15 citations · 31 across the 12 of their papers we have counts for
12 papers
Galilean Symmetry in Robotics
Robert Mahony, Jonathan Kelly, Stephan Weiss
Galilean symmetry is the natural symmetry of inertial motion that underpins Newtonian physics. Although rigid-body symmetry is one of the most established and fundamental tools in…
Hybrid Autonomy Framework for a Future Mars Science Helicopter
Luca Di Pierno, Robert Hewitt, Stephan Weiss +1
Autonomous aerial vehicles, such as NASA's Ingenuity, enable rapid planetary surface exploration beyond the reach of ground-based robots. Thus, NASA is studying a Mars Science Heli…
Consistent Pose Estimation of Unmanned Ground Vehicles through Terrain-Aided Multi-Sensor Fusion on Geometric Manifolds
Alexander Raab, Stephan Weiss, Alessandro Fornasier +2
Aiming to enhance the consistency and thus long-term accuracy of Extended Kalman Filters for terrestrial vehicle localization, this paper introduces the Manifold Error State Extend…
The Difference between the Left and Right Invariant Extended Kalman Filter
Yixiao Ge, Giulio Delama, Martin Scheiber +4
The extended Kalman filter (EKF) has been the industry standard for state estimation problems over the past sixty years. The Invariant Extended Kalman Filter (IEKF) is a recent dev…
Sensor Model Identification via Simultaneous Model Selection and State Variable Determination
Christian Brommer, Alessandro Fornasier, Jan Steinbrener +1
We present a method for the unattended gray-box identification of sensor models commonly used by localization algorithms in the field of robotics. The objective is to determine the…
CaRoSaC: A Reinforcement Learning-Based Kinematic Control of Cable-Driven Parallel Robots by Addressing Cable Sag through Simulation
Rohit Dhakate, Thomas Jantos, Eren Allak +2
This paper introduces the Cable Robot Simulation and Control (CaRoSaC) Framework, which integrates a simulation environment with a model-free reinforcement learning control methodo…
Equivariant IMU Preintegration with Biases: a Galilean Group Approach
Giulio Delama, Alessandro Fornasier, Robert Mahony +1
This letter proposes a new approach for Inertial Measurement Unit (IMU) preintegration, a fundamental building block that can be leveraged in different optimization-based Inertial…
AIVIO: Closed-loop, Object-relative Navigation of UAVs with AI-aided Visual Inertial Odometry
Thomas Jantos, Martin Scheiber, Christian Brommer +3
Object-relative mobile robot navigation is essential for a variety of tasks, e.g. autonomous critical infrastructure inspection, but requires the capability to extract semantic inf…
MSCEqF: A Multi State Constraint Equivariant Filter for Vision-aided Inertial Navigation
Alessandro Fornasier, Pieter van Goor, Eren Allak +2
This letter re-visits the problem of visual-inertial navigation system (VINS) and presents a novel filter design we dub the multi state constraint equivariant filter (MSCEqF, in an…
Revisiting multi-GNSS Navigation for UAVs -- An Equivariant Filtering Approach
Martin Scheiber, Alessandro Fornasier, Christian Brommer +1
In this work, we explore the recent advances in equivariant filtering for inertial navigation systems to improve state estimation for uncrewed aerial vehicles (UAVs). Traditional s…
Equivariant Symmetries for Inertial Navigation Systems
Alessandro Fornasier, Yixiao Ge, Pieter van Goor +2
This paper investigates the problem of inertial navigation system (INS) filter design through the lens of symmetry. The extended Kalman filter (EKF) and its variants have been the…
INSANE: Cross-Domain UAV Data Sets with Increased Number of Sensors for developing Advanced and Novel Estimators
Christian Brommer, Alessandro Fornasier, Martin Scheiber +4
For real-world applications, autonomous mobile robotic platforms must be capable of navigating safely in a multitude of different and dynamic environments with accurate and robust…