4 citations · 9 across the 19 of their papers we have counts for
6 papers · 1 filter
Observability-Informed Optimal Sensor Placement for Soft Robots
Samuel Smocot, James Richard Forbes, Audrey Sedal
This paper presents the application and experimental evaluation of a systematic method for optimal sensor placement in soft robots. Existing methods either lack generalizability ac…
Range-Aided SLAM Initialization Exploiting Accurate Heading Information
Isabel Lougheed, James Richard Forbes
This paper presents a novel initialization method for range-aided simultaneous localization and mapping (RA-SLAM). The general SLAM problem has a well-known separable structure whe…
Extending Ground-Constraint LiDAR-IMU Calibration to Tilted Surfaces in a Continuous-Time Framework
Vassili Korotkine, Pierre Chamoun, Mohammed Ayman Shalaby +1
This paper presents a novel method that extends targetless LiDAR-IMU calibration for ground vehicles to non- flat environments. Calibration typically necessitates full exci- tation…
A Passivity-Based Analysis of First-Order Momentum-Based Methods
Sepehr Moalemi, James Richard Forbes
This paper presents a discrete-time passivity-based analysis of first-order momentum-based methods for a class of functions whose gradient has lower and upper sector bounds of …
D-CLIPSE: Distributed Consensus-based Localization with Passive Listening on Shared State Exchange
Kyle Biron-Gricken, James Richard Forbes
Multi-robot localization that is accurate and consistent is imperative for downstream tasks such as planning and control. Centralized filtering approaches optimally fuse all availa…
DIVO: Continuous-time DVL-Inertial-Visual Odometry for Unmanned Underwater Vehicles
Kyungmin Jung, Angad Bajwa, Junha Yoo +2
This paper presents a novel acoustic-visual-inertial odometry solution leveraging a continuous-time trajectory estimation framework for unmanned underwater vehicles. Underwater env…