233 citations · 423 across the 25 of their papers we have counts for
4 papers · 1 filter
HOTFLoc++: End-to-End Hierarchical LiDAR Place Recognition, Re-Ranking, and 6-DoF Metric Localisation in Forests
Ethan Griffiths, Maryam Haghighat, Simon Denman +2
This article presents HOTFLoc++, an end-to-end hierarchical framework for LiDAR place recognition, re-ranking, and 6-DoF metric localisation in forests. Leveraging an octree-based…
Vision-Guided Loco-Manipulation with a Snake Robot
Adarsh Salagame, Sasank Potluri, Keshav Bharadwaj Vaidyanathan +4
This paper presents the development and integration of a vision-guided loco-manipulation pipeline for Northeastern University's snake robot, COBRA. The system leverages a YOLOv8-ba…
HOTFormerLoc: Hierarchical Octree Transformer for Versatile Lidar Place Recognition Across Ground and Aerial Views
Ethan Griffiths, Maryam Haghighat, Simon Denman +2
We present HOTFormerLoc, a novel and versatile Hierarchical Octree-based TransFormer, for large-scale 3D place recognition in both ground-to-ground and ground-to-aerial scenarios a…
Reduced-Order Model-Based Gait Generation for Snake Robot Locomotion using NMPC
Adarsh Salagame, Eric Sihite, Milad Ramezani +1
This paper presents an optimization-based motion planning methodology for snake robots operating in constrained environments. By using a reduced-order model, the proposed approach…