The Need for Autonomy and Real-Time in Mobile Robotics: A Case Study of XO/2 and Pygmalion

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This paper presents a solution to the Simultaneous Localization and Mapping (SLAM) problem in the stochastic map framework for a mobile robot navigating in an indoor environment. The approach is based on the concept of the relative map. The idea consists in introducing a map state, which only contains quantities invariant under translation and rotation. This is done in order to have a decoupling between the robot motion and the landmark estimation and therefore not to rely the landmark estimation on the unm

Scala fuses object-oriented and functional programming in a statically typed programming language. It is aimed at the construction of components and component systems. This paper gives an overview of the Scala language for readers who are familar with programming methods and programming language design.

We identify three programming language abstractions for the construction of re-usable components: abstract type members, explicit selftypes and symmetric mixin composition. Together, these abstractions enable us to transform an arbitrary assembly of static program parts with hard references between them into a system of re-usable compo-nents. The transformation maintains the structure of the original system. We demonstrate this approach in two case studies, a subject/observer framework and a compiler front-

This paper presents a navigation framework which enables multiple mobile robots to attain individual goals, coordinate their actions and work safely and reliably in a highly dynamic environment. We give an overview of the framework architecture, its layering and the subsystems reactive obstacle avoidance, local path planning, global path planning, multi-robot planning and localization. The latter receives particular attention as the localization problem is a key issue for navigation in unmodified and diffic

Effectively managing a large collection of multimedia documents is a challenge, addressed by many disciplines from signal processing through database systems to artificial intelligence and interaction design. The problems to be solved have rarely been considered together. We propose a series of novel solutions for: the system architecture, the document content characterization, the retrieval methodology, and the user interaction schemes. We propose and describe a communicating components architecture using

Robotic ground vehicles are mechanisms that use gravity and contact forces with the ground to perform motion. They can either be wheeled, tracked or legged. In this thesis we will focus on n-wheeled vehicles able to perform ground following motion with all the wheels maintaining contact at the same time. The main goal of this work is to establish the implication of the topological architecture of the vehicle mechanism on criteria such as climbing skills, robustness, ground clearance, weight, power consumpti

In this paper we introduce a new robotic system, called swarm-bot. The system consists of a swarm of mobile robots with the ability to connect to/disconnect from each other to self-assemble into different kinds of structures. First, we describe our vision and the goals of the project. Then we present preliminary results on the formation of patterns obtained from a grid-world simulation of the system.

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

The field of mobile robotics offers a new medium for public entertainment and art. Mobile robots can move, react, and interact in the real world, generating behaviors that can be used as a new artistic medium quite different from sculptures, drawings or video. This new medium, like other technological media such as video or the Internet, requires considerable technical know-how to be exploited successfully. The successful design of a mobile robot demands a strong interdisciplinary and systems-oriented engin

For a software system to be perceived as a success, or even just as properly functioning, many quality attributes, besides functionality, need to be at an acceptable level. However, current software development processes focus on the functional aspects of a system to be developed. They hardly help to systematically engineer for quality attributes other than functionality. It is a system`s architecture by which such quality requirements are satisfied. In particular, software components are an incarnation of

An outage of a power transformer, generally, has heavy financial consequences for electric power systems utilities. In order to prevent any failure and to optimize their maintenance, a growing number of operating parameters are measured on-line. The important amount of data together with the ever increasing number of units to be monitored calls for automatic alarm devices. Due to the complexity of power transformers, the evolution of the operating parameters is hardly known and, in fact, difficult to model.

The original TCV control system was designed in the late 1980s to be inherently network based in that all control operations were performed from X-windows terminals and the control computers were networked. Using VMS-VAX technology, the acquisition system (CAMAC) and control system (BITBUS) were connected to controllers situated in the machine bus of these machines that were linked homogeneously by the VMS 'cluster' technology. Although the computing power and network bandwidth have improved considerably ov

The Need for Autonomy and Real-Time in Mobile Robotics: A Case Study of XO/2 and Pygmalion

Chattez avec Graph Search

SLAM with Corner Features Based on a Relative Map

An Overview of the Scala Programming Language

Scalable Component Abstractions

A Navigation Framework for Multiple Mobile Robots and its Application at the Expo.02 Exhibition

Integrating visual and semantic descriptions for effective, flexible and user-friendly image retrieval

Nouveaux concepts de locomotion pour véhicules tout-terrain robotisés

SWARM-BOT: Pattern Formation in a Swarm of Self-Assembling Mobile Robots

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

Interactions between Art and Mobile Robotic System Engineering

On Quality Attribute Based Software Engineering

Surveillance continue des transformateurs de puissance par réseaux de neurones auto-organisés

Evolution not revolution in the TCV tokamak control and acquisition system