Email:
roland.siegwart@epfl.ch; rsiegwart@ethz.ch

Room:
CLA E32

Phones:

• Office: +41 44 632 23 58
• Mobile: +41 79 214 49 27

• See the laboratory projects page!

Books

• Siegwart, R. and Nourbakhsh, I. (2004) Introduction to Autonomous Mobile Robots. A Bradford Book, The MIT Press, Cambridge, Massachusetts, London, England. [home page]

Edited Books

• Billard, A. and Siegwart, R. (2004) EDITORIAL: Robot Programming By Demonstration. Robotics & Autonomous Systems, Special Issue on Robot Programming by Demonstration, A. Billard & R. Siegwart (eds), 47/2-3 pp 65-67, Elsevier. [show abstract] [pdf]
• Siegwart, R. (2003) Special Issue on Selected Papers from IROS 02. Advanced Robotics, Volume 17, Issue 7, 1 November 2003, VSP.
• Siegwart, R. and Laugier, Ch. (2002) Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RJS, Omnipress, ISBN 0-7803-7399-5. [IROS'2002]
• Siegwart, R. (2002) Special Issue on Mobile Micro-Robots. Journal of Micro-Mechatronics, VSP, Utrecht, Vol. 1, No. 3, ISSN 1389-2258.
• Arras, K.O., Balkenius, C., Baerfeldt, A., Burgard, W. and Siegwart, R. (2001) Proceedings of the Fourth European Workshop on Advanced Mobile Robots. Lund, Sweden. [EUROBOT'2001]
• Goldberg, K. and Siegwart, R. (2001) Beyond Webcams: An Introduction to Online Robots. The MIT Press, Boston, ISBN 0-262-07225-4.
• Siegwart, R. (2000) Workshop Proceedings ’Mobile Micro-Robots’. IEEE International Conference on Robotics and Automation, San Francisco, USA, April 24-28. [ICRA'2000]
• Siegwart, R. and Goldberg, K. (2000) Special issues on Robots on the Web. IEEE Robotics and Automation Magazine, Vol. 7.
• Schweitzer, G., Siegwart, R., Lösch, F. and Berksun, R. (2000) Proceedings of the Seventh International Symposium on Magnetic Bearings. ETH Zurich, August 23-25.
• Schweitzer, G., Siegwart, R. and Cattin, P. (1998) Proceedings of The Fourth International Conference on Motion and Vibration Control. ETH Zurich, August 25-28. [MOVIC'1998]
• Siegwart, R. (1998) Workshop Proceedings 'Robots on the Web'. IEEE/RSJ International Conference on Intelligent Robots and Systems, Victoria, Canada, October 12-16. [IROS'1998]
• Schweitzer, G., Siegwart, R. and Herzog, R. (1994) Proceedings of the Fourth International Symposium on Magnetic Bearings. ETH Zurich, August 24-26.

Book Chapters

• Scaramuzza, D., Criblez, N., Martinelli, A. and Siegwart, R. (2008) Robust Feature Extraction and Matching for Omnidirectional Images. Springer Tracts in Advanced Robotics, Field and Service Robotics. [home page] [show abstract] [pdf] [BibTeX]
• Ramisa, A., Vasudevan, S., Scaramuzza, D., De Mantaras, R.L. and Siegwart, R. (2008) A Tale of Two Object Recognition Methods for Mobile Robots. Springer Lecture Notes in Computer Science, Computer Vision Systems. [show abstract] [pdf] [BibTeX]
• Scaramuzza, D. and Siegwart, R. (2008) Monocular Omnidirectional Visual Odometry for Outdoor Ground Vehicles. Springer Lecture Notes in Computer Science, Computer Vision Systems. [show abstract] [BibTeX]
• Noth, A., Siegwart, R. and Engel, W. (2007) Autonomous Solar UAV for Sustainable Flight. in: Advances in Unmanned Aerial Vehicles, State of the Art and the Road to Autonomy, edited by Kimon P. Valavanis, Springer Verlag, 2007.. [home page]
• Vasudevan, S., Gachter, S., Harati, A. and Siegwart, R. (2007) A hierarchical Concept-oriented Representation for Spatial Cognition in Mobile Robots. Accepted for publication in the proceedings of the 50th Anniversary Summit of Artificial Intelligence, Springer Lecture Notes in Artificial Intelligence (LNAI).. [50th Anniversary Summit of Artificial Intelligence] [show abstract] [pdf] [BibTeX]
• Scaramuzza, D. and Siegwart, R. (2007) A Practical Toolbox for Calibrating Omnidirectional Cameras. Vision Systems book, edited by Advanced Robotic Systems Journal, by Prof. Obinata G. & Dutta A.. [show abstract] [pdf] [BibTeX]
• Noth, A., Engel, W. and Siegwart, R. (2006) Design of an Ultra-Lightweight Autonomous Solar Airplane for Continuous Flight. in: Field and Service Robotics, P. Corke, S. Sukkariah (editors), Field and Service Robotics: Results of the 5th International Conference, Springer Berlin / Heidelberg, 2006, vol. 25. [FSR'05] [home page]
• Philippsen, R., Jensen, B. and Siegwart, R. (2006) Towards Real-Time Sensor-Based Path Planning in Highly Dynamic Environments. Autonomous Navigation in Dynamic Environments, Springer Tracts on Advanced Robotics. In press. [home page] [show abstract] [BibTeX]
• Bellot, D., Siegwart, R., Bessière,P., Tapus, A., Coué,C. and Diard,J. (2003) Bayesian Reasoning for Real World Robotics: Basics, Scaling and Example. In Fumiya Iida and Rolf Pfeifer and Luc Steels and Yasuo Kuniyoshi, editors, Embodied Artificial Intelligence, Lecture Notes in Computer Science Series, volume 3139, pages 186-201. Springer-Verlag 2003.
• Siegwart, R., Bleuler, H. and Traxler, A. (2000) Industrial Magnetic Bearings - Basics and Applications. In Cornelius T. Leondes (editor), Mechatronic Systems Techniques and Applications, Volume 4, Electromechanical Systems, Gordon and Breach Science Publisher, Amsterdam, ISBN 90-5699-678-9.

