7 citations · 11 across the 14 of their papers we have counts for
15 papers · 1 filter
Navigating the Crowd: Non-linear MPC with Social Forces Dynamics for Human-Aware Robot Navigation
Stefano Trepella, Andrea Ostuni, Mauro Martini +5
Safe and socially compliant navigation remains a fundamental challenge for autonomous robots operating in human-populated environments. Beyond collision avoidance, robots must anti…
4D Radar Gaussian Modeling and Scan Matching with RCS
Fernando Amodeo, Luis Merino, Fernando Caballero
4D millimeter-wave (mmWave) radars are increasingly used in robotics, as they offer robustness against adverse environmental conditions. Besides the usual XYZ position, they provid…
G-EDF-Loc: 3D Continuous Gaussian Distance Field for Robust Gradient-Based 6DoF Localization
José E. Maese, Lucía Coto-Elena, Luis Merino +1
This paper presents a robust 6-DoF localization framework based on a direct, CPU-based scan-to-map registration pipeline. The system leverages G-EDF, a novel continuous and memory-…
Metrics vs Surveys: An Analysis for Human-Aligned Benchmarking in Social Robot Navigation
Stefano Trepella, Mauro Martini, Noé Pérez-Higueras +4
Social, also called human-aware, navigation is a key challenge for integrating mobile robots into human environments. The evaluation of such systems is complex, as factors such as…
DB-TSDF: Directional Bitmask-based Truncated Signed Distance Fields for Efficient Volumetric Mapping
Jose E. Maese, Luis Merino, Fernando Caballero
This paper presents a high-efficiency, CPU-only volumetric mapping framework based on a Truncated Signed Distance Field (TSDF). The system incrementally fuses raw LiDAR point-cloud…
Radio-based Multi-Robot Odometry and Relative Localization
Andrés Martínez-Silva, David Alejo, Luis Merino +1
Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in po…