44 citations · 98 across the 20 of their papers we have counts for
22 papers
Steering Through Contact: A Finite-Support Motion Model for Single-Track Center-Articulated Robots
Mohamed Dhia Ounally, Nicolas Samson, Mathis Turgeon-Roy +3
Trajectory planning and control in field robotics rely on predicting how propulsion and steering affect vehicle motion when contact points undergo slip. For articulated vehicles, t…
Tracking the Ground: Online Lidar Identification of Robot-Induced Soil Deformation in Agricultural Environments
Tom Montagnon, Johann Laconte, Benoit Thuilot +2
Agriculture faces many challenges, and robotic systems can play an important role in addressing them by improving the efficiency and sustainability of field operations. Among these…
When Obstacles Bend: Modeling Vegetation Deformation in the context of Field Robotics
Zaar Khizar, Tom Montagnon, Roland Lenain +2
Autonomous robots operating in natural environments must often interact with vegetation rather than simply avoid it. In this context, traversability is typically defined from the r…
A Predictive Control Strategy to Offset-Point Tracking for Agricultural Mobile Robots
Stephane Ngnepiepaye Wembe, Vincent Rousseau, Johann Laconte +1
Robots are increasingly being deployed in agriculture to support sustainable practices and improve productivity. They offer strong potential to enable precise, efficient, and envir…
CropCraft: A Procedural World Generator for Robotic Simulation of Agricultural Tasks
Riccardo Bertoglio, Cyrille Pierre, Johann Laconte +1
The adoption of agroecological practices in modern agriculture requires robotic systems capable of operating in highly diverse and complex field environments. Developing and evalua…
3D Mapping of Glacier Moulins: Challenges and lessons learned
William Dubois, Matěj Boxan, Johann Laconte +1
In this paper, we present a field report of the mapping of the Athabasca Glacier, using a custom-made lidar-inertial mapping platform. With the increasing autonomy of robotics, a w…
Prepared for the Worst: A Learning-Based Adversarial Attack for Resilience Analysis of the ICP Algorithm
Ziyu Zhang, Johann Laconte, Daniil Lisus +1
This paper presents a novel method for assessing the resilience of the ICP algorithm via learning-based, worst-case attacks on lidar point clouds. For safety-critical applications…
Saturation-Aware Angular Velocity Estimation: Extending the Robustness of SLAM to Aggressive Motions
Simon-Pierre Deschênes, Dominic Baril, Matěj Boxan +3
We propose a novel angular velocity estimation method to increase the robustness of Simultaneous Localization And Mapping (SLAM) algorithms against gyroscope saturations induced by…
Risk-Aware Navigation for Mobile Robots in Unknown 3D Environments
Elie Randriamiarintsoa, Johann Laconte, Benoit Thuilot +1
Autonomous navigation in unknown 3D environments is a key issue for intelligent transportation, while still being an open problem. Conventionally, navigation risk has been focused…
Pointing the Way: Refining Radar-Lidar Localization Using Learned ICP Weights
Daniil Lisus, Johann Laconte, Keenan Burnett +2
This paper presents a novel deep-learning-based approach to improve localizing radar measurements against lidar maps. This radar-lidar localization leverages the benefits of both s…
Toward Certifying Maps for Safe Registration-based Localization Under Adverse Conditions
Johann Laconte, Daniil Lisus, Timothy D. Barfoot
In this paper, we propose a way to model the resilience of the Iterative Closest Point (ICP) algorithm in the presence of corrupted measurements. In the context of autonomous vehic…
Need for Speed: Fast Correspondence-Free Lidar-Inertial Odometry Using Doppler Velocity
David J. Yoon, Keenan Burnett, Johann Laconte +5
In this paper, we present a fast, lightweight odometry method that uses the Doppler velocity measurements from a Frequency-Modulated Continuous-Wave (FMCW) lidar without data assoc…
Extrinsic calibration for highly accurate trajectories reconstruction
Maxime Vaidis, William Dubois, Alexandre Guénette +3
In the context of robotics, accurate ground-truth positioning is the cornerstone for the development of mapping and localization algorithms. In outdoor environments and over long d…
On the Importance of Quantifying Visibility for Autonomous Vehicles under Extreme Precipitation
Clément Courcelle, Dominic Baril, François Pomerleau +1
In the context of autonomous driving, vehicles are inherently bound to encounter more extreme weather during which public safety must be ensured. As climate is quickly changing, th…
Kilometer-scale autonomous navigation in subarctic forests: challenges and lessons learned
Dominic Baril, Simon-Pierre Deschênes, Olivier Gamache +6
Challenges inherent to autonomous wintertime navigation in forests include lack of reliable a Global Navigation Satellite System (GNSS) signal, low feature contrast, high illuminat…
Dynamic Lambda-Field: A Counterpart of the Bayesian Occupancy Grid for Risk Assessment in Dynamic Environments
Johann Laconte, Elie Randriamiarintsoa, Abderrahim Kasmi +4
In the context of autonomous vehicles, one of the most crucial tasks is to estimate the risk of the undertaken action. While navigating in complex urban environments, the Bayesian…
A Novel Occupancy Mapping Framework for Risk-Aware Path Planning in Unstructured Environments
Johann Laconte, Abderrahim Kasmi, François Pomerleau +4
In the context of autonomous robots, one of the most important tasks is to prevent potential damage to the robot during navigation. For this purpose, it is often assumed that one m…
Improving the Iterative Closest Point Algorithm using Lie Algebra
Maxime Vaidis, Johann Laconte, Vladimír Kubelka +1
Mapping algorithms that rely on registering point clouds inevitably suffer from local drift, both in localization and in the built map. Applications that require accurate maps, suc…
Evaluation of Skid-Steering Kinematic Models for Subarctic Environments
Dominic Baril, Vincent Grondin, Simon-Pierre Deschênes +6
In subarctic and arctic areas, large and heavy skid-steered robots are preferred for their robustness and ability to operate on difficult terrain. State estimation, motion control…
Lambda-Field: A Continuous Counterpart of the Bayesian Occupancy Grid for Risk Assessment
Johann Laconte, Christophe Debain, Roland Chapuis +2
In a context of autonomous robots, one of the most important task is to ensure the safety of the robot and its surrounding. Most of the time, the risk of navigation is simply said…
Geometry Preserving Sampling Method based on Spectral Decomposition for 3D Registration
Mathieu Labussiere, Johann Laconte, François Pomerleau
In the context of 3D mapping, larger and larger point clouds are acquired with LIDAR sensors. The Iterative Closest Point (ICP) algorithm is used to align these point clouds. Howev…
Lidar Measurement Bias Estimation via Return Waveform Modelling in a Context of 3D Mapping
Johann Laconte, Simon-Pierre Deschênes, Mathieu Labussière +1
In a context of 3D mapping, it is very important to get accurate measurements from sensors. In particular, Light Detection And Ranging (LIDAR) measurements are typically treated as…