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Roland Siegwart

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Publications associées (72)

Fingerprints of Places: A Model of Hippocampal Place Cells

Roland Siegwart, Adriana Tapus

2006

Precise Bearing Angle Measurement Based on Omnidirectional Conic Sensor and Defocusing

Roland Siegwart, Davide Scaramuzza

Recent studies on multi-robot localization have shown that the uncertainty of robot location may be considerably reduced by optimally fusing odometry and the relative angles of sight (bearing) among the team members. However, the latter requires the capabi ...

2005

Applications of a Real-Time Software Framework for Complex Mechatronic Systems

Frédéric Pont, Roland Siegwart, Sascha Kolski

2005

Mobile Micro-Robots Ready to Use: Alice

Roland Siegwart, Gilles Caprari

2005

Cooperative Learning for Very Long Learning Tasks: A Society Inspired Approach to Persistence of Knowledge

Roland Siegwart, Masoud Asadpour, Imad Riachi

2005

Perception and Behavior of InsBot : Robot-Animal Interaction Issues

Roland Siegwart, Gilles Caprari, Fabien Tâche, Masoud Asadpour

2005

Towards Autonomous Indoor Micro VTOL

Roland Siegwart, Samir Bouabdallah

Kluwer Academic Publishers, Springer2005

A Real-Time Software Framework for Indoor Navigation

Frédéric Pont, Roland Siegwart

2005

An Interpolated Dynamic Navigation Function

Roland Philippsen, Roland Siegwart

The E-star algorithm is a path planning method capable of dynamic replanning and user-configurable path cost interpolation. It calculates a navigation function as a sampling of an underlying smooth goal distance that takes into account a continuous notion ...

2005

Observability Analysis for Mobile Robot Localization

Roland Siegwart

2005

Handling the Inconsistency of Relative Map Filter

Roland Siegwart

In \cite{martinelli_2004_open_challenges_in}, a version of Relative Map Filter (\RMF) is proposed to solve the simultaneous localization and map building (SLAM) problem. In the \RMF, the map states contain only quantities invariant under shift and rotat ...

2005

Enhancing the Safety of Vehicles by Comparing Driver's Wish to Intelligent Control

Armin Sulzmann, Roland Siegwart, Frédéric Holzmann

2005

Towards Intelligent Miniature Flying Robots

Roland Siegwart, Samir Bouabdallah

This paper presents a practical method for small-scale VTOL design. It helps for elements selection and dimensioning.We apply the latter to design a fully autonomous quadrotor with numerous innovations in design methodology, steering and propulsion achievi ...

2005

Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor

Roland Siegwart, Samir Bouabdallah

The latest technological progress in sensors, actuators and energy storage devices enables the developments of miniature VTOL systems. In this paper we present the results of two nonlinear control techniques applied to an autonomous micro helicopter called ...

2005

Design of an Ultra-Lightweight Autonomous Solar Airplane for Continuous Flight

Roland Siegwart

Development of unmanned aerial vehicle has attracted attention of several agencies and university laboratories over the past decade, due to their great potential in military and civilian applications. There are a dozen of commercial autopilots which combin ...

2005

A Control Method for Stable and Smooth Path Following of Mobile Robots

Roland Siegwart

This paper addresses the problem of mobile robot navigation in indoor cluttered environments. A new algorithm for both longitudinal and lateral real-time control of wheel-based mobile robots has been proposed. Its main characteristic is smooth and stable f ...

2005

Robots Meet Humans Interaction in Public Spaces

Roland Siegwart, Björn Jensen, Nicola Tomatis

This paper presents experiences from Robotics, a long-term project at the Swiss National Exposition Expo.02, where mobile robots served as tour guides. It includes a description of the design and implementation of the robot and addresses reliability and sa ...

2005

3D Position Tracking in Challenging Terrain

Pierre Lamon, Roland Siegwart

The intent of this paper is to show how the accuracy of 3D position tracking can be improved by considering rover locomotion in rough terrain as a holistic problem. An appropriate locomotion concept endowed with a controller min- imizing slip improves the ...

2005

EKF-based 3D SLAM for Structured Environment Reconstruction

Roland Siegwart, Jan Weingarten

This paper presents the extension and experimental validation of the widely used EKF1-based SLAM2 algorithm to 3D space. It uses planar features extracted probabilistically from dense three-dimensional point clouds generated by a rotating 2D laser scanner. ...

2005

Design of an Ultra-Lightweight Autonomous Solar Airplane for Continuous Flight

Roland Siegwart

The Autonomous Systems Lab of EPFL3 is developing, within the framework of an ESA program, an ultra-lightweight solar autonomous model airplane called Sky-Sailor with embedded navigation and control systems. The main goal of this project is to jointly unde ...

2005

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