Publications associées à Information-Driven Gas Distribution Mapping for Autonomous Mobile Robots

Sense in Motion with Belief Clustering: Efficient Gas Source Localization with Mobile Robots

Given the patchy nature of gas plumes and the slow response of conventional gas sensors, the use of mobile robots for Gas Source Localization (GSL) tasks presents significant challenges. These aspects increase the difficulties in obtaining gas measurements ...

2024

Distributed Predictive Formation Control of Autonomous Rotary-Wing Micro Aerial Vehicles

Izzet Kagan Erünsal

This doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...

EPFL2024

Exact Obstacle Avoidance for Robots in Complex and Dynamic Environments Using Local Modulation

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Robots outside of the fenced factories have to deal with continuously changing environment, this requires fast and flexible modes of control. Planning methods or complex learning models can find optimal paths in complex surroundings, but they are computati ...

EPFL2024

Gas Sensing with Rotary-Wing Nano Aerial Vehicles

Chiara Ercolani

Harmful chemical compounds are released daily in warehouses, chemical plants and during environmental emergencies. Their uncontrolled dispersion contributes to the pollution of the atmosphere and threatens human and animal lives. When gas leaks occur, the ...

EPFL2024

Memento Mori: Reliable robustness in self-reconfigurable modular robots

Kevin Andrew Holdcroft

Modular robotics link the reliability of a centralised system with the adaptivity of a decentralised system. It is difficult for a robot with a fixed shape to be able to perform many different types of tasks. As the task space grows, the number of functi ...

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Hitting with Different Joints of a Robotic Manipulator

Aude Billard, Harshit Khurana

This paper builds up the skill of impact aware non prehensile manipulation through a hitting motion by allowing the robot arm to come in contact with the environment with parts other than its end effector. Hitting with other joints allows us to manipulate ...

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Online Multicontact Receding Horizon Planning via Value Function Approximation

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Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Understanding snow saltation parameterizations: lessons from theory, experiments and numerical simulations

Michael Lehning, Daniela Brito Melo, Armin Sigmund

Drifting and blowing snow are important features in polar and high mountain regions. They control the surface mass balance in windy conditions and influence sublimation of snow and ice surfaces. Despite their importance, model representations in weather an ...

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Robot Learning using Tensor Networks

Suhan Narayana Shetty

In various robotics applications, the selection of function approximation methods greatly influences the feasibility and computational efficiency of algorithms. Tensor Networks (TNs), also referred to as tensor decomposition techniques, present a versatile ...

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Improvements to the dynamic wake meandering model by incorporating the turbulent Schmidt number

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Towards an improved understanding of wind turbine wakes in complex terrain

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In this thesis, we explored the effect of certain terrain-induced flow phenomena on the development of wind turbines sited in complex terrain. A combined experimental and analytical approach is used to study wind turbine wakes in different types of complex ...

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VDMNav: Software Architecture for Aerodynamically Constrained Navigation on Small Fixed-Wing Drones

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Navigation of drones is predominantly based on sensor fusion algorithms. Most of these algorithms make use of some form of Bayesian filtering with a majority employing an Extended Kalman Filter (EKF), wherein inertial measurements are fused with a Global N ...

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An improved statistical wake meandering model

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A new statistical wake meandering (SWM) model is proposed that improves on existing models in the literature. Compared to the existing SWM models, the proposed model has a closed description that does not require simulations to create look-up tables while ...

IOP Publishing2024

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Social insects, such as ants, termites, and honeybees, have evolved sophisticated societies where the collaborative efforts of "simple" individuals can lead to the emergence of complex dynamics. The reliance of each organism on the collective is so great t ...

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Method for wind harvesting and wind rejection in flying drones

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The present invention concerns a method of manoeuvring a vertical take-off and landing, unmanned aerial drone (100) comprising at least an aerodynamic surface (101), wherein, during a flight of the drone, the aerodynamic surface generates lift and/or drag ...

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Snowfall deposition in mountainous terrain: a statistical downscaling scheme from high-resolution model data on simulated topographies

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Quantifying the Unknown: Data-Driven Approaches and Applications in Energy Systems

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Comparison of selected surface level ERA5 variables against in‐situ observations in the continental Arctic

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Intermediate complexity atmospheric modeling in complex terrain: is it right?

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Dynamic downscaling of atmospheric forcing data to the hectometer resolution has shown increases in accuracy for landsurface models, but at great computational cost. Here we present a validation of a novel intermediate complexity atmospheric model, HICAR, ...

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An aircraft assembly process formalism and verification method based on semantic modeling and MBSE

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The aircraft assembly system is highly complex involving different stakeholders from multiple domains. The design of such a system requires comprehensive consideration of various industrial scenarios aiming to optimize key performance indicators. Tradition ...

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