Abstract— This paper describes a hierarchical planner deployed on a mobile manipulation system. The main idea is a two-level hierarchy combining a global planner which provides r...
Ross A. Knepper, Siddhartha S. Srinivasa, Matthew ...
— Within the research on Micro Aerial Vehicles (MAVs), the field on flight control and autonomous mission execution is one of the most active. A crucial point is the localizati...
The ability of finding its situation in a given environment is crucial for an autonomous agent. While navigating through a space, a mobile robot must be capable of finding its lo...
— In [5], a version of Relative Map Filter (RMF) is proposed to solve the simultaneous localization and map building (SLAM) problem. In the RMF, the map states contain only quant...
Visual and inertial sensors, in combination, are able to provide accurate motion estimates and are well-suited for use in many robot navigation tasks. However, correct data fusion...