13 papers
Navigating the Crowd: Non-linear MPC with Social Forces Dynamics for Human-Aware Robot Navigation
Stefano Trepella, Andrea Ostuni, Mauro Martini +5
Safe and socially compliant navigation remains a fundamental challenge for autonomous robots operating in human-populated environments. Beyond collision avoidance, robots must anti…
C-3TO: Continuous 3D Trajectory Optimization on Neural Euclidean Signed Distance Fields
Guillermo Gil, Jose Antonio Cobano, Luis Merino +1
This paper introduces a novel framework for continuous 3D trajectory optimization in cluttered environments, leveraging online neural Euclidean Signed Distance Fields (ESDFs). Unli…
4D Radar Gaussian Modeling and Scan Matching with RCS
Fernando Amodeo, Luis Merino, Fernando Caballero
4D millimeter-wave (mmWave) radars are increasingly used in robotics, as they offer robustness against adverse environmental conditions. Besides the usual XYZ position, they provid…
G-EDF-Loc: 3D Continuous Gaussian Distance Field for Robust Gradient-Based 6DoF Localization
José E. Maese, LucÃa Coto-Elena, Luis Merino +1
This paper presents a robust 6-DoF localization framework based on a direct, CPU-based scan-to-map registration pipeline. The system leverages G-EDF, a novel continuous and memory-…
4D Radar-Inertial Odometry based on Gaussian Modeling and Multi-Hypothesis Scan Matching
Fernando Amodeo, Luis Merino, Fernando Caballero
4D millimeter-wave (mmWave) radars are sensors that provide robustness against adverse weather conditions (rain, snow, fog, etc.), and as such they are increasingly used for odomet…
Radio-based Multi-Robot Odometry and Relative Localization
Andrés MartÃnez-Silva, David Alejo, Luis Merino +1
Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in po…