55 citations · 60 across the 9 of their papers we have counts for
9 papers
Continuum Robot Localization using Distributed Time-of-Flight Sensors
Spencer Teetaert, Giammarco Caroleo, Marco Pontin +4
Localization and mapping of an environment are crucial tasks for any robot operating in unstructured environments. Time-of-flight (ToF) sensors (e.g.,~lidar) have proven useful in…
Revisiting Continuous-Time Trajectory Estimation via Gaussian Processes and the Magnus Expansion
Timothy Barfoot, Cedric Le Gentil, Sven Lilge
Continuous-time state estimation has been shown to be an effective means of (i) handling asynchronous and high-rate measurements, (ii) introducing smoothness to the estimate, (iii)…
A Sliding-Window Filter for Online Continuous-Time Continuum Robot State Estimation
Spencer Teetaert, Sven Lilge, Jessica Burgner-Kahrs +1
Stochastic state estimation methods for continuum robots (CRs) often struggle to balance accuracy and computational efficiency. While several recent works have explored sliding-win…
A Stochastic Framework for Continuous-Time State Estimation of Continuum Robots
Spencer Teetaert, Sven Lilge, Jessica Burgner-Kahrs +1
State estimation techniques for continuum robots (CRs) typically involve using computationally complex dynamic models, simplistic shape approximations, or are limited to quasi-stat…
Space-Time Continuum: Continuous Shape and Time State Estimation for Flexible Robots
Spencer Teetaert, Sven Lilge, Jessica Burgner-Kahrs +1
This extended abstract introduces a novel method for continuous state estimation of continuum robots. We formulate the estimation problem as a factor-graph optimization problem usi…
A Non-Linear Model Predictive Task-Space Controller Satisfying Shape Constraints for Tendon-Driven Continuum Robots
Maximillian Hachen, Chengnan Shentu, Sven Lilge +1
Tendon-Driven Continuum Robots (TDCRs) have the potential to be used in minimally invasive surgery and industrial inspection, where the robot must enter narrow and confined spaces.…
Incorporating Control Inputs in Continuous-Time Gaussian Process State Estimation for Robotics
Sven Lilge, Timothy D. Barfoot
Continuous-time batch state estimation using Gaussian processes is an efficient approach to estimate the trajectories of robots over time. In the past, relatively simple physics-mo…
State Estimation for Continuum Multi-Robot Systems on SE(3)
Sven Lilge, Timothy D. Barfoot, Jessica Burgner-Kahrs
In contrast to conventional robots, accurately modeling the kinematics and statics of continuum robots is challenging due to partially unknown material properties, parasitic effect…
Continuum Robot State Estimation Using Gaussian Process Regression on
Sven Lilge, Timothy D. Barfoot, Jessica Burgner-Kahrs
Continuum robots have the potential to enable new applications in medicine, inspection, and countless other areas due to their unique shape, compliance, and size. Excellent progess…