I received my Ph.D. from EPFL, Switzerland, in 2005, for work on mobile robot path planning and obstacle avoidance. My expertise lies in interweaving reasoning, planning, and control. My current research interest lies in robots that take an active part in modifying their environment, while also pursuing applied research in intelligent vehicles. Some of the real-world robotics project I have contributed to are: tour-guide robots at the Swiss Expo.02, educational robots for the EPFL student contest 2001-2004, robotic actors for a theater play in 2005, a Cognitive Robot Companion in 2006, the PR2 of Willow Garage Inc, and the Meka robot of HCRL at UT Austin. I always try to push for robust open source software in this area, because I believe that autonomous robots can improve the lives of all humanity, provided we openly share knowledge and implementations.
Algorithms, Data Structures and Problem Solving (DA4002)
This mixed BSc- and MSc-level course offers students the opportunity to learn about algorithm complexity, algorithm design, and classical data structures. The aim of the course is also to improve programming abilities in a programming language, currently C. The course builds on basic programming knowledge and practice and prepares the student to participate in larger programming projects. It introduces techniques to solve frequently occurring problems and prepares the student to make informed choices when facing alternative solutions.
More information and all material is freely available on the course website.
This newly created MSc-level course builds on the basics provided in DA4002 allows students to deepen and broaden their knowledge about algorithm analysis, algorithm design, and advanced classical data structures. The course introduces students to graphs, computational geometry, discrete optimization problems, and linear programming. These three domains are widely used in engineering as modelling tools on which many other problem domains can be mapped. C++ is the programming language used for the extensive programming work included in this course.
The draft course material is freely available. This course is brand new and is very likely to evolve as is ripens over the next few iterations.
Robotic Manipulation (DT8015)
This newly created mixed MSc- and PhD-level course covers the foundations for describing and controlling robotic manipulators that can be modelled as chains of rigid bodies. The students learn about the relationships between spatial geometry and multivariate calculus to create forward kinematic models, and how to integrate such models in feedback control schemes to endow a robot arm with the motion capabilities required to execute common manipulation tasks. The problems of singularities and spatial rotations will be discussed specifically with respect to their importance for robotic manipulation.
Course material is being elaborated as we teach it for the first time. It will become freely available later.
This PhD-course was first taught in summer 2013 to students from Halmstad University and Örebro University. It introduces the foundations and several specific solutions to the problem of planning paths for robots, with a focus on intelligent vehicles and manipulator arms. More information can be found here. The lecture slides and course notes will become freely available during the next iteration of the course (foreseeably summer 2014).
- Roland Philippsen, Luis Sentis, Oussama Khatib. An open-source extensible software package to create whole-body compliant skills in personal mobile manipulators. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.
- Roland Philippsen, Negin Nejati, Luis Sentis. Bridging the Gap Between Semantic Planning and Continuous Control for Mobile Manipulation Using a Graph-Based World Representation. 1st International Workshop on Hybrid Control of Autonomous Systems (HYCAS) held in conjunction with the International Joint Conference on Artificial Intelligence (IJCAI), Pasadena, California, USA, July 13, 2009.
- Roland Philippsen, Sascha Kolski, Kristijan Macek, Roland Siegwart. Path Planning, Replanning, and Execution for Autonomous Driving in Urban and Offroad Environments. Workshop on Planning, Perception and Navigation for Intelligent Vehicles, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2007.
- Roland Philippsen, Björn Jensen, Roland Siegwart. Towards Real-Time Sensor-Based Path Planning in Highly Dynamic Environments. Autonomous Navigation in Dynamic Environments, Springer Tracts on Advanced Robotics (STAR) Volume 35, Editors Christian Laugier and Raja Chatila, ISBN 978-3-540-73421-5, 2007.
- Roland Philippsen, Björn Jensen, Roland Siegwart. Toward Online Probabilistic Path Replanning in Dynamic Environments. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2006.
