142 citations · 230 across the 7 of their papers we have counts for
7 papers
3D Surfel Map-Aided Visual Relocalization with Learned Descriptors
Haoyang Ye, Huaiyang Huang, Marco Hutter +2
In this paper, we introduce a method for visual relocalization using the geometric information from a 3D surfel map. A visual database is first built by global indices from the 3D…
A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction
Abel Gawel, Hermann Blum, Johannes Pankert +9
We present a fully-integrated sensing and control system which enables mobile manipulator robots to execute building tasks with millimeter-scale accuracy on building construction s…
Nonlinear disturbance attenuation control of hydraulic robotics
Peng Lu, Timothy Sandy, Jonas Buchli
This paper presents a novel nonlinear disturbance rejection control for hydraulic robots. This method requires two third-order filters as well as inverse dynamics in order to estim…
ConFusion: Sensor Fusion for Complex Robotic Systems using Nonlinear Optimization
Timothy Sandy, Lukas Stadelmann, Simon Kerscher +1
We present ConFusion, an open-source package for online sensor fusion for robotic applications. ConFusion is a modular framework for fusing measurements from many heterogeneous sen…
Optimal and Learning Control for Autonomous Robots
Jonas Buchli, Farbod Farshidian, Alexander Winkler +2
Optimal and Learning Control for Autonomous Robots has been taught in the Robotics, Systems and Controls Masters at ETH Zurich with the aim to teach optimal control and reinforceme…
Mobile Robotic Fabrication at 1:1 scale: the In situ Fabricator
Markus Giftthaler, Timothy Sandy, Kathrin Dörfler +6
This paper presents the concept of an In situ Fabricator, a mobile robot intended for on-site manufacturing, assembly and digital fabrication. We present an overview of a prototype…
Efficient Kinematic Planning for Mobile Manipulators with Non-holonomic Constraints Using Optimal Control
Markus Giftthaler, Farbod Farshidian, Timothy Sandy +2
This work addresses the problem of kinematic trajectory planning for mobile manipulators with non-holonomic constraints, and holonomic operational-space tracking constraints. We ob…