Sparse Iterative Closest Point

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Order, regularities, and patterns are ubiquitous around us. A flock of birds maneuvering in the sky, the self-organization of social insects, a global pandemic or a traffic jam are examples of complex systems where the macroscopic patterns arise from the m ...

The advent of comprehensive synaptic wiring diagrams of large neural circuits has created the field of connectomics and given rise to a number of open research questions. One such question is whether it is possible to reconstruct the information stored in ...

Autonomous robots have the potential to fundamentally transform conventional farming methods, e.g. by enabling economically viable farming of sloped arable land. However, navigation on slopes in harsh conditions is challenging for robots as they must be pr ...

We address multi-robot safe mission planning in uncertain dynamic environments. This problem arises in several applications including safety-critical exploration, surveillance, and emergency rescue missions. Computation of a multi-robot optimal control pol ...

The associated peer reviewed article that will appear in the International Journal of STEM education : El-Hamamsy, L., Bruno, B., Audrin, C., Chevalier, M., Avry S., Dehler Zufferey, J., and Mondada, F. (2023). How are Primary School Computer Science Curri ...

Control design for robotic systems is complex and often requires solving an optimization to follow a trajectory accurately. Online optimization approaches like Model Predictive Control (MPC) have been shown to achieve great tracking performance, but requir ...

Programming intelligent robots requires robust controllers that can achieve desired tasks while adapting to the changes in the task and the environment. In this thesis, we address the challenges in designing such adaptive and anticipatory feedback controll ...

Robotic technologies have shown the capability to interact with living organisms and even to form integrated mixed societies composed of living and artificial agents. Biocompatible robots, incorporating sensing and actuation capable of generating and respo ...

An integer linear program is a problem of the form max{c^T x : Ax=b, x >= 0, x integer}, where A is in Z^(n x m), b in Z^m, and c in Z^n. Solving an integer linear program is NP-hard in general, but there are several assumptions for which it becomes fixed ...

We apply inverse reinforcement learning (IRL) with a novel cost feature to the problem of robot navigation in human crowds. Consistent with prior empirical work on pedestrian behavior, the feature anticipates collisions between agents. We efficiently learn ...

Sparse Iterative Closest Point

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Human-Robot Swarm Interaction: An Explorative Path to Foster Complex Systems Understanding

Bayesian reconstruction of memories stored in neural networks from their connectivity

Automation in steep terrain agriculture: an optimal controller to prevent tipping and slipping of tethered robots on slopes

Multi-robot task allocation for safe planning against stochastic hazard dynamics

Dataset for the evaluation of student-level outcomes of a primary school Computer Science curricular reform

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Results on Sparse Integer Programming and Geometric Independent Sets

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