Roland Philippsen

Contact

Dr Roland Philippsen
Assistant Professor
Halmstad University
Kristian IV:x väg 3
302 50 Halmstad

Phone: +46 35 167 249
E-mail: This e-mail address is being protected from spambots. You need JavaScript enabled to view it

Personal Homepage

Research Interests

Motion Planning and Obstacle Avoidance for Mobile Robots
Architectures for Robotic System Integration
Bridging the Gap between Task Planning, Motion Planning, and Control

Projects

Stanford Whole-Body Control Framework open source software
Support for the Stanford Whole-Body Controller on PR2, a robot developed by Willow Garage
Multi-Robot Planning and Deployment methods based on the whole-body control framework
E-Star Dynamic Interpolated Wavefront planner open source software
Sunflower Mobile Robot Library open source software

Short Biography

Roland Philippsen is an Assistant Professor at Halmstad University in Sweden. He received his Ph.D. from EPFL, Switzerland, in 2005, for work on mobile robot path planning and obstacle avoidance. His expertise lies in interweaving reasoning, planning, and control. He has successfully contributed to real-world robotics projects such as the tour-guide robots at the Swiss Expo.02, the EPFL student robot contest 2001-2004, robotic actors for a theater play in 2005, the European Cognitive Robot Companion in 2006, and the PR2 of Willow Garage, Inc. During his fours years at the Stanford Robotics and AI Lab, Roland is focused on integrating whole-body task-oriented control and planning for human-centered robotics, as well as pushing for robust open source software in this area. He believes autonomous robots can improve the lives of all humanity, provided we openly share knowledge and implementations.

Publications

RolandPhilippsen, NeginNejati, and LuisSentis.
Bridging the Gap Between Semantic Planning and Continuous Control for Mobile Manipulation Using a Graph-Based World Representation.
In 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, 2009.

@inproceedings{philippsen:2009:hycas,
	author = {Roland Philippsen and Negin Nejati and Luis Sentis},
	title = {Bridging the Gap Between Semantic Planning and Continuous Control for Mobile Manipulation Using a Graph-Based World Representation},
	booktitle = {1st International Workshop on Hybrid Control of Autonomous Systems ({HYCAS}) held in conjunction with the International Joint Conference on Artificial Intelligence ({IJCAI})},
	year = {2009},
	month = {July 13},
	address = {Pasadena, California, USA}
}

RolandPhilippsen, SaschaKolski, KristijanMacek, and BjörnJensen.
Mobile Robot Planning in Dynamic Environments and on Growable Costmaps.
In Workshop on Path Planning on Costmaps, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2008.

@inproceedings{philippsen:2008a:ppoc,
	author = {Roland Philippsen and Sascha Kolski and Kristijan Ma\v{c}ek and Bj\"orn Jensen},
	title = {Mobile Robot Planning in Dynamic Environments and on Growable Costmaps},
	booktitle = {Workshop on Path Planning on Costmaps, Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA})},
	year = {2008}
}

RolandPhilippsen, SaschaKolski, KristijanMacek, and RolandSiegwart.
Path Planning, Replanning, and Execution for Autonomous Driving in Urban and Offroad Environments.
In Workshop on Planning, Perception and Navigation for Intelligent Vehicles, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2007.

@inproceedings{philippsen:2007:icra,
	author = {Roland Philippsen and Sascha Kolski and Kristijan Ma\v{c}ek and Roland Siegwart},
	title = {Path Planning, Replanning, and Execution for Autonomous Driving in Urban and Offroad Environments},
	booktitle = {Workshop on Planning, Perception and Navigation for Intelligent Vehicles, Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA})},
	year = {2007}
}

RolandPhilippsen, BjörnJensen, and RolandSiegwart.
Autonomous Navigation in Dynamic Environments.
Springer Tracts on Advanced Robotics (STAR) ISBN 978-3-540-73421-5, Vol. 35, chap. Towards Real-Time Sensor-Based Path Planning in Highly Dynamic Environments, Edited by Christian Laugier and Raja Chatila, 2007.

@inbook{philippsen:2007:star,
	author = {Roland Philippsen and Bj\"orn Jensen and Roland Siegwart},
	title = {Autonomous Navigation in Dynamic Environments},
	chapter = {Towards Real-Time Sensor-Based Path Planning in Highly Dynamic Environments},
	series = {Springer Tracts on Advanced Robotics ({STAR}) {ISBN} 978-3-540-73421-5},
	volume = {35},
	publisher = {Edited by {Christian} {Laugier} and {Raja} {Chatila}},
	year = {2007}
}

RolandPhilippsen, BjörnJensen, and RolandSiegwart.
Toward Online Probabilistic Path Replanning in Dynamic Environments.
In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2006.

