492 citations
- University of OxfordGB89 papers
- California Institute of TechnologyUS6 papers
- The University of Texas at AustinUS6 papers
- Harvard University PressUS5 papers
- National Institute for AstrophysicsIT5 papers
- University of CambridgeGB5 papers
- University of ManchesterGB5 papers
- American Industrial Partners (United States)US4 papers
- McDonald's (United States)US4 papers
- University of the Western CapeZA4 papers
- Durham Technical Community CollegeUS3 papers
- Institute of Nuclear Physics, Polish Academy of SciencesPL3 papers
6 papers · 1 filter
Design and Characterization of a 3D-printed Pneumatically-driven Bistable Valve with Tunable Characteristics
Sihan Wang, Liang He, Perla Maiolino
Although research studies in pneumatic soft robots develop rapidly, most pneumatic actuators are still controlled by rigid valves and conventional electronics. The existence of the…
Navigating by Touch: Haptic Monte Carlo Localization via Geometric Sensing and Terrain Classification
Russell Buchanan, Jakub Bednarek, Marco Camurri +3
Legged robot navigation in extreme environments can hinder the use of cameras and laser scanners due to darkness, air obfuscation or sensor damage. In these conditions, propriocept…
Scalable and Elastic LiDAR Reconstruction in Complex Environments Through Spatial Analysis
Yiduo Wang, Milad Ramezani, Matias Mattamala +1
This paper presents novel strategies for spawning and fusing submaps within an elastic dense 3D reconstruction system. The proposed system uses spatial understanding of the scanned…
Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry
David Wisth, Marco Camurri, Sandipan Das +1
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. Th…
Actively Mapping Industrial Structures with Information Gain-Based Planning on a Quadruped Robot
Yiduo Wang, Milad Ramezani, Maurice Fallon
In this paper, we develop an online active mapping system to enable a quadruped robot to autonomously survey large physical structures. We describe the perception, planning and con…
Learning to See the Wood for the Trees: Deep Laser Localization in Urban and Natural Environments on a CPU
Georgi Tinchev, Adrian Penate-Sanchez, Maurice Fallon
Localization in challenging, natural environments such as forests or woodlands is an important capability for many applications from guiding a robot navigating along a forest trail…