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cs.RO2025
Inspection Planning Primitives with Implicit Models
Jingyang You, Hanna Kurniawati, Lashika Medagoda
The aging and increasing complexity of infrastructures make efficient inspection planning more critical in ensuring safety. Thanks to sampling-based motion planning, many inspectio…
cs.RO2018
Robust Model-Aided Inertial Localization for Autonomous Underwater Vehicles
Sascha Arnold, Lashika Medagoda
This paper presents a manifold based Unscented Kalman Filter that applies a novel strategy for inertial, model-aiding and Acoustic Doppler Current Profiler (ADCP) measurement incor…