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Publications @ DRS

Publications @ DRS

BiConMP: a nonlinear model predictive control framework for whole body motion planning

Meduri A, Shah P, Viereck J, Khadiv M, Havoutis I et al. (2023), IEEE Transactions on Robotics, 1-18

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@article{biconmpanonline-2023/1,
  title={BiConMP: a nonlinear model predictive control framework for whole body motion planning},
  author={Meduri A, Shah P, Viereck J, Khadiv M, Havoutis I et al.},
  journal={IEEE Transactions on Robotics},
  pages={1-18},
  publisher={IEEE},
  year = "2023"
}

Towards real-time forest inventory using handheld LiDAR

Proudman A, Ramezani M, Digumarti ST, Chebrolu N & Fallon M (2022), Robotics and Autonomous Systems, 157

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@article{towardsrealtime-2022/11,
  title={Towards real-time forest inventory using handheld LiDAR},
  author={Proudman A, Ramezani M, Digumarti ST, Chebrolu N & Fallon M},
  journal={Robotics and Autonomous Systems},
  volume={157},
  year = "2022"
}

A feasibility-driven approach to control-limited DDP

Mastalli C, Merkt W, Marti-Saumell J, Ferrolho H, Sola J et al. (2022), Autonomous Robots, 46(8), 985-1005

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@article{afeasibilitydri-2022/9,
  title={A feasibility-driven approach to control-limited DDP},
  author={Mastalli C, Merkt W, Marti-Saumell J, Ferrolho H, Sola J et al.},
  journal={Autonomous Robots},
  volume={46},
  pages={985-1005},
  publisher={Springer},
  year = "2022"
}

Strategies for large scale elastic and semantic LiDAR reconstruction

Wang Y, Ramezani M, Mattamala M, Digumarti ST & Fallon M (2022), Robotics and Autonomous Systems, 155

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@article{strategiesforla-2022/9,
  title={Strategies for large scale elastic and semantic LiDAR reconstruction},
  author={Wang Y, Ramezani M, Mattamala M, Digumarti ST & Fallon M},
  journal={Robotics and Autonomous Systems},
  volume={155},
  year = "2022"
}

Towards real-time forest inventory using handheld LiDAR

Proudman A, Ramezani M, Digumarti S, Chebrolu N & Fallon M (2022), Robotics and Autonomous Systems, 157

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@article{towardsrealtime-2022/8,
  title={Towards real-time forest inventory using handheld LiDAR},
  author={Proudman A, Ramezani M, Digumarti S, Chebrolu N & Fallon M},
  journal={Robotics and Autonomous Systems},
  volume={157},
  number={104240},
  publisher={Elsevier},
  year = "2022"
}

VILENS: Visual, inertial, lidar, and leg odometry for all-terrain legged robots

Wisth D, Camurri M & Fallon M (2022), IEEE Transactions on Robotics

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@article{vilensvisualine-2022/8,
  title={VILENS: Visual, inertial, lidar, and leg odometry for all-terrain legged robots},
  author={Wisth D, Camurri M & Fallon M},
  journal={IEEE Transactions on Robotics},
  publisher={IEEE},
  year = "2022"
}

VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots

Wisth D, Camurri M & Fallon M (2022), IEEE TRANSACTIONS ON ROBOTICS

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@article{vilensvisualine-2022/8,
  title={VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots},
  author={Wisth D, Camurri M & Fallon M},
  journal={IEEE TRANSACTIONS ON ROBOTICS},
  year = "2022"
}

Next steps: learning a disentangled gait representation for versatile quadruped locomotion

Mitchell A, Merkt W, Geisert M, Gangapurwala S, Engelcke M et al. (2022), 2022 International Conference on Robotics and Automation (ICRA), 10564-10570

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@inproceedings{nextstepslearni-2022/7,
  title={Next steps: learning a disentangled gait representation for versatile quadruped locomotion},
  author={Mitchell A, Merkt W, Geisert M, Gangapurwala S, Engelcke M et al.},
  booktitle={International Conference on Robotics and Automation (ICRA 2022)},
  pages={10564-10570},
  year = "2022"
}

RLOC: terrain-aware legged locomotion using reinforcement learning and optimal control

Gangapurwala S, Geisert M, Orsolino R, Fallon M & Havoutis I (2022), IEEE Transactions on Robotics

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@article{rlocterrainawar-2022/5,
  title={RLOC: terrain-aware legged locomotion using reinforcement learning and optimal control},
  author={Gangapurwala S, Geisert M, Orsolino R, Fallon M & Havoutis I},
  journal={IEEE Transactions on Robotics},
  publisher={IEEE},
  year = "2022"
}

Where Should I Look? Optimised Gaze Control for Whole-Body Collision Avoidance in Dynamic Environments

Finean MN, Merkt W & Havoutis I (2022), IEEE ROBOTICS AND AUTOMATION LETTERS, 7(2), 1095-1102

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@article{whereshouldiloo-2022/4,
  title={Where Should I Look? Optimised Gaze Control for Whole-Body Collision Avoidance in Dynamic Environments},
  author={Finean MN, Merkt W & Havoutis I},
  journal={IEEE ROBOTICS AND AUTOMATION LETTERS},
  volume={7},
  pages={1095-1102},
  year = "2022"
}

Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry

Zhang L, Wisth D, Camurri M & Fallon M (2022), IEEE ROBOTICS AND AUTOMATION LETTERS, 7(2), 1182-1189

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@article{balancingthebud-2022/4,
  title={Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry},
  author={Zhang L, Wisth D, Camurri M & Fallon M},
  journal={IEEE ROBOTICS AND AUTOMATION LETTERS},
  volume={7},
  pages={1182-1189},
  year = "2022"
}

An Efficient Locally Reactive Controller for Safe Navigation in Visual Teach and Repeat Missions

Mattamala M, Chebrolu N & Fallon M (2022), IEEE ROBOTICS AND AUTOMATION LETTERS, 7(2), 2353-2360

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@article{anefficientloca-2022/4,
  title={An Efficient Locally Reactive Controller for Safe Navigation in Visual Teach and Repeat Missions},
  author={Mattamala M, Chebrolu N & Fallon M},
  journal={IEEE ROBOTICS AND AUTOMATION LETTERS},
  volume={7},
  pages={2353-2360},
  year = "2022"
}

CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge

Tranzatto M, Mascarich F, Bernreiter L, Godinho C, Camurri M et al. (2022), Field Robotics, 2(1), 274-324

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@article{cerberusautonom-2022/3,
  title={CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge},
  author={Tranzatto M, Mascarich F, Bernreiter L, Godinho C, Camurri M et al.},
  journal={Field Robotics},
  volume={2},
  pages={274-324},
  publisher={Field Robotics Publication Society},
  year = "2022"
}

Reaching Through Latent Space: From Joint Statistics to Path Planning in Manipulation

Hung C-M, Zhong S, Goodwin W, Parker Jones O, Engelcke M et al. (2022), IEEE Robotics and Automation Letters, 1-1

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@article{reachingthrough-2022/1,
  title={Reaching Through Latent Space: From Joint Statistics to Path Planning in Manipulation},
  author={Hung C-M, Zhong S, Goodwin W, Parker Jones O, Engelcke M et al.},
  journal={IEEE Robotics and Automation Letters},
  pages={1-1},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  year = "2022"
}

Zero-Shot Category-Level Object Pose Estimation

Goodwin W, Vaze S, Havoutis I & Posner I (2022), Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 13699 LNCS, 516-532

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@inproceedings{zeroshotcategor-2022/1,
  title={Zero-Shot Category-Level Object Pose Estimation},
  author={Goodwin W, Vaze S, Havoutis I & Posner I},
  pages={516-532},
  year = "2022"
}

Hilti-Oxford Dataset: A Millimeter-Accurate Benchmark for Simultaneous Localization and Mapping

Zhang L, Helmberger M, Fu LFT, Wisth D, Camurri M et al. (2022), IEEE Robotics and Automation Letters, 1-8

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@article{hiltioxforddata-2022/,
  title={Hilti-Oxford Dataset: A Millimeter-Accurate Benchmark for Simultaneous Localization and Mapping},
  author={Zhang L, Helmberger M, Fu LFT, Wisth D, Camurri M et al.},
  journal={IEEE Robotics and Automation Letters},
  pages={1-8},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  year = "2022"
}

Hilti-Oxford Dataset: A Millimeter-Accurate Benchmark for Simultaneous Localization and Mapping

Zhang L, Helmberger M, Fu LFT, Wisth D, Camurri M et al. (2022), IEEE Robotics and Automation Letters, 1-8

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@article{hiltioxforddata-2022/,
  title={Hilti-Oxford Dataset: A Millimeter-Accurate Benchmark for Simultaneous Localization and Mapping},
  author={Zhang L, Helmberger M, Fu LFT, Wisth D, Camurri M et al.},
  journal={IEEE Robotics and Automation Letters},
  pages={1-8},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  year = "2022"
}

Balancing the budget: Feature selection and tracking for multi-camera visual-inertial odometry

Zhang L, Wisth D, Camurri M & Fallon M (2021), IEEE Robotics and Automation Letters, 7(2), 1182-1189

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@article{balancingthebud-2021/12,
  title={Balancing the budget: Feature selection and tracking for multi-camera visual-inertial odometry},
  author={Zhang L, Wisth D, Camurri M & Fallon M},
  journal={IEEE Robotics and Automation Letters},
  volume={7},
  pages={1182-1189},
  publisher={IEEE},
  year = "2021"
}

Where should I look? Optimized gaze control for whole-body collision avoidance in dynamic environments

Finean MN, Merkt W & Havoutis I (2021), IEEE Robotics and Automation Letters, 7(2), 1095-1102

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@article{whereshouldiloo-2021/12,
  title={Where should I look? Optimized gaze control for whole-body collision avoidance in dynamic environments},
  author={Finean MN, Merkt W & Havoutis I},
  journal={IEEE Robotics and Automation Letters},
  volume={7},
  pages={1095-1102},
  publisher={IEEE},
  year = "2021"
}

Simultaneous scene reconstruction and whole-body motion planning for safe operation in dynamic environments

Finean MN, Merkt W & Havoutis I (2021), Proceedings of the 2021 IEEE International Workshop on Intelligent Robots and Systems (IROS)

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@inproceedings{simultaneoussce-2021/12,
  title={Simultaneous scene reconstruction and whole-body motion planning for safe operation in dynamic environments},
  author={Finean MN, Merkt W & Havoutis I},
  booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = "2021"
}