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IEEE International Conference on Robotics and Automation

作者： William C. Evans Duarte Dias Steven Roelofsen Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique Fédérale de Lausanne 1015 Lausanne Switzerland

ISBN: (纸本)9781467380270

The remarkable accessibility of modern flying robots makes them an attractive platform for environmental sensing. However, low cost and ease of use are currently incompatible with large payloads, severely limiting the choice of sensor and ultimately modality. This paper describes the design of a system for using a small infrared thermometer to estimate the surface temperature over an area that is large compared to the area measured by the sensor, by mounting it on a flying robot. We leverage a priori knowledge about the spatial statistics of the phenomena under measure in order to plan an informative sampling path, fusing observations by Gaussian process regression. Our approach is designed to be evaluated in an indoor testbed, in which a quadrotor, in cooperation with simulated static sensing nodes, estimates the spatial distribution of surface temperature over a controlled thermal gradient. We perform extensive systematic experimentation both in simulation and our real-world testbed environment, with our algorithm estimating surface temperature to an accuracy of up to 2.1 °C over a 16 m~2 area ranging in value from 25-65 °C.

关键词： Estimation Hybrid-Mobility Sensor

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distributed Deconfliction Algorithm for Unmanned Aerial Vehicles with Limited Range and Field of View Sensors

Distributed Deconfliction Algorithm for Unmanned Aerial Vehi...

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American Control Conference

作者： Steven Roelofsen Alcherio Martinoli Denis Gillet Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique Federale de Lausanne Coordination and Interaction System Group School of Engineering Ecole Polytechnique Federale de Lausanne

ISBN: (纸本)9781479917730

This paper proposes a novel approach for collision avoidance between Unmanned Aerial Vehicles (UAVs) with limited range and field of view sensors. The algorithm is designed for unicycle vehicles that need to fly above a specific minimal speed to maintain flight. It uses a navigation function approach when the UAV is clear from conflict and smoothly switches to a collision avoidance maneuver when other UAVs are encountered. We show that the proposed avoidance algorithm can ensure a collision-free path. We also carry out a throughout quantitative analysis of the algorithm singularities and propose heuristic recipes for avoiding deadlock situations. Simulations are performed to show the effectiveness of the algorithm.

关键词： Collision avoidance Sensors Aircraft Turning Aircraft navigation Mathematical model

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Flexible triangular formation keeping of marine robotic vehicles using range measurements 19

Flexible triangular formation keeping of marine robotic vehi...

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19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

作者： Rego, Francisco Soares, Jorge M. Pascoal, António Aguiar, A. Pedro Jones, Colin Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal Institute of Mechanical Engineering School of Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland National Institute of Oceanography Dona Paula Goa India

ISBN: (纸本)9783902823625

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant and known. A control strategy is adopted that generates speed and heading commands so as to drive suitably defined along track and cross track errors to zero. The commands are used as input to local inner loops for yaw and speed control. The paper describes the algorithms derived for range-based control and assesses their performance in simulations using realistic models of the vehicles involved. Tests with three autonomous marine vehicles equipped with acoustic modems and ranging devices allow for the evaluation of the performance of the algorithms in a real-world situation. © IFAC.

关键词： Vehicle performance

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Graph-based distributed control for adaptive multi-robot patrolling through local formation transformation

Graph-based distributed control for adaptive multi-robot pat...

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IEEE/RSJ International Conference on intelligent Robots and systems

作者： Alicja Wasik Jose N. Pereira Rodrigo Ventura Pedro U. Lima Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering école Polytechnique Fédérale de Lausanne Switzerland Institute for Systems and Robotics Instituto Superior Técnico Universidade de Lisboa Portugal

ISBN: (纸本)9781509037636

Multi-robot cooperative navigation in real-world environments is essential in many applications, including surveillance and search-and-rescue missions. State-of-the-art methods for cooperative navigation are often tested in ideal laboratory conditions and not ready to be deployed in real-world environments, which are often cluttered with static and dynamic obstacles. In this work, we explore a graph-based framework to achieve control of real robot formations moving in a world cluttered with a variety of obstacles by introducing a new distributed algorithm for reconfiguring the formation shape. We systematically validate the reconfiguration algorithm using three real robots in scenarios of increasing complexity.

