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PlaceNet: A multi-scale semantic-aware model for visual loop closure detection

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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

Heading for the Abyss: Control Strategies for Exploiting Swinging of a Descending Tethered Aerial Robot

Josephine Anna Eleanor Hughes, Max Mirko Polzin

The use of aerial vehicles for exploration and data collection has the potential to significantly aid environmental monitoring in environments which are dangerous and hard to navigate. However, within these environments navigation can often be restricted b ...

2023

Discovering perceived images of reused industrial heritage from user-generated photographs: Three mega-event reinforced industrial heritage transformation cases

Huishu Deng

Cities are increasingly reusing industrial heritage as part of cultural and creative regeneration strategies. However, designers and decision-makers face the challenge of determining which features and elements of industrial heritage are more perceived and ...

Springer2024

Network time series forecasting in photovoltaics power production

Jelena Simeunovic

Accurate forecasting of photovoltaic (PV) power production is crucial for the integration of more renewable energy sources into the power grid. PV power production is highly intermittent, due to the stochastic cloud behaviour and cloud dynamics. Previous w ...

EPFL2024

Self-Correcting Quadratic Programming-Based Robot Control

Aude Billard, Farshad Khadivar, Konstantinos Chatzilygeroudis

Quadratic Programming (QP)-based controllers allow many robotic systems, such as humanoids, to successfully undertake complex motions and interactions. However, these approaches rely heavily on adequately capturing the underlying model of the environment a ...

2023

Reinforcement Learning for Outdoor Balloon Navigation: A Successful Controller for an Autonomous Balloon

Simon Jeger, Mirko Kovac

Autonomous ballooning allows for energy-efficient long-range missions but introduces significant challenges for planning and control algorithms, due to their single degree of actuation: vertical rate control through either buoyancy or vertical thrust. Late ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2024

Certification of Bottleneck Task Assignment With Shortest Path Criteria

Maryam Kamgarpour, Tony Alan Wood

Minimising the longest travel distance for a group of mobile robots with interchangeable goals requires knowledge of the shortest length paths between all robots and goal destinations. Determining the exact length of the shortest paths in an environment wi ...

2023

Haptics based collaborative steering control in automated driving environments

Tomohiro Nakade

A vehicle's steering is a particular system in that it is exposed to individual subjective reviews based on criteria that are hard to assess quantitatively. Haptic design of such systems is a prime concern that has been at the center of industrial developm ...

EPFL2023

Measuring Linkability of Protected Biometric Templates Using Maximal Leakage

Hatef Otroshi Shahreza, Yanina Yurina Shkel

As the applications of biometric recognition systems are increasing rapidly, there is a growing need to secure the sensitive data used within these systems. Considering privacy challenges in such systems, different biometric template protection (BTP) schem ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration

Aude Billard, Harshit Khurana

One can estimate the velocity and acceleration of robot manipulators by utilizing nonlinear observers. This involves combining inertial measurement units (IMUs) with the motor encoders of the robot through a model-based sensor fusion technique. This approa ...

IEEE2023

Seeing Photons in Color

Edoardo Charbon, Claudio Bruschini, Paul Mos

Megapixel single-photon avalanche diode (SPAD) arrays have been developed recently, opening up the possibility of deploying SPADs as general-purpose passive cameras for photography and computer vision. However, most previous work on SPADs has been limited ...

ASSOC COMPUTING MACHINERY2023

Weather Impacts on Indoor Radon Short-Term Measurements in Switzerland

Joan Frédéric Rey

Radon is a natural and radioactively well-known carcinogenic indoor air pollutant. Since 2020, a radon short-term proactive methodology has been proposed by Swiss authorities, which aims to evaluate the probability of overpassing the national reference val ...

MDPI2023

Saliency prediction in 360° architectural scenes: Performance and impact of daylight variations

Marilyne Andersen, Sabine Süsstrunk, Caroline Karmann, Kynthia Chamilothori, Seungryong Kim, Bahar Aydemir

Saliency models are image-based prediction models that estimate human visual attention. Such models, when applied to architectural spaces, could pave the way for design decisions where visual attention is taken into account. In this study, we tested the pe ...

2023

Inverse Reinforcement Learning of Pedestrian-Robot Coordination

Aude Billard, David Julian Gonon

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 ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

Calibrated Adaptive Teacher for Domain Adaptive Intelligent Fault Diagnosis

Olga Fink, Florent Evariste Forest

Intelligent Fault Diagnosis (IFD) based on deep learning has proven to be an effective and flexible solution, attracting extensive research. Deep neural networks can learn rich representations from vast amounts of representative labeled data for various ap ...

2023

Deep Generative Models for Autonomous Driving: from Motion Forecasting to Realistic Image Synthesis

Saeed Saadatnejad

Forecasting is a capability inherent in humans when navigating. Humans routinely plan their paths, considering the potential future movements of those around them. Similarly, to achieve comparable sophistication and safety, autonomous systems must embrace ...

EPFL2023

Doppler spectra collected by weather and cloud radars during the POPE 2020 campaign at Princess Elisabeth Antarctica

Alexis Berne, Alfonso Ferrone

This repository contains the datasets of Doppler spectra collected by two meteorological radars in the vicinity of the Belgian research base Princess Elisabeth Antarctica (PEA). The measurement campaign has been conducted by the Environmental Remote S ...

Zenodo2023

Performance investigation of cameras using HDR sensors for daylight glare evaluations

Jan Wienold, Geraldine Cai Ting Quek, Dong Hyun Kim

This study presents a novel framework for evaluating the luminance measurement capabilities of High Dynamic Range (HDR) sensor cameras in indoor glare conditions. Results indicate that the practical usage range of the CSEM VIP camera is significantly lower ...

International Commission on Illumination2023

Discovering Influencers in Opinion Formation Over Social Graphs

Ali H. Sayed, Mert Kayaalp, Valentina Shumovskaia

The adaptive social learning paradigm helps model how networked agents are able to form opinions on a state of nature and track its drifts in a changing environment. In this framework, the agents repeatedly update their beliefs based on private observation ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

Calibration of ground surface albedo models

Christophe Ballif, Arttu Matias Tuomiranta

The emergence of bifacial photovoltaics as a serious option for large-scale power generation makes the accuracy of the in-situ estimation of ground surface albedo increasingly critical. Recent studies have evaluated the performance of different models but ...

PERGAMON-ELSEVIER SCIENCE LTD2022