Collision avoidance, in particular between robots, is an important component for autonomous robots. It is a necessary component in numerous applications such as human-robot interaction, automotive or unmanned aerial vehicles. While many collision avoidance ...

2017

3D Collision Avoidance Algorithm for Unmanned Aerial Vehicles with Limited Field of View Constraints

Denis Gillet, Alcherio Martinoli, Steven Adriaan Roelofsen

Unmanned Aerial Vehicles (UAVs) are becoming a significant field of research with numerous applications, ranging from mapping to surveillance. New applications, such as aerial delivery of goods, are expected to appear in the next years and will require mor ...

2016

Vision-Based Unmanned Aerial Vehicle Detection and Tracking for Sense and Avoid Systems

Denis Gillet, Alcherio Martinoli, Pascal Fua, Vincent Lepetit, Steven Adriaan Roelofsen, Artem Rozantsev, Krishna Raj Sapkota

We propose an approach for on-line detection of small Unmanned Aerial Vehicles (UAVs) and estimation of their relative positions and velocities in the 3D environment from a single moving camera in the context of sense and avoid systems. This problem is cha ...

Ieee2016

Environmental Field Estimation with Hybrid-Mobility Sensor Networks

Alcherio Martinoli, Steven Adriaan Roelofsen, William Christopher Evans, Duarte Da Cruz Baptista Dias

The remarkable accessibility of modern flying robots makes them an attractive platform for environmental sensing. However, low cost and ease of use are currently incompatible with large payloads, severely limiting the choice of sensor and ultimately modali ...

Ieee2016

Distributed Deconfliction Algorithm for Unmanned Aerial Vehicles with Limited Range and Field of View Sensors

Denis Gillet, Alcherio Martinoli, Steven Adriaan Roelofsen

This paper proposes a novel approach for collision avoidance between Unmanned Aerial Vehicles (UAVs) with limited range and field of view sensors. The algorithm is designed for unicycle vehicles that need to fly above a specific minimal speed to maintain f ...

2015

Reciprocal Collision Avoidance For Quadrotors Using On-board Visual Detection

Denis Gillet, Alcherio Martinoli, Steven Adriaan Roelofsen

In this paper we present a collision avoidance system based on visual detection. Our hardware consists of a Hummingbird quadrotor equipped with a large red marker with two built-in fish-eye cameras. Fusion of the measurements from the two cameras is done u ...

2015

Towards Long-Term Collective Experiments

Francesco Mondada, Michael Bonani, Florian Christopher Vaussard, Philippe Rétornaz, François Rey, Steven Adriaan Roelofsen

It is often challenging to manage the battery supply when dealing with a fleet of mobile robots during long experiments. If one uses classical recharge stations, then agents are immobilized during the whole recharge process. In this study, we present a nov ...

Springer Berlin Heidelberg2013