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Current occupation

I am currently a Postdoc at the Ecole Polytechnique Fédérale Lausanne (EPFL) in Switzerland, working on aerial mid-air collision avoidance for the MyCopter project and teaching the Mobile Robots lecture.

Research interests

My main research interests are in the area of mobile robotics, and the computer science aspects of robotics. Current and previous work includes aerial swarm robotics, high-speed GPU-accelerated computer vision, underwater robots, haptic user-machine interfaces, visual sensing for flying vehicles. unsupervised machine learning (deriving spatio-temporal structure from unmodelled data), underwater communication channels, ad hoc networking, and applications of robotic swarms. My dissertation was on adhoc multi-hop wireless networks for swarms of submersibles. This involves low-level hardware development, (longwave radio modules and an optical transceivers), but also higher-level collision free time-sliced sender-arbitration protocols. Of special interest is the theoretical impications of Omnicast (many-to-many) communication, and how it can be efficiently implemented.
I am trying to bridge the gap between theory and praxis, evaluating theoretical findings in physical experiments, and being inspired by their outcome. This involves design and implementation of electronic and mechanical hardware and software systems.
                MyCopter Quads                Serafina                Serafina Mk II


Publications

Google Scholar profile

Theses

Distributed Communication in Swarms of Autonomous Underwater Vehicles
Felix Schill, PhD Thesis. Submitted and accepted at The Australian National University. July 2007.
Download PDF (3.5Mb)

"Distributed Temporal Event Mapping and Fusion"
Diplomarbeit (diploma thesis), Universität Karlsruhe, 2003.
Abstract (pdf, 26kb)
Diploma thesis (pdf, 1.2 Mb)

"Java-basierte 3D-Objekterkennung aus Stereobildern" Studienarbeit (thesis), Universität Karlsruhe, 2001.
Ausarbeitung (ps.gz, 794 kB)
Ausarbeitung (pdf, 700 kB)

Related paper:
Recognizing Objects by Matching Oriented Points

Journals and book chapters

Felix Schill, Robert Mahony and Peter Corke.
"Estimating Ego-Motion in Panoramic Image Sequences with Inertial Measurements", Robotics Research, Springer Tracts in Advanced Robotics 70, pp. 87-101, 2011.

Navinda Kottege, Felix Schill, Alexander Bahr and Uwe R. Zimmer.
"Underwater Robot Swarms: Challenges and Opportunities". Handbook of Collective Robotics - Fundamentals and Challenges, pp. 587-608. Pan Stanford, 2011.

Ram Somaraju and Felix Schill.
"A communication module and TDMA scheduling for a swarm of small submarines" Elektrik (Turkish Journal of Electrical Engineering and Computer Sciences), Special Issue on Swarm Robotics, 2007.

Felix Schill and Uwe R. Zimmer.
"Distributed dynamical omnicast routing" Complex Systems (int. Journal), 16(4):299-316, 2006.

Michael Peck, Felix Schill.
"Mechanismen der Schwarmbildung", Mathematisch-Naturwissenschaftlicher Unterricht (MNU) vol. 52/4, pp. 232-234, 1999.

Conferences

Massimo Mastrangeli, Felix Schill, Jonas Goldowsky, Helmut Knapp, Juergen Brugger and Alcherio Martinoli. "Automated Real-Time Control of Fluidic Self-Assembly of Microparticles", submitted to 2014 IEEE International Conference on Robotics and Automation (ICRA2014), under review.

Meysam Basiri, Felix Schill, Dario Floreano and Pedro U. Lima. "Audio-based Bearing-only Localization for Swarms of Micro Air Vehicles" submitted to 2014 IEEE International Conference on Robotics and Automation (ICRA2014), under review.

Xiaolei Hou, Robert Mahony, Felix Schill.
"Representation of Vehicle Dynamics in Haptic Teleoperation of Aerial Robots", Proc. of IEEE International Conference on Robotics and Automation (ICRA), 2013.

