Publications by Pierre Lamon | EPFL Graph Search

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This abstract presents a perform study on SOLERO, a new and innovative rover concept for regional mobility on planetary surfaces. A rover is the most suited element to bring scientific instrument to a specific site in order to examine geology, mineralogy or exobiology on extraterrestrial planets. In contrast with the Mars Pathfinder mission, the actual need increases in terms of range and duration. These aspects lead to redesign many aspect of the past rovers, in particular the development of most suitable

Navigating in rough terrain is a complex task that requires the robot to be considered as a holistic system. Algorithms, which don’t consider the physical dimensions and capabilities of the mobile robot lead to inefficient motion and suffer from a lack of robustness. A physical model of the robot is necessary for trajectory control. In this paper, quasi-static modeling of a six-wheeled robot with a passive suspension mechanism is presented together with a method for selecting the optimal torques consi

Many algorithms related to localization need good pose prediction in order to produce accurate results. This is especially the case for data association algorithms, where false feature matches can lead to the localization system failure. In rough terrain, the field of view can vary significantly between two feature extraction steps, so a good position prediction is necessary to robustly track features. This paper presents a method for combining dead reckoning sensor information in order to provide an initia

The recent advances in micro-technology made it possible to realize very small autonomous robots. Such mobile micro-robots have many potential applications. Especially in space exploration, where weight and size is a very dominant issue, mobile micro-robots enable new mission concepts with multiple robots working in parallel. This makes the mission highly redundant and allows for simultaneous measurements at various places. These ideas motivated us to design and realize the mobile micro-robot LameAlice that

Rough terrain robotics is a fast evolving field of research and a lot of effort is deployed towards enabling a greater level of autonomy for outdoor vehicles. Such robots find their application in scientific exploration of hostile environments like deserts ...

Up to recently autonomous mobile robots were mostly designed to run within an indoor, yet partly structured and flat, environment. In rough terrain many problems arise and position tracking becomes more difficult. The robot has to deal with wheel slippage and large orientation changes. In this paper we will first present the recent developments on the off-road rover Shrimp. Then a new method, called 3D-Odometry, which extends the standard 2D odometry to the 3D space will be developed. Since it accounts for

Due to the different properties of the dynamical simulation of multi-body systems, it is important to introduce a classification that allows for the right selection of a simulation type according to the user s needs. The proposed classification divides simulations with respect to the main characteristics, such as speed, accuracy, processing power, preparation work, resulting in the need for very different models of the rover. Using the SOLERO rover as an example, problems are shown that can occur when devel

In this paper a perception approach allowing for high distinctiveness is presented. The method works in accordance to the fingerprint concept. Such representation allows using a very flexible matching approach based on the minimum energy algorithm. The whole extraction and matching approach is presented in details and viewed in a topological optic, where the matching result can directly be used as observation function for a topological localization approach. The experimentation section will validate the fin

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 ...

This paper presents a method for wheel-ground contact angle measurement and a traction control strategy minimizing slip in rough terrain. The slip minimization algorithm has been tested and compared with a standard speed control in simulation, which allows ...

Pierre Lamon

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SOLERO : Solar Powered Exploration Rover

Wheel torque control for a rough terrain rover

Inertial and 3D-odometry fusion in rough terrain Towards real 3D navigation

LameAlice, a Nanorover for Planetary Exploration

3D position tracking for all-terrain robots

3D-Odometry for rough terrain - Towards real 3D navigation

Modeling and optimization of wheeled rovers

Environmental Modeling with Fingerprint Sequences for Topological Global Localization

3D Position Tracking in Challenging Terrain

Wheel Torque Control in Rough Terrain - Modeling and Simulation

The SOLERO Rover for Regional Exploration of Planetary Surfaces

Deriving and Matching Image Fingerprint Sequences for Mobile Robot Localization

Innovative Design for Wheeled Locomotion in Rough Terrain