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cs.RO2026
Contractor Filters
Simon Rohou
We introduce Contractor Filters (CFs), a set-membership architecture for nonlinear continuous-time state estimation with bounded uncertainties and sporadic outliers. CFs represent…
cs.RO2026
Towards 3D karst underwater scene reconstruction from rotating sonar data
Georgios Evangelos Margaritis, Lionel Lapierre, Simon Rohou +3
Karst aquifers provide critical freshwater resources but pose significant hazards due to their complex and poorly understood subsurface geometry. Mapping these environments is chal…
cs.RO2026
Natural Locomotion: Principle and Method
Mirado Mortel, Luc Jaulin, Lionel Lapierre +1
Robotic locomotion can become efficient when mechanisms exploit passive dynamics, compliance, and resonance rather than track prescribed trajectories. This paper formulates natural…