Journals

• Scaramuzza, D., Martinelli, A. and Siegwart, R. (2009) A Robust Descriptor for Tracking Vertical Lines in Omnidirectional Images and its Use in Mobile Robotics. International Journal on Robotics Research, vol. 28, issue 2, February, 2009. [home page] [show abstract] [BibTeX]
• Vasudevan, S. and Siegwart, R. (2008) Bayesian Space Conceptualization and Place Classification for Semantic Maps in Mobile Robotics. Volume 56, Issue6, From Sensors to Human Spatial Concepts, Pages 522-537, 30 June 2008. [show abstract] [pdf] [BibTeX]
• Scaramuzza, D. and Siegwart, R. (2008) Appearance Guided Monocular Omnidirectional Visual Odometry for Outdoor Ground Vehicles. IEEE Transactions on Robotics, Special Issue on Visual SLAM. In press. Guest editors: Jose' Neira, Andrew Davison, John J. Leonard, Publication date: October 2008. [show abstract] [pdf] [BibTeX]
• Macek, K., Matusko Jadranko, Martinelli, A. and Siegwart, R. (2007) Discussion on: "Adaptive and Predictive Path Tracking Control for Off-road Mobile Robots". European Journal of Control, Vol. 13, pp. 440-446.. [show abstract]
• Nguyen, V.T., Gachter, S., Martinelli, A., Tomatis, N. and Siegwart, R. (2007) A comparison of line extraction algorithms using 2D range data for indoor mobile robotics. Autonomous Robots, volume 23, number 2. [show abstract] [BibTeX]
• Vasudevan, S., Gachter, S., Nguyen, V.T. and Siegwart, R. (2007) Cognitive Maps For Mobile Robots - An Object Based Approach. in Robotics and Autonomous Systems, Volume 55, Issue 5, From Sensors to Human Spatial Concepts, 31 May 2007, Pages 359-371.. [home page] [show abstract] [pdf] [BibTeX]
• Martinelli, A., Tomatis, N. and Siegwart, R. (2007) Simultaneous Localization and Odometry Self Calibration for Mobile Robot. Autonomous Robots, Vol 22, pag 75-85. [show abstract] [pdf]
• Martinelli, A., Nguyen, V.T., Tomatis, N. and Siegwart, R. (2007) A Relative Map approach to SLAM Based on Shift and Rotation Invariants. International Journal of Robotics and Autonomous Systems, Vol 55, pag 50-61. [show abstract] [pdf]
• Noth, A., Engel, W. and Siegwart, R. (2006) Flying Solo and Solar to Mars - Global Design of a Solar Autonomous Airplane for Sustainable Flight. IEEE Robotics & Automation Magazine, Volume 13, Issue 3, Sept. 2006. [home page]
• Milella A., Reina G. and Siegwart, R. (2006) Computer Vision Methods for Improved Mobile Robot State Estimation in Challenging Terrains. JOURNAL OF MULTIMEDIA, VOL. 1, NO. 7, NOVEMBER/DECEMBER 2006. [pdf]
• Katsuki, R., Siegwart, R., Ota, J. and Arai, T. (2006) Reasoning of abstract motion of a target object through task order with natural language — pre-knowledge of object-handling-task programming for a service robot. In Advanced Robotics, Vol. 20, No.4, pp.391-412 (2006). [pdf]
• Jensen, B., Tomatis, N., Mayor, L., Drygajlo, A. and Siegwart, R. (2005) Robots Meet Humans – Interaction in Public Spaces. IEEE Transactions on Industrial Electronics, Volume 52, Issue 6, Dec. 2005. [pdf] [BibTeX]
• Bouabdallah, S., Murrieri, P. and Siegwart, R. (2005) Towards Autonomous Indoor Micro VTOL. Autonomous Robots, Volume 18, Number 2, March 2005. In press. [home page] [BibTeX]
• Caprari, G., Colot, A., Siegwart, R., Halloy, J. and Deneubourg, J.-L. (2005) Animal and Robot Mixed Societies - Building Cooperation Between Microrobots and Cockroaches. IEEE Robotics & Automation Magazine. Vol.12, No. 2, June, pp 58-65.
• Asadpour, M. and Siegwart, R. (2004) Compact Q-Learning Optimized for Micro-robots with Processing and Memory Constraints. accepted in journal of Robotics and Autonomous Systems. [home page] [show abstract] [pdf]
• Drygajlo, A., Prodanov, P., Ramel, G., Meisser, M. and Siegwart, R. (2003) On Developing Voice Enabled Interface for Interactive Tour-Guide Robots. Journal of Advanced Robotics, Robotics Society of Japan, 2003.
• Siegwart, R. and et al. (2003) Robox at Expo.02: A Large Scale Installation of Personal Robots. Special issue on Socially Interactive Robots, Robotics and Autonomous Systems, 42 (2003) 203-222. [pdf]
• Tomatis, N., Nourbakhsh, I. and Siegwart, R. (2003) Hybrid Simultaneous Localization and Map Building: a Natural Integration of Topological and Metric. Robotics and Autonomous Systems, 44, 3-14. [show abstract] [pdf]
• Arras, K.O., Castellanos, J.A., Schilt, M. and Siegwart, R. (2003) Feature-based multi-hypothesis localization and tracking using geometric constraints. Robotics and Autonomous Systems, 1056 (2003) 1-13. [show abstract] [pdf]
• Siegwart, R., Lamon, P., Estier, T., Lauria, M. and Piguet, R. (2002) Innovative Design for Wheeled Locomotion in Rough Terrain. Journal of Robotics and Autonomous Systems, Elsevier.
• Caprari, G., Estier, T. and Siegwart, R. (2002) Fascination of Down Scaling - Alice the Sugar Cube Robot. Journal of Micro-Mechatronics, VSP, Utrecht, Vol. 1, No. 3, 177-189.
• Siegwart, R. (2001) Hands-on Mechatronics Education - Learning by Doing. Special issues on Education of the IEEE Robotics and Automation Magazine, June.
• Arras, K.O., Tomatis, N., Jensen, B. and Siegwart, R. (2001) Multisensor On-the-Fly Localization: Precision and Reliability for Applications. Elsevier, Robotics and Autonomous Systems, 34 (2-3), 131-143. [show abstract] [pdf]
• Piguet, R., Estier, T. and Siegwart, R. (2000) Shrimp, un robot tout-terrain. Bulletin de l'Association Suisse des Electriciens, 19, 13-16.
• Schaer, G., Siegwart, R., Perucchini, D. and DeLancey, J. (1998) Examination of voiding in seated women using a remote- controlled ultrasound probe. Obstetrics and Gynecology, 91: (2) 297-301 FEB.
• Zesch, W., Codourey, A., Büchi, R. and Siegwart, R. (1995) Auf zehn Nanometer genau - Positioniertisch für die Mikromontage. Technische Rundschau, TR Transfer, Nr. 29/30, Bern.
• Siegwart, R. and Herzog, R. (1995) Mechatronische Ansätze bei aktiven Magnetlagerungen. Automatisierungstechnik at, Schwerpunktsheft 'Mechatronik', 12.
• Traxler, A. and Siegwart, R. (1994) Magnetlager - Spindellager der Zukunft, SGMT-Tagung, Lagerung schneller Spindeln,. Tagungsband, Zürich, Switzerland, January 11. Also published in Maschinenbau, Zürich, June 1994.
• Bleuler, H., Gaehler, K., Herzog, R., Larsonneur, R., Mizuno, T. and Siegwart, R. (1994) Application to DSPs for Industrial Magnetic Bearings. IEEE Journal on Control Systems Applications, December.
• Siegwart, R. and Traxler, A. (1989) Möglichkeiten und Grenzen schneller Aktuatoren am Beispiel einer magnetisch gelagerten Hochgeschwindigkeits-Frässpindel. VDI Berichte Nr. 787.

