14 citations · 16 across the 19 of their papers we have counts for
19 papers
RoughSense: Lightweight Terrain-Induced Rover Vibration Prediction Using Point Clouds and IMU Feedback
Gabriel Manuel Garcia, Stephanie Aravecchia, Miguel Angel Olivares-Mendez
Autonomous navigation in space requires reliable terrain assessment for safe operations, especially in underground environments with limited communication, computing resources, and…
PRISM: Multimodal Terrain Mapping for Rover Navigation in Unstructured Environments
Raul Castilla-Arquillo, Carlos Perez-del-Pulgar, Levin Gerdes +2
Robotic navigation in unstructured environments requires robust situational awareness to safely traverse hazards such as steep slopes and rocky terrain. To address this challenge,…
Online Inertia Parameter Estimation for Unknown Objects Grasped by a Manipulator Towards Space Applications
Akiyoshi Uchida, Antonine Richard, Kentaro Uno +2
Knowing the inertia parameters of a grasped object is crucial for dynamics-aware manipulation, especially in space robotics with free-floating bases. This work addresses the proble…
REALMS2 -- Resilient Exploration And Lunar Mapping System 2 -- A Comprehensive Approach
Dave van der Meer, Loïck P. Chovet, Gabriel M. Garcia +2
The European Space Agency (ESA) and the European Space Resources Innovation Centre (ESRIC) created the Space Resources Challenge to invite researchers and companies to propose inno…
Towards Active Excitation-Based Dynamic Inertia Identification in Satellites
Matteo El-Hariry, Vittorio Franzese, Miguel Olivares-Mendez
This paper presents a comprehensive analysis of how excitation design influences the identification of the inertia properties of rigid nano- and micro-satellites. We simulate nonli…
Unleashing the Power of Discrete-Time State Representation: Ultrafast Target-based IMU-Camera Spatial-Temporal Calibration
Junlin Song, Antoine Richard, Miguel Olivares-Mendez
Visual-inertial fusion is crucial for a large amount of intelligent and autonomous applications, such as robot navigation and augmented reality. To bootstrap and achieve optimal st…
PLUME: Procedural Layer Underground Modeling Engine
Gabriel Manuel Garcia, Antoine Richard, Miguel Olivares-Mendez
As space exploration advances, underground environments are becoming increasingly attractive due to their potential to provide shelter, easier access to resources, and enhanced sci…
Structureless VIO
Junlin Song, Miguel Olivares-Mendez
Visual odometry (VO) is typically considered as a chicken-and-egg problem, as the localization and mapping modules are tightly-coupled. The estimation of a visual map relies on acc…
SPICE-HL3: Single-Photon, Inertial, and Stereo Camera dataset for Exploration of High-Latitude Lunar Landscapes
David Rodríguez-Martínez, Dave van der Meer, Junlin Song +3
Exploring high-latitude lunar regions presents an extremely challenging visual environment for robots. The low sunlight elevation angle and minimal light scattering result in a vis…
RoboRAN: A Unified Robotics Framework for Reinforcement Learning-Based Autonomous Navigation
Matteo El-Hariry, Antoine Richard, Ricard M. Castan +4
Autonomous robots must navigate and operate in diverse environments, from terrestrial and aquatic settings to aerial and space domains. While Reinforcement Learning (RL) has shown…
Observability Investigation for Rotational Calibration of (Global-pose aided) VIO under Straight Line Motion
Junlin Song, Antoine Richard, Miguel Olivares-Mendez
Online extrinsic calibration is crucial for building "power-on-and-go" moving platforms, like robots and AR devices. However, blindly performing online calibration for unobservable…
Improving Monocular Visual-Inertial Initialization with Structureless Visual-Inertial Bundle Adjustment
Junlin Song, Antoine Richard, Miguel Olivares-Mendez
Monocular visual inertial odometry (VIO) has facilitated a wide range of real-time motion tracking applications, thanks to the small size of the sensor suite and low power consumpt…
An Accurate Filter-based Visual Inertial External Force Estimator via Instantaneous Accelerometer Update
Junlin Song, Antoine Richard, Miguel Olivares-Mendez
Accurate disturbance estimation is crucial for reliable robotic physical interaction. To estimate environmental interference in a low-cost and sensorless way (without force sensor)…
Performance Comparison of ROS2 Middlewares for Multi-robot Mesh Networks in Planetary Exploration
Loïck Pierre Chovet, Gabriel Manuel Garcia, Abhishek Bera +3
Recent advancements in Multi-Robot Systems (MRS) and mesh network technologies pave the way for innovative approaches to explore extreme environments. The Artemis Accords, a series…
Joint Spatial-Temporal Calibration for Camera and Global Pose Sensor
Junlin Song, Antoine Richard, Miguel Olivares-Mendez
In robotics, motion capture systems have been widely used to measure the accuracy of localization algorithms. Moreover, this infrastructure can also be used for other computer visi…
RANS: Highly-Parallelised Simulator for Reinforcement Learning based Autonomous Navigating Spacecrafts
Matteo El-Hariry, Antoine Richard, Miguel Olivares-Mendez
Nowadays, realistic simulation environments are essential to validate and build reliable robotic solutions. This is particularly true when using Reinforcement Learning (RL) based c…
OmniLRS: A Photorealistic Simulator for Lunar Robotics
Antoine Richard, Junnosuke Kamohara, Kentaro Uno +4
Developing algorithms for extra-terrestrial robotic exploration has always been challenging. Along with the complexity associated with these environments, one of the main issues re…
GPS-VIO Fusion with Online Rotational Calibration
Junlin Song, Pedro J. Sanchez-Cuevas, Antoine Richard +2
Accurate global localization is crucial for autonomous navigation and planning. To this end, various GPS-aided Visual-Inertial Odometry (GPS-VIO) fusion algorithms are proposed in…
GPS-aided Visual Wheel Odometry
Junlin Song, Pedro J. Sanchez-Cuevas, Antoine Richard +1
This paper introduces a novel GPS-aided visual-wheel odometry (GPS-VWO) for ground robots. The state estimation algorithm tightly fuses visual, wheeled encoder and GPS measurements…