In recent years, quadruped mobile robots' development had experienced rapid progress,
which has subsequently increased their usage in many human-assisted applications …

Many estimation, planning, and optimal control problems in robotics have an optimization
problem at their core. In most of these optimization problems, the objective to be maximized …

We present visual inertial lidar legged navigation system (VILENS), an odometry system for
legged robots based on factor graphs. The key novelty is the tight fusion of four different …

In this paper, we present a large dataset with a variety of mobile map** sensors collected
using a handheld device carried at typical walking speeds for nearly 2.2 km around New …

We study the problem of mobile manipulation using legged robots equipped with an arm,
namely legged loco-manipulation. The robot legs, while usually utilized for mobility, offer an …

We present an efficient multi-sensor odometry system for mobile platforms that jointly
optimizes visual, lidar, and inertial information within a single integrated factor graph. This …

In this paper, we present a modular and flexible state estimation framework for legged robots
operating in real-world scenarios, where environmental conditions, such as occlusions, low …

Nowadays, there is a growing awareness on the social and economic importance of the
ocean. In this context, being able to carry out a diverse range of operations underwater is of …

We present an open-source Visual-Inertial-Leg Odometry (VILO) state estimation solution for
legged robots, called Cerberus, which precisely estimates position on various terrains in real …

This article proposes an invariant smoother for legged robot state estimation with the
measurement of an inertial measurement unit and leg kinematics while assuming static foot …