Related papers: Relative Position Estimation Between Two UWB Devic…
Realizing relative localization by leveraging inter-robot local measurements is a challenging problem, especially in the presence of measurement noise. Motivated by this challenge, in this paper we propose a novel and systematic 3-D…
In recent years, thanks to the continuously reduced cost and weight of 3D Lidar, the applications of this type of sensor in robotics community have become increasingly popular. Despite many progresses, estimation drift and tracking loss are…
Robots are increasingly present in our lives, sharing the workspace and tasks with human co-workers. However, existing interfaces for human-robot interaction / cooperation (HRI/C) have limited levels of intuitiveness to use and safety is a…
UWB has recently gained new attention as an auxiliary sensor in the field of robot localization due to its compactness and ease of distance measurement. Consequently, various UWB-related localization and dataset research have increased.…
Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily realized in the form of distributed multi-robot SLAM systems…
Effective collaboration in multi-robot systems requires accurate and robust estimation of relative localization: from cooperative manipulation to collaborative sensing, and including cooperative exploration or cooperative transportation.…
The combination of ultrawideband (UWB) radios and inertial measurement units (IMU) can provide accurate positioning. To ensure reliable communication, the radios are generally mounted at the extremities of a mobile system whereas the IMUs…
For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential…
We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…
The capability to extract task specific, semantic information from raw sensory data is a crucial requirement for many applications of mobile robotics. Autonomous inspection of critical infrastructure with Unmanned Aerial Vehicles (UAVs),…
Knowledge of how a body is oriented relative to the world is frequently invaluable information in the field of robotics. An attitude estimator that fuses 3-axis gyroscope, accelerometer and magnetometer data into a quaternion orientation…
Mobile robots have the capability to work in real-time autonomously. Autonomous behavior is strictly dependent on knowing the position of the mobile robot. The positioning of a mobile robot in an indoor area is a difficult task for only one…
A basic task in the design of a robotic production cell is the relative placement of robot and workpiece. The fundamental requirement is that the robot can reach all process positions; only then one can think of further optimization.…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
This paper investigates an infra-structure free global localization of a group of communicating mobile agents (e.g., first responders or exploring robots) via an ultra-wideband (UWB) inter-agent ranging aided dead-reckoning. We propose a…
Modular robots have been rising in popularity for a variety of applications, and autonomous midair docking is a necessary task for real world deployment of these robots. We present a state estimator based on the extended Kalman filter for…
In this paper, we present an observation scheme, with proven Lyapunov stability, for estimating a humanoid's floating base orientation. The idea is to use velocity aided attitude estimation, which requires to know the velocity of the…
This paper proposes a strategy to estimate the velocity and position of neighbor agents using distance measurements only. Since with agents executing arbitrary motions, instantaneous distance-only measurements cannot provide enough…
During in-hand manipulation, robots must be able to continuously estimate the pose of the object in order to generate appropriate control actions. The performance of algorithms for pose estimation hinges on the robot's sensors being able to…
Localization of objects is vital for robot-object interaction. Light Detection and Ranging (LiDAR) application in robotics is an emerging and widely used object localization technique due to its accurate distance measurement, long-range,…