Publications associées à Evaluation of control strategies for fixed-wing drones following slow-moving ground agents

Tangent functional connectomes uncover more unique phenotypic traits

Functional connectomes (FCs) containing pairwise estimations of functional couplings between pairs of brain regions are commonly represented by correlation matrices. As symmetric positive definite matrices, FCs can be transformed via tangent space projecti ...

CELL PRESS2023

Data-Driven Convergence Prediction of Astrobots Swarms

Denis Gillet, Jean-Paul Richard Kneib, Matin Macktoobian, Francesco Basciani

Astrobots are robotic artifacts whose swarms are used in astrophysical studies to generate the map of the observable universe. These swarms have to be coordinated with respect to various desired observations. Such coordination\footnote{\z{A coordination sa ...

2022

Foot Control of a Surgical Laparoscopic Gripper via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control

Mohamed Bouri, Aude Billard, Walid Amanhoud, Jacob Hernandez Sanchez

Foot devices have been ubiquitously used in surgery to control surgical equipment. Most common applications are foot switches for electro-surgery, endoscope positioning and tele-robotic consoles. Switches fall short of providing continuous control as requi ...

2021

Spherical Clustering of Users Navigating 360° Content

Pascal Frossard, Francesca De Simone, Laura Toni

In Virtual Reality (VR) applications, understanding how users explore the omnidirectional content is important to optimize content creation, to develop user-centric services, or even to detect disorders in medical applications. Clustering users based on th ...

IEEE2019

The (h, k)-Server Problem on Bounded Depth Trees

Marek Elias

We study the k-server problem in the resource augmentation setting, i.e., when the performance of the online algorithm with k servers is compared to the offline optimal solution with h

ASSOC COMPUTING MACHINERY2019

Reconciling Being in-Control vs. Being Helped for the Execution of Complex Movements in VR

Ronan Boulic, Bruno Herbelin, Thibault Serge Mario Porssut

Performing motor tasks in virtual environments is best achieved with motion capture and animation of a 3D character that participants control in real time and perceive as being their avatar in the virtual environment. A strong Sense of Embodiment (SoE) for ...

IEEE2019

W transport and accumulation control in the termination phase of JET H-mode discharges and implications for ITER

Patrick Blanchard, Basil Duval, Ambrogio Fasoli, Yves Martin, Richard Pitts, Olivier Sauter, Henri Weisen, Robin Humphry-Baker, Stefano Coda, Martinus Gijs, Partha Dutta, Marco Wischmeier, Jan Horacek, Vlad Trifa, Yann Camenen, Jonathan Graves, Duccio Testa, Miguel Fernández Ruiz, Sun Hee Kim, Mikhail Maslov, Javier García Hernández, David Pfefferlé, José Pedro Rebelo Ferreira Marques, Julio Rodriguez, Pedro Camilo de Oliveira e Silva, Rebecca Hill, Daniel Scott Alessi, Jonnathan Cesar Hidalgo Acosta, Ana Francisca Leal Silva Soares, Dalziel Joseph Wilson, Pierre-Thomas Paul Brun, Jonathan Marc Philippe Faustin, Federico Nespoli, Alberto Hernando de Castro, Hamish William Patten, Bruno Emanuel Ferreira De Sousa Correia, Li Shuai, Nicola Vianello, Antonio José Pereira de Figueiredo, , , , , , , , ,

Dynamic Facility Location via Exponential Clocks

Ola Nils Anders Svensson, Hyung Chan An, Ashkan Norouzi Fard

The dynamic facility location problem is a generalization of the classic facility location problem proposed by Eisenstat, Mathieu, and Schabanel to model the dynamics of evolving social/infrastructure networks. The generalization lies in that the distance ...

Association for Computing Machinery2017

An Approach for Imitation Learning on Riemannian Manifolds

Sylvain Calinon

In imitation learning, multivariate Gaussians are widely used to encode robot behaviors. Such approaches do not provide the ability to properly represent end-effector orientation, as the distance metric in the space of orientations is not Euclidean. In thi ...

2017

Supernumerary Robotic Arm for Three-Handed Surgical Application: Behavioral Study and Design of Human-Machine Interface

Elahe Abdi

In surgical to industrial manipulation, the operator needs assistance for tasks requiring more than two hands. Teamwork may be the source of errors and inefficiency, especially if the assistant is a novice or unfamiliar with the main operator. The need for ...

EPFL2017

Fixed-wing drones for communication networks

Maja Varga

In the last decade, drones became frequently used to provide eye-in-the-sky overview in the outdoor environment. Their main advantage compared to the other types of robots is that they can fly above obstacles and rough terrains and they can quickly cover l ...

EPFL2016

Information theoretic clustering for unsupervised domain-adaptation

Petr Motlicek, Subhadeep Dey

The aim of the domain-adaptation task for speaker verification is to exploit unlabelled target domain data by using the labelled source domain data effectively. The i-vector based Probabilistic Linear Dis- criminant Analysis (PLDA) framework approaches thi ...

IEEE2016

In a demanding task, three-handed manipulation is preferred to two-handed manipulation

Hannes Bleuler, Mohamed Bouri, Etienne Burdet, Elahe Abdi

Equipped with a third hand under their direct control, surgeons may be able to perform certain surgical interventions alone; this would reduce the need for a human assistant and related coordination difficulties. However, does human performance improve wit ...

Nature Research2016

Space lower bounds for low-stretch greedy embeddings

Christos Kalaitzis

Greedy (geometric) routing is an important paradigm for routing in communication networks. It uses an embedding of the nodes of a network into points of a space (e.g., R-d) equipped with a distance function (e.g., the Euclidean distance l(2)) and uses as a ...

Elsevier Science Bv2016

Moduli spaces of toric manifolds

Tudor Ratiu

We construct a distance on the moduli space of symplectic toric manifolds of dimension four. Then we study some basic topological properties of this space, in particular, path-connectedness, compactness, and completeness. The construction of the distance i ...

Springer Verlag2014

Constructing reparameterization invariant metrics on spaces of plane curves

Martin Bauer, Martins Bruveris

Metrics on shape spaces are used to describe deformations that take one shape to another, and to define a distance between shapes. We study a family of metrics on the space of curves, which includes several recently proposed metrics, for which the metrics ...

Elsevier2014

A real-time comparison between direct control, sequential pattern recognition control and simultaneous pattern recognition control using a Fitts' law style assessment procedure

Sophie Marie Marthe Wurth

Background: Pattern recognition (PR) based strategies for the control of myoelectric upper limb prostheses are generally evaluated through offline classification accuracy, which is an admittedly useful metric, but insufficient to discuss functional perform ...

BioMed Central2014

FH HES Optimization of Chemical Reactor Feed by Simulations Based on a Kinetic Approach

Thierry Meyer, Francis Stoessel, Charles Ibrahim Guinand

Chemical incidents are typically caused by loss of control, resulting in runaway reactions or process deviations in different stages of the production. In the case of fed-batch reactors, the problem generally encountered is the accumulation of heat. This i ...

Schweizerische Chemische Gesellschaft2014

Geometric Variational Models for Inverse Problems in Imaging

Virginia Estellers Casas

This dissertation develops geometric variational models for different inverse problems in imaging that are ill-posed, designing at the same time efficient numerical algorithms to compute their solutions. Variational methods solve inverse problems by the fo ...

EPFL2013

Analysis of Descent-Based Image Registration

Pascal Frossard, Elif Vural

We present a performance analysis for image registration with gradient descent. We consider a typical multiscale registration setting where the global 2-D translation between a pair of images is estimated by smoothing the images and minimizing the distance ...

2013