arXiv subjects

Nicolas Marchal

Publications and source records attributed to Nicolas Marchal.

6 recordsLinked to original sources

arXiv2025

An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments

This paper presents an appendix to the original NeBula autonomy solution developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), participating in the DARPA Subterranean Challenge. Specifically, this paper presents extensions to NeBula's hardware, software, and algorithmic components that focus on increasing the range and scale of the exploration environment. From the algorithmic perspective, we discuss the following extensions to the original NeBula framework: (i) large-scale geometric and semantic environment mapping; (ii) an adaptive positioning system; (iii) probabilistic traversability analysis and local planning; (iv) large-scale POMDP-based global motion planning and exploration behavior; (v) large-scale networking and decentralized reasoning; (vi) communication-aware mission planning; and (vii) multi-modal ground-aerial exploration solutions. We demonstrate the application and deployment of the presented systems and solutions in various large-scale underground environments, including limestone mine exploration scenarios as well as deployment in the DARPA Subterranean challenge.

cs.RO↗

arXiv2023

Thermoelectric and magneto-transport characteristics of interconnected networks of ferromagnetic nanowires and nanotubes

Macroscopic-scale nanostructures, situated at the interface of nanostructures and bulk materials, hold significant promise in the realm of thermoelectric materials. Nanostructuring presents a compelling avenue for enhancing material thermoelectric performance as well as unlocking intriguing nanoscale phenomena, including spin-dependent thermoelectric effects. This is achieved while preserving high power output capabilities and ease of measurements related to the overall macroscopic dimensions. Within this framework, the recently developed three-dimensional interconnected nanowire and nanotube networks, integrated into a flexible polymer membrane, emerge as promising candidates for macroscopic nanostructures. The flexibility of these composites also paves the way for advances in the burgeoning field of flexible thermoelectrics. In this study, we demonstrate that the three-dimensional nanowire networks made of ferromagnetic metals maintain the intrinsic bulk thermoelectric power of their bulk constituent even for a diameter reduced to approximately 23 nm. Furthermore, we showcase the pioneering magneto-thermoelectric measurements of three-dimensional interconnected nickel nanotube networks. These macroscopic materials, comprising interconnected nanotubes, enable the development of large-area devices that exhibit efficient thermoelectric performance, while their nanoscale tubular structures provide distinctive magneto-transport properties. This research represents a significant step toward harnessing the potential of macroscopic nanostructured materials in the field of thermoelectrics.

cond-mat.mes-hall↗

arXiv2023

Geometrical properties of 3D crossed nanowire networks

Three-dimensional interconnected nanowire networks have recently attracted notable attention for the fabrication of new devices for energy harvesting/storage, sensing, catalysis, magnetic and spintronic applications and for the design of new hardware neuromorphic computing architectures. However, the complex branching of these nanowire networks makes it challenging to investigate these 3D nanostructured systems theoretically. Here, we present a theoretical description and simulations of the geometric properties of these 3D interconnected nanowire networks with selected characteristics. Our analysis reveals that the nanowire segment length between two crossing zones follows an exponential distribution. This suggests that shorter nanowire segments have a more pronounced influence on the nanowire network properties compared to their longer counterparts. Moreover, our observations reveal a homogeneous distribution in the smallest distance between the cores of two crossing nanowires. The results are highly reproducible and unaffected by changes in the nanowire network characteristics. The density of crossing zones and interconnected nanowire segments are found to vary as the square of the nanowire density multiplied by their diameter, further multiplied by a factor dependent on the packing factor. Finally, densities of interconnected segments up to 10$^{13}$ cm$^{-2}$ can be achieved for 22-$\mu$m-thick nanowire networks with high packing factors. This has important implications for neuromorphic computing applications, suggesting that the realization of 10$^{14}$ interconnections, which corresponds to the approximate number of synaptic connections in the human brain, is achievable with a nanowire network of about 10 cm$^{2}$.

physics.app-ph↗

arXiv2022

Memristive and tunneling effects in 3D interconnected silver nanowires

Due to their memristive properties nanowire networks are very promising for neuromorphic computing applications. Indeed, the resistance of such systems can evolve with the input voltage or current as it confers a synaptic behaviour to the device. Here, we propose a network of silver nanowires (Ag-NWs) which are grown in a nanopourous membrane with interconnected nanopores by electrodeposition. This bottom-up approach fabrication method gives a conducting network with a 3D architecture and a high density of Ag-NWs. The resulting 3D interconnected Ag-NW network exhibits a high initial resistance as well as a memristive behavior. It is expected to arise from the creation and the destruction of conducting silver filaments inside the Ag-NW network. Moreover, after several cycles of measurement, the resistance of the network switches from a high resistance regime, in the GOhm range, with a tunnel conduction to a low resistance regime, in the kOhm range.

cond-mat.mes-hall↗

arXiv2022

Early Recall, Late Precision: Multi-Robot Semantic Object Mapping under Operational Constraints in Perceptually-Degraded Environments

Semantic object mapping in uncertain, perceptually degraded environments during long-range multi-robot autonomous exploration tasks such as search-and-rescue is important and challenging. During such missions, high recall is desirable to avoid missing true target objects and high precision is also critical to avoid wasting valuable operational time on false positives. Given recent advancements in visual perception algorithms, the former is largely solvable autonomously, but the latter is difficult to address without the supervision of a human operator. However, operational constraints such as mission time, computational requirements, mesh network bandwidth and so on, can make the operator's task infeasible unless properly managed. We propose the Early Recall, Late Precision (EaRLaP) semantic object mapping pipeline to solve this problem. EaRLaP was used by Team CoSTAR in DARPA Subterranean Challenge, where it successfully detected all the artifacts encountered by the team of robots. We will discuss these results and performance of the EaRLaP on various datasets.

cs.RO↗

arXiv2019

Learning Densities in Feature Space for Reliable Segmentation of Indoor Scenes

Deep learning has enabled remarkable advances in scene understanding, particularly in semantic segmentation tasks. Yet, current state of the art approaches are limited to a closed set of classes, and fail when facing novel elements, also known as out of distribution (OoD) data. This is a problem as autonomous agents will inevitably come across a wide range of objects, all of which cannot be included during training. We propose a novel method to distinguish any object (foreground) from empty building structure (background) in indoor environments. We use normalizing flow to estimate the probability distribution of high-dimensional background descriptors. Foreground objects are therefore detected as areas in an image for which the descriptors are unlikely given the background distribution. As our method does not explicitly learn the representation of individual objects, its performance generalizes well outside of the training examples. Our model results in an innovative solution to reliably segment foreground from background in indoor scenes, which opens the way to a safer deployment of robots in human environments.

cs.CV↗