@inproceedings{philippsen:2006:iros,
	author = {Roland Philippsen and Bj\"orn Jensen and Roland Siegwart},
	title = {Toward Online Probabilistic Path Replanning in Dynamic Environments},
	booktitle = {Proceedings of the {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS})},
	year = {2006}
}

RolandPhilippsen, BjörnJensen, and RolandSiegwart.
Toward Online Probabilistic Path Replanning.
In Workshop on Autonomous Sensor-Based Motion for Complex Robots in Complex Environments, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2006.

@inproceedings{philippsen:2006:icra,
	author = {Roland Philippsen and Bj\"orn Jensen and Roland Siegwart},
	title = {Toward Online Probabilistic Path Replanning},
	booktitle = {Workshop on Autonomous Sensor-Based Motion for Complex Robots in Complex Environments, Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA})},
	year = {2006}
}

RolandPhilippsen.
A Light Formulation of the E* Interpolated Path Replanner.
Technical reportAutonomous Systems Lab, Ecole Polytechnique Fédérale de Lausanne, 2006.

@techreport{philippsen:2006:tr,
	author = {Roland Philippsen},
	title = {A Light Formulation of the {E*} Interpolated Path Replanner},
	institution = {Autonomous Systems Lab, Ecole Polytechnique F\'ed\'erale de Lausanne},
	year = {2006}
}

RolandPhilippsen and RolandSiegwart.
An Interpolated Dynamic Navigation Function.
In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2005.

@inproceedings{philippsen:2005:icra,
	author = {Roland Philippsen and Roland Siegwart},
	title = {An Interpolated Dynamic Navigation Function},
	booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA})},
	year = {2005}
}

RolandPhilippsen.
Motion Planning and Obstacle Avoidance for Mobile Robots in Highly Cluttered Dynamic Environments.
PhD thesis, Ecole Polytechnique Fédérale de Lausanne, 2004. Thèse sciences EPFL no 3146 (2004), Faculté des sciences et techniques de l'ingénieur STI, Section de microtechnique, Institut d'ingénierie des systèmes.

@phdthesis{philippsen:2004:phd,
	author = {Roland Philippsen},
	title = {Motion Planning and Obstacle Avoidance for Mobile Robots in Highly Cluttered Dynamic Environments},
	school = {Ecole Polytechnique F\'ed\'erale de Lausanne},
	note = {Th\`ese sciences EPFL no 3146 (2004), Facult\'e des sciences et techniques de l'ing\'enieur {STI}, Section de microtechnique, Institut d'ing\'enierie des syst\`emes},
	year = {2004}
}

RolandPhilippsen and RolandSiegwart.
Smooth and Efficient Obstacle Avoidance for a Tour Guide Robot.
In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2003.

@inproceedings{philippsen:2003:icra,
	author = {Roland Philippsen and Roland Siegwart},
	title = {Smooth and Efficient Obstacle Avoidance for a Tour Guide Robot},
	booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA})},
	year = {2003}
}

SylvainJoyeux, RachidAlami, SimonLacroix, and RolandPhilippsen.
A Plan Manager for Multi-robot Systems.
International Journal of Robotics Research (IJRR). Vol. 28, No. 2, pp. 220-240, February 2009.

@article{joyeux:2009:ijrr,
	author = {Sylvain Joyeux and Rachid Alami and Simon Lacroix and Roland Philippsen},
	title = {A Plan Manager for Multi-robot Systems},
	journal = {International Journal of Robotics Research ({IJRR})},
	year = {2009},
	month = {February},
	volume = {28},
	number = {2},
	pages = {220-240}
}

KristijanMacek, RolandPhilippsen, and RolandSiegwart.
Path Following for Autonomous Vehicle Navigation Based on Kinodynamic Control.
Journal of Computing and Information Technology (CIT). Vol. 17, No. 1, pp. 17-26, 2009.

@article{macek:2009:cit,
	author = {Kristijan Ma\v{c}ek and Roland Philippsen and Roland Siegwart},
	title = {Path Following for Autonomous Vehicle Navigation Based on Kinodynamic Control},
	journal = {Journal of Computing and Information Technology ({CIT})},
	year = {2009},
	volume = {17},
	number = {1},
	pages = {17-26}
}

FangYuan, AgnesSwadzba, RolandPhilippsen, OrhanEngin, MarcHanheide, and SvenWachsmuth.
Laser-based navigation enhanced with 3D time-of-flight data.
In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 2844-2850, 2009.

@inproceedings{yuan:2009:icra,
	author = {Fang Yuan and Agnes Swadzba and Roland Philippsen and Orhan Engin and Marc Hanheide and Sven Wachsmuth},
	title = {Laser-based navigation enhanced with {3D} time-of-flight data},
	booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA})},
	year = {2009},
	pages = {2844-2850}
}

KristijanMacek, RolandPhilippsen, and RolandSiegwart.
Path Following for Autonomous Vehicle Navigation with Inherent Safety and Dynamics Margin.
In Proceedings of the IEEE Intelligent Vehicles Symposium, Eindhoven, Netherlands, 2008.

