88 citations · 158 across the 5 of their papers we have counts for
16 papers · 1 filter
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…