Publications

2012

  • A. Martinelli, "Vision and IMU Data Fusion: Closed-Form Solutions for Attitude, Speed, Absolute Scale, and Bias Determination," Transaction on Robotics, February 2012, volume 28, Issue 1, pages 44-60.

  • A. Renzaglia, L. Doitsidis, A. Martinelli and E.B. Kosmatopoulos, "Multi-Robot 3D Coverage of Unknown Areas," The International Journal of Robotics Research, 2012 (To appear)

  • J. Rios-Martinez, A. Renzaglia, A. Spalanzani, A. Martinelli and C. Laugier, "Navigating Between People: a Stochastic Optimization Approach," in IEEE International Conference on Robotics and Automation (ICRA), St. Paul, MN, USA, 2012.

  • Stephan Weiss, Markus W. Achtelik, Margarita Chli and Roland Siegwart. “Real-time Onboard Visual-Inertial State Estimation and Self-Calibration of MAVs in Unknown Environments”. in IEEE International Conference on Robotics and Automation (ICRA), 2012.

  • Stephan Weiss, Markus W. Achtelik, Margarita Chli and Roland Siegwart. “Versatile Distributed Pose Estimation and Sensor Self-Calibration for Autonomous MAVs”. in IEEE International Conference on Robotics and Automation (ICRA), 2012. [video]
  • Lorenz Meier, Petri Tanskanen, Lionel Heng, Gim Hee Lee, Friedrich Fraundorfer, and Marc Pollefeys. Pixhawk: A micro aerial vehicle design for autonomous flight using onboard computer vision. To appear in Autonomous Robots (AURO), 2012.

2011

  • Stephan Weiss, Davide Scaramuzza and Roland Siegwart, "Monocular-SLAM–based navigation for autonomous micro helicopters in GPS-denied environments", Journal of Field Robotics (JFR), Vol. 28, No. 6, 2011, 854-874.
  • Lionel Heng, Gim Hee Lee, Friedrich Fraundorfer, and Marc Pollefeys, Real-Time Photo-Realistic 3D Mapping for Micro Aerial Vehicles, International Conference on Intelligent Robots and Systems, September 2011. 
  • E. B. Kosmatopoulos, K. Aboudolas, D. V. Rovas, L. Doitsidis, S. I. Roumeliotis, A Generic Framework for Scalable and Convergent Multi-Robot Acitve Simultaneous Localization, Mapping and Target Tracking, 19th Mediterranean Conference on Control and Automation (Med 2011), pp. 151-156, Corfu, Greece, 2011.

  • A. Renzaglia, L. Doitsidis, A. Martinelli and E.B. Kosmatopoulos, Adaptive-based Distributed Cooperative Multi-Robot Coverage, American Control Conference, San Francisco, USA, June 2011.
  • A. Cristofaro and A. Martinelli, 3D Cooperative Localization and Mapping: Observability Analysis, American Control Conference, San Francisco, USA, June 2011.

  • A. Martinelli, State Estimation based on the Concept of Continuous Symmetry and Observability Analysis: The Case of Calibration, Transaction on Robotics, vol 27, no 2, pp. 239-255, April 2011.

  • A. Martinelli, Closed-Form Solution for Attitude and Speed Determination by Fusing Monocular Vision and Inertial Sensor Measurements, International Conference on Robotics and Automation ICRA 2011, Shanghai, China, May 2011.

  • Lionel Heng, Lorenz Meier, Petri Tanskanen, Friedrich Fraundorfer, and Marc Pollefeys, Autonomous Obstacle Avoidance and Maneuvering on a Vision-Guided MAV Using On-Board Processing, to be presented at ICRA 2011.

  • Lorenz Meier, Petri Tanskanen, Friedrich Fraundorfer and Marc Pollefeys, PIXHAWK: A System for Autonomous Flight using Onboard Computer Vision, to be presented at ICRA 2011.

  • Gim Hee Lee, Friedrich Fraundorfer, and Marc Pollefeys, MAV Visual SLAM with Plane Constraint, to be presented at ICRA 2011.

  • Laurent Kneip, Stephan Weiss and Roland Siegwart. “Deterministic Initialization of Metric State Estimation Filters for Loosely-Coupled Monocular Vision-Inertial Systems”. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.
  • Markus Achtelik, Stephan Weiss, Margarita Chli, Frank Dellaert and Roland Siegwart. “Collaborative Stereo”. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.
  • Markus Achtelik, Michael Achtelik, Stephan Weiss, and Roland Siegwart. Onboard IMU and Monocular Vision Based Control for MAVs in Unknown In- and Outdoor Environments. Accepted for The IEEE International Conference on Robotics and Automation (ICRA). Shanghai, China, 2011.

