5 papers
AI-Augmented Model Predictive Control for Safe and Adaptive Rendezvous and Proximity Operations
Luca Sportelli, Tyler Barr, Cagri Kilic +1
Autonomous rendezvous and proximity operations (RPO) in adversarial orbital environments require guidance architectures balancing target pursuit, safety preservation, and real-time…
Learning Contact Representation for Leg Odometry
Emre Girgin, Cagri Kilic
The estimation of odometry in legged robots depends on the assumption that the velocity of the foot with respect to the world remains zero during the stance phase. Feedback for the…
OCELOT: Odometry and Contact Estimation for Legged Robots
Emre Girgin, Cagri Kilic
One of the significant challenges in legged robotics is achieving accurate odometry using only onboard proprioceptive sensors. In this study, we present a complete leg odometry pip…
Learning Rock Pushability on Rough Planetary Terrain
Tuba Girgin, Emre Girgin, Cagri Kilic
In the context of mobile navigation in unstructured environments, the predominant approach entails the avoidance of obstacles. The prevailing path planning algorithms are contingen…
Analysis of the Unscented Transform for Cooperative Localization with Ranging-Only Information
Uthman Olawoye, Cagri Kilic, Jason N Gross
Cooperative localization in multi-agent robotic systems is challenging, especially when agents rely on limited information, such as only peer-to-peer range measurements. Two key ch…