5 accepted papers
In this paper we address the simultaneous collision detection and force estimation problem for quadrupedal locomotion using joint encoder information and the robot dynamics only. We design an interacting multiple-model Kalman filter (IMM-KF) that estimates the external force exerted on the robot and
We consider the object recognition problem in autonomous driving using automotive radar sensors. Comparing to Lidar sensors, radar is cost-effective and robust in all-weather conditions for perception in autonomous driving. However, radar signals suffer from low angular resolution and precision in r…
This paper introduces a B-spline chained ellipses model representation for extended object tracking (EOT) using high-resolution automotive radar measurements. With offline automotive radar training datasets, the proposed model parameters are learned using the expectation-maximization (EM) algorithm.…
Motivated by real-world automotive radar measurements that are distributed around object (e.g., vehicles) edges with a certain volume, a novel hierarchical truncated Gaussian measurement model is proposed to resemble the underlying spatial distribution of radar measurements. With the proposed measur…
Motion planning under differential constraints is one of the canonical problems in robotics. State-of-the-art methods evolve around kinodynamic variants of popular sampling-based algorithms, such as Rapidly-exploring Random Trees (RRTs). However, there are still challenges remaining, for example, ho…