9 accepted papers
A recent set of techniques in the robotics community, known as certifiably correct methods, frames robotics problems as polynomial optimization problems (POPs) and applies convex, semidefinite programming (SDP) relaxations to either find or certify their global optima. In parallel, differentiable op…
Contact estimation is a key ability for limbed robots, where making and breaking contacts has a direct impact on state estimation and balance control. Existing approaches typically rely on gait-cycle priors or designated contact sensors. We design a contact estimator that is suitable for the emergin
Range-only (RO) pose estimation involves determining a robot's pose over time by measuring the distance between multiple devices on the robot, known as tags, and devices installed in the environment, known as anchors. The non-convex nature of the range measurement model results in a cost function wi
For safe and efficient operation, mobile robots need to perceive their environment, and in particular, perform tasks such as obstacle detection, localization, and mapping. Although robots are often equipped with microphones and speakers, the audio modality is rarely used for these tasks. Compared to
A common approach to localize a mobile robot is by measuring distances to points of known positions, called anchors. Locating a device from distance measurements is typically posed as a non-convex optimization problem, stemming from the nonlinearity of the measurement model. Non-convex optimization
Long-term visual localization is an essential problem in robotics and computer vision, but remains challenging due to the environmental appearance changes caused by lighting and seasons. While many existing works have attempted to solve it by directly learning invariant sparse keypoints and descript…
The large capacity of neural networks enables them to learn complex functions. To avoid overfitting, networks however require a lot of training data that can be expensive and time-consuming to collect. A common practical approach to attenuate overfitting is the use of network regularization techniqu…
Localization of a set of nodes is an important and a thoroughly researched problem in robotics and sensor networks. This paper is concerned with the theory of localization from inner-angle measurements. We focus on the challenging case where no anchor locations are known.Inspired by Euclidean distan…
Range-only localization has applications as diverse as underwater navigation, drone tracking and indoor localization. While the theoretical foundations of lateration-range-only localization for static points-are well understood, there is a lack of understanding when it comes to localizing a moving d