Peer-reviewed Proceedings

• Scaramuzza, D., Fraundorfer, F. and Siegwart, R. (2009) Real-Time Monocular Visual Odometry for On-Road Vehicles with 1-Point RANSAC. IEEE International Conference on Robotics and Automation (ICRA 2009), Kobe, Japan, 16 May, 2009. [ICRA09] [home page] [show abstract] [BibTeX]
• Liu, M., Scaramuzza, D., Pradalier, C., Siegwart, R. and Chen, Q. (2009) Scene Recognition with Omnidirectional Vision for Topological Map using Lightweight Adaptive Descriptors. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), St Louis, Missouri, USA, October 2009. [IROS09] [home page] [show abstract] [BibTeX]
• Scaramuzza, D., Fraundorfer, F., Pollefeys, M. and Siegwart, R. (2009) Absolute Scale in Structure from Motion from a Single Vehicle Mounted Camera by Exploiting Nonholonomic Constraints. IEEE International Conference on Computer Vision (ICCV 2009), Kyoto, October, 2009. [ICCV09] [home page] [show abstract] [BibTeX]
• Rufli, M., Scaramuzza, D. and Siegwart, R. (2008) Automatic Detection of Checkerboards on Blurred and Distorted Images. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. [IROS 2008] [show abstract] [pdf] [BibTeX]
• Scaramuzza, D., Pradalier, C. and Siegwart, R. (2008) Performance Evaluation of a Vertical Line Descriptor for Omnidirectional Images. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. [IROS 2008] [show abstract] [pdf] [BibTeX]
• Nguyen, V.T. and Siegwart, R. (2008) Information Relative Map: Going toward Constant Time SLAM. European Robotics Symposium - EUROS2008. accepted. [show abstract]
• Harati, A., Gachter, S. and Siegwart, R. (2007) Fast Range Image Segmentation for Indoor 3D-SLAM. in proceedings of the 6th IFAC Symposium on Intelligent Autonomous Vehicles, IAV 2007, Toulouse, France.. [IAV 2007] [show abstract] [pdf] [BibTeX]
• Harati, A. and Siegwart, R. (2007) A New Approach to Segmentation of 2D Range Scans into Linear Regions. in proceedings of the IEEE/RSJ Intenational Conference on Intelligent Robots and Systems, IROS 2007, San Diego, USA. [IROS'2007] [show abstract] [pdf] [BibTeX]
• Harati, A. and Siegwart, R. (2007) Orthogonal 3D-SLAM for Indoor Environments Using Right Angle Corners. in proceedings of the 3rd European Conference on Mobile Robotics (ECMR) 2007, Freiburg, Germany. [ECMR 2007] [show abstract] [pdf] [BibTeX]
• Perrin, X., Chavarriaga, R., Siegwart, R. and Millan, J. (2007) Bayesian Controller for a Novel Semi-Autonomous Navigation Concept. In Proceedings of the 3rd European Conference on Mobile Robots. [ECMR 2007] [pdf]
• Fischer, W., Tâche, F. and Siegwart, R. (2007) Inspection System for Very Thin and Fragile Surfaces, Based on a Pair of Wall Climbing Robots with Magnetic Wheels. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. [IROS'2007] [pdf]
• Fischer, W., Tâche, F. and Siegwart, R. (2007) Magnetic Wall Climbing Robot for Thin Surfaces with Specific Obstacles. In Proceedings of the 6th International Conference on Field and Service Robotics. [FSR'07] [pdf]
• Tâche, F., Fischer, W., Moser, R., Mondada, F. and Siegwart, R. (2007) Adapted Magnetic Wheel Unit for Compact Robots Inspecting Complex Shaped Pipe Structures. In Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics. [AIM'2007] [pdf]
• Tâche, F., Fischer, W., Siegwart, R., Moser, R. and Mondada, F. (2007) Compact Magnetic Wheeled Robot With High Mobility for Inspecting Complex Shaped Pipe Structures. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. [IROS'2007] [pdf]
• Vasudevan, S. and Siegwart, R. (2007) A Bayesian approach to Conceptualization and Place Classification: Incorporating Spatial Relationships (distances) to Infer Concepts. in the proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07) workshop "From Sensors to Human Spatial Concepts (FS2HSC), San Diego, USA. [home page] [show abstract] [pdf] [BibTeX]
• Nguyen, V.T., Harati, A. and Siegwart, R. (2007) A Lightweight SLAM Algorithm using Orthogonal Planes for Indoor Mobile Robotics. In Proceedings of the IEEE/RSJ Intenational Conference on Intelligent Robots and Systems, IROS'07, San Diego, USA. [IROS'2007] [show abstract] [pdf] [BibTeX]
• Vasudevan, S. and Siegwart, R. (2007) A Bayesian Conceptualization of Space for mobile robots. Accepted for publication in the proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). [IROS'2007] [show abstract] [pdf] [BibTeX]
• Scaramuzza, D., Harati, Ahad and Siegwart, R. (2007) Extrinsic Self Calibration of a Camera and a 3D Laser Range Finder from Natural Scenes. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems. [IROS'2007] [show abstract] [pdf] [BibTeX]
• Vasudevan, S., Harati, A. and Siegwart, R. (2007) A Bayesian Approach to Conceptualization and Place Classification: Using the Number of Occurrences of Objects to Infer Concepts. in the proceedings of the 3rd European Conference on Mobile Robotics (ECMR) 2007, Freiburg, Germany.. [ECMR 2007] [show abstract] [pdf] [BibTeX]
• Philippsen, R., Kolski, S., Macek, K. and Siegwart, R. (2007) Path Planning, Replanning, and Execution for Autonomous Driving in Urban and Offroad Environments. In Proceedings of the Workshop on Planning, Perception and Navigation for Intelligent Vehicles. [ICRA'2007] [home page] [show abstract] [pdf] [BibTeX]
• Scaramuzza, D., Criblez, N., Martinelli, A. and Siegwart, R. (2007) Robust Feature Extraction and Matching for Omnidirectional Images. In Proceedings of the 6th International Conference on Field and Service Robotics. [FSR'07] [show abstract] [pdf] [BibTeX]
• Martinelli, A. and Siegwart, R. (2007) Exploiting the Information at the Loop Closure in SLAM. To be presented at the International Conference on Robotics and Automation, Rome, April 2007. [ICRA 2007] [show abstract] [pdf]
• Pont, F. and Siegwart, R. (2007) Applying Robotic Software to Satellite Payload Controllers. In Proceedings of the Software Development and Integration in Robotics Workshop, SDIR, ICRA, Rome Italy.
• Vasudevan, S., Gachter, S. and Siegwart, R. (2007) Cognitive Maps for Mobile Robots - Perspectives from a user study. In the Proceedings of the IEEE International Conference on Robotics and Automation 2007 (ICRA 2007) Workshop on Semantic Information in Robotics. [ICRA-SIR 2007] [show abstract] [pdf] [BibTeX]
• Noth, A., Engel, W. and Siegwart, R. (2006) Recent Progresses on the Martian Solar Airplane Project Sky-Sailor. In Proceedings of the 9th ESA Workshop on Advanced Space Technologies for Robotics (ASTRA 2006), Noordwick, Netherland, 2006.. [ASTRA'2006] [home page]
• Lee, C. G-Y., Terrien, G., Krebs, A. and Siegwart, R. (2006) Design and Manufacture of a Full Size Breadboard ExoMars Rover. In Proceedings of the 9th ESA Workshop on Advanced Space Technologies for Robotics. [ASTRA'2006] [show abstract] [pdf]
• Thueer, T., Lamon, P., Krebs, A. and Siegwart, R. (2006) CRAB – Exploration Rover with Advanced Obstacle Negotiation Capabilities. In Proceedings of the 9th ESA Workshop on Advanced Space Technologies for Robotics. [ASTRA'2006] [home page] [show abstract] [pdf]
• Lachat, D., Krebs, A., Thueer, T. and Siegwart, R. (2006) Antarctica Rover Design and Optimization for Limited Power Consumption. In Proceedings of Mechatronics 2006, 4th IFAC-Symposium on Mechatronic Systems. [Mechatronics 2006] [show abstract] [pdf]
• Krebs, A., Thueer, T., Michaud, S. and Siegwart, R. (2006) Performance Optimization of All-Terrain Robots: A 2D Quasi-Static Tool. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. [IROS'2006] [show abstract] [pdf]
• Vasudevan, S., Gachter, S., Berger, M. and Siegwart, R. (2006) Cognitive Maps for Mobile Robots – An Object based Approach. In the proceedings of the IEEE IROS 2006 workshop - From Sensors to Human Spatial Concepts (FS2HSC 2006), Beijing, China. [FS2HSC 2006] [show abstract] [pdf] [BibTeX]
• Scaramuzza, D., Martinelli, A. and Siegwart, R. (2006) A Toolbox for Easy Calibrating Omnidirectional Cameras. In Proceedings of IEEE International Conference on Intelligent Robots and Systems. [IROS'2006] [home page] [show abstract] [pdf] [BibTeX]
• Lamon, P., Kolski, S. and Siegwart, R. (2006) The SmartTer - a Vehicle for Fully Autonomous Navigation and Mapping in Outdoor Environments. In Proceedings of CLAWAR 2006, Brussels, Belgium. [CLAWAR 2006] [BibTeX]
• Kolski, S., Macek, K. and Ferguson, D. (2006) SMART Navigation in Structured and Unstructured Environments. In Videoproceedings of IROS06. [IROS'2006] [show abstract] [BibTeX]
• Philippsen, R., Jensen, B. and Siegwart, R. (2006) Toward Online Probabilistic Path Replanning in Dynamic Environments. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). [IROS'2006] [home page] [show abstract] [pdf] [BibTeX]
• Martinelli, A. and Siegwart, R. (2006) Observability Properties and Optimal Trajectories for On-line Odometry Self-Calibration. In Proceedings of IEEE International Conference on Decision and Control. [CDC 2006] [pdf]
• Vasudevan, S., Nguyen, V.T. and Siegwart, R. (2006) Towards a Cognitive Probabilistic Representation of Space for Mobile Robots. In the Proceedings of the IEEE International Coference on Information Acquisition (ICIA) 2006, Shandong, China. [ICIA 2006] [show abstract] [pdf] [BibTeX]
• Macek, K., Becker, M. and Siegwart, R. (2006) Motion Planning for Car-Like Vehicles in Dynamic Urban Scenarios. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. [IROS'2006] [show abstract] [BibTeX]
• Macek, K. and Siegwart, R. (2006) Motion Planning in the Presence of Moving Obstacles using RRT Search and B-splines. In Proceeding of the 8th International IFAC Symposium on Robot Control. [SYROCO'2006] [show abstract] [BibTeX]
• Weingarten, J. and Siegwart, R. (2006) 3D SLAM using Planar Segments. In Proceedings of IROS, Beijing, October 9-15, 2006. [IROS'2006] [show abstract]
