Publications

Paper: Probe-before-step walking strategy for multi-legged robots on terrain with risk of collapse

Multi-legged robots are effective at traversing rough terrain. However, terrains that include collapsible footholds (i.e. regions that can collapse when […]

Paper: Generating Locomotion with Effective Wheel Radius Manipulation

Travel over sloped terrain is difficult as an incline changes the interaction between each wheel and the ground resulting in […]

Paper: Spatiotemporal Camera-LiDAR Calibration: A Targetless and Structureless Approach

Paper: Spatiotemporal Camera-LiDAR Calibration: A Targetless and Structureless Approach To appear in IEEE RAL and presented at ICRA 2020 The […]

Paper: Multi-Scan Implementation of the Trajectory Poisson Multi-Bernoulli Mixture Filter

The Poisson multi-Bernoulli mixture (PMBM) and the multi-Bernoulli mixture (MBM) are two multi-target distributions for which closed-form filtering recursions exist. […]

Elasticity Meets Continuous-Time 3D LiDAR SLAM

The concept of continuous-time trajectory representation has brought increased accuracy and efficiency to multi-modal SLAM. However, regardless of these advantages, […]

Paper: Control Comparison and Evaluation of Pneumatic & Electric Linear Actuators for Configurable Center-hub Wheels

Accurate extension control of linear actuators is difficult due to a variety of factors such as loading, friction, external forces, […]

Modular Field Robots for Extraterrestrial Exploration – IAC2019 finalist

Congratulations to our team members: Troy Cordie, Ryan Steindl, Ross Dungavell and Tirthankar Bandyopadhyay for having their paper selected as […]

Paper: Parameter Optimization and Learning in a Spiking Neural Network for UAV Obstacle Avoidance targeting Neuromorphic Processors

The Lobula giant movement detector (LGMD) is an identified neuron of the locust that detects looming objects and triggers the […]

Paper: A staged approach to evolving real-world UAV controllers

A testbed has recently been introduced that evolves controllers for arbitrary hover-capable UAVs, with evaluations occurring directly on the robot. […]

Paper: Experimental evaluation of a passive fuel cell/battery hybrid power system for an unmanned ground vehicle

Experimental evaluation of a passive fuel cell/battery hybrid power system for an unmanned ground vehicle Unmanned vehicles are increasing the […]