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05/03/2023
Direct LiDAR-Inertial Odometry and Mapping: Perceptive and Connective SLAM
This paper presents Direct LiDAR-Inertial Odometry and Mapping (DLIOM), ...
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03/06/2023
Joint On-Manifold Gravity and Accelerometer Intrinsics Estimation
Aligning a robot's trajectory or map to the inertial frame is a critical...
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03/05/2023
A Contracting Hierarchical Observer for Pose-Inertial Fusion
This work presents a contracting hierarchical observer that fuses positi...
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07/28/2022
Unmatched Control Barrier Functions: Certainty Equivalence Adaptive Safety
This work applies universal adaptive control to control barrier function...
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03/07/2022
Direct LiDAR-Inertial Odometry
This paper proposes a new LiDAR-inertial odometry framework that generat...
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10/01/2021
Direct LiDAR Odometry: Fast Localization with Dense Point Clouds
This paper presents a light-weight frontend LiDAR odometry solution with...
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04/06/2021
Adaptive Variants of Optimal Feedback Policies
We combine adaptive control directly with optimal or near-optimal value ...
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03/29/2021
Towards Robust State Estimation by Boosting the Maximum Correntropy Criterion Kalman Filter with Adaptive Behaviors
This work proposes a resilient and adaptive state estimation framework f...
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12/31/2020
Universal Adaptive Control for Uncertain Nonlinear Systems
Precise motion planning and control require accurate models which are of...
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11/07/2020
Sliding on Manifolds: Geometric Attitude Control with Quaternions
This work proposes a quaternion-based sliding variable that describes ex...
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11/02/2020
Unsupervised Monocular Depth Learning with Integrated Intrinsics and Spatio-Temporal Constraints
Monocular depth inference has gained tremendous attention from researche...
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01/09/2020
FASTER: Fast and Safe Trajectory Planner for Flights in Unknown Environments
Planning high-speed trajectories for UAVs in unknown environments requir...
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03/08/2019
FaSTraP: Fast and Safe Trajectory Planner for Flights in Unknown Environments
Planning high-speed trajectories for UAVs in unknown environments requir...
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10/02/2018
Real-Time Planning with Multi-Fidelity Models for Agile Flights in Unknown Environments
Autonomous navigation through unknown environments is a challenging task...
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03/16/2017