04b Atto di convegno in volume
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In this paper we present ProSLAM, a lightweight open-source stereo visual SLAM system designed with simplicity in mind. This work stems from the experience gathered by the authors while teaching SLAM and aims at providing a highly modular system that can be easily implemented and understood. Rather...
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In this paper, we present a novel solution for real-time, Non-Linear Model Predictive Control (NMPC) exploiting a time-mesh refinement strategy. The proposed controller formulates the Optimal Control Problem (OCP) in terms of flat outputs over an adaptive lattice. In common approximated OCP...
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The ability to build maps is a key functionality for the majority of mobile robots. A central ingredient to most mapping systems is the registration or alignment of the recorded sensor data. In this paper, we present a general methodology for photometric registration that can deal with multiple...
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This paper describes an unsupervised approach to retrieve the kinematic parameters of a wheeled mobile robot. The robot chooses which action to take in order to minimize the uncertainty in the parameter estimate and to fully explore the parameter space. Our method explores the effects of a set of...
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