Publications associées à 3D Collision Avoidance Algorithm for Unmanned Aerial Vehicles with Limited Field of View Constraints

Publications associées (36)

Fair Decentralized Learning

Anne-Marie Kermarrec, Rishi Sharma, Marinus Abraham de Vos, Sayan Biswas

Decentralized learning (DL) is an emerging approach that enables nodes to collaboratively train a machine learning model without sharing raw data. In many application domains, such as healthcare, this approach faces challenges due to the high level of hete ...

IEEE2025

On the Perspectives of Image-to-Lidar Constraints in Dynamic Network Optimisation

Thibaut Stoltz, Jan Skaloud, Davide Antonio Cucci, Laurent Valentin Jospin, Kyriaki Mouzakidou

The evolution of airborne mapping witnesses the introduction of hybrid lidar-camera systems to enhance data collection, i.e. to obtain simultaneously high-density point-cloud and texture. Yet, the common adjustment of both optical data streams is a nontriv ...

International Society for Photogrammetry and Remote Sensing2025

Gas Sensing with Rotary-Wing Nano Aerial Vehicles

Chiara Ercolani

Harmful chemical compounds are released daily in warehouses, chemical plants and during environmental emergencies. Their uncontrolled dispersion contributes to the pollution of the atmosphere and threatens human and animal lives. When gas leaks occur, the ...

EPFL2024

Stable cones in the thin one-phase problem

Xavier Fernandez-Real Girona

The aim of this work is to study homogeneous stable solutions to the thin (or fractional) one -phase free boundary problem. The problem of classifying stable (or minimal) homogeneous solutions in dimensions n >= 3 is completely open. In this context, axial ...

Johns Hopkins Univ Press2024

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

Global fluid simulation of plasma turbulence in stellarators with the GBS code

Paolo Ricci, Joaquim Loizu Cisquella, António João Caeiro Heitor Coelho, Zeno Tecchiolli

The implementation of three-dimensional magnetic fields, such as the ones of stellarators, in the GBS code (Ricci et al 2012 Plasma Phys. Control. Fusion54 124047; Giacomin et al 2022 J. Comput. Phys.464 111294) is presented, and simulation results are dis ...

IOP Publishing Ltd2024

Pseudo-Three-Dimensional Analytical Model of Linear Induction Motors for High-Speed Applications

Mario Paolone, André Hodder, Simone Rametti, Lucien André Félicien Pierrejean

Literature on linear induction motors (LIMs) has proposed several approaches to model the behavior of such devices for different applications. In terms of accuracy and fidelity, field analysis-based models are the most relevant. Closed-form or numerical so ...

2024

Re-design of EU DEMO with a low aspect ratio

Xabier Sarasola Martin

The design point that had been chosen for EU DEMO in 2016 is reviewed here and a modification is proposed with a lower aspect ratio. Previously the same aspect ratio, A, was chosen for EU DEMO as in major tokamak experiments including ITER (A = 3.1), and, ...

Elsevier2024

Study of Ionized Particles in a Gyrotron Using a Full Gyrotron Simulation Model

Jean-Philippe Hogge, Jérémy Genoud

The ionization of the residual gas in gyrotrons causes the generation of positively charged ions and negatively charged electrons. Using the electron optics code Ariadne, it was possible to simulate the behavior of these electrons in the overall gyrotron g ...

Institute of Electrical and Electronics Engineers Inc.2024

Reactive collision-free motion generation in joint space via dynamical systems and sampling-based MPC

Aude Billard, Nadia Barbara Figueroa Fernandez, Mikhail Koptev

Dynamical system (DS) based motion planning offers collision-free motion, with closed-loop reactivity thanks to their analytical expression. It ensures that obstacles are not penetrated by reshaping a nominal DS through matrix modulation, which is construc ...

Sage Publications Ltd2024

CLOAF: CoLlisiOn-Aware Human Flow

Pascal Fua, Martin Pierre Engilberge, Andrey Davydov

Even the best current algorithms for estimating body 3D shape and pose yield results that include body self- intersections. In this paper, we present CLOAF, which exploits the diffeomorphic nature of Ordinary Differential Equations to eliminate such self-i ...

IEEE2024

Into the ice: Exploration and data capturing in glacial moulins by a tethered robot

Josephine Anna Eleanor Hughes, Max Mirko Polzin

Glacial moulins (cylindrical meltwater drainage shafts) provide valuable insights into glacier dynamics, but are inaccessible and hazardous environments for humans to study. Exploring them using passive sensor probes has revealed their complex geometry, wh ...

Wiley2024

Direct observations of X-rays produced by upward positive lightning

Farhad Rachidi-Haeri, Marcos Rubinstein, Antonio Sunjerga, Thomas Chaumont

X-rays have been observed in natural downward cloud-to-ground lightning for over 20 years and in rocket-triggered lightning for slightly less. In both cases, this energetic radiation has been detected during the stepped and dart leader phases of downward n ...

Nature Publishing Group2024

Infrared-active phonons in one-dimensional materials and their spectroscopic signatures

Nicola Marzari, Thibault Daniel Pierre Sohier, Norma Rivano

Dimensionality provides a clear fingerprint on the dispersion of infrared-active, polar-optical phonons. For these phonons, the local dipoles parametrized by the Born effective charges drive the LO-TO splitting of bulk materials; this splitting actually br ...

Nature Portfolio2023

Ex uno plures: how to construct high-speed movies of collapsing cavitation bubbles from a single image

Mohamed Farhat, Davide Bernardo Preso, Armand Baptiste Sieber

The time-resolved visualization of the dynamics of a cavitation bubble usually requires the use of expensive high-speed cameras, which often provide a limited spatial resolution. In the present study, we propose an alternative to these high-speed imaging t ...

Springer2023

Predicting Ion Diffusion from the Shape of Potential Energy Landscapes

Berend Smit, Senja Dominique Barthel

We present an efficient method to compute diffusion coefficients of multiparticle systems with strong interactions directly from the geometry and topology of the potential energy field of the migrating particles. The approach is tested on Li-ion diffusion ...

Amer Chemical Soc2023

Well-posedness Issues For the Half-Wave Maps Equation With Hyperbolic And Spherical Targets

Yang Liu

This thesis is a study of the global well-posedness of the Cauchy problems for half-wave maps from the Minkowski space of dimension n+1 to the 2-dimensional sphere and the hyperbolic plane. The work is mainly based on the results from Krieger-Sire 17' in ...

EPFL2023

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

One-Dimensional "Ghost Imaging" in Electron Microscopy of Inelastically Scattered Electrons

Fabrizio Carbone, Ivan Madan, Giovanni Maria Vanacore, Simone Gargiulo

Entanglement and correlation are at the basis of quantummechanicsand have been used in optics to create a framework for "ghostimaging". We propose that a similar scheme can be used in anelectron microscope to exploit the correlation of electrons with theco ...

2023

Impact of Hysteresis Losses in Hybrid (HTS-LTS) Coils for Fusion Applications

Davide Uglietti

Several conductor designs featuring High Temperature Superconducting (HTS) stacked tapes for fusion coils are being proposed. These conductors are planned to operate in time-varying magnetic field and current; thus, the estimation of AC losses is fundament ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023