@inproceedings{macek:2008a:iv,
	author = {Kristijan Ma\v{c}ek and Roland Philippsen and Roland Siegwart},
	title = {Path Following for Autonomous Vehicle Navigation with Inherent Safety and Dynamics Margin},
	booktitle = {Proceedings of the {IEEE} Intelligent Vehicles Symposium},
	address = {Eindhoven, Netherlands},
	year = {2008}
}

BjörnJensen, RolandPhilippsen, and RolandSiegwart.
Narrative Situation Assessment for Human-Robot Interaction.
In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2003.

@inproceedings{jensen:2003:icra,
	author = {Bj\"orn Jensen and Roland Philippsen and Roland Siegwart},
	title = {Narrative Situation Assessment for Human-Robot Interaction},
	booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA})},
	year = {2003}
}

RolandSiegwart, Kai-OliverArras, BjörnJensen, RolandPhilippsen, and NicolaTomatis.
Design, Implementation and Exploitation of a New Fully Autonomous Tour Guide Robot.
In 1st International Workshop on Advances in Service Robotics (ASER), 2003.

@inproceedings{siegwart:2003:aser,
	author = {Roland Siegwart and Kai-Oliver Arras and Bj\"orn Jensen and Roland Philippsen and Nicola Tomatis},
	title = {Design, Implementation and Exploitation of a New Fully Autonomous Tour Guide Robot},
	booktitle = {1st International Workshop on Advances in Service Robotics ({ASER})},
	year = {2003}
}

Kai-OliverArras, RolandPhilippsen, NicolaTomatis, MarcBattista de, MartinSchilt, and RolandSiegwart.
A Navigation Framework for Multiple Mobile Robots and its Application at the Expo.02 Exposition.
In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2003.

@inproceedings{arras:2003:icra,
	author = {Kai-Oliver Arras and Roland Philippsen and Nicola Tomatis and Marc de Battista and Martin Schilt and Roland Siegwart},
	title = {A Navigation Framework for Multiple Mobile Robots and its Application at the {Expo.02} Exposition},
	booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA})},
	year = {2003}
}

BjörnJensen, RolandPhilippsen, and RolandSiegwart.
Motion Detection and Path Planning in Dynamic Environments.
In Workshop on Reasoning with Uncertainty in Robotics, Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), 2003.

@inproceedings{jensen:2003:ijcai,
	author = {Bj\"orn Jensen and Roland Philippsen and Roland Siegwart},
	title = {Motion Detection and Path Planning in Dynamic Environments},
	booktitle = {Workshop on Reasoning with Uncertainty in Robotics, Proceedings of the International Joint Conference on Artificial Intelligence ({IJCAI})},
	year = {2003}
}

Kai-OliverArras, RolandPhilippsen, MarcBattista de, MartinSchilt, and RolandSiegwart.
A Navigation Framework for Multiple Mobile Robots and its Application.
In Workshop on Robots in Exhibitions, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2002.

@inproceedings{arras:2002:iros,
	author = {Kai-Oliver Arras and Roland Philippsen and Marc de Battista and Martin Schilt and Roland Siegwart},
	title = {A Navigation Framework for Multiple Mobile Robots and its Application},
	booktitle = {Workshop on Robots in Exhibitions, Proceedings of the {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS})},
	year = {2002}
}

BjörnJensen, RolandPhilippsen, GillesFroidevaux, and RolandSiegwart.
Mensch-Maschine Interaktion auf der Expo.02.
In VDI-Berichte 1679 Tagung Robotik, Ludwigsburg, Germany, 2002.

@inproceedings{jensen:2002:vdi,
	author = {Bj\"orn Jensen and Roland Philippsen and Gilles Froidevaux and Roland Siegwart},
	title = {Mensch-Maschine Interaktion auf der {Expo.02}},
	booktitle = {{VDI}-Berichte 1679 Tagung Robotik},
	year = {2002},
	address = {Ludwigsburg, Germany}
}

NicolaTomatis, RolandPhilippsen, BjörnJensen, Kai-OliverArras, GrégoireTerrien, RalphPiguet, and RolandSiegwart.
Building a Fully Autonomous Tour Guide Robot: Where Academic Research Meets Industry.
In 33rd International Symposium on Robotics, Stockholm, Sweden, 2002.

@inproceedings{tomatis:2002:isr,
	author = {Nicola Tomatis and Roland Philippsen and Bj\"orn Jensen and Kai-Oliver Arras and Gr\'egoire Terrien and Ralph Piguet and Roland Siegwart},
	title = {Building a Fully Autonomous Tour Guide Robot: Where Academic Research Meets Industry},
	booktitle = {33rd International Symposium on Robotics},
	year = {2002},
	address = {Stockholm, Sweden}
}

Stanford Robotics