3 papers
eess.SY2025
Synchronous Observer Design for Landmark-Inertial SLAM with Almost-Global Convergence
Arkadeep Saha, Pieter van Goor, Antonio Franchi +1
Landmark Inertial Simultaneous Localisation and Mapping (LI-SLAM) is the problem of estimating the locations of landmarks in the environment and the robot's pose relative to those…
cs.RO2025
Multi-robot Aerial Soft Manipulator For Floating Litter Collection
Antonio González-Morgado, Sander Smits, Guillermo Heredia +6
Removing floating litter from water bodies is crucial to preserving aquatic ecosystems and preventing environmental pollution. In this work, we present a multi-robot aerial soft ma…
cs.RO2025
Unified Feedback Linearization for Nonlinear Systems with Dexterous and Energy-Saving Modes
Mirko Mizzoni, Pieter van Goor, Antonio Franchi
Systems with a high number of inputs compared to the degrees of freedom (e.g. a mobile robot with Mecanum wheels) often have a minimal set of energy-efficient inputs needed to achi…