关键词： Navigation Robot kinematics Collision avoidance Shape Robot sensing systems Laplace equations

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Accommodation of NLOS for ultra-wideband TDOA localization in single- and multi-robot systems

Accommodation of NLOS for ultra-wideband TDOA localization i...

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International Conference on Indoor Positioning and Indoor Navigation (IPIN)

作者： Amanda Prorok Phillip Tomé Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique Fédérale de Lausanne Switzerland Electronics and Signal Processing Laboratory School of Engineering Ecole Polytechnique Fédérale de Lausanne Switzerland

Ultra-wideband (UWB) localization is one of the most promising indoor localization methods. Yet, non-line-of-sight (NLOS) positioning scenarios can potentially cause significant localization errors and remain a challenge. In this work, we propose a novel, probabilistic UWB TDOA error model which explicitly takes into account NLOS. In order to validate our approach systematically in a real world setup, we leverage the utility of a group of mobile robots, and introduce our error model into a real-time localization framework run onboard the robots. We subsequently extend our framework by employing a collaborative localization strategy which enables the sharing of inter-robot, relative position observations. Our experimental results show how the novel TDOA error model is able to improve localization performance when information on the LOS/NLOS path condition is available. These results are complemented by additional experiments which show how a collaborative team of robots is able to significantly improve localization performance when no information on the LOS/NLOS path condition is available.

关键词： Robot kinematics Mathematical model Robot sensing systems Measurement uncertainty Atmospheric measurements Particle measurements

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Measuring sensible heat flux with high spatial density

Measuring sensible heat flux with high spatial density

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IEEE Sensors Applications Symposium, SAS

作者： Alexander Bahr Chris Evans Alcherio Martinoli Hendrik Huwald Chad Higgins Marc Parlange Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique Fédérale de Lausanne Lausanne Switzerland Environmental Fluid Mechanics and Hydrology School of Architecture Civil and Environmental Engineering Ecole Polytechnique Fédérale de Lausanne Lausanne Switzerland

Sensible heat flux is an essential quantity in the surface energy budget. Information about it is crucial for the derivation of models of air-surface interaction which in turn are needed for larger scale climate models. Sensible heat flux varies greatly across short distances and thus many sensors are required in order to obtain measurements of sufficient spatial density. The standard measurement method however requires expensive equipment which constrains the deployment of a large number of sensors. Our work implements a method relying only on the variance of the measured temperature to compute the sensible heat flux. We first verify the validity of this method and then modify Sensorscope, a commercially available weather station, to capture the required data. The resulting setup is able to provide sensible heat flux measurements with high spatial density in near real time at negligible additional cost.

关键词： Temperature sensors Temperature measurement Heating Microcontrollers Fluid flow measurement Frequency measurement

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Vision-based Unmanned Aerial Vehicle detection and tracking for sense and avoid systems

Vision-based Unmanned Aerial Vehicle detection and tracking ...

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IEEE/RSJ International Conference on intelligent Robots and systems

作者： Krishna Raj Sapkota Steven Roelofsen Artem Rozantsev Vincent Lepetit Denis Gillet Pascal Fua Alcherio Martinoli Computer Vision Laboratory School of Communication and Computer Sciences école Polytechnique Fédérale de Lausanne (EPFL) Switzerland Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering EPFL Switzerland Institute for Computer Graphics and Vision TU Graz Austria Coordination and Interaction System Group School of Engineering EPFL Switzerland

ISBN: (纸本)9781509037636

We propose an approach for on-line detection of small Unmanned Aerial Vehicles (UAVs) and estimation of their relative positions and velocities in the 3D environment from a single moving camera in the context of sense and avoid systems. This problem is challenging both from a detection point of view, as there are no markers on the targets available, and from a tracking perspective, due to misdetection and false positives. Furthermore, the methods need to be computationally light, despite the complexity of computer vision algorithms, to be used on UAVs with limited payload. To address these issues we propose a multi-staged framework that incorporates fast object detection using an AdaBoost-based approach, coupled with an on-line visual-based tracking algorithm and a recent sensor fusion and state estimation method. Our framework allows for achieving real-time performance with accurate object detection and tracking without any need of markers and customized, high-performing hardware resources.

