6 papers
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…
Revisiting Continuous-Time Trajectory Estimation via Gaussian Processes and the Magnus Expansion
Timothy Barfoot, Cedric Le Gentil, Sven Lilge
Continuous-time state estimation has been shown to be an effective means of (i) handling asynchronous and high-rate measurements, (ii) introducing smoothness to the estimate, (iii)…
A Sliding-Window Filter for Online Continuous-Time Continuum Robot State Estimation
Spencer Teetaert, Sven Lilge, Jessica Burgner-Kahrs +1
Stochastic state estimation methods for continuum robots (CRs) often struggle to balance accuracy and computational efficiency. While several recent works have explored sliding-win…
A Stochastic Framework for Continuous-Time State Estimation of Continuum Robots
Spencer Teetaert, Sven Lilge, Jessica Burgner-Kahrs +1
State estimation techniques for continuum robots (CRs) typically involve using computationally complex dynamic models, simplistic shape approximations, or are limited to quasi-stat…
Incorporating Control Inputs in Continuous-Time Gaussian Process State Estimation for Robotics
Sven Lilge, Timothy D. Barfoot
Continuous-time batch state estimation using Gaussian processes is an efficient approach to estimate the trajectories of robots over time. In the past, relatively simple physics-mo…
State Estimation for Continuum Multi-Robot Systems on SE(3)
Sven Lilge, Timothy D. Barfoot, Jessica Burgner-Kahrs
In contrast to conventional robots, accurately modeling the kinematics and statics of continuum robots is challenging due to partially unknown material properties, parasitic effect…