  • Laurent Kneip, Margarita Chli and Roland Siegwart. “Robust Real-time Visual Odometry with a Single Camera and an IMU”. In Proceedings of British Machine Vision Conference (BMVC), 2011. 

  • Laurent Kneip, Agostino Martinelli, Stephan Weiss, Davide Scaramuzza, and Roland Siegwart. Closed-Form Solution for Absolute Scale Velocity Determination Combining Inertial Measurements and a Single Feature Correspondence. Accepted for The IEEE International Conference on Robotics and Automation. Shanghai, China, 2011.

  • Stephan Weiss and Roland Siegwart. Real-Time Metric State Estimation for Modular Vision-Inertial Systems. Accepted for The IEEE International Conference on Robotics and Automation. Shanghai, China, 2011.

  • Laurent Kneip, Davide Scaramuzza, and Roland Siegwart. A Novel Parametrization of the Perspective-Three-Point Problem for a Direct Computation of Absolute Camera Position and Orientation. Accepted for The IEEE Conference on Computer Vision and Pattern Recognition. Colorado Springs, USA, 2011.

  • L. Doitsidis, A. Renzaglia, S. Weiss, E. Kosmatopoulos, D. Scaramuzza and R. Siegwart. 3D Surveillance Coverage Using Maps Extracted by a Monocular SLAM Algorithm. International Conference on Robotics and Intelligent System. San Francisco, CA, USA, 2011.

  • A. Martinelli, C. Troiani and A. Renzaglia. Vision-Aided Inertial Navigation: Closed-Form Determination of Absolute Scale, Speed and Attitude. International Conference on Robotics and Intelligent System. San Francisco, CA, USA, 2011. 
  • Michael C. Achtelik, Jan Stumpf, Daniel Gurdan, and Klaus-Michael Doth. Design of a Flexible High Performance Quadcopter Platform Breaking the MAV Endurance Record with Laser Power Beaming. International Conference on Robotics and Intelligent System. San Francisco, CA, USA, 2011. pdf
  • A. Renzaglia, L. Doitsidis, A. Martinelli and E.B. Kosmatopoulos, Multi-Robot 3D Coverage of Unknown Terrains, 50th IEEE Conference on Decision and Control and European Control Conference, Orlando, FL, USA, December 2011.

2010

  • S. Zingg, D. Scaramuzza, S. Weiss, R. Siegwart, MAV Navigation through Indoor Corridors Using Optical flow, IEEE International Conference on Robotics and Automation (ICRA'10), Anchorage, USA, 2010.

  • M. Bloesch, S. Weiss, D. Scaramuzza, R. Siegwart, Vision Based MAV Navigation in Unknown and Unstructured Environments, IEEE International Conference on Robotics and Automation (ICRA'10), Anchorage, USA, 2010.

  • S. Weiss, M. Achtelik, L. Kneip, D. Scaramuzza, R. Siegwart, Intuitive 3D Maps for MAV Terrain Exploration and Obstacle Avoidance, International Conference on Unmanned Aerial Vehicles (UAV'10), Dubai, 2010.

  • G. Nuetzi, S. Weiss, D. Scaramuzza, R. Siegwart, Fusion of IMU and Vision for Absolute Scale Estimation in Monocular SLAM, International Conference on Unmanned Aerial Vehicles (UAV'10), Dubai, 2010.

  • D. Eberli, D. Scaramuzza, S. Weiss, R. Siegwart, Vision based Position Control for MAVs using one single Artificial Landmark, International Conference on Unmanned Aerial Vehicles (UAV'10), Dubai, 2010.

  • A. Renzaglia and A. Martinelli, Potential Field based Approach for Coordinate Exploration with a Multi-Robot Team, in 8th IEEE International Workshop on Safety, Security and Rescue Robotics (SSRR'10), Bremen, Germany, 2010.

  • A. Renzaglia, L. Doitsidis, A. Martinelli and E.B. Kosmatopoulos, Cognitive-based Adaptive Control for Cooperative Multi-Robot Coverage, in IEEE International Conference on Robotics and Intelligent System (IROS'10), Taipei, Taiwan, 2010.

