410 citations · 647 across the 10 of their papers we have counts for
10 papers
Borinot: an open thrust-torque-controlled robot for research on agile aerial-contact motion
Josep Martí-Saumell, Hugo Duarte, Patrick Grosch +3
This paper introduces Borinot, an open-source aerial robotic platform designed to conduct research on hybrid agile locomotion and manipulation using flight and contacts. This platf…
Borinot: an agile torque-controlled robot for hybrid flying and contact loco-manipulation (workshop version)
Josep Marti-Saumell, Joan Sola, Angel Santamaria-Navarro +1
This paper introduces Borinot, an open-source flying robotic platform designed to perform hybrid agile locomotion and manipulation. This platform features a compact and powerful he…
WOLF: A modular estimation framework for robotics based on factor graphs
Joan Sola, Joan Vallve, Joaquim Casals +5
This paper introduces WOLF, a C++ estimation framework based on factor graphs and targeted at mobile robotics. WOLF can be used beyond SLAM to handle self-calibration, model identi…
Full-Body Torque-Level Non-linear Model Predictive Control for Aerial Manipulation
Josep Martí-Saumell, Joan Solà, Angel Santamaria-Navarro +1
Non-linear model predictive control (nMPC) is a powerful approach to control complex robots (such as humanoids, quadrupeds, or unmanned aerial manipulators (UAMs)) as it brings imp…
High Speed Event Camera TRacking
William Chamorro, Juan Andrade-Cetto, Joan Solà
Event cameras are bioinspired sensors with reaction times in the order of microseconds. This property makes them appealing for use in highly-dynamic computer vision applications. I…
A Feasibility-Driven Approach to Control-Limited DDP
Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell +4
Differential dynamic programming (DDP) is a direct single shooting method for trajectory optimization. Its efficiency derives from the exploitation of temporal structure (inherent…
A micro Lie theory for state estimation in robotics
Joan Solà, Jeremie Deray, Dinesh Atchuthan
A Lie group is an old mathematical abstract object dating back to the XIX century, when mathematician Sophus Lie laid the foundations of the theory of continuous transformation gro…
Deconvolutional Networks for Point-Cloud Vehicle Detection and Tracking in Driving Scenarios
Victor Vaquero, Ivan del Pino, Francesc Moreno-Noguer +3
Vehicle detection and tracking is a core ingredient for developing autonomous driving applications in urban scenarios. Recent image-based Deep Learning (DL) techniques are obtainin…
Quaternion kinematics for the error-state Kalman filter
Joan Solà
This article is an exhaustive revision of concepts and formulas related to quaternions and rotations in 3D space, and their proper use in estimation engines such as the error-state…
RT-SLAM: A Generic and Real-Time Visual SLAM Implementation
Cyril Roussillon, Aurelien Gonzalez, Joan Solà +4
This article presents a new open-source C++ implementation to solve the SLAM problem, which is focused on genericity, versatility and high execution speed. It is based on an origin…