3 accepted papers
This paper proposes a semidefinite relaxation for landmark-based localization with unknown data associations in planar environments. The proposed method simultaneously solves for the optimal robot states and data associations in a globally optimal fashion. Relative position measurements to a fixed s…
The ability to rapidly test a variety of algorithms for an arbitrary state estimation task is valuable in the prototyping phase of navigation systems. Lie group theory is now mainstream in the robotics community, and hence estimation prototyping tools should allow state definitions that belong to ma…
This paper presents the modeling and control of a passively-coupled tilt-rotor vertical takeoff and landing aircraft. The aircraft consists of a quadrotor frame attached to a fixed-wing aircraft by an unactuated hinged mechanism. The platform is capable of smooth transitions from hover to forward fl…