3 papers
cs.RO2026
Lost in Time? Continuous Symmetry and Identifiability in Aided Inertial Navigation with Unknown Measurement Delays
Jonathan Kelly, Phone Thiha Kyaw, Matthew Giamou +1
In many multisensor systems, measurements from different sensors are subject to unknown relative time delays. Accurate state estimation requires that delays be accounted for and, w…
cs.RO2026
On the Identifiability of Aided Inertial Navigation Under Measurement Delays: A Geometric Approach
Jonathan Kelly
In aided inertial navigation, measurements from different sensors are often subject to unknown relative time delays. Consider a single aiding sensor whose measurements have an unkn…
cs.RO2025
Generative Graphical Inverse Kinematics
Oliver Limoyo, Filip MariÄ, Matthew Giamou +3
Quickly and reliably finding accurate inverse kinematics (IK) solutions remains a challenging problem for many robot manipulators. Existing numerical solvers are broadly applicable…