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Introduction
The Robotics Seminars are intended to appeal to a wide technical audience.
A variety of talks are presented that are of interest to computer scientists,
electrical engineers, mechanical engineers and others in the fields of mobile robotics,
manipulation, and human/robot interaction. The seminars are free and open to the public.
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Spring 2007
Friday Nov 30, 11am - 12noon in
Walter Library (DTC) 402
 Speaker: Dr. Agostino Martinelli (INRIA)
Title: Sensor Fusion for Mobile Robot Localization and Navigation
Abstract: In this talk I discuss the problem of autonomous vehicle localization in
several contexts. I start the discussion by considering the case when the
localization is performed by only using proprioceptive data (like wheel
encoders). In this case, I show how to analytically compute the error on the
vehicle configuration integrated along the entire trajectory. In particular,
closed form solutions for this integrated error are provided. Then, I
consider the case of a vehicle equipped with proprioceptive and
exteroceptive sensors. In particular, both the cases of known and unknown
environment are considered. In the second case, I discuss the problem of
simultaneously estimating the vehicle configuration and the map of the
environment (SLAM=Simultaneous Localization and Mapping). A solution based
on relative quantities which are shift and rotation invariant is presented.
Furthermore, the case when one of the robot.s sensors is affected by a
systematic error is analyzed. In this case I discuss the problem of
simultaneously estimating the vehicle configuration and the parameters
characterizing the systematic error (SLAC=Simultaneous Localization and
sensor Calibration). Finally, for the case of holonomic vehicles, the
problem of finding optimal trajectories in order to maximize the
localization performance is introduced and solutions for simple cases are
presented.
About the speaker: Agostino Martinelli (1971) received the M.Sc. in theoretical Physics in
1994 from the University of Rome .Tor Vergata. and the PhD in Astrophysics
in 1999 from the University of Rome .La Sapienza.. During his PhD he spent
one year at the University of Wales in Cardiff and one year in the School of
Trieste (SISSA). His research was focused on the chemical and dynamical
evolution in the elliptical galaxies, in the quasars and in the
intergalactic medium. He also introduced models based on the General
Relativity to explain the anisotropies on the Cosmic Background Radiation.
After his PhD, his interests moved on the problem of autonomous navigation.
He spent two years in the University of Rome .Tor Vergata.
and, in 2002, he moved to the Autonomous Systems Lab, EPFL, in Lausanne
(Switzerland) as senior researcher, where he was leading several projects on
multi sensor fusion for robot localization (with particular attention to the
odometry sensors), simultaneous localization and odometry error learning,
and simultaneous localization and map building. Since September 2006 he is
Senior Researcher (CR1) at the INRIA Rhone Alpes in Grenoble (France) and
permanent guest at the Autonomous System Lab, ETHZ, in Zurich (Switzerland).
He has authored/co-authored more than 40 journals and conference papers.
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