A. Breitenmoser

Publications36
h-index16
Citations980
Highly Influential Citations56
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Optimal Reciprocal Collision Avoidance for Multiple Non-Holonomic Robots
TLDR
Non-holonomic optimal reciprocal collision avoidance (NH-ORCA) builds on the concepts introduced in [2], but further guarantees smooth and collision-free motions under non- holonomic constraints. Expand
Voronoi coverage of non-convex environments with a group of networked robots
TLDR
This paper presents a solution to decentralized Voronoi coverage in non-convex polygonal environments with an algorithm that is guaranteed to converge to a local optimum and proves convergence and optimality. Expand
Reciprocal collision avoidance for multiple car-like robots
TLDR
The proposed algorithm, bicycle reciprocal collision avoidance (B-ORCA), builds on the concept of optimal reciprocal collisions avoidance (ORCA) for holonomic robots but furthermore guarantees collision-free motions under the kinematic constraints of car-like vehicles. Expand
Multi-robot system for artistic pattern formation
TLDR
These Arbitrary target patterns are represented with an optimal robot deployment, using a method that is independent of the number of robots, and are visually appealing in the sense of being smooth, oscillation free, and showing fast convergence. Expand
Noise characterization of depth sensors for surface inspections
In the context of environment reconstruction for inspection, it is important to handle sensor noise properly to avoid distorted representations. A short survey of available sensors is realize to help… Expand
Optimal Reciprocal Collision Avoidance for Multiple Non-Holonomic Robots
TLDR
Non-holonomic optimal reciprocal collision avoidance (NH-ORCA) builds on the concepts introduced in [2], but further guarantees smooth and collision-free motions under non- holonomic constraints. Expand
Distributed Coverage Control on Surfaces in 3D Space
TLDR
Two distributed coverage control algorithms are presented that both provide a solution to the problem of deploying a group of networked robots on a non-planar surface embedded in 3D space by discrete coverage of a graph. Expand
Image and animation display with multiple mobile robots
TLDR
This work describes a display in which each pixel is a mobile robot of controllable color, and their positioning and motion are used to produce a novel experience. Expand
A monocular vision-based system for 6D relative robot localization
The objective of this paper is the full 6D relative localization of mobile devices, and direct robot-robot localization in particular. We present a novel relative localization system that consists of… Expand
Surface reconstruction and path planning for industrial inspection with a climbing robot
Inspection and maintenance tasks in the power industry often require tools to be moved smoothly in direct contact or close proximity over surfaces of curved tube-like structures. This paper addresses… Expand
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