Motion planning is a fundamental research area in robotics. Sampling-based methods offer
an efficient solution for what is otherwise a rather challenging dilemma of path planning …

The prospect of driverless cars wide-scale deployment is imminent owing to the advances in
robotics, computational power, communications, and sensor technologies. This promises …

In recent years, MEMS inertial sensors (3D accelerometers and 3D gyroscopes) have
become widely available due to their small size and low cost. Inertial sensor measurements …

Accurate state estimation is a fundamental module for various intelligent applications, such
as robot navigation, autonomous driving, virtual and augmented reality. Visual and inertial …

This paper reviews the Euler–Rodrigues formula in the axis–angle representation of
rotations, studies its variations and derivations in different mathematical forms as vectors …

Wearable robots based on soft materials will augment mobility and performance of the host
without restricting natural kinematics. Such wearable robots will need soft sensors to monitor …

Exosuits show much promise as a method for augmenting the body with lightweight,
portable, and compliant wearable systems. We envision that such systems can be further …

In this paper, we study estimator inconsistency in vision-aided inertial navigation systems
(VINS) from the standpoint of system's observability. We postulate that a leading cause of …

Recently developed Structure from Motion (SfM) reconstruction approaches enable the
creation of large scale 3D models of urban scenes. These compact scene representations …

This paper investigates solutions for the fundamental yet challenging problem of
autonomous landing of multirotor Unammaned Aerial Vehicles UAVs. In addition to landing …