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cs.RO2026
ALIVE-LIO: Degeneracy-Aware Learning of Inertial Velocity for Enhancing ESKF-Based LiDAR-Inertial Odometry
Seongjun Kim, Daehan Lee, Junwoo Hong +3
Odometry estimation using light detection and ranging (LiDAR) and an inertial measurement unit (IMU), known as LiDAR-inertial odometry (LIO), often suffers from performance degrada…
cs.RO2026
Motion-Specific Battery Health Assessment for Quadrotors Using High-Fidelity Battery Models
Joonhee Kim, Sanghyun Park, Donghyeong Kim +2
Quadrotor endurance is ultimately limited by battery behavior, yet most energy aware planning treats the battery as a simple energy reservoir and overlooks how flight motions induc…