3 papers
cs.RO2026
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…
eess.SY2025
ES-HPC-MPC: Exponentially Stable Hybrid Perception Constrained MPC for Quadrotor with Suspended Payloads
Luis F. Recalde, Mrunal Sarvaiya, Giuseppe Loianno +1
Aerial transportation using quadrotors with cable-suspended payloads holds great potential for applications in disaster response, logistics, and infrastructure maintenance. However…
cs.RO2024
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…