10 citations · 10 across the 11 of their papers we have counts for
13 papers
Experience-Driven Continual Learning of Terrain Traversability for Quadruped Robots
Luca Bricarello, João Carlos Virgolino Soares, Alberto Sanchez-Delgado +2
Safe and efficient quadruped navigation over unfamiliar terrain requires predicting terrain-robot interaction before contact: geometry and visual appearance alone cannot reveal how…
Terrain-Aware Autonomous Planetary Exploration for Exteroceptive-Proprioceptive Mapping with Quadruped Scouts
Alberto Sanchez-Delgado, João Carlos Virgolino Soares, Victor Barasuol +1
Autonomous planetary exploration requires robots to navigate unknown, uneven terrain while assessing risk, traversability, and energetic cost. Quadruped scouts are well suited for…
Chalito: An Extensible Library for Filtering-Based State Estimation in Quadruped Robots
Hilton Marques Souza Santana, João Carlos Virgolino Soares, Marco Antonio Meggiolaro +1
State estimation is essential for quadruped robots, enabling robust locomotion, navigation, and control. While many estimators have been proposed in the literature, existing implem…
Iterated Invariant EKF for Quadruped Robot Odometry
Hilton Marques Souza Santana, João Carlos Virgolino Soares, Sven Goffin +4
Kalman filter-based algorithms are fundamental for mobile robots, as they provide a computationally efficient solution to the challenging problem of state estimation. However, they…
BinWalker: Development and Field Evaluation of a Quadruped Manipulator Platform for Sustainable Litter Collection
Giulio Turrisi, Angelo Bratta, Giovanni Minelli +4
Litter pollution represents a growing environmental problem affecting natural and urban ecosystems worldwide. Waste discarded in public spaces often accumulates in areas that are d…
Towards Proprioceptive Terrain Mapping with Quadruped Robots for Exploration in Planetary Permanently Shadowed Regions
Alberto Sanchez-Delgado, João Carlos Virgolino Soares, Victor Barasuol +1
Permanently Shadowed Regions (PSRs) near the lunar poles are of interest for future exploration due to their potential to contain water ice and preserve geological records. Their c…
Online Object-Level Semantic Mapping for Quadrupeds in Real-World Environments
Emad Razavi, Angelo Bratta, João Carlos Virgolino Soares +2
We present an online semantic object mapping system for a quadruped robot operating in real indoor environments, turning sensor detections into named objects in a global map. Durin…
Towards An Adaptive Locomotion Strategy For Quadruped Rovers: Quantifying When To Slide Or Walk On Planetary Slopes
Alberto Sanchez-Delgado, João Carlos Virgolino Soares, David Omar Al Tawil +5
Legged rovers provide enhanced mobility compared to wheeled platforms, enabling navigation on steep and irregular planetary terrains. However, traditional legged locomotion might b…
VAR-SLAM: Visual Adaptive and Robust SLAM for Dynamic Environments
João Carlos Virgolino Soares, Gabriel Fischer Abati, Claudio Semini
Visual SLAM in dynamic environments remains challenging, as several existing methods rely on semantic filtering that only handles known object classes, or use fixed robust kernels…
Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing
Ylenia Nisticò, Hajun Kim, João Carlos Virgolino Soares +3
This letter introduces two multi-sensor state estimation frameworks for quadruped robots, built on the Invariant Extended Kalman Filter (InEKF) and Invariant Smoother (IS). The pro…
MUSE: A Real-Time Multi-Sensor State Estimator for Quadruped Robots
Ylenia Nisticò, João Carlos Virgolino Soares, Lorenzo Amatucci +2
This paper introduces an innovative state estimator, MUSE (MUlti-sensor State Estimator), designed to enhance state estimation's accuracy and real-time performance in quadruped rob…
SANDRO: a Robust Solver with a Splitting Strategy for Point Cloud Registration
Michael Adlerstein, João Carlos Virgolino Soares, Angelo Bratta +1
Point cloud registration is a critical problem in computer vision and robotics, especially in the field of navigation. Current methods often fail when faced with high outlier rates…
Proprioceptive State Estimation for Quadruped Robots using Invariant Kalman Filtering and Scale-Variant Robust Cost Functions
Hilton Marques Souza Santana, João Carlos Virgolino Soares, Ylenia Nisticò +2
Accurate state estimation is crucial for legged robot locomotion, as it provides the necessary information to allow control and navigation. However, it is also challenging, especia…