3 papers
cs.RO2022
Efficient Extrinsic Calibration of Multi-Sensor 3D LiDAR Systems for Autonomous Vehicles using Static Objects Information
Brahayam Ponton, Magda Ferri, Lars Koenig +1
For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. T…
cs.RO2020
Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics
Brahayam Ponton, Majid Khadiv, Avadesh Meduri +1
This paper investigates the problem of efficient computation of physically consistent multi-contact behaviors. Recent work showed that under mild assumptions, the problem could be…
cs.RO2018
Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction
Yu-Chi Lin, Brahayam Ponton, Ludovic Righetti +1
Humanoid robots dynamically navigate an environment by interacting with it via contact wrenches exerted at intermittent contact poses. Therefore, it is important to consider dynami…