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01/05/2023
Realtime Safety Control for Bipedal Robots to Avoid Multiple Obstacles via CLF-CBF Constraints
This paper presents a reactive planning system that allows a Cassie-seri...
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05/30/2022
Informable Multi-Objective and Multi-Directional RRT* System for Robot Path Planning
Multi-objective or multi-destination path planning is crucial for mobile...
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09/02/2021
Optimal Target Shape for LiDAR Pose Estimation
Targets are essential in problems such as object tracking in cluttered o...
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08/15/2021
Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain
We propose and experimentally demonstrate a reactive planning system for...
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12/06/2020
Global Unifying Intrinsic Calibration for Spinning and Solid-State LiDARs
Sensor calibration, which can be intrinsic or extrinsic, is an essential...
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10/07/2019
Improvements to Target-Based 3D LiDAR to Camera Calibration
The homogeneous transformation between a LiDAR and monocular camera is r...
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08/23/2019
LiDARTag: A Real-Time Fiducial Tag using Point Clouds
Image-based fiducial markers are widely used in robotics and computer vi...
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09/19/2018
Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway
The Cassie bipedal robot designed by Agility Robotics is providing acade...
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03/20/2018