• Martinelli, A., Weingarten, J. and Siegwart, R. (2006) Theoretical Results on On-line Sensor Self-Calibration. In Proceedings of IEEE International Conference on Intelligent Robots and Systems. [IROS'2006] [show abstract] [pdf]
• Nguyen, V.T., Martinelli, A. and Siegwart, R. (2006) Improving the Consistency of Relative Map. In Proceedings of the IEEE/RSJ Intenational Conference on Intelligent Robots and Systems, IROS, Beijing, China. [IROS'2006] [show abstract] [pdf] [BibTeX]
• Nguyen, V.T., Harati, A., Tomatis, N., Martinelli, A. and Siegwart, R. (2006) Orthogonal SLAM: a Step toward Lightweight Indoor Autonomous Navigation. In Proceedings of the IEEE/RSJ Intenational Conference on Intelligent Robots and Systems, IROS, Beijing, China. [IROS'2006] [show abstract] [pdf] [BibTeX]
• Thueer, T., Krebs, A. and Siegwart, R. (2006) Comprehensive Locomotion Performance Evaluation of All-Terrain Robots. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.. [IROS'2006] [show abstract] [pdf]
• Pont, F., Siegwart, R., Akuatse, D., Moulin, O. and Vitulli, R. (2006) PISA: PI Software Architecture for Integrated Satellite Payload Controllers. In Proceedings of DASIA, Data Systems in Aerospace, Berlin, Germany, 2006. [DASIA'2006] [pdf]
• Martinelli, A., Scaramuzza, D. and Siegwart, R. (2006) Automatic Self-Calibration of a Vision System during Robot Motion. In Proceedings of ICRA06. [ICRA'2006] [show abstract] [pdf] [BibTeX]
• Kolski, S., Ferguson, D., Bellino, M. and Siegwart, R. (2006) Autonomous Driving in Structured and Unstructured Environments. IEEE Intelligent Vehicles Symposium. [pdf]
• Tapus, A. and Siegwart, R. (2006) A Cognitive Modeling of Space using Fingerprints of Places for Mobile Robot Navigation. In Proceedings of the IEEE International Conference on Robotics and Automation. [ICRA'2006] [pdf]
• Tapus, A. and Siegwart, R. (2006) Fingerprints of Places: A Model of Hippocampal Place Cells. In Proceedings of the IEEE International Conference on Robotics and Automation. (poster paper). [ICRA'2006] [pdf]
• Tapus, A., Battaglia, F. and Siegwart, R. (2006) The Hippocampal Place Cells and Fingerprints of Places: Spatial Representation Animals, Animats and Robots. In Proceedings of the 9th Intelligent Autonomous Systems Conference. [IAS-9] [pdf]
• Ramel, G., Tapus, A., Aspert, F. and Siegwart, R. (2006) Simple Form Recognition Using Bayesian Programming. In Proceedings of the 9th Intelligent Autonomous Systems Conference. [IAS-9] [pdf]
• Gachter, S., Nguyen, V.T. and Siegwart, R. (2006) Results on Range Image Segmentation for Service Robots. Proceedings of the Fourth IEEE International Conference on Computer Vision Systems. [ICVS'06] [show abstract] [pdf]
• Milella A. and Siegwart, R. (2006) Stereo-Based Ego-Motion Estimation Using Pixel Tracking and Iterative Closest Point. In Proceedings of. [ICVS'06] [show abstract] [pdf]
• Scaramuzza, D., Martinelli, A. and Siegwart, R. (2006) A Flexible Technique for Accurate Omnidirectional Camera Calibration and Structure from Motion. Proceedings of IEEE International Conference on Computer Vision Systems. [ICVS'06] [home page] [show abstract] [pdf] [BibTeX]
• Macek, K., Petrovic, I. and Siegwart, R. (2005) A Control Method for Stable and Smooth Path Following of Mobile Robots. In Proceedings of the 2nd European Conference on Mobile Robots. [ECMR'05] [show abstract] [pdf] [BibTeX]
• Milella A., Pont, F. and Siegwart, R. (2005) Model-Based Relative Localization for Cooperative Robots Using Stereo Vision. In Proceedings of the The twelfth annual Conference on Mechatronics and Machine Vision in Practice. [M2VIP'2005] [pdf]
• Holzmann, F., Kolski, S., Sulzmann, A., Spiegelberg, G., Siegwart, R. and Bubb, H. (2005) Improvement of the driving safety using a virtual driver. In Proceedings of Intellegent Transport Systems Conference 2005. [ITSC'05] [pdf] [BibTeX]
• Noth, A., Engel, W. and Siegwart, R. (2005) Design of an Ultra-Lightweight Autonomous Solar Airplane for Continuous Flight. In Proceedings of Field and Service Robotics, Port Douglas, Australia, 2005. [FSR'05] [home page] [show abstract] [pdf]
• Jensen, B., Weingarten, J., Kolski, S. and Siegwart, R. (2005) Laser Range Imaging using Mobile Robots: From Pose Estimation to 3d-Models. In Proceedings of 1st Range Imaging Research Day. [pdf] [BibTeX]
• Bouabdallah, S. and Siegwart, R. (2005) Towards Intelligent Miniature Flying Robots. In Proceedings of Field and Service Robotics, Port Douglas, Australia, 2005. [FSR'05] [home page] [show abstract] [pdf] [BibTeX]
• Lamon, P. and Siegwart, R. (2005) 3D Position Tracking in Challenging Terrain. In Proceedings of the Field and Service Robotics. [show abstract] [pdf]
• Weingarten, J. and Siegwart, R. (2005) EKF-based 3D SLAM for Structured Environment Reconstruction. In Proceedings of IROS, Edmonton, Canada, August 2-6, 2005. [IROS'2005] [show abstract] [pdf] [BibTeX]
• Philippsen, R. and Siegwart, R. (2005) An Interpolated Dynamic Navigation Function. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). [ICRA'2005] [show abstract] [pdf] [BibTeX]
• Holzmann, F., Bellino, M., Kolski, S., Spiegelberg, G. and Siegwart, R. (2005) Robots go automotive - The SPARC approach. In Proceedings of IEEE Intelligent Vehicles Symposium, Las Vegas, Nevada, U.S.A. June 6-8, 2005. [IV05] [pdf] [BibTeX]
• Tâche, F., Asadpour, M., Caprari, G., Karlen, W. and Siegwart, R. (2005) Perception and Behavior of InsBot : Robot-Animal Interaction Issues. Proceedings of the IEEE International Conference on Robotics and Biomimetics, Hong Kong SAR and Macau SAR, 2005. [ROBIO'2005] [show abstract] [pdf]
• Greuter, M., Shah, G., Caprari, G., Tâche, F., Siegwart, R. and Sitti, M. (2005) Toward Micro Wall-Climbing Robots Using Biomimetic Fibrillar Adhesives. Proceedings of the 3rd International Symposium on Autonomous Minirobots for Research and Edutainment, Awara-Spa, Fukui, Japan. In press. [AMIRE'2005] [show abstract] [pdf]
• Scaramuzza, D., Martinelli, A. and Siegwart, R. (2005) Precise Bearing Angle Measurement Based on Omnidirectional Conic Sensor and Defocusing. In Proceedings of European Conference on Mobile Robots. [ECMR'05] [show abstract] [pdf] [BibTeX]
• Pont, F. and Siegwart, R. (2005) A Real-Time Software Framework for Indoor Navigation. In Proceedings of the IEEE/RSJ Intenational Conference on Intelligent Robots and Systems, IROS, Edmonton, Canada. [IROS'2005] [pdf]
• Martinelli, A. and Siegwart, R. (2005) Observability Analysis for Mobile Robot Localization. In Proceedings of the IEEE/RSJ Intenational Conference on Intelligent Robots and Systems, IROS, Edmonton, Canada. In press. [pdf]
• Martinelli, A., Tomatis, N. and Siegwart, R. (2005) Some Results on SLAM and the Closing the Loop Problem. In Proceedings of the IEEE/RSJ Intenational Conference on Intelligent Robots and Systems, IROS, Edmonton, Canada.. In press. [IROS'2005] [pdf]
• Nguyen, V.T., Martinelli, A., Tomatis, N. and Siegwart, R. (2005) A Comparison of Line Extraction Algorithms using 2D Laser Rangefinder for Indoor Mobile Robotics. In Proceedings of the IEEE/RSJ Intenational Conference on Intelligent Robots and Systems, IROS, Edmonton, Canada. [IROS'2005] [show abstract] [pdf] [BibTeX]
• Holzmann, F., Sulzmann, A., Spiegelberg, G. and Siegwart, R. (2005) Enhancing the Safety of Vehicles by Comparing Driver's Wish to Intelligent Control. In Proceedings of European Automotiv Congress (EAEC), Bergrade, June 2005. [EAEC'2005]
• Caprari, G. and Siegwart, R. (2005) Mobile Micro-Robots Ready to Use: Alice. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Canada, in press. [IROS'2005] [pdf]
• Pont, F., Kolski, S. and Siegwart, R. (2005) Applications of a Real-Time Software Framework for Complex Mechatronic Systems. In Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Monterey, CA, USA. [AIM'2005] [pdf]
• Bouabdallah, S. and Siegwart, R. (2005) Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor. In Proceedings of IEEE International Conference on Robotics and Automation, Barcelona, 2005. [ICRA'2005] [home page] [show abstract] [pdf] [BibTeX]
• Lamon, P. and Siegwart, R. (2005) Wheel Torque Control in Rough Terrain - Modeling and Simulation. In Proceedings of the IEEE International Conference on Robotics and Automation, Barcelona, 2005. [ICRA'2005] [show abstract] [pdf]
• Martinelli, A., Pont, F. and Siegwart, R. (2005) Multi-Robot Localization Using Relative Observations. In Proceedings of the IEEE International Conference on Robotics and Automation, ICRA, Barcelona, Spain. [ICRA'2005] [show abstract] [pdf]
• Nguyen, V.T., Martinelli, A. and Siegwart, R. (2005) Handling the Inconsistency of Relative Map Filter. In Proceedings of the IEEE International Conference on Robotics and Automation, ICRA, Barcelona, Spain. [ICRA'2005] [show abstract] [pdf] [BibTeX]
• Tapus, A., Vasudevan, S. and Siegwart, R. (2005) Toward a Multilevel Cognitive Probabilistic Representation of Space. In Proceedings of the International Conference on Human Vision and Electronic Imaging X, part of the IS&T/SPIE Symposium on Electronic Imaging 2005, 16-20 January 2005, CA, USA. [HVEI'2005] [show abstract] [pdf]
• Katsuki, R., Siegwart, R., Ota, J. and Arai, T. (2004) Reasoning of Motion through Task Order for Teaching by Non-Professional User. In the Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan. [pdf]
• Noth, A., Bouabdallah, S., Michaud, S., Siegwart, R. and Engel, W. (2004) SKY-SAILOR Design of an autonomous solar powered martian airplane. In Proceedings of the 8th ESA Workshop on Advanced Space Technologies for Robotics. [ASTRA'2004] [home page] [show abstract] [pdf] [BibTeX]
• Lamon, P., Thueer, T., Jordi, R. and Siegwart, R. (2004) Modeling and optimization of wheeled rovers. In Proceedings of the 8th ESA Workshop on Advanced Space Technologies for Robotics. [ASTRA'2004] [show abstract] [pdf] [BibTeX]
