Publications @ DRS

Motion planning in dynamic environments using context-aware human trajectory prediction

Finean MN, Petrović L, Merkt W, Marković I & Havoutis I (2023), Robotics and Autonomous Systems, 104450-104450

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BibTeX

@article{motionplanningi-2023/5,
  title={Motion planning in dynamic environments using context-aware human trajectory prediction},
  author={Finean MN, Petrović L, Merkt W, Marković I & Havoutis I},
  journal={Robotics and Autonomous Systems},
  number={104450},
  pages={104450-104450},
  publisher={Elsevier BV},
  year = "2023"
}

Observability-aware online multi-lidar extrinsic calibration

Das S, Klinteberg LA, Fallon M & Chatterjee S (2023), IEEE Robotics and Automation Letters

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BibTeX

@article{observabilityaw-2023/1,
  title={Observability-aware online multi-lidar extrinsic calibration},
  author={Das S, Klinteberg LA, Fallon M & Chatterjee S},
  journal={IEEE Robotics and Automation Letters},
  year = "2023"
}

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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BibTeX

@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"
}

You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example

Goodwin W, Havoutis I & Posner I (2023), Proceedings of Machine Learning Research, 205, 1435-1445

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BibTeX

@inproceedings{youonlylookaton-2023/1,
  title={You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example},
  author={Goodwin W, Havoutis I & Posner I},
  pages={1435-1445},
  year = "2023"
}

Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space

Yamada J, Hung CM, Collins J, Havoutis I & Posner I (2023), Proceedings - IEEE International Conference on Robotics and Automation, 2023-May, 5674-5680

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BibTeX

@inproceedings{leveragingscene-2023/1,
  title={Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space},
  author={Yamada J, Hung CM, Collins J, Havoutis I & Posner I},
  pages={5674-5680},
  year = "2023"
}

Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion

Gangapurwala S, Campanaro L & Havoutis I (2023), Proceedings - IEEE International Conference on Robotics and Automation, 2023-May, 5085-5091

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BibTeX

@inproceedings{learninglowfreq-2023/1,
  title={Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion},
  author={Gangapurwala S, Campanaro L & Havoutis I},
  pages={5085-5091},
  year = "2023"
}

VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation

Mitchell AL, Merkt WX, Geisert M, Gangapurwala S, Engelcke M et al. (2023), IEEE Transactions on Robotics, 1-16

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BibTeX

@article{vaelocoversatil-2023/,
  title={VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation},
  author={Mitchell AL, Merkt WX, Geisert M, Gangapurwala S, Engelcke M et al.},
  journal={IEEE Transactions on Robotics},
  pages={1-16},
  publisher={Institute of Electrical and Electronics Engineers (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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BibTeX

@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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BibTeX

@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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BibTeX

@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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BibTeX

@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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BibTeX

@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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BibTeX

@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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BibTeX

@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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BibTeX

@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"
}

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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BibTeX

@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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BibTeX

@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"
}

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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BibTeX

@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"
}

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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BibTeX

@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"
}

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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BibTeX

@article{anefficientloca-2022/1,
  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},
  publisher={IEEE},
  year = "2022"
}