- Roland Philippsen. A Light Formulation of the E* Interpolated Path Replanner. Technical Report, Autonomous Systems Lab, Ecole Polytechnique Federale de Lausanne, 2006.
- Roland Philippsen and Roland Siegwart. An Interpolated Dynamic Navigation Function. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2005.
- Roland Philippsen. Motion Planning and Obstacle Avoidance for Mobile Robots in Highly Cluttered Dynamic Environments. PhD Thesis, Ecole Polytechnique Fédérale de Lausanne, Thèse sciences EPFL no 3146 (2004), Faculté des sciences et techniques de l'ingénieur STI, Section de microtechnique, Institut d'ingénierie des systèmes, 2004.
- Roland Philippsen and Roland Siegwart. Smooth and Efficient Obstacle Avoidance for a Tour Guide Robot. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2003.
- Luis Sentis, Josh Petersen, Roland Philippsen. Implementation and stability analysis of prioritized whole-body compliant controllers on a wheeled humanoid robot in uneven terrains. Autonomous Robots (ISSN 0929-5593), August, 2013.
- Peter Muehlfellner, Paul Timothy Furgale, Wojciech Derendarz, Roland Philippsen. Evaluation of Fisheye-Camera Based Visual Multi-Session Localization in a Real-World Scenario. Proceedings of the IEEE Intelligent Vehicles Symposium, 2013.
- David Madås, Mohsen Nosratinia, Mansour Keshavarz, Peter Sundström, Roland Philippsen, Andreas Eidehall, Karl-Magnus Dahlén. On Path Planning Methods for Automotive Collision Avoidance. Proceedings of the IEEE Intelligent Vehicles Symposium, 2013.
- Walid Taha and Roland Philippsen. Modeling Basic Aspects of Cyber-Physical Systems. 3rd International Workshop on Domain-Specific Languages and Models for Robotic Systems (DSLRob-12). Proceedings of the 3rd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2012.
- Stéphane Magnenat, Roland Philippsen, Francesco Mondada. Autonomous construction using scarce resources in unknown environments: Ingredients for an intelligent robotic interaction with the physical world. Autonomous Robots (ISSN 0929-5593), Vol 33, No 4, 2012.
- Ingo Lütkebohle, Roland Philippsen, Vijay Pradeep, Eitan Marder-Eppstein, Sven Wachsmuth. Generic middleware support for coordinating robot software components: The Task-State-Pattern. Journal of Software Engineering for Robotics (JOSER), ISSN 2035-3928, Vol 2, No 1, 2011.
- Sylvain Joyeux, Rachid Alami, Simon Lacroix, Roland Philippsen. A Plan Manager for Multi-robot Systems. International Journal of Robotics Research IJRR, 28(2) pp 220-240, February 2009.
- Fang Yuan, Agnes Swadzba, Roland Philippsen, Orhan Engin, Marc Hanheide, Sven Wachsmuth. Laser-Based Navigation Enhanced with 3D Time-of-Flight Data. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2009.
- Björn Jensen, Roland Philippsen, Roland Siegwart. Narrative Situation Assessment for Human-Robot Interaction. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2003.
- Kai-Oliver Arras, Roland Philippsen, Nicola Tomatis, Marc de Battista, Martin Schilt, Roland Siegwart. A Navigation Framework for Multiple Mobile Robots and its Application at the Expo.02 Exposition. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2003.
- Björn Jensen, Roland Philippsen, Roland Siegwart. Motion Detection and Path Planning in Dynamic Environments. Workshop on Reasoning with Uncertainty in Robotics, Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), 2003.
- Nicola Tomatis, Roland Philippsen, Björn Jensen, Kai-Oliver Arras, Grégoire Terrien, Ralph Piguet, Roland Siegwart. Building a Fully Autonomous Tour Guide Robot: Where Academic Research Meets Industry. 33rd International Symposium on Robotics, Stockholm, Sweden, 2002.