Publications associées à A Comparison of Casting and Spiraling Algorithms for Odor Source Localization in Laminar Flow

Publications associées (32)

Conditions for the local arrest of a hydraulic fracture by a region of larger toughness

We investigate the conditions for the local arrest of a hydraulic fracture encountering a region of larger toughness. The propagation of a hydraulic fracture strongly depends on the ratio between the energy dissipated in the creation of new fracture surfac ...

ASME International2025

On the difficulty of determining Kármán "constants" from direct numerical simulations

Peter Monkewitz

The difficulty of determining the slope of the famed logarithmic law in the mean velocity profile of wall-bounded turbulent flows, the inverse of the K & aacute;rm & aacute;n "constant" kappa, from direct numerical simulations (DNS) is discussed for channe ...

Melville2024

Exact Obstacle Avoidance for Robots in Complex and Dynamic Environments Using Local Modulation

Lukas Huber

Robots outside of the fenced factories have to deal with continuously changing environment, this requires fast and flexible modes of control. Planning methods or complex learning models can find optimal paths in complex surroundings, but they are computati ...

EPFL2024

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

Hitting with Different Joints of a Robotic Manipulator

Aude Billard, Harshit Khurana

This paper builds up the skill of impact aware non prehensile manipulation through a hitting motion by allowing the robot arm to come in contact with the environment with parts other than its end effector. Hitting with other joints allows us to manipulate ...

2024

Online Multicontact Receding Horizon Planning via Value Function Approximation

Sylvain Calinon, Teguh Santoso Lembono

Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Memento Mori: Reliable robustness in self-reconfigurable modular robots

Kevin Andrew Holdcroft

Modular robotics link the reliability of a centralised system with the adaptivity of a decentralised system. It is difficult for a robot with a fixed shape to be able to perform many different types of tasks. As the task space grows, the number of functi ...

EPFL2024

Noise-induced transitions past the onset of a steady symmetry-breaking bifurcation: The case of the sudden expansion

François Gallaire, Edouard Boujo, Yves-Marie François Ducimetière

We consider fluid flows, governed by the Navier-Stokes equations, subject to a steady symmetry-breaking bifurcation and forced by a weak noise acting on a slow timescale. By generalizing the multiple-scale weakly nonlinear expansion technique employed in t ...

2024

pyC 2 Ray: A flexible and GPU-accelerated radiative transfer framework for simulating the cosmic epoch of reionization

Patrick Hirling, Jean-Paul Richard Kneib, Michele Bianco

Detailed modeling of the evolution of neutral hydrogen in the intergalactic medium during the Epoch of Reionization, 5≤z≤20, is critical in interpreting the cosmological signals from current and upcoming 21-cm experiments such as the Low-Frequency Array (L ...

2024

Enhancing Wind Farm Performance through Axial Induction and Tilt Control: Insights from Wind Tunnel Experiments

Fernando Porté Agel, Guillem Armengol Barcos

Static axial induction control and tilt control are two strategies that have the potential to increase power production in wind farms, mitigating wake effects and increasing the available power for downstream turbines. In this study, wind tunnel experiment ...

MDPI2024

A revised gap-averaged Floquet analysis of Faraday waves in Hele-Shaw cells

Baptiste Kellian Jouron, François Gallaire, Alessandro Bongarzone

Existing theoretical analyses of Faraday waves in Hele-Shaw cells rely on the Darcy approximation and assume a parabolic flow profile in the narrow direction. However, Darcy's model is known to be inaccurate when convective or unsteady inertial effects are ...

Cambridge University Press2023

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

Hala Khodr

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 ...

EPFL2023

Participatory design of a social robot and robot-mediated storytelling activity to raise awareness of gender inequality among children

Barbara Bruno

Gender inequality is a widespread problem in our society. It can manifest itself in many ways and contexts, and starting as early as primary school. While an increasing number of initiatives aim at tackling gender biases and inequalities, few of them are a ...

IEEE2023

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

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

A Fast Hybrid Pressure-Correction Algorithm for Simulating Incompressible Flows by Projection Methods

Jiannong Fang

To enforce the conservation of mass principle, a pressure Poisson equation arises in the numerical solution of incompressible fluid flow using the pressure-based segregated algorithms such as projection methods. For unsteady flows, the pressure Poisson equ ...

2023

Learning and optimization of anticipatory feedback controllers for robot manipulation

Hakan Girgin

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 ...

EPFL2023

Computational Models of Mutual Understanding for Human-Robot Collaborative Learning

Utku Norman

There is a growing trend towards designing learning activities featuring robots as collaborative exercises where children work together to achieve the activity objectives, generating interactions that can trigger learning processes. Witnessing such activit ...

EPFL2023

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

Exploration-based model learning with self-attention for risk-sensitive robot control

Sudong Lee

Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...

2023