Meysam Basiri, Felix Schill, Pedro Lima and Dario Floreano.
"Audio-based Relative Positioning System for Multiple Micro Air Vehicle Systems", in Proc. Robotics: Science and Systems IX (RSS), 2013.

Meysam Basiri, Felix Schill, Pedro Lima and Dario Floreano.
"Robust Acoustic Source Localization of Emergency Signals from Micro Air Vehicles", In Proc. IEEE International Conference on Intelligent Robots and Systems (IEEE/RSJ IROS), 2012.

Felix Schill, Uwe R. Zimmer.
"A scalable electro-magnetic communication system for underwater swarms", 9th IFAC Conference on Manoeuvring and Control of Marine Craft (MCMC) 2012.

Nieuwenhuizen F.M., Jump M., Perfect P., White M.D., Padfield G.D., Floreano D., Schill F., Zufferey J.-C., Fua P., Bouabdallah S., Siegwart R., Meyer S., Schippl J., Decker M., Gursky B., Hoefinger M. and Buelthoff H.H.
"myCopter – Enabling Technologies for Personal Aerial Transportation Systems", 3rd International HELI World Conference 2011, 1-8.

Jump M., Perfect P., Padfield G.D., White M.D., Floreano D., Fua P., Zufferey J.-C., Schill F., Siegwart R., Bouabdallah S., Decker M., Schippl J., Meyer S., Hoefinger M., Nieuwenhuizen F.M. and Buelthoff H.H.
"myCopter: Enabling Technologies for Personal Air Transport Systems - An Early Progress Report" 37th European Rotorcraft Forum, 1-12, 2011.

Felix Schill, Xiaolei Hou and Robert Mahony.
"Admittance mode framework for haptic teleoperation of hovering vehicles with unlimited workspace" Proceedings of Australasian Conference on Robotics and Automation (ACRA) 2010.

Michael J Milford, Felix Schill, Peter Corke, Robert Mahony, Gordon Wyeth.
"Aerial SLAM with a Single Camera Using Visual Expectation" In Proceedings of IEEE International Conference on Robotics and Automation (ICRA) 2010.

Felix Schill, Robert Mahony and Peter Corke.
"Estimating Ego-Motion in Panoramic Image Sequences with Inertial Measurements" 14th International Symposium on Robotics Research (ISRR), 2009.

Robert Mahony, Felix Schill, Peter Corke and Yoong Siang Oh.
"A New Framework for Force Feedback Teleoperation of Robotic Vehicles based on Optical Flow" In Proceedings of IEEE International Conference on Robotics and Automation (ICRA) 2009.

Felix Schill and Uwe R. Zimmer.
"Complex Control Skills Acquisition Supported by Haptic Feedback" Proceedings of Australasian Conference on Robotics and Automation (ACRA) 2008.

Felix Schill, Robert Mahony, Peter Corke and Luke Cole.
"Virtual force feedback teleoperation of the InsectBot using optic flow" In Proceedings of Australasian Conference on Robotics and Automation (ACRA) 2008.

Felix Schill and Uwe R. Zimmer.
"Pruning local schedules for efficient swarm communication" In Proceedings of the International Symposium on Underwater Technology, Tokyo, Japan, 2007.

Felix Schill and Uwe R. Zimmer.
"Effective communication in schools of submersibles" In Proceedings IEEE OCEANS'06, Singapore, 2006.

Felix Schill, Jochen Trumpf, and Uwe R. Zimmer.
"Towards optimal TDMA scheduling for robotic swarm communication" In Proceedings Towards Autonomous Robotic Systems (TAROS), London, 2005.

Felix Schill, Uwe R. Zimmer, and Jochen Trumpf.
"Visible spectrum optical communication and distance sensing for underwater applications" In Proc. Australasian Conference on Robotics and Automation (ACRA), Canberra, 2004.

Felix Schill, Uwe R. Zimmer.
"Robust Asynchronous Temporal Event Mapping" In Proc. IEEE International Conference on Intelligent Robots and Systems (IEEE/RSJ IROS), Lausanne, 2003




Data sets of Serafina test runs...



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