2 papers
cs.RO2024
Multi-Robot Relative Pose Estimation in SE(2) with Observability Analysis: A Comparison of Extended Kalman Filtering and Robust Pose Graph Optimization
Kihoon Shin, Hyunjae Sim, Seungwon Nam +3
In this study, we address multi-robot localization issues, with a specific focus on cooperative localization and observability analysis of relative pose estimation. Cooperative loc…
cs.RO2023
Aggressive Trajectory Tracking for Nano Quadrotors Using Embedded Nonlinear Model Predictive Control
Muhammad Kazim, Hyunjae Sim, Gihun Shin +2
This paper presents an aggressive trajectory tracking method for a small lightweight nano-quadrotor using nonlinear model predictive control (NMPC) based on acados. Controlling a n…