Solà Ortega, Joan; Deray, Jeremie; Atchuthan, Dinseh (2018)
External research report
Open AccessA Lie group is an old mathematical abstract object dating back to the XIX century, when mathematician Sophus Lie laid the foundations of the theory of continuous transformation groups. As it often happens, its usage has ...
Deray, Jeremie; Solà Ortega, Joan; Andrade-Cetto, Juan (2019)
Open AccessThis paper describes a self-calibration procedure that jointly estimates the extrinsic parameters of an exteroceptive sensor able to observe ego-motion, and the intrinsic parameters of an odometry motion model, consisting ...
Magyar, Bence; Tsiogkas, Nikolaos; Deray, Jeremie; Pfeiffer, Sammy; Lane, David (Institute of Electrical and Electronics Engineers (IEEE), 2019-10-01)
Open AccessMotion planning is one of the main problems studied in the field of robotics. However, it is still challenging for the state-of-the-art methods to handle multiple conditions that allow better paths to be found. For example, ...
Deray, Jeremie; Magyar, Bence; Solà Ortega, Joan; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2019)
Open AccessThis paper proposes the use of piecewise Cn smooth curve for mobile-base motion planning and control, coined Timed-Elastic Smooth Curve (TESC) planner. Based on a Timed-Elastic Band, the problem is defined so that the ...
Deray, Jeremie; Solà Ortega, Joan; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2017)
Open AccessWe address in this paper the problem of loop closure detection for laser-based simultaneous localization and mapping (SLAM) of very large areas. Consistent with the state of the art, the map is encoded as a graph of poses, ...