Publications by Roland Siegwart

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The project "Hands-On Mechatronics" aims to develop a problem-based learning environment for mechatronics. This environment is based on four specific aspects: a mobile robot competition as motivation factor, a WEB environment as framework for all student, the SmartEASE robot as experimental platform and a good software environment for design and fast prototyping. The actual status of this concept is applied at the Swiss Federal Institute of Technology in Lausanne (EPFL) with participants coming from several

This paper presents an experimental evaluation of a plane extraction method using various line extraction algorithms. Four different algorithms are chosen, which are well known in mobile robotics and computer vision. Experiments are performed on two sets o ...

This paper presents work on sensor-based motion planning in initially unknown dynamic environments. Motion detection and probabilistic motion modeling are combined with a smooth navigation function to perform on-line path planning and replanning in cluttered dynamic environments such as public exhibitions. The SLIP algorithm, an extension of Iterative Closest Point, combines motion detection from a mobile platform with position estimation. This information is then processed using probabilistic motion predic

In this paper we present a multi-modal web interface for autonomous mobile robots. The purpose of this interface is twofold. It serves as a tool for task supervision for the researcher and task specification for the end-user. The applications envisaged are typical service scenarios like remote inspection, transportation tasks or tour guiding. Instead of post-processing a huge amount of data gathered and stored during operation, it is very desirable for the developer to monitor specific internal variables of

This paper presents the design of an autonomous mobile platform and its security system. The MB835 mobile platform has been adopted for RoboX, a fully autonomous tour guide robot. In 2002, 11 of these tour guides have served the Robotics exhibition at Expo.02 (Swiss National Exhibition) from May 15 to October 20. This project has been conjointly conducted by the Autonomous Systems Lab, Swiss Federal Institute of Technology Lausanne (EPFL) and BlueBotics SA the spin-off company of the lab, which has produced

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 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 ...

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 ...

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 the design and preliminary control of an indoor coaxial helicopter �CoaX� based on a concept of hybrid active and passive control. The robot is capable of passive roll and pitch stabilization against small disturbances while a ...

In this paper we present an autonomous mobile robot system allowing for complex collaborative interaction with non-experienced users while giving a pre-programmed tour of a public exposition. For this several modalities of man-machine communication are used simultaneously. To ensure secure and reliable operation we present a layered development approach centered on the programming system SOUL. At the Swiss National Exhibition Expo.02, ten RoboX systems will interact with hundreds of visitors per day, during

Information about the locomotion performance of known rovers is sparse. A comprehensive evaluation of wheeled passive systems is presented in this work. It is based on a static 2D approach that includes optimization of the wheel torques in order to minimiz ...

We present the local path planning and obstacle avoidance method used on the autonomous tour-guide robot RoboX. It has proven its value during a 5 month operation of ten such robots in a real-world application, a very crowded exhibition. Three known approaches (DWA, elastic band, NF1) have been integrated into a system that performs smooth motion efficiently, in the sense of computational effort as well as goal-directedness. Apart from modifications to the DWA and the elastic band, we present the formulatio

This paper presents a new technique to estimate the extrinsic parameters of a robot-vision sensor system. More in general, this technique can be adopted to calibrate any robot bearing sensor. It is based on the Extended Kalman Filter. It is very simple and ...

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 ...

The interactive mobile system RoboX is presented. Ten such robots will propose tours to visitors of the swiss national exposition during five month, seven days a week, ten hours per day. Algorithms are to find and track dynamic objects through the exposition are presented and evaluated. Thus, RoboX can initiate a conversation and propose tours to visitors, all the while reacting to their movement. [paper in german] ---- Dieser Beitrag beschreibt das interaktive mobile System RoboX. Auf der Schweizer Nationa

Roland Siegwart

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"Hands-On Mechatronics": Problem-Based Learning for Mechatronics

Results on Range Image Segmentation for Service Robots

Towards Real-Time Sensor-Based Path Planning in Highly Dynamic Environments

A Multi Modal Web Interface for Tasks Supervision and Specification

Autonomous Navigation and Security: A 13 000h/3 000km Case Study

Environmental Modeling with Fingerprint Sequences for Topological Global Localization

An Interpolated Dynamic Navigation Function

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

3D Position Tracking in Challenging Terrain

Design and Control of an Indoor Coaxial Helicopter

The interactive autonomous mobile system RoboX

Comprehensive Locomotion Performance Evaluation of All-Terrain Robots

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

Smooth and Efficient Obstacle Avoidance for a Tour Guide Robot

Automatic Self-Calibration of a Vision System during Robot Motion

A Cognitive Modeling of Space using Fingerprints of Places for Mobile Robot Navigation

Towards Intelligent Miniature Flying Robots

Orthogonal SLAM: a Step toward Lightweight Indoor Autonomous Navigation

The Hippocampal Place Cells and Fingerprints of Places: Spatial Representation Animals, Animats and Robots

Mensch-Maschine Interaktion auf der Expo.02