Now showing items 1-5 of 5

    • A micro Lie theory for state estimation in robotics 

      Solà Ortega, Joan; Deray, Jeremie; Atchuthan, Dinseh (2018)
      External research report
      Open Access
      A 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 ...
    • Joint on-manifold self-calibration of odometry model and sensor extrinsics using pre-integration 

      Deray, Jeremie; Solà Ortega, Joan; Andrade-Cetto, Juan (2019)
      Conference report
      Open Access
      This 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 ...
    • Timed-elastic bands for manipulation motion planning 

      Magyar, Bence; Tsiogkas, Nikolaos; Deray, Jeremie; Pfeiffer, Sammy; Lane, David (Institute of Electrical and Electronics Engineers (IEEE), 2019-10-01)
      Article
      Open Access
      Motion 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, ...
    • Timed-elastic smooth curve optimization for mobile-base motion planning 

      Deray, Jeremie; Magyar, Bence; Solà Ortega, Joan; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2019)
      Conference report
      Open Access
      This 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 ...
    • Word ordering and document adjacency for large loop closure detection in 2D laser maps 

      Deray, Jeremie; Solà Ortega, Joan; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2017)
      Article
      Open Access
      We 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, ...