关键词： Target tracking Object detection Collision avoidance Cameras Visualization Detectors

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Automated real-time control of fluidic self-assembly of microparticles

Automated real-time control of fluidic self-assembly of micr...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Massimo Mastrangeli Felix Schill Jonas Goldowsky Helmut Knapp Juergen Brugger Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory (DISAL) School of Architecture Civil and Environmental Engineering École Poly-technique Fédérale de Lausanne (EPFL) Lausanne Switzerland Swiss Center for Electronics and Microtechnology (CSEM) Alpnach Switzerland Ecole Polytechnique Federale de Lausanne Lausanne VD CH

Self-assembly is a key coordination mechanism for large multi-unit systems and a powerful bottom-up technology for micro/nanofabrication. Controlled self-assembly and dynamic reconfiguration of large ensembles of microscopic particles can effectively bridge these domains to build innovative systems. In this perspective, we present SelfSys, a novel platform for the automated control of the fluidic self-assembly of microparticles. SelfSys centers around a water-filled microfluidic chamber whose agitation modes, induced by a coupled ultrasonic actuator, drive the assembly. Microparticle dynamics is imaged, tracked and analyzed in real-time by an integrated software framework, which in turn algorithmically controls the agitation modes of the microchamber. The closed control loop is fully automated and can direct the stochastic assembly of microparticle clusters of preset dimension. Control issues specific to SelfSys implementation are discussed, and its potential applications presented. The SelfSys platform embodies at microscale the automated self-assembly control paradigm we first demonstrated in an earlier platform.

关键词： Assembly Real-time systems Clustering algorithms Robot kinematics Self-assembly Acoustics

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Flexible triangular formation keeping of marine robotic vehicles using range measurements 1

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IFAC Proceedings Volumes 2014年第3期47卷 5145-5150页

作者： Francisco Rego Jorge M. Soares António Pascoal A. Pedro Aguiar Colin Jones Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal Institute of Mechanical Engineering School of Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland National Institute of Oceanography Dona Paula Goa India

关键词： Autonomous Vehicles Marine systems Control Laws Formation Control Station Keeping Triangular Formations

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An Algorithm for Formation-Based Chemical Plume Tracing Using Robotic Marine Vehicles

An Algorithm for Formation-Based Chemical Plume Tracing Usin...

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OCEANS MTS/IEEE Monterey (Conference)

作者： Jorge M. Soares A. Pedro Aguiar Antonio M. Pascoal Alcherio Martinoli Laboratory of Robotics and Engineering Systems Instituto Superior Técnico University of Lisbon Av. Rovisco Pais 1049-001 Lisboa Portugal Research Center for Systems and Technology Faculty of Engineering University of Porto Rua Dr. Roberto Frias 4200-465 Portugal Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering école Polytechnique Fédérale de Lausanne (EPFL) 1015 Switzerland

ISBN: (纸本)9781509015276

Robotic chemical plume tracing is a growing area of research, with envisioned real-world applications including pollution tracking, search and rescue, and ecosystem identification. However, following a chemical signal in the water is not an easy task due to the nature of chemical transport and to limitations in sensing and communication. In this paper, we propose an approach for near-surface waterborne plume tracing using a combined team of autonomous surface and underwater vehicles. All vehicles are equipped with appropriate chemical sensors and acoustic modems. The team moves in a triangular formation, while using the flow direction and the samples obtained to steer the group along the plume. Leader vehicles at the surface implement a formation controller based on Laplacian feedback while the underwater vehicle performs acoustic ranging to the leaders. The solution was evaluated using a CFD simulation of a freshwater plume and a calibrated dynamic model of the MEDUSA autonomous marine vehicles. The group is able to move in a stable formation, sample the salinity, and trace the plume to its source.

关键词： Vehicles Chemicals Robots Ocean temperature Sea surface Salinity (geophysical) Underwater vehicles

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