Abstract The problem of estimating and predicting position and orientation (pose) of a camera is approached by fusing measurements from inertial sensors (accelerometers and rate gy...
— This paper considers the trajectory planning problem for line-feature based SLAM in structured indoor environments. The robot poses and line features are estimated using Smooth...
An open problem in Simultaneous Localization and Mapping (SLAM) is the development of algorithms which scale with the size of the environment. A few promising methods exploit the ...
—The main contribution of this paper arises from the development of a new framework, which has its inspiration in the mechanics of human navigation, for solving the problem of Si...
This paper presents a method for enlarging the domain of attraction of nonlinear model predictive control (MPC). The usual way of guaranteeing stability of nonlinear MPC is to add...