Mehmet Mutlu

Mehmet Mutlu
École Polytechnique Fédérale de Lausanne | EPFL · Maunufacturing Systems and Robotics

About

16
Publications
614
Reads
How we measure 'reads'
A 'read' is counted each time someone views a publication summary (such as the title, abstract, and list of authors), clicks on a figure, or views or downloads the full-text. Learn more
72
Citations

Publications

Publications (16)
Article
Even though many prototypes of 3D self-reconfiguring modular robots (SRMRs) have been developed in recent years, a demonstration involving 1’000 modules remains a challenge. This is largely due to complex mechanics needed to achieve connection, disconnection and especially actuation in such a system. This work introduces “Kubits,” which is, to the...
Article
The computational load associated with computer vision is often prohibitive, and limits the capacity for on-board image analysis in compact mobile robots. Replicating the kind of feature detection and neural processing that animals excel at remains a challenge in most biomimetic aquatic robots. Event-driven sensors use a biologically inspired sensi...
Article
Self-reconfiguration is a hard problem due to the high dimensionality of self-reconfigurable modular systems. Search-based approaches offer complete and optimal solutions. However, naive search algorithms cannot directly solve self-reconfiguration tasks in reasonable time. In this work, a transition model, a search heuristic, pruning strategies and...
Conference Paper
In this paper we introduce a body-compliant Modular Snake Robot executing rolling gaits on different cylindrical geometries. In the state of the art it is considered that an active shape adaptation to the terrain while a gait is executed produces better performances than a simple pre-programmed stiff motion without feedback. Several attempts to rep...
Conference Paper
Visual information is heavily used in robotics, in particular for SLAM applications. Visual SLAM algorithms depend on robust feature extraction and reliable state estimation. Quality of the visual information highly depends on how that information is captured. The nature of snake robots' locomotion presents considerable challenges on the quality of...
Conference Paper
Mobile robots suffer from sensory data corruption due to body oscillations and disturbances. In particular, information loss on images captured with onboard cameras can be very high, and such loss may become irreversible or computationally costly to undo. In this paper, we propose a novel method to minimize average motion blur captured by such mobi...
Conference Paper
Mobile robots suffer from sensor data corruption due to body oscillations and disturbances. Especially, information loss on images captured with onboard cameras can be extremely high and such loss may become irreversible or deblurring can be computationally costly. In this paper, a novel method is proposed to minimize average motion blur captured b...
Article
Typical operating conditions for mobile sensor systems, and in particular mobile robots, exhibit a wide range of mechanical disturbances due their ego-motion. Sensor systems mounted on these mobile platforms often suffer to varying degrees from these disturbances. The quality of acquired data is degraded as a result. For instance, the quality of ca...
Conference Paper
Full-text available
During the uniform locomotion of compliant legged robots and other terrain vehicles, the body of the robot often exhibits complex oscillations which may have a disturbing effect on onboard sensors. For a camera mounted on such a robot, due to perspective projection, the effects of angular disturbances are particularly pronounced as compared to tran...

Network

Cited By

Projects

Project (1)