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cs.RO2026
Motion as a Sensing Modality for Metric Scale in Monocular Visual-Inertial Odometry
Hadush Hailu, Bruk Gebregziabher
Monocular visual-inertial odometry (VIO) cannot recover metric scale from vision alone; scale must be resolved through inertial measurements. We present a trajectory-dependent obse…
cs.RO2025
Forecast-Driven MPC for Decentralized Multi-Robot Collision Avoidance
Hadush Hailu, Bruk Gebregziabher, Prudhvi Raj
The Iterative Forecast Planner (IFP) is a geometric planning approach that offers lightweight computations, scalable, and reactive solutions for multi-robot path planning in decent…