6 papers · 1 filter
Flight-Ready LiDAR-Inertial Odometry for Embedded Drone Platforms
Alvaro J. Gaona, David Perez-Saura, Francisco J. Anguita +1
Open-source LiDAR-inertial odometry (LIO) systems have achieved remarkable benchmark accuracy, yet current state-of-the-art implementations are primarily optimized for evaluation p…
Robust Graph Matching through Semantic Relationship Generation for SLAM
David Perez-Saura, Jose Andres Millan-Romera, Miguel Fernandez-Cortizas +3
Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prio…
Dual Pose-Graph Semantic Localization for Vision-Based Autonomous Drone Racing
David Perez-Saura, Miguel Fernandez-Cortizas, Alvaro J. Gaona +1
Autonomous drone racing demands robust real-time localization under extreme conditions: high-speed flight, aggressive maneuvers, and payload-constrained platforms that often rely o…
Aerostack2: A Software Framework for Developing Multi-robot Aerial Systems
Miguel Fernandez-Cortizas, Martin Molina, Pedro Arias-Perez +3
The development of autonomous aerial systems, particularly for multi-robot configurations, is a complex challenge requiring multidisciplinary expertise. Unlike ground robotics, aer…
Exploring Unstructured Environments using Minimal Sensing on Cooperative Nano-Drones
Pedro Arias-Perez, Alvika Gautam, Miguel Fernandez-Cortizas +3
Recent advances have improved autonomous navigation and mapping under payload constraints, but current multi-robot inspection algorithms are unsuitable for nano-drones due to their…
Multi S-Graphs: An Efficient Distributed Semantic-Relational Collaborative SLAM
Miguel Fernandez-Cortizas, Hriday Bavle, David Perez-Saura +3
Collaborative Simultaneous Localization and Mapping (CSLAM) is critical to enable multiple robots to operate in complex environments. Most CSLAM techniques rely on raw sensor measu…