52 citations · 100 across the 10 of their papers we have counts for
11 papers
Efficient Extrinsic Self-Calibration of Multiple IMUs using Measurement Subset Selection
Jongwon Lee, David Hanley, Timothy Bretl
This paper addresses the problem of choosing a sparse subset of measurements for quick calibration parameter estimation. A standard solution to this is selecting a measurement only…
Accurate Simulation and Parameter Identification of Deformable Linear Objects using Discrete Elastic Rods in Generalized Coordinates
Qi Jing Chen, Timothy Bretl, Quang-Cuong Pham
This paper presents a fast and accurate model of a deformable linear object (DLO) -- e.g., a rope, wire, or cable -- integrated into an established robot physics simulator, MuJoCo.…
Comparative Study of Visual SLAM-Based Mobile Robot Localization Using Fiducial Markers
Jongwon Lee, Su Yeon Choi, David Hanley +1
This paper presents a comparative study of three modes for mobile robot localization based on visual SLAM using fiducial markers (i.e., square-shaped artificial landmarks with a bl…
The Use of Multi-Scale Fiducial Markers To Aid Takeoff and Landing Navigation by Rotorcraft
Jongwon Lee, Su Yeon Choi, Timothy Bretl
This paper quantifies the performance of visual SLAM that leverages multi-scale fiducial markers (i.e., artificial landmarks that can be detected at a wide range of distances) to s…
Hypergraph-based Multi-Robot Task and Motion Planning
James Motes, Tan Chen, Timothy Bretl +2
We present a multi-robot task and motion planning method that, when applied to the rearrangement of objects by manipulators, results in solution times up to three orders of magnitu…
Extrinsic Calibration of Multiple Inertial Sensors from Arbitrary Trajectories
Jongwon Lee, David Hanley, Timothy Bretl
We present a method of extrinsic calibration for a system of multiple inertial measurement units (IMUs) that estimates the relative pose of each IMU on a rigid body using only meas…