5.7k citations
Counting papers with at most 25 authors, so collaboration author lists do not stand in for the people here.
- Canadian Institute for Advanced ResearchCA270 papers
- Institut quantiqueCA231 papers
- Centre National de la Recherche ScientifiqueFR163 papers
- Regroupement Québécois sur les Matériaux de PointeCA163 papers
- University of British ColumbiaCA56 papers
- ETH ZurichCH50 papers
- McGill UniversityCA50 papers
- Brookhaven National LaboratoryUS43 papers
- Université Paris-SaclayFR43 papers
- University of WaterlooCA41 papers
- Commissariat à l'Énergie Atomique et aux Énergies AlternativesFR39 papers
- Yale UniversityUS39 papers
28 papers · 1 filter
RRT-Rope: A deterministic shortening approach for fast near-optimal path planning in large-scale uncluttered 3D environments
Louis Petit, Alexis Lussier Desbiens
Many path planning algorithms have been introduced so far, but most are costly, in path cost and in processing time, in large-scale uncluttered 3D environments such as underground…
TAPE: Tether-Aware Path Planning for Autonomous Exploration of Unknown 3D Cavities Using a Tangle-Compatible Tethered Aerial Robot
Louis Petit, Alexis Lussier Desbiens
This letter presents the first method for autonomous exploration of unknown cavities in three dimensions (3D) that focuses on minimizing the distance traveled and the length of tet…
MOAR Planner: Multi-Objective and Adaptive Risk-Aware Path Planning for Infrastructure Inspection with a UAV
Louis Petit, Alexis Lussier Desbiens
The problem of autonomous navigation for UAV inspection remains challenging as it requires effectively navigating in close proximity to obstacles, while accounting for dynamic risk…
Reconfigurable hydrostatics: Toward versatile and efficient load-bearing robotics
Jeff Denis, Frederic Laberge, Jean-Sebastien Plante +1
Wearable and legged robot designers face multiple challenges when choosing actuation. Traditional fully actuated designs using electric motors are multifunctional but oversized and…
Influence Vectors Control for Robots Using Cellular-like Binary Actuators
Alexandre Girard, Jean-Sébastien Plante
Robots using cellular-like redundant binary actuators could outmatch electric-gearmotor robotic systems in terms of reliability, force-to-weight ratio and cost. This paper presents…
Memory Management for Real-Time Appearance-Based Loop Closure Detection
Mathieu Labbé, François Michaud
Loop closure detection is the process involved when trying to find a match between the current and a previously visited locations in SLAM. Over time, the amount of time required to…
Online Global Loop Closure Detection for Large-Scale Multi-Session Graph-Based SLAM
Mathieu Labbe, François Michaud
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 mul…
Appearance-Based Loop Closure Detection for Online Large-Scale and Long-Term Operation
Mathieu Labbé, François Michaud
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…
Soft Two-degree-of-freedom Dielectric Elastomer Position Sensor Exhibiting Linear Behavior
Alexandre Girard, Jean-Philippe Lucking Bigué, Benjamin M. O'Brien +3
Soft robots could bring robotic systems to new horizons, by enabling safe human-machine interaction. For precise control, these soft structures require high level position feedback…
A Dual-Motor Actuator for Ceiling Robots with High Force and High Speed Capabilities
Ian Lalonde, Jeff Denis, Mathieu Lamy +1
Patient transfer devices allow to move patients passively in hospitals and care centers. Instead of hoisting the patient, it would be beneficial in some cases to assist their movem…
RTAB-Map as an Open-Source Lidar and Visual SLAM Library for Large-Scale and Long-Term Online Operation
Mathieu Labbé, François Michaud
Distributed as an open source library since 2013, RTAB-Map started as an appearance-based loop closure detection approach with memory management to deal with large-scale and long-t…
Visualizing High-Dimensional Configuration Spaces: A Comprehensive Analytical Approach
Jorge Ocampo Jimenez, Wael Suleiman
The representation of a Configuration Space C plays a vital role in accelerating the finding of a collision-free path for sampling-based motion planners where the majority of compu…
Using Buckingham's Theorem for Multi-System Learning Transfer: a Case-study with 3 Vehicles Sharing a Database
William Therrien, Olivier Lecompte, Alexandre Girard
Many advanced driver assistance schemes or autonomous vehicle controllers are based on a motion model of the vehicle behavior, i.e., a function predicting how the vehicle will reac…
Improving Path Planning Performance through Multimodal Generative Models with Local Critics
Jorge Ocampo Jimenez, Wael Suleiman
This paper presents a novel method for accelerating path planning tasks in unknown scenes with obstacles by utilizing Wasserstein Generative Adversarial Networks (WGANs) with Gradi…
Long-Term Online Multi-Session Graph-Based SPLAM with Memory Management
Mathieu Labbé, François Michaud
For long-term simultaneous planning, localization and mapping (SPLAM), a robot should be able to continuously update its map according to the dynamic changes of the environment and…
Sensor Observability Index: Evaluating Sensor Alignment for Task-Space Observability in Robotic Manipulators
Christopher Yee Wong, Wael Suleiman
In this paper, we propose a preliminary definition and analysis of the novel concept of sensor observability index. The goal is to analyse and evaluate the performance of distribut…
Low-Level Force-Control of MR-Hydrostatic Actuators
Jeff Denis, Jean-Sebastien Plante, Alexandre Girard
Precise and high-fidelity force control is critical for new generations of robots that interact with humans and unknown environments. Mobile robots, such as wearable devices and le…
Performance Study of Low Inertia Magnetorheological Actuators for Kinesthetic Haptic Devices
Louis-Philippe Lebel, Jean-Alexis Verreault, Jean-Philippe Lucking Bigué +2
A challenge to high quality virtual reality (VR) simulations is the development of high-fidelity haptic devices that can render a wide range of impedances at both low and high freq…
Experimental investigation of a maneuver selection algorithm for vehicles in low adhesion conditions
Olivier Lecompte, William Therrien, Alexandre Girard
Winter conditions, characterized by the presence of ice and snow on the ground, are more likely to lead to road accidents. This paper presents an experimental proof of concept, wit…
SwarmUS: An open hardware and software on-board platform for swarm robotics development
Étienne Villemure, Philippe Arsenault, Gabriel Lessard +7
Real life implementations of distributed swarm robotics are rare. The standardization of a general purpose swarm robotics platform could greatly accelerate swarm robotics towards r…
Have I been here before? Learning to Close the Loop with LiDAR Data in Graph-Based SLAM
Tim-Lukas Habich, Marvin Stuede, Mathieu Labbé +1
This work presents an extension of graph-based SLAM methods to exploit the potential of 3D laser scans for loop detection. Every high-dimensional point cloud is replaced by a compa…
Multi-Session Visual SLAM for Illumination Invariant Re-Localization in Indoor Environments
Mathieu Labbé, François Michaud
For robots navigating using only a camera, illumination changes in indoor environments can cause re-localization failures during autonomous navigation. In this paper, we present a…
Robust 3D Localization and Tracking of Sound Sources Using Beamforming and Particle Filtering
Jean-Marc Valin, François Michaud, Jean Rouat
In this paper we present a new robust sound source localization and tracking method using an array of eight microphones (US patent pending) . The method uses a steered beamformer b…
Enhanced Robot Audition Based on Microphone Array Source Separation with Post-Filter
Jean-Marc Valin, Jean Rouat, François Michaud
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 Geom…