François Michaud

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We propose a system that gives a mobile robot the ability to separate simultaneous sound sources. A microphone array is used along with a real-time dedicated implementation of geometric source separation and a post-filter that gives us a further reduction of interferences from other sources. We present results and comparisons for separation of multiple(More)
Unpredictability and complexity of social interactions are important challenges for a child with low-functioning autism. The objective of this research is to study how a mobile robot can, by appearing more predictable, appealing and simple than a human being, facilitate reciprocal interaction such as imitative play. By conducting an exploratory study with(More)
The hearing sense on a mobile robot is impor. tan1 because it is omnidirectional and it does not require direct tine-of-sight with the sound source. Such capabilities can nicely complement vision to help localize a person or an interesting event in the environment. To do so the robot auditory system must he able to work in noisy, unknown and diverse(More)
Mobile robots in real-life settings would benefit from being able to localize and track sound sources. Such a capability can help localizing a person or an interesting event in the environment, and also provides enhanced processing for other capabilities such as speech recognition. To give this capability to a robot, the challenge is not only to localize(More)
For large-scale and long-term simultaneous localization and mapping (SLAM), a robot has to deal with unknown initial positioning caused by either the kidnapped robot problem or multi-session mapping. This paper addresses these problems by tying the SLAM system with a global loop closure detection approach, which intrinsically handles these situations.(More)
In appearance-based localization and mapping, loop-closure detection is the process used to determinate if the current observation comes from a previously visited location or a new one. As the size of the internal map increases, so does the time required to compare new observations with all stored locations, eventually limiting online processing. This paper(More)
This paper describes two initiatives aiming at improving code reusability for programming mobile robots: robotflow/flowdesigner, a data-flow programming environment; MARIE (mobile and autonomous robotics integration environment), a programming environment allowing multiple applications, programs and tools, to operate on one or multiple machines/OS and work(More)
This paper presents MARIE, a middleware framework oriented towards developing and integrating new and existing software for robotic systems. By using a generic communication framework, MARIE aims to create a flexible distributed component system that allows robotics developers to share software programs and algorithms, and design prototypes rapidly based on(More)
This paper presents the design process of a spherical robot capable of autonomous motion, and demonstrates how it can become a tool in child development studies. The robot, named Roball, is capable of intentional selfpropelled movements and can generate various interplay situations using motion, messages, sounds, illuminated parts and other sensors. Such(More)
Designing a mobile robotic toy is challenging work. The robot must be appealing to children and create interesting interactions while facing the wide variety of situations that can be experienced while playing with a child, and all at a reasonable cost. In this paper we present Roball, a ball-shaped robot that moves by making its external spherical shell(More)