• Macek, K., Williams, B., Kolski, S. and Siegwart, R. (2004) A Lane Detection Vision Module for Driver Assistance. In Proceeding of the IEEE/APS Conference on Mechatronics and Robotics, Aachen, Germany. [MechRob'04] [show abstract] [pdf] [BibTeX]
• Altermatt, M., Martinelli, A., Tomatis, N. and Siegwart, R. (2004) SLAM with Corner Features Based on a Relative Map. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 2004.. [IROS'2004] [show abstract] [pdf]
• Burdet, L., Aeschlimann, B. and Siegwart, R. (2004) Thermal Model for a High Temperature Active Magnetic Bearing. Proceedings of the Ninth International Symposium on Magnetic Bearings. [ISMB9] [home page] [pdf] [BibTeX]
• Weingarten, J., Gruener, G. and Siegwart, R. (2004) A State-of-the-Art 3D Sensor for Robot Navigation. in Proceedings of IROS, Sendai, September 2004. [IROS'2004] [pdf] [BibTeX]
• Bouabdallah, S., Noth, A. and Siegwart, R. (2004) PID vs LQ Control Techniques Applied to an Indoor Micro Quadrotor. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Sendai, Japan, 2004. [IROS'2004] [home page] [show abstract] [pdf] [BibTeX]
• Bouabdallah, S., Murrieri, P. and Siegwart, R. (2004) Design and Control of an Indoor Micro Quadrotor. In Proceedings of International Conference on Robotics and Automation, New Orleans, USA, 2004. [ICRA'2004] [home page] [show abstract] [pdf]
• Lamon, P. and Siegwart, R. (2004) Inertial and 3D-odometry fusion in rough terrain – Towards real 3D navigation. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. [IROS'2004] [show abstract] [pdf]
• Tapus, A., Ramel, G., Dobler, L. and Siegwart, R. (2004) Topology Learning and Place Recognition using Bayesian Programming for Mobile Robot Navigation. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 2004. [IROS'2004] [show abstract] [pdf]
• Pont, F. and Siegwart, R. (2004) Towards Improving Robotic Software Reusability Without Losing Real-Time Capabilities. In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics, Setubal, Portugal, August 2004. [ICINCO'2004] [pdf]
• Tomatis, N., Brega, R., Rivera, G. and Siegwart, R. (2004) "May You Have a Strong (-Typed) Foundation", Why Strong-Typed Programming Languages Do Matter. In Proceedings of the International Conference on Robotics and Automation, New Orleans, April 2004. [ICRA'2004] [show abstract] [pdf]
• Martinelli, A., Svensson, A., Tomatis, N. and Siegwart, R. (2004) SLAM Based on Quantities Invariant of the Robot's Configuration. IFAC Symposyum on Inteligent Autonomous Vehicles. [IAV 2004] [show abstract] [pdf]
• Martinelli, A., Tomatis, N. and Siegwart, R. (2004) Open Challenges in SLAM: An Optimal Solution Based on Shift and Rotation Invariants. In Proceedings of the International Conference on Robotics and Automation, New Orleans, April 2004. [ICRA2004] [show abstract] [pdf]
• Colot, A., Caprari, G. and Siegwart, R. (2004) InsBot: Design of an Autonomous Mini Mobile Robot Able to Interact with Cockroaches. In Proceedings of IEEE International Conference on Robotics and Automation, New Orleans, p. 2418-2423. [ICRA'2004] [home page] [show abstract] [pdf]
• Tapus, A., Tomatis, N. and Siegwart, R. (2004) Topological Global Localization and Mapping with Fingerprint and Uncertainty. In Proceedings of the International Symposium on Experimental Robotics, Singapore, June 2004. [ISER'2004] [show abstract] [pdf]
• Weingarten, J., Gruener, G. and Siegwart, R. (2004) Probabilistic Plane Fitting in 3D and an Application to Robotic Mapping. in Proceedings of ICRA 2004, New Orleans, April - May 2004. [ICRA'2004] [home page] [show abstract] [pdf] [BibTeX]
• Tapus, A., Heinzer, S. and Siegwart, R. (2004) Bayesian Programming for Topological Global Localization with Fingerprints. In Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, U.S.A., April 2004. [ICRA'2004] [show abstract] [pdf]
• Lamon, P., Krebs, A., Lauria, M., Shooter, S. and Siegwart, R. (2004) Wheel torque control for a rough terrain rover. In Proceedings of the International Conference on Robotics and Automation. [ICRA'2004] [show abstract] [pdf]
• Martinelli, A. and Siegwart, R. (2004) Improving the SLAM Convergence with a Relative Map Filter. In Proceedings of IAS04, Amsterdam. [show abstract] [pdf]
• Tomatis, N., Bouabdallah, S., Piguet, R., Terrien, G. and Siegwart, R. (2004) Autonomous Navigation and Security: A 13’000h/3’000km Case Study. In Proceedings of the 35th International Symposium on Robotics, Paris, France, March 23-26. [ISR'2004] [show abstract] [pdf] [BibTeX]
• Bertrand, R., Lamon, P., Michaud, S., Schiele, A. and Siegwart, R. (2003) The SOLERO Rover for Regional Exploration of Planetary Surfaces. EGS - AGU - EUG Joint Assembly, Nice, France, April 2003.
• Siegwart, R. (2003) Mobile Robots Facing the Real World. Proceedings of the 4th International Conference on Field and Service Robotics. [FSR'03]
• Jensen, B., Philippsen, R. and Siegwart, R. (2003) Motion Detection and Path Planning in Dynamic Environments. Workshop Proceedings Reasoning with Uncertainty in Robotics, International Joint Conference on Artificial Intelligence IJCAI'03. [IJCAI'03] [show abstract] [BibTeX]
• Martinelli, A. and Siegwart, R. (2003) Estimating the Odometry Error of a Mobile Robot during Navigation. In Proceedings of European Conference on Mobile Robots, ECMR03. [show abstract] [pdf]
• Martinelli, A., Tapus, A., Arras, K.O. and Siegwart, R. (2003) Multi-resolution SLAM for Real World Navigation. In Proceedings of the 11th International Symposium of Robotics Research, Siena, Italy, October 2003. [ISRR'2003] [show abstract] [pdf]
• Martinelli, A., Tomatis, N., Tapus, A. and Siegwart, R. (2003) Simultaneous Localization and Odometry Calibration for Mobile Robot. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, U.S.A., October 2003, vol.2, 1499 - 1504. [IROS'2003] [pdf]
• Lamon, P., Tapus, A., Glauser, E., Tomatis, N. and Siegwart, R. (2003) Environmental Modeling with Fingerprint Sequences for Topological Global Localization. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, U.S.A., October 2003, vol.3, 3781 - 3786. [IROS'2003] [show abstract] [pdf]
• Asadpour, M. and Siegwart, R. (2003) Compact Q-Learning for Micro-robots. European Conference on Mobile Robots. [ECMR'03] [show abstract] [pdf]
• Weingarten, J., Gruener, G. and Siegwart, R. (2003) A Fast and Robust 3D Feature Extraction Algorithm for Structured Environment Reconstruction. Proceedings of 11th International Conference on Advanced Robotics (ICAR), Portugal, July 2003. [ICAR 2003] [home page] [show abstract] [pdf] [BibTeX]
• Lauria, M., Shooter, S. and Siegwart, R. (2003) Topological Analysis of Robotic N-Wheeled Ground Vehicles. In Proceedings of the 4th International Conference on Field and Service Robotics. [FSR'03] [show abstract]
• Prassler, E., Haegele, M. and Siegwart, R. (2003) International Contest for Cleaning Robots: Fun Event or a First Step towards Benchmarking in Service Robotics. Proceedings of the 1st International Workshop on Advances in Service Robotics, Bardolino, Italy, March 13-15, 2003. [ASER'2003]
• Caprari, G. and Siegwart, R. (2003) Design and Control of the Mobile Micro Robot Alice. Proceedings of the 2nd International Symposium on Autonomous Minirobots for Research and Edutainment, Brisbane, Australia, p. 23-32. [AMiRE'2003] [home page] [show abstract] [pdf]
• Lamon, P. and Siegwart, R. (2003) 3D-Odometry for rough terrain – Towards real 3D navigation. In Proceedings of the International Conference on Robotics and Automation, ICRA'03, Taipei, Taiwan, ?, ?. [ICRA'03] [show abstract] [pdf]
• Philippsen, R. and Siegwart, R. (2003) Smooth and Efficient Obstacle Avoidance for a Tour Guide Robot. In Proceedings of IEEE International Conference on Robotics and Automation, 2003, Taipei, Taiwan.. [ICRA'03] [home page] [show abstract] [pdf] [BibTeX]
• Jensen, B., Philippsen, R. and Siegwart, R. (2003) Narrative Situation Assessment for Human-Robot Interaction. In Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan. [ICRA'03] [home page] [show abstract] [pdf]
• Jensen, B., Froidevaux, G., Greppin, X., Lorotte, A., Mayor, L., Meisser, M., Ramel, G. and Siegwart, R. (2003) Multi-Robot Human-Interation and Visitor Flow Management. In Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan. [ICRA'03] [home page] [show abstract] [pdf]
• Tomatis, N., Terrien, G., Piguet, R., Burnier, D., Bouabdallah, S., Arras, K.O. and Siegwart, R. (2003) Designing a Secure and Robust Mobile Interacting Robot for the Long Term. In Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan, May 12-17. [ICRA'2003] [show abstract] [pdf] [BibTeX]
• Siegwart, R., Arras, K.O., Jensen, B., Philippsen, R. and Tomatis, N. (2003) Design, Implementation and Exploitation of a New Fully Autonomous Tour Guide Robot. In Proceedings of the 1st International Workshop on Advances in Service Robotics, Bardolino, Italy, 13-15 March. [ASER'2003] [show abstract] [pdf]
• Arras, K.O., Philippsen, R., Tomatis, N., de Battista, M., Schilt, M. and Siegwart, R. (2003) A Navigation Framework for Multiple Mobile Robots and its Application at the Expo.02 Exhibition. in Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan. [ICRA'03] [show abstract] [pdf]
• Lauria, M., Freese, M., Estier, T., Lamon, P., Caprari, G. and Siegwart, R. (2003) LameAlice, a Nanorover for Planetary Exploration. In Video Proceedings of the IEEE International Conference on Robotics and Automation, Teipei, Taiwan. [ICRA'2003] [home page] [show abstract]
• Michaud, S., Schneider, A., Bertrand, R., Lamon, P., Siegwart, R., van Winnendael, M. and Schiele, A. (2002) SOLERO : Solar Powered Exploration Rover. Proceedings of the 7 ESA Workshop on Advanced Space Technologies for Robotics and Automation, The Netherlands. [ASTRA2002] [home page] [show abstract] [pdf]
