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cs.RO2025
Perpetua: Multi-Hypothesis Persistence Modeling for Semi-Static Environments
Miguel Saavedra-Ruiz, Samer B. Nashed, Charlie Gauthier +1
Many robotic systems require extended deployments in complex, dynamic environments. In such deployments, parts of the environment may change between subsequent robot observations.…
cs.RO2025
The Harmonic Exponential Filter for Nonparametric Estimation on Motion Groups
Miguel Saavedra-Ruiz, Steven A. Parkison, Ria Arora +2
Bayesian estimation is a vital tool in robotics as it allows systems to update the robot state belief using incomplete information from noisy sensors. To render the state estimatio…