410 citations · 647 across the 10 of their papers we have counts for
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cs.RO2021
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…
cs.RO2021★ 4 cited
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…