652 citations · 1.1k across the 17 of their papers we have counts for
21 papers
Low-Latency Mapless ESDF Queries for MAV Reactive Collision Avoidance
Leonard Freißmuth, Cedric Le Gentil, Helen Oleynikova +1
Reactive collision avoidance in unknown, cluttered environments must perceive obstacles and correct motion within milliseconds. Existing methods rely on maps for high-rate collisio…
When Your State Estimator Has Lost The Plot: Detecting Estimator Failures Via Spectral Analysis
Christian Lanegger, Helen Oleynikova, Roland Siegwart +1
Reliable onboard state estimation is essential for safe robotic operation, yet unmodeled disturbances, such as sensor aliasing or out-of-distribution noise, still cause estimators…
BIEVR-LIO: Robust LiDAR-Inertial Odometry through Bump-Image-Enhanced Voxel Maps
Patrick Pfreundschuh, Turcan Tuna, Cedric Le Gentil +3
Reliable odometry is essential for mobile robots as they increasingly enter more challenging environments, which often contain little information to constrain point cloud registrat…
Allocation for Omnidirectional Aerial Robots: Incorporating Power Dynamics
Eugenio Cuniato, Mike Allenspach, Thomas Stastny +3
Tilt-rotor aerial robots are more dynamic and versatile than fixed-rotor platforms, since the thrust vector and body orientation are decoupled. However, the coordination of servos…
Pushing the Limits of Reactive Planning: Learning to Escape Local Minima
Isar Meijer, Michael Pantic, Helen Oleynikova +1
When does a robot planner need a map? Reactive methods that use only the robot's current sensor data and local information are fast and flexible, but prone to getting stuck in loca…
To Fuse or Not to Fuse: Measuring Consistency in Multi-Sensor Fusion for Aerial Robots
Christian Lanegger, Helen Oleynikova, Michael Pantic +2
Aerial vehicles are no longer limited to flying in open space: recent work has focused on aerial manipulation and up-close inspection. Such applications place stringent requirement…
Learning to Fly Omnidirectional Micro Aerial Vehicles with an End-To-End Control Network
Eugenio Cuniato, Olov Andersson, Helen Oleynikova +2
Overactuated tilt-rotor platforms offer many advantages over traditional fixed-arm drones, allowing the decoupling of the applied force from the attitude of the robot. This expands…
cuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation
Balakumar Sundaralingam, Siva Kumar Sastry Hari, Adam Fishman +9
This paper explores the problem of collision-free motion generation for manipulators by formulating it as a global motion optimization problem. We develop a parallel optimization t…
nvblox: GPU-Accelerated Incremental Signed Distance Field Mapping
Alexander Millane, Helen Oleynikova, Emilie Wirbel +4
Dense, volumetric maps are essential to enable robot navigation and interaction with the environment. To achieve low latency, dense maps are typically computed onboard the robot, o…
COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry
Patrick Pfreundschuh, Helen Oleynikova, Cesar Cadena +2
We present COIN-LIO, a LiDAR Inertial Odometry pipeline that tightly couples information from LiDAR intensity with geometry-based point cloud registration. The focus of our work is…
Spatial Computing and Intuitive Interaction: Bringing Mixed Reality and Robotics Together
Jeffrey Delmerico, Roi Poranne, Federica Bogo +5
Spatial computing -- the ability of devices to be aware of their surroundings and to represent this digitally -- offers novel capabilities in human-robot interaction. In particular…
Freetures: Localization in Signed Distance Function Maps
Alexander Millane, Helen Oleynikova, Christian Lanegger +5
Localization of a robotic system within a previously mapped environment is important for reducing estimation drift and for reusing previously built maps. Existing techniques for ge…
Voxgraph: Globally Consistent, Volumetric Mapping using Signed Distance Function Submaps
Victor Reijgwart, Alexander Millane, Helen Oleynikova +3
Globally consistent dense maps are a key requirement for long-term robot navigation in complex environments. While previous works have addressed the challenges of dense mapping and…
Free-Space Features: Global Localization in 2D Laser SLAM Using Distance Function Maps
Alexander Millane, Helen Oleynikova, Juan Nieto +2
In many applications, maintaining a consistent map of the environment is key to enabling robotic platforms to perform higher-level decision making. Detection of already visited loc…
An Open-Source System for Vision-Based Micro-Aerial Vehicle Mapping, Planning, and Flight in Cluttered Environments
Helen Oleynikova, Christian Lanegger, Zachary Taylor +4
We present an open-source system for Micro-Aerial Vehicle autonomous navigation from vision-based sensing. Our system focuses on dense mapping, safe local planning, and global traj…
OVPC Mesh: 3D Free-space Representation for Local Ground Vehicle Navigation
Fabio Ruetz, Emili Hernández, Mark Pfeiffer +4
This paper presents a novel approach for local 3D environment representation for autonomous unmanned ground vehicle (UGV) navigation called On Visible Point Clouds Mesh(OVPC Mesh).…
History-aware Autonomous Exploration in Confined Environments using MAVs
Christian Witting, Marius Fehr, Rik Bähnemann +2
Many scenarios require a robot to be able to explore its 3D environment online without human supervision. This is especially relevant for inspection tasks and search and rescue mis…
Sparse 3D Topological Graphs for Micro-Aerial Vehicle Planning
Helen Oleynikova, Zachary Taylor, Roland Siegwart +1
Micro-Aerial Vehicles (MAVs) have the advantage of moving freely in 3D space. However, creating compact and sparse map representations that can be efficiently used for planning for…
C-blox: A Scalable and Consistent TSDF-based Dense Mapping Approach
Alexander Millane, Zachary Taylor, Helen Oleynikova +3
In many applications, maintaining a consistent dense map of the environment is key to enabling robotic platforms to perform higher level decision making. Several works have address…
Safe Local Exploration for Replanning in Cluttered Unknown Environments for Micro-Aerial Vehicles
Helen Oleynikova, Zachary Taylor, Roland Siegwart +1
In order to enable Micro-Aerial Vehicles (MAVs) to assist in complex, unknown, unstructured environments, they must be able to navigate with guaranteed safety, even when faced with…
Voxblox: Incremental 3D Euclidean Signed Distance Fields for On-Board MAV Planning
Helen Oleynikova, Zachary Taylor, Marius Fehr +2
Micro Aerial Vehicles (MAVs) that operate in unstructured, unexplored environments require fast and flexible local planning, which can replan when new parts of the map are explored…