5 papers
VBT-MPC: Vision-Based Tactile MPC for Contour Following
Edison Velasco-Sanchez, Luis F. Recalde, Guanrui Li +1
Tactile sensing plays a key role in robotic manipulation, particularly in tasks like surface inspection. Successful execution requires maintaining contact while accurately tracking…
DualQuat-LOAM: LiDAR Odometry and Mapping parametrized on Dual Quaternions
Edison P. Velasco-Sánchez, Luis F. Recalde, Guanrui Li +3
This paper reports on a novel method for LiDAR odometry estimation, which completely parameterizes the system with dual quaternions. To accomplish this, the features derived from t…
OpenStreetMap-based Autonomous Navigation With LiDAR Naive-Valley-Path Obstacle Avoidance
Miguel Angel Munoz-Banon, Edison Velasco-Sanchez, Francisco A. Candelas +1
OpenStreetMaps (OSM) is currently studied as the environment representation for autonomous navigation. It provides advantages such as global consistency, a heavy-less map construct…
Geo-Localization Based on Dynamically Weighted Factor-Graph
Miguel Ãngel Muñoz-Bañón, Alejandro Olivas, Edison Velasco-Sánchez +2
Feature-based geo-localization relies on associating features extracted from aerial imagery with those detected by the vehicle's sensors. This requires that the type of landmarks m…
ViKi-HyCo: A Hybrid-Control approach for complex car-like maneuvers
Edison P. Velasco Sánchez, Miguel Ãngel Muñoz-Bañón, Francisco A. Candelas +2
While Visual Servoing is deeply studied to perform simple maneuvers, the literature does not commonly address complex cases where the target is far out of the camera's field of vie…