  • A. Renzaglia, L. Doitsidis, A. Martinelli and E.B. Kosmatopoulos, Adaptive-based, Scalable Design for Autonomous Multi-Robot Surveillance, in 49th IEEE Conference on Decision and Control (CDC), Atlanta, Georgia, USA, 2010.

  • A. Cristofaro and A. Martinelli, Optimal Trajectories for Multi Robot Localization, in 49th IEEE Conference on Decision and Control (CDC), Atlanta, Georgia, USA, 2010.

  • D. Piguet, J.D. Decotignie, and J. Rousselot, A MAC protocol for micro flying robots coordination, 9th International Workshop on Real-Time Networks (RTN'10), Brussels, Belgium, July, 2010.

  • G.H. Lee, M. Achtelik, F. Fraundorfer, M. Pollefeys, and R. Siegwart, A Benchmarking Tool for MAV Visual Pose Estimation, International Conference on Control, Automation, Robotics and Vision (ICARCV'10), Singapore, December, 2010.

  • L. Kneip, D. Scaramuzza, and R. Siegwart, On the initialization of statistical optimum filters with application to motion estimation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan, October, 2010.

  • F. Fraundorfer, P. Tanskanen, and M. Pollefeys A Minimal Case Solution to the Calibrated Relative Pose Problem for the Case of Two Known Orientation Angles European Conference on Computer Vision (ECCV,10), Creete, September, 2010.

  • A. Cristofaro, A. Renzaglia and A. Martinelli, Distributed Information Filters for MAV Cooperative Localization, 10th International Symposium on Distributed Autonomous Robotics Systems (DARS), Lausanne, Switzerland, November, 2010.

  • F. Conte, A. Cristofaro, A. Renzaglia and A. Martinelli, Cooperative Localization and SLAM Based on the Extended Information Filter, Chapter of Multi-Robot Systems, Trends and Development, INTECH, Vienna, Austria, 2010.

  • F. Conte and A. Martinelli, A Hybrid Filtering and Maximum Likelihood approach to SLAM, International Conference on Robotics and Biomimetics (ROBIO), Tianjin, China, December 2010.

  • Friedrich Fraundorfer, Changchang Wu, and Marc Pollefeys. Methods for combined monocular and stereo mobile robot localization. In Recognizing Patterns in Signals, Speech, Images, and Videos, Lecture Notes in Computer Science LNCS 6388, pages 180–189, 2010.

  • Friedrich Fraundorfer, Changchang Wu, and Marc Pollefeys. Combining monocular and stereo cues for mobile robot localization using visual words. In International Conference on Pattern Recognition, pages 3927–3930, 2010.

  • Olivier Saurer, Friedrich Fraundorfer, and Marc Pollefeys. Visual localization using global visual features and vanishing points. In CLEF (Notebook Papers/LABs/Workshops), 2010.

  • Frédéric Bourgeois, Laurent Kneip, Stephan Weiss, and Roland Siegwart. Delay and Dropout Tolerant State Estimation for MAVs. International Symposium on Experimental Robotics (ISER), New Delhi, December, 2010.

2009

  • A. Martinelli, Local Decomposition and Observability Properties for Automatic Calibration in Mobile Robotics, IEEE International Conference on Robotics and Automation (ICRA'09), Kobe, Japan, 2009.

  • E. Nerurkar, S. Roumeliotis and A. Martinelli, Distributed Maximum A Posteriori Estimation for Multi Robot Cooperative Localization, IEEE International Conference on Robotics and Automation (ICRA'09), Kobe, Japan, 2009.

  • A. Martinelli, Using the Distribution Theory to Simultaneously Calibrate the Sensor of a Mobile Robot, Robotics Science and Systems (RSS'09), Seattle, USA, 2009.

  • E. Kosmatopoulos, L. Doitsidis, K. Aboudolas, Scalable and Convergent Multi-Robot Passive & Active Sensing, IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS'09), St Louis, USA, 2009.

  • E. Kosmatopoulos, L. Doitsidis, K. Aboudolas, A Unified Methodology for Multi-Robot Passive & Active Sensing, IEEE Mediterranean Conference on Control & Automation, (Med'09), 2009.

  • Alessandro Renzaglia, Agostino Martinelli Distributed coverage control for a multi-robot team in a non-convex environment IEEE IROS09 3rd Workshop on Planning, Perception and Navigation for Intelligent vehicles, St Louis, USA, 2009.
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