13 papers
Exploiting Chordal Sparsity for Globally Optimal Estimation with Factor Graphs
Avinash Subramanian, Connor Holmes, Timothy D. Barfoot +2
Robust and efficient state estimation is crucial for perception, navigation, and control in robotics. State estimation problems are conveniently modeled using the factor-graph fram…
Continuum Robot Localization using Distributed Time-of-Flight Sensors
Spencer Teetaert, Giammarco Caroleo, Marco Pontin +4
Localization and mapping of an environment are crucial tasks for any robot operating in unstructured environments. Time-of-flight (ToF) sensors (e.g.,~lidar) have proven useful in…
Lunar Rover Cargo Transport: Mission Concept and Field Test
Alexander Krawciw, Nicolas Olmedo, Faizan Rehmatullah +3
In future operations on the lunar surface, automated vehicles will be required to transport cargo between known locations. Such vehicles must be able to navigate precisely in safe…
Tiny LiDARs for Manipulator Self-Awareness: Sensor Characterization and Initial Localization Experiments
Giammarco Caroleo, Alessandro Albini, Daniele De Martini +2
For several tasks, ranging from manipulation to inspection, it is beneficial for robots to localize a target object in their surroundings. In this paper, we propose an approach tha…
UAV See, UGV Do: Aerial Imagery and Virtual Teach Enabling Zero-Shot Ground Vehicle Repeat
Desiree Fisker, Alexander Krawciw, Sven Lilge +2
This paper presents Virtual Teach and Repeat (VirT&R): an extension of the Teach and Repeat (T&R) framework that enables GPS-denied, zero-shot autonomous ground vehicle navigation…
Sound Source Localization for Human-Robot Interaction in Outdoor Environments
Victor Liu, Timothy Du, Jordy Sehn +2
This paper presents a sound source localization strategy that relies on a microphone array embedded in an unmanned ground vehicle and an asynchronous close-talking microphone near…