• Prodanov, P., Drygajlo, A., Ramel, G., Meisser, M. and Siegwart, R. (2002) Voice Enabled Interface for Interactive Tour Guide Robots. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, Sept. 30 - Oct. 4, 2002. [IROS'2002] [show abstract] [pdf]
• Siegwart, R. and et al. (2002) Robox at expo.02: A Large Scale Installation of Personal Robots. Workshop on Robot as Partner: An Exploration of Social Robots, IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, Sept. 30 - Oct. 4, 2002. [IROS'2002]
• Arras, K.O., Philippsen, R., de Battista, M., Schilt, M. and Siegwart, R. (2002) A Navigation Framework for Multiple Mobile Robots and its Application. Workshop on Robots in Exhibitions, IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, Sep. 30 - Oct. 4. [IROS'2002]
• Mayor, L., Jensen, B., Lorotte, A. and Siegwart, R. (2002) Improving the Expressiveness of Mobile Robots. In proceedings ROMAN2002, Berlin, Germany.. [ROMAN2002] [home page] [show abstract] [pdf]
• Jensen, B., Froidevaux, G., Greppin, X., Lorotte, A., Mayor, L., Meisser, M., Ramel, G. and Siegwart, R. (2002) The interactive autonomous mobile system RoboX. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland. [IROS'2002] [home page] [show abstract] [pdf]
• Jensen, B., Froidevaux, G., Greppin, X., Lorotte, A., Mayor, L., Meisser, M., Ramel, G. and Siegwart, R. (2002) Visitor Flow Management using Human-Robot Interaction at Expo.02. Workshop: Robots in Exhibitions, IEEE/RSJ.IROS, 2002, Switzerland.. [IROS'2002] [home page] [show abstract] [pdf]
• Jensen, B., Philippsen, R., Froidevaux, G. and Siegwart, R. (2002) Mensch-Maschine Interaktion auf der Expo.02. In Proceedings of Robotik 2002, VDI-Berichte 1679 Tagung Robotik 2002, Ludwigsburg. [Robotik 2002] [home page] [show abstract] [pdf]
• Tomatis, N., Terrien, G., Piguet, R., Burnier, D., Bouabdallah, S. and Siegwart, R. (2002) Design and System Integration for the Expo.02 Robot. Workshop on Robots in Exhibitions, IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September 30 - October 4. [IROS'2002] [show abstract] [pdf] [BibTeX]
• Lauria, M., Piguet, Y. and Siegwart, R. (2002) Octopus - An Autonomous Wheeled Climbing Robot. In Proceedings of the Fifth International Conference on Climbing and Walking Robots. Published by Professional Engineering Publishing Limited, Bury St Edmunds and London, UK. [CLAWAR 2002] [home page] [show abstract] [pdf]
• Piguet, Y., Mondada, F. and Siegwart, R. (2002) "Hands-On Mechatronics": Problem-Based Learning for Mechatronics. Education Panel on Learning Technologies, IEEE International Conference on Robotics and Automation, Washington D.C., USA, May 11-15. [ICRA'2002] [show abstract] [pdf]
• Piguet, Y., Gillet, D., Tomatis, N. and Siegwart, R. (2002) Environment for On-line Experimentation and Analysis. Workshop on Educational Applications of Online Robots, IEEE International Conference on Robotics and Automation, Washington D.C., USA, May 11-15. [ICRA'2002] [pdf]
• Arras, K.O., Persson, J., Tomatis, N. and Siegwart, R. (2002) Real-Time Obstacle Avoidance for Polygonal Robots with a Reduced Dynamic Window. In Proceedings of the IEEE International Conference on Robotics and Automation, Washington DC, USA, May 11 - 15. [ICRA'2002] [show abstract] [pdf]
• Tomatis, N., Nourbakhsh, I. and Siegwart, R. (2002) Hybrid Simultaneous Localization and Map Building: Closing the Loop with Multi-Hypotheses Tracking. In Proceedings of the IEEE International Conference on Robotics and Automation, Washington DC, USA, May 11 - 15. [ICRA'2002] [show abstract] [pdf]
• Arras, K.O., Castellanos, J.A. and Siegwart, R. (2002) Feature-Based Multi-Hypothesis Localization and Tracking for Mobile Robots Using Geometric Constraints. In Proceedings of the IEEE International Conference on Robotics and Automation, Washington DC, USA, May 11 - 15. [ICRA'2002] [show abstract] [pdf]
• Arras, K.O., Tomatis, N. and Siegwart, R. (2002) Robox, a Remarkable Mobile Robot for the Real World. In Proceedings of the 8th International Symposium on Experimental Robotics, Ischia, Italy, July 8 – 11, 2002, Experimental Robotics VIII: 178-187. [ISER '2002] [pdf]
• Tomatis, N., Philippsen, R., Jensen, B., Arras, K.O., Terrien, G., Piguet, R. and Siegwart, R. (2002) Building a Fully Autonomous Tour Guide Robot: Where Academic Research Meets Industry. In Proceedings of the 33rd International Symposium on Robotics, Stockholm, Sweden, October 7 - 11. [ISR'2002] [show abstract] [pdf]
• Tomatis, N., Nourbakhsh, I., Arras, K.O. and Siegwart, R. (2001) An Hybrid Approach for Robust and Precise Mobile Robot Navigation with Compact Environment Modeling. In Proceedings of the IEEE International Conference on Robotics and Automation, Seoul, Korea, May 21-26. [ICRA'2001] [show abstract] [pdf]
• Lamon, P., Nourbakhsh, I., Jensen, B. and Siegwart, R. (2001) Deriving and Matching Image Fingerprint Sequences for Mobile Robot Localization. In Proceedings of the IEEE International Conference on Robotics and Automation, Seoul, Korea, May 21-26. [ICRA'2001] [pdf]
• Piguet, Y., Mondada, F. and Siegwart, R. (2001) New Environment for Learning by Doing in Mechatronics Education. 1st EURON Workshop on Robotics Education and Training, Weingarten, Germany, July 21. [RET'2001] [pdf]
• Tomatis, N., Arras, K.O., Brega, R., Jensen, B., Moreau, B., Persson, J. and Siegwart, R. (2001) A Complex Mechatronic System: from Design to Application. In Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Como, Italy, July 9-11, 278-283. [AIM'2001] [show abstract] [pdf]
• Tomatis, N., Nourbakhsh, I. and Siegwart, R. (2001) Combining Topological and Metric: A Natural Integration for Simultaneous Localization and Map Building. In Proceedings of the Fourth European Workshop on Advanced Mobile Robots, Lund, Sweden, September 19-21. [EUROBOT'2001] [show abstract] [pdf]
• Arras, K.O., Castellanos, J.A., Schilt, M. and Siegwart, R. (2001) Towards Feature-Based Multi-Hypothesis Localization and Tracking. In Proceedings of the Fourth European Workshop on Advanced Mobile Robots, Lund, Sweden, September 19-21. [EUROBOT'2001] [pdf]
• Caprari, G., Arras, K.O. and Siegwart, R. (2001) Robot Navigation in Centimeter Range Labyrinths. In Proceedings of the First International Conference on Autonomous Minirobots for Research and Edutainment, Heinz Nixdorf Institute, Paderborn, Germany, October 22-25. [AMIRE'2001] [pdf]
• Tomatis, N., Nourbakhsh, I. and Siegwart, R. (2001) Simultaneous Localization and Map Building: A Global Topological Model with Local Metric Maps. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, USA, October/November. [IROS'2001] [show abstract] [pdf]
• Hilti, A., Nourbakhsh, I., Jensen, B. and Siegwart, R. (2001) Narrative-level Visual Interpretation of Human Motion for Human-robot Interaction. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, USA, October/November. [IROS'2001]
• Estier, T., Crausaz, Y., Merminod, B., Lauria, M., Piguet, R. and Siegwart, R. (2000) An Innovative Space Rover with Extended Climbing Abilities. In Proceedings of Space & Robotics, the Fourth International Conference and Exposition on Robotics in Challenging Environments, Albuquerque, New Mexico, February 27 - March 2. [ROBOTICS'2000] [home page] [pdf]
• Caprari, G., Estier, T. and Siegwart, R. (2000) Fascination of Down Scaling - Alice the Sugar Cube Robot. In Workshop Proceedings on Mobile Micro-Robots, IEEE International Conference on Robotics and Automation, San Francisco, USA, April 24-28. [ICRA'2000] [pdf]
• Lauria, M., Estier, T. and Siegwart, R. (2000) An Innovative Space Rover with Extended Climbing Abilities. In Video Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, USA, April 24- 28. [ICRA'2000] [home page]
• Siegwart, R., Estier, T., Crausaz, Y., Merminod, B., Lauria, M. and Piguet, R. (2000) Innovative Concept for Wheeled Locomotion in Rough Terrain. In Proceedings of the Sixth International Conference on Intelligent Autonomous Systems, Venice, Italy, July 25-27. [IAS- 6] [home page]
• Siegwart, R. (2000) Hands-On Mechatronics Education: Learning by Doing. In Proceedings of the First IFAC-Conference on Mechatronic Systems, Darmstadt, Germany, September 18-20.
• Caprari, G., Arras, K.O. and Siegwart, R. (2000) The Autonomous Miniature Robot Alice: From Prototypes to Applications. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, Japan, October/November, 793-798. [IROS'2000] [pdf]
• Arras, K.O., Tomatis, N. and Siegwart, R. (2000) Multisensor On-the-Fly Localization Using Laser and Vision. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, Japan, October/November, 462-467. [IROS'2000] [show abstract] [pdf]
• Moreau, B., Tomatis, N., Arras, K.O., Jensen, B. and Siegwart, R. (2000) A Multi Modal Web Interface for Tasks Supervision and Specification. In Proceedings of SPIE Photonics East, Boston, November 5-8. [show abstract] [pdf]
• Estier, T., Piguet, R., Eichhorn, R. and Siegwart, R. (2000) Shrimp, a Rover Architecture for Long Range Martian Mission. In Proceedings of the Sixth ESA Workshop on Advanced Space Technologies for Robotics and Automation, The Netherlands, December 5-7. [ASTRA '2000]
• Estier, T. and Siegwart, R. (2000) Innovative Locomotion Concept for Long-Range Mission and Study of Martian Wind. In Proceedings of the Sixth ESA Workshop on Advanced Space Technologies for Robotics and Automation, The Netherlands, December 5-7. [ASTRA '2000]
• Wiesendanger, M., Probst, U. and Siegwart, R. (2000) Squeeze Film Air Bearings Using Piezoelectric Bending Elements. In Proceedings of the Fifth International Conference on Motion and Vibration Control, Sydney, Australia, 181-186. [MOVIC'2000]
