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cs.RO2026
Factor Graph-Based Continuum Robot State Estimation with Magnus Expansion Priors
Lorenzo Ticozzi, Patricio A. Vela, Sabyasachi Dash +2
Reconstructing the shape of continuum manipulators from sparse, noisy sensor data is a challenging task, owing to the infinite-dimensional nature of such systems. Existing approach…
cs.RO2025
Factor Graph-Based Active SLAM for Spacecraft Proximity Operations
Lorenzo Ticozzi, Panagiotis Tsiotras
We investigate a scenario where a chaser spacecraft or satellite equipped with a monocular camera navigates in close proximity to a target spacecraft. The satellite's primary objec…