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cs.RO2021
Contact simulation of a 2D Bipedal Robot kicking a ball
Alphonsus Adu-Bredu
This report describes an approach for simulating multi-body contacts of actively-controlled systems. In this work, we focus on the controls and contact simulation of a 2-dimensiona…
cs.RO2021
Probabilistic Inference in Planning for Partially Observable Long Horizon Problems
Alphonsus Adu-Bredu, Nikhil Devraj, Pin-Han Lin +2
For autonomous service robots to successfully perform long horizon tasks in the real world, they must act intelligently in partially observable environments. Most Task and Motion P…
cs.RO2021
GODSAC*: Graph Optimized DSAC* for Robot Relocalization
Alphonsus Adu-Bredu, Noah Del Coro, Tianyi Liu
Deep learning based camera pose estimation from monocular camera images has seen a recent uptake in Visual SLAM research. Even though such pose estimation approaches have excellent…