139 citations · 987 across the 58 of their papers we have counts for
7 papers · 1 filter
The Phoenix Drone: An Open-Source Dual-Rotor Tail-Sitter Platform for Research and Education
Yilun Wu, Xintong Du, Rikky Duivenvoorden +1
In this paper, we introduce the Phoenix drone: the first completely open-source tail-sitter micro aerial vehicle (MAV) platform. The vehicle has a highly versatile, dual-rotor desi…
Certifiably Globally Optimal Extrinsic Calibration from Per-Sensor Egomotion
Matthew Giamou, Ziye Ma, Valentin Peretroukhin +1
We present a certifiably globally optimal algorithm for determining the extrinsic calibration between two sensors that are capable of producing independent egomotion estimates. Thi…
LSTM-Based Zero-Velocity Detection for Robust Inertial Navigation
Brandon Wagstaff, Jonathan Kelly
We present a method to improve the accuracy of a zero-velocity-aided inertial navigation system (INS) by replacing the standard zero-velocity detector with a long short-term memory…
Near-Optimal Budgeted Data Exchange for Distributed Loop Closure Detection
Yulun Tian, Kasra Khosoussi, Matthew Giamou +2
Inter-robot loop closure detection is a core problem in collaborative SLAM (CSLAM). Establishing inter-robot loop closures is a resource-demanding process, during which robots must…
Overcoming the Challenges of Solar Rover Autonomy: Enabling Long-Duration Planetary Navigation
Olivier Lamarre, Jonathan Kelly
The successes of previous and current Mars rovers have encouraged space agencies worldwide to pursue additional planetary exploration missions with more ambitious navigation goals.…
Manipulability Maximization Using Continuous-Time Gaussian Processes
Filip Marić, Oliver Limoyo, Luka Petrović +2
A significant challenge in motion planning is to avoid being in or near \emph{singular configurations} (\textit{singularities}), that is, joint configurations that result in the lo…