Samuel Ubellacker

2 accepted papers

2024

A Certifiable Algorithm for Simultaneous Shape Estimation and Object Tracking

Lorenzo Shaikewitz, Samuel Ubellacker, Luca Carlone

RA-L 2024

Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape estimation and pose tracking of an object of known category (e.g.,

Cited by 3 Source ↗code ↗Scholar ↗

2021

Dynamic Grasping with a "Soft" Drone: From Theory to Practice

Joshua Fishman, Samuel Ubellacker, Nathan Hughes, Luca Carlone

IROS 2021poster

Rigid grippers used in existing aerial manipulators require precise positioning to achieve successful grasps and transmit large contact forces that may destabilize the drone. This limits the speed during grasping and prevents "dynamic grasping", where the drone attempts to grasp an object while movi…

Cited by 91 Source ↗Scholar ↗