Hyperion–A Fast, Versatile Symbolic Gaussian Belief Propagation Framework for Continuous-Time SLAM
Abstract Continuous-Time Simultaneous Localization And Map** (CTSLAM) has become
a promising approach for fusing asynchronous and multi-modal sensor suites. Unlike …
a promising approach for fusing asynchronous and multi-modal sensor suites. Unlike …
Learning type-2 fuzzy logic for factor graph based-robust pose estimation with multi-sensor fusion
D Van Nam, K Gon-Woo - IEEE Transactions on Intelligent …, 2023 - ieeexplore.ieee.org
Although a wide variety of high-performance state estimation techniques have been
introduced recently, the robustness and extension to actual conditions of the estimation …
introduced recently, the robustness and extension to actual conditions of the estimation …
Continuous-time state estimation methods in robotics: A survey
Accurate, efficient, and robust state estimation is more important than ever in robotics as the
variety of platforms and complexity of tasks continue to grow. Historically, discrete-time filters …
variety of platforms and complexity of tasks continue to grow. Historically, discrete-time filters …
DABA: Decentralized and accelerated large-scale bundle adjustment
Scaling to arbitrarily large bundle adjustment problems requires data and compute to be
distributed across multiple devices. Centralized methods in prior works are only able to …
distributed across multiple devices. Centralized methods in prior works are only able to …
Decentralization and acceleration enables large-scale bundle adjustment
Scaling to arbitrarily large bundle adjustment problems requires data and compute to be
distributed across multiple devices. Centralized methods in prior works are only able to …
distributed across multiple devices. Centralized methods in prior works are only able to …
Ungar-A C++ Framework for Real-Time Optimal Control Using Template Metaprogramming
F De Vincenti, S Coros - 2023 IEEE/RSJ International …, 2023 - ieeexplore.ieee.org
We present Ungar, an open-source library to aid the implementation of high-dimensional
optimal control problems (OCPs). We adopt modern template metaprogramming techniques …
optimal control problems (OCPs). We adopt modern template metaprogramming techniques …
Virtually Constrained Admittance Control Using Feedback Linearization for Physical Human-Robot Interaction With Rehabilitation Exoskeletons
Robot-assisted rehabilitation focuses in part on path-based assist-as-needed reaching
rehabilitation, which dynamically adapts the level of robot assistance during physical …
rehabilitation, which dynamically adapts the level of robot assistance during physical …
Spoofing-resilient LiDAR-GPS factor graph localization with chimera authentication
Many vehicle platforms typically use sensors such as LiDAR or camera for locally-
referenced navigation with GPS for globally-referenced navigation. However, due to the …
referenced navigation with GPS for globally-referenced navigation. However, due to the …
Flight Test Setup for Cooperative Swarm Navigation in Challenging Environments using UWB, GNSS, and Inertial Fusion
MU de Haag, M Martens, K Kotinkar… - 2023 IEEE/ION …, 2023 - ieeexplore.ieee.org
This paper describes a basic framework for cognitive and collaborative navigation of small
Unmanned Aerial Vehicles (sUAVs) with a focus on operation in challenging environments …
Unmanned Aerial Vehicles (sUAVs) with a focus on operation in challenging environments …
Graph-Based Visual-Kinematic Fusion and Monte Carlo Initialization for Fast-Deployable Cable-Driven Robots
Ease of calibration and high-accuracy task-space state-estimation purely based on onboard
sensors is a key requirement for enabling easily deployable cable robots in real-world …
sensors is a key requirement for enabling easily deployable cable robots in real-world …