• Siegwart, R. and Saucy, P. (1999) Interacting Mobile Robots on the Web. In Workshop Proceedings of the IEEE International Conference on Robotics and Automation, Detroit, USA, May 10-15. [ICRA'1999]
• Lauria, M., Conti, F. and Siegwart, R. (1999) SpaceCat, a Micro-Rover based on an Innovative Locomotion Concept. In Video Proceedings of the IEEE International Conference on Robotics and Automation, Detroit, USA, May 10-15. [ICRA'1999] [home page]
• Eme, Th., Hauert, P., Goldberg, K., Zesch, W. and Siegwart, R. (1999) Micro-Assembly using Auditory Display of Force Feedback. In Proceedings of the SPIE's International Symposium on Intelligent Systems and Advanced Manufacturing, Boston, Masachusetts, USA, September 19-22.
• Hodac, A. and Siegwart, R. (1999) A Decoupled Macro/Micro-Manipulator for Fast and Precise Assembly Operations: Design and Experiment. In Proceedings of the SPIE's International Symposium on Intelligent Systems and Advanced Manufacturing, Boston, Massachusetts, USA, September 19-22.
• Freese, M., Kaelin, M., Lehky, J.-M., Caprari, G., Estier, T. and Siegwart, R. (1999) LAMAlice : A Mini Mobile Robot for Planetary Exploration. In Proceedings of the International Symposium on Micromechatronics and Human Science, Nagoya, Japan, November. [MHS'1999] [pdf]
• Siegwart, R., Lauria, M., Mäusli, P.-A. and van Winnendael, M. (1998) Design and Implementation of an Innovative Micro-Rover. In Proceedings of Robotics 98, the Third Conference and Exposition on Robotics in Challenging Environments, Albuquerque, New Mexico, April 26-30. [ROBOTICS'98] [home page] [show abstract] [pdf]
• Hodac, A. and Siegwart, R. (1998) End-Point Control of Fast and Precise Macro/Micro-Manipulators. In Proceedings of the Fourth International Conference on Motion and Vibration Control, ETH Zurich, August 25- 28. [MOVIC'1998]
• Sprenger, B., Binzel, O. and Siegwart, R. (1998) Control of a High Performance 3 DOF Linear Direct Drive Operating with Submicron Precision. In Proceedings of the Fourth International Conference on Motion and Vibration Control, ETH Zurich, August 25-28. [MOVIC'1998]
• Siegwart, R., Büchi, R. and Bühler, Ph. (1998) Mechatronics Education at ETH Zurich based on 'Hands on Experience'. Sixth UK Mechatronics Forum International Conference, Skövde, Sweden, September 9-11. [MECHATRONICS'1998]
• Siegwart, R., Wannaz, C., Garcia, P. and Blank, R. (1998) Guiding Mobile Robots through the Web. In Workshop Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Victoria, Canada, October 12-16. [IROS'1998]
• Caprari, G., Balmer, P., Piguet, R. and Siegwart, R. (1998) The Autonomous Micro Robot ALICE: A platform for Scientific and Commercial Applications. In Proceedings of the International Symposium on Micromechatronics and Human Science, Nagoya, Japan, November 25-28. [MHS'1998] [pdf]
• Lauria, M., Conti, F., Mäusli, P.-A., van Winnendael, M., Bertrand, R. and Siegwart, R. (1998) Design and Control of an Innovative Micro-Rover. In Proceedings of the Fifth ESA Workshop on Advanced Space Technologies for Robotics and Automation, The Netherlands, December 1-3. [ASTRA'1998] [home page] [show abstract]
• Hodac, A., Zesch, W., Siegwart, R., Henein, S. and Bottinelli, S. (1997) Design and Control of a Macro/Mirco-Manipulator. International Conference on Micromechatronics for Information and Precision Equipment, Tokyo, 231-7.
• Arras, K.O. and Siegwart, R. (1997) Feature Extraction and Scene Interpretation for Map-Based Navigation and Map Building. In Proceedings of the Symposium on Intelligent Systems and Advanced Manufacturing, Pittsburgh, USA, October 13-17. [pdf]
• Sprenger, B. and Siegwart, R. (1997) Novel High Speed 3 DOF Linear Drive Operating with Submicron Precision. In Proceedings of the Symposium on Intelligent Systems and Advanced Manufacturing, Pittsburgh, USA, October 13-17.
• Bühler, Ph., Siegwart, R. and Traxler, A. (1997) Magnetgelagerte Spinnzentrifuge für den Einsatz im Vakuum. 6. Chemnitzer Textilmaschinentagung, 22-23. Oktober.
• Siegwart, R., Bühler, Ph. and Herzog, R. (1996) Digital Control for Industrial AMB Applications. Fifth International Symposium on Magnetic Bearings, Kanazawa, Japan, August 28-30.
• Büchi, R., Caprari, G., Vuscovic, V. and Siegwart, R. (1996) A Remote Controlled Mobile Mini Robot. In Proceedings of the Seventh International Symposium on Micro Machine and Human Science - Toward Micro-Mechatronics, Nagoya, Japan, October 2-4.
• Siegwart, R. and Büchi, R. (1996) Mobile Mini Robot. Fourth ESA Workshop on Advanced Space Technologies for Robot Applications, Noordwijk, The Netherland, November 6-7. [ASTRA'1996]
• Siegwart, R. (1995) Nanorobot Project, ETH, Switzerland. In Proceedings of the JSME Annual Spring Meeting, Tokyo, March 29 to April 1. Invited presentation.
• Codourey, A., Zesch, W., Büchi, R. and Siegwart, R. (1995) A Robot System for Automated Handling in Micro-World. In Proceedings of the International Conference on Intelligent Robots and Systems, Pittsburgh, USA, August 5-9. [IROS'1995]
• Siegwart, R. and Bleuler, H. (1995) Micro- and Nano-Robotics in Switzerland. In Workshop Proceedings of the International Conference on Intelligent Robots and Systems, Pittsburgh, USA, August 5-9. Invited presentation. [IROS'1995]
• Bühler, Ph., Herzog, R. and Siegwart, R. (1995) Highly Integrated Magnetic Bearings. In Proceedings of MAG '1995, Washington, August 8-11. [MAG '1995]
• Zesch, W., Büchi, R., Codourey, A. and Siegwart, R. (1995) Inertial Drives for Micro- and Nanorobots: Two Novel Mechanisms. In Proceedings of SPIE Photonics East, Philadelphia, USA, October.
• Büchi, R., Zesch, W., Codourey, A. and Siegwart, R. (1995) Inertial Drives for Micro- and Nanorobotics: Analytical Study. In Proceedings of SPIE Photonics East, Philadelphia, USA, October.
• Büchi, R., Rohrer, D., Schmid, C. and Siegwart, R. (1995) A Fully Autonomous Mobile Mini-Robot. In Proceedings of SPIE Photonics East, Philadelphia, USA, October.
• Siegwart, R., Herzog, R. and Larsonneur, R. (1994) Identification and Monitoring of Turbo Rotors in Active Magnetic Bearings. IGTI / ASME Gas Turbine Conference, The Hague, Netherlands, June 13-16.
• Neubauer, R.E., Baumann, D. and Siegwart, R. (1994) Eddy Current Magnetic Suspension System for Linear an Rotary Microstep Actuators. In Proceedings of the International Symposium on Advanced Computation of Electromagnetic Systems, ISEM, Seoul, Korea, June.
• Siegwart, R., Baumann, D. and Neubauer, R.E. (1994) Eddy Current Bearings for Micro-Structure Levitation. In Proceedings of the Fourth International Symposium on Magnetic Bearings, ETH Zürich, Switzerland, August 24-26.
• Kawakatsu, H., Bleuler, H., Saitoh, T., Watanabe, M. and Siegwart, R. (1994) Laser Sensing and New Stator Designs for a Linear Slide. In Proceedings of the Fourth International Symposium on Magnetic Bearings, ETH Zürich, Switzerland, August 24-26.
• Codourey, A., Büchi, R., Zesch, W. and Siegwart, R. (1994) Design of Micro- and Nano-Robots. In Proceedings of PerAc'1994, Lausannne, Switzerland, September 5-9.
• Codourey, A. and Siegwart, R. (1994) Nano-Robotics for Automated Handling in Nano-World. In Proceedings of 2nd. Internationales IWF-Kolloquium, Vorstoss vom Mikro- in den Nanobereich, Zürich, Switzerland, September 21/22. Invited presentation.
• Siegwart, R. (1993) High Performance Active Magnetic Bearings for High Speed Cutting. Conférences et Exposition à Senlis, Paliers Magnétiques, Centre Technique des Industries Mechaniques (CETIM), Senlis, 1er Juillet.
• Herzog, R. and Siegwart, R. (1993) High Performance Data Acquisition, Identification and Monitoring for Active Magnetic Bearings. 2nd International Symposium on Magnetic Suspension Technology, Seattle, USA, August 11-13.
• Bühler, Ph., Herzog, R. and Siegwart, R. (1993) Identification System for Active Magnetic Bearings. IUTAM Symposium on Identification of Mechanical Systems, University Wuppertal, Germany, August 23-27.
• Bleuler, H., Herzog, R., Larsonneur, R. and Siegwart, R. (1993) From Application to Theory in Magnetic Bearing Control. Conference on Mechatronics and Robotics, Duisburg/Moers, Sept 27-29.
• Larsonneur, R., Siegwart, R. and Traxler, A. (1992) Active Magnetic Bearing Control Strategies for Solving Vibration Problems in Industrial Rotor Systems. IMechE.
• Siegwart, R., Larsonneur, R., Herzog, R. and Traxler, A. (1992) A Versatile Controller Layout CAD Tool for AMBs. Third International Symposium on Magnetic Bearings, Alexandria, Virginia, USA, July.
• Akella, P., Siegwart, R. and Cutkosky, M. (1991) Manipulation with soft fingers: Contact force control. IEEE International Conference on Robotics and Automation, Sacramento USA, April. [ICRA'1991]
• Siegwart, R., Vischer, D., Larsonneur, R., Herzog, R., Traxler, A., Bleuler, H. and Schweitzer, G. (1991) Control Concepts for Active Magnetic Bearings. International Symposium on Magnetic Suspension Technology, NASA Langley Research Center, Hamption, USA, August.
• Siegwart, R. and Truninger, R. (1990) Electromagnetic Bearings, a Reasonable Element in Turbomachinery?. In Proceedings of the Third International Symposium on Transport Phenomena and Dynamics of Rotating Machinery ISROMAC-3, Honolulu, April.
• Siegwart, R., Larsonneur, R. and Traxler, A. (1990) Design and Performance of a High Speed Milling Spindle in Digitally Controlled Active Magnetic Bearings. In Proceedings of the Second International Symposium on Magnetic Bearings, Tokyo, July.
• Siegwart, R. and Traxler, A. (1990) Performance and Limits of AMB-Actuators Illustrated on an Electromagnetically Suspended Milling Spindle. In Proceedings of the 25th Intersociety Energy Conversion Engineering Conference, Nevada, August.

