Publications

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 …

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 …

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 …

A micro Lie theory for state estimation in robotics

A Lie group is an old mathematical abstract object dating back to the XIX century, when mathematician Sophus Lie laid the foundations …

Word ordering and document adjacency for large loop closure detection in 2D laser maps

We address in this letter the problem of loop closure detection for laser-based simultaneous localization and mapping (SLAM) of very …

Hand Gestures Recognition and Tracking

In this project we develop a system that uses low cost web cameras to recognise gestures and track 2D orientations of the hand. This …