6 papers
Aerial Layouting: Design and Control of a Compliant and Actuated End-Effector for Precise In-flight Marking on Ceilings
Christian Lanegger, Marco Ruggia, Marco Tognon +2
Aerial robots have demonstrated impressive feats of precise control, such as dynamic flight through openings or highly complex choreographies. Despite the accuracy needed for these…
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…
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…
A perching and tilting aerial robot for precise and versatile power tool work on vertical walls
Roman Dautzenberg, Timo Küster, Timon Mathis +11
Drilling, grinding, and setting anchors on vertical walls are fundamental processes in everyday construction work. Manually doing these works is error-prone, potentially dangerous,…
Modelling and Estimation of Human Walking Gait for Physical Human-Robot Interaction
Yash Vyas, Mike Allenspach, Christian Lanegger +2
An approach to model and estimate human walking kinematics in real-time for Physical Human-Robot Interaction is presented. The human gait velocity along the forward and vertical di…
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…