Publications by Roland Siegwart

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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

In this paper simultaneous localization and map building is performed with a hybrid, metric - topological, approach. A global topological map connects local metric maps, allowing a compact environment model, which does not require global metric consistency and permits both precision and robustness. However, the most important innovation of the approach is the way how loops in the environment are handled by map building using the information of the multi hypotheses topological localization. The method uses d

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

In this paper we present a new probabilistic feature-based approach to multi-hypothesis global localization and pose tracking. Hypotheses are generated using a constraintbased search in the interpretation tree of possible localto-global pairings. This results in a set of robot location hypotheses of unbounded accuracy. For tracking, the same constraint-based technique is used. It performs track splitting as soon as location ambiguities arise from uncertainties and sensing. This yields a very robust localiza

This paper describes the design methodology to build an autonomous mobile robot of just few cubic centimeters (2 x 2 x 2 cm). Starting from the expected features, the design path will be shown, going through solution proposition, component search, subsystems interconnections, several versions and ending to the final product. The second part of the paper will be dedicated to the control of such a robot which has implications in the control and software architecture. The overall design cycle results in the la

In this paper a new localization approach combining the metric and topological paradigm is presented. The main idea is to connect local metric maps by means of a global topological map. This allows a compact environment model which does not require global metric consistency and permits both precision and robustness. The method uses a 360 degree laser scanner in order to extract lines for the metric localization and doors, discontinuities and hallways for the topological approach. The approach has been widel

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 ...

Mobile robot localization deals with uncertain sensory information as well as uncertain data association. In this paper we present a probabilistic feature-based approach to global localization and pose tracking which explicitly addresses both problems. Location hypotheses are represented as Gaussian distributions. Hypotheses are found by a search in the tree of possible local-to-global feature associations, given a local map of observed features and a global map of the environment. During tree traversal, se

RoboX is a tour guide robot, designed to interact with visitors at Expo02, the Swiss National Exhibition. During five months, ten RoboXs will be in contact with people not trained to autonomous robots and will guide them throughout an exhibition about robotics. The work exposed here was dedicated to make RoboX lifelike and credible in implementing an expression generator. This generator uses the robot capacities in order to best express its internal state which is influenced by its sensor entries and the sc

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 ...

Robotic technologies, whether they are remotely operated vehicles, autonomous agents, assistive devices, or novel control interfaces, offer many promising capabilities for deployment in real‐world environments. Postdisaster scenarios are a particularly rel ...

This paper starts with a discussion of the open challenges in the SLAM problem. In our opinion they can be grouped in two main and distinct areas: convergence of the built map and computation requirement for real world application. To deal with the previous problems, a solution in the stochastic map framework based on the concept of the relative map is proposed. The idea consists in introducing a map state, which only contains quantities invariant under shift and rotation and to carry out the estimation of

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. ...

This paper considers design methodologies in order to develop voice-enabled interfaces for tour-guide robots to be deployed at the Robotics Exposition of the Swiss National Exhibition (Expo.02). Human-robot voice communication presents new challenges for design of fully autonomous mobile robots, in that interactivity must be robot-initiated in conversation and within a dynamic adverse environment. We approached these general problems for a voice enabled interface, tailored to limited computational resources

This paper considers design methodologies in order to develop voice-enabled interfaces for tour-guide robots deployed at the Robotics Exposition of the Swiss National Exhibition (Expo.02). Human–robot voice communication presents new challenges for design of fully autonomous mobile robots, in that interactivity must be robot-initiated in conversation and within a dynamic adverse environment.We approached these general problems for a voice-enabledinterface, tailored to limited computational resources of one

In this paper we consider the problem of simultaneously localizing all members of a team of robots. Each robot is equipped with proprioceptive sensors and exteroceptive sensors. The latter provide relative observations between the robots. Proprioceptive an ...

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 ...

This paper describes hardware and behavior implementation of a miniature robot in size of a match box that simulates the behavior of cockroaches in order to establish a social interaction with them. The robot is equipped with two micro-processors dedicated ...

In this paper an approach combining the metric and topological paradigm for simultaneous localization and map building is presented. The main idea is to connect local metric maps by means of a global topological map. This allows a compact environment model which does not require global metric consistency and permits both precision and robustness. The method uses a 360 degree laser scanner in order to extract corners and openings for the topological approach and lines for the metric localization. The approac

Mobile robots are of high interest for unmaned planetary exploration. The very successful Pathfinder mission to Mars has impressively demonstrated the potential of mobile platforms for planetary exploration [1]. The European Space Agency (ESA) also started to develop concepts for micro-rovers for Mars missions. Within an interdisciplinary group of companies specialized in space applications and research labs new designs of micro-rovers have been investigated. Two concepts, a simple and robust one and an inn

Roland Siegwart

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

Hybrid Simultaneous Localization and Map Building: Closing the Loop with Multi-Hypotheses Tracking

LameAlice, a Nanorover for Planetary Exploration

Feature-Based Multi-Hypothesis Localization and Tracking for Mobile Robots Using Geometric Constraints

Design and Control of the Mobile Micro Robot Alice

An Hybrid Approach for Robust and Precise Mobile Robot Navigation with Compact Environment Modeling

Precise Bearing Angle Measurement Based on Omnidirectional Conic Sensor and Defocusing

Feature-based multi-hypothesis localization and tracking using geometric constraints

Improving the Expressiveness of Mobile Robots

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

The current state and future outlook of rescue robotics

Open Challenges in SLAM: An Optimal Solution Based on Shift and Rotation Invariants

EKF-based 3D SLAM for Structured Environment Reconstruction

Voice Enabled Interface for Interactive Tour Guide Robots

On developing a voice-enabled interface for interactive tour-guide robots

Multi-Robot Localization Using Relative Observations

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

Robot-Animal Interaction: Perception and Behavior of Insbot

Simultaneous Localization and Map Building: A Global Topological Model with Local Metric Maps

Design and Implementation of an Innovative Micro-Rover