Other Publications

• Scaramuzza, D. and Siegwart, R. (2008) Correcting Vehicle Heading in Visual Odometry by Using Image Appearance. First International Workshop on Omnidirectional Robot Vision, Venice, November, 2008. [OMNIROBOTVIS] [home page] [show abstract] [BibTeX]
• Scaramuzza, D. and Siegwart, R. (2007) A New Method and Toolbox for Easily Calibrating Omnidirectional Cameras. In Proceedings of the International Conference on Computer Vision Systems, workshop on Camera Calibration Methods for Computer Vision Systems. [ICVS'07] [home page] [show abstract] [pdf] [BibTeX]
• Philippsen, R., Jensen, B. and Siegwart, R. (2006) Toward Online Probabilistic Path Replanning. Workshop on Autonomous Sensor-Based Motion for Complex Robots in Complex Environments. [ICRA'2006] [home page] [show abstract] [pdf] [BibTeX]
• Siegwart, R. (2003) Design and Realization of Mobile Robots for the Real World. In Digest of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Kobe, Japan July, 2003. [AIM'2003]
• Lauria, M., Terrien, G., Piguet, R., Estier, T. and Siegwart, R. (2001) Un robot mobile tout-terrain. paru dans La Revue Polytechnique, no 8, août 2001, p. 455-456.
• Siegwart, R. (2001) Erforschung anderer Planeten mit mobilen Robotern. TechnoScop, SATW, Switzerland.
• Arras, K.O. and Siegwart, R. (2000) Acht häufig gestellte Fragen an die Mobilrobotik. SGA-Bulletin, Schweizerische Gesellschaft für Automatik, Nr. 29, April, Mai, Juni. [pdf]
• Larsonneur, R. and Siegwart, R. (2000) Active Magnetic Bearings - Design and Applications. Journées de microtechnique 2000: La robotique de très haute précision: enjeux et nouvelles applications, Lausanne, October.
• Wiesendanger, M. and Siegwart, R. (2000) Squeeze Film Air Bearings. Journées de microtechnique 2000: La robotique de très haute précision: enjeux et nouvelles applications, Lausanne, October.
• Herzog, R. and Siegwart, R. (1994) Regelung von Magnetlagern: klassische und moderne Methoden. SGA-ASSP Bulletin, Nr. 7.
• Siegwart, R. (1992) Design and Application of Active Magnetic Bearings (AMB) for Vibration Control. Vibration and Rotor Dynamics, von Karman Institute for Fluid Dynamics, Belgium, September 21-25. Published Lecture.
• Maynard, R., Siegwart, R., Morf, M. and Leifer, L. (1990) An n-Degrees of Freedom Micromechanical Manipulator. Stanford Institute for Manufacturing and Automation (SIMA), Stanford, CA, USA, July.

Technical Reports

• Vasudevan, S., Gachter, S. and Siegwart, R. (2006) Cognitive Spatial Representations for Mobile Robots - Perspectives from a user study. Technical Report 165068-2006-01. [show abstract] [pdf] [BibTeX]
• Lamon, P., Kolski, S., Triebel, R., Siegwart, R. and Burgard, W. (2006) The SmartTer for ELROB 2006 – a Vehicle for Fully Autonomous Navigation and Mapping in Outdoor Environments. Technical Report. [pdf]

PhD Thesis

• Siegwart, R. (1989) Aktive magnetische Lagerung einer Hochleistungs-Frässpindel mit digitaler Regelung. Diss ETH No. 8962, Zurich.