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Timed-elastic smooth curve optimization for mobile-base motion planning
This paper proposes the use of piecewise C^n smooth curve for mobile-base motion planning and control, coined Timed-Elastic Smooth …
J. Deray
,
B. Magyar
,
J. Solà
,
J. Andrade-Cetto
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DOI
Timed-Elastic Bands for Manipulation Motion Planning
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 …
B. Magyar
,
N. Tsiogkas
,
J. Deray
,
S. Pfeiffer
,
D. Lane
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DOI
Joint on-manifold self-calibration of odometry model and sensor extrinsics using pre-integration
This paper describes a self-calibration procedure that jointly estimates the extrinsic parameters of an exteroceptive sensor able to …
J. Deray
,
J. Solà
,
J. Andrade-Cetto
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