139 citations · 987 across the 58 of their papers we have counts for
58 papers
A Sliding Window Filter on the Galilean Group for Consistent Aided Inertial Navigation with Unknown Measurement Delays
Jonathan Kelly
We study aided inertial navigation when the aiding sensor measurements are subject to an unknown constant delay. The goal is to estimate the delay and navigation state jointly so t…
Lost in Time? Continuous Symmetry and Identifiability in Aided Inertial Navigation with Unknown Measurement Delays
Jonathan Kelly, Phone Thiha Kyaw, Matthew Giamou
In many multisensor systems, measurements from different sensors are subject to unknown relative time delays. Accurate state estimation requires that delays be accounted for and, w…
On the Identifiability of Aided Inertial Navigation Under Measurement Delays: A Geometric Approach
Jonathan Kelly
In aided inertial navigation, measurements from different sensors are often subject to unknown relative time delays. Consider a single aiding sensor whose measurements have an unkn…
Euclidean Equivariant Models for Generative Graphical Inverse Kinematics
Oliver Limoyo, Filip Marić, Matthew Giamou +3
Quickly and reliably finding accurate inverse kinematics (IK) solutions remains a challenging problem for robotic manipulation. Existing numerical solvers typically produce a singl…
Recovery Policies for Safe Exploration of Lunar Permanently Shadowed Regions by a Solar-Powered Rover
Olivier Lamarre, Shantanu Malhotra, Jonathan Kelly
The success of a multi-kilometre drive by a solar-powered rover at the lunar south pole depends upon careful planning in space and time due to highly dynamic solar illumination con…
CIDGIKc: Distance-Geometric Inverse Kinematics for Continuum Robots
Hanna Jiamei Zhang, Matthew Giamou, Filip Marić +2
The small size, high dexterity, and intrinsic compliance of continuum robots (CRs) make them well suited for constrained environments. Solving the inverse kinematics (IK), that is…