• Publications
  • Influence
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
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
Automatic detection of checkerboards on blurred and distorted images
TLDR
It is shown that the proposed algorithm is able to consistently identify 80% of the corners on omnidirectional images of as low as VGA resolution and approaches 100% correct corner extraction at higher resolutions, outperforming the existing implementation significantly. 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
Toward automated driving in cities using close-to-market sensors: An overview of the V-Charge Project
TLDR
An overview of the V-Charge system is presented, from the platform setup to the mapping, perception, and planning sub-systems, which is able to automate valet parking and recharging for integration into a future transportation system. 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
Reciprocal Collision Avoidance With Motion Continuity Constraints
TLDR
The continuous control obstacle (Cn-CO), which describes the set of Cn-continuous control sequences that lead to a collision between interacting agents, represents an extension to the reciprocal velocity obstacle (RVO) collision-avoidance methods so that trajectory segments verify Cn continuity rather than piecewise linearity. Expand
A sampling-based partial motion planning framework for system-compliant navigation along a reference path
In this paper a generic framework for sampling-based partial motion planning along a reference path is presented. The sampling mechanism builds on the specification of a vehicle model and a controlExpand
On the design of deformable input- / state-lattice graphs
  • M. Rufli, R. Siegwart
  • Mathematics, Computer Science
  • IEEE International Conference on Robotics and…
  • 3 May 2010
TLDR
A novel and simple to implement yet effective lattice design algorithm, which simultaneously produces input and state-space sampled lattice graphs, and shows that a transformation from chained form to path coordinates allows the resulting lattice to be bent along any C1 continuous path. Expand
Smooth path planning in constrained environments
TLDR
This approach produces smooth, complex maneuvers over large distances through the use of an anytime graph search algorithm applied to a novel multi-resolution state lattice, where the resolution is adapted based on both environmental characteristics and task characteristics. Expand
...
1
2
3
...