20 citations · 59 across the 18 of their papers we have counts for
23 papers
Direct LiDAR-Inertial Odometry and Mapping: Perceptive and Connective SLAM
Kenny Chen, Ryan Nemiroff, Brett T. Lopez
This paper presents Direct LiDAR-Inertial Odometry and Mapping (DLIOM), a robust SLAM algorithm with an explicit focus on computational efficiency, operational reliability, and rea…
A Contracting Hierarchical Observer for Pose-Inertial Fusion
Brett T. Lopez
This work presents a contracting hierarchical observer that fuses position and orientation measurements with an IMU to generate smooth position, linear velocity, orientation, and I…
Joint On-Manifold Gravity and Accelerometer Intrinsics Estimation for Inertially Aligned Mapping
Ryan Nemiroff, Kenny Chen, Brett T. Lopez
Aligning a robot's trajectory or map to the inertial frame is a critical capability that is often difficult to do accurately even though inertial measurement units (IMUs) can obser…
Adaptive Coverage Path Planning for Efficient Exploration of Unknown Environments
Amanda Bouman, Joshua Ott, Sung-Kyun Kim +5
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked w…
Unmatched Control Barrier Functions: Certainty Equivalence Adaptive Safety
Brett T. Lopez, Jean-Jacques Slotine
This work applies universal adaptive control to control barrier functions to achieve forward invariance of a safe set despite the presence of unmatched parametric uncertainties. Th…
Direct LiDAR-Inertial Odometry: Lightweight LIO with Continuous-Time Motion Correction
Kenny Chen, Ryan Nemiroff, Brett T. Lopez
Aggressive motions from agile flights or traversing irregular terrain induce motion distortion in LiDAR scans that can degrade state estimation and mapping. Some methods exist to m…