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Informable Multi-Objective and Multi-Directional RRT* System for Robot Path Planning


May 30, 2022
Jiunn-Kai Huang, Yingwen Tan, Dongmyeong Lee, Vishnu R. Desaraju, Jessy W. Grizzle


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Optimal Target Shape for LiDAR Pose Estimation


Sep 06, 2021
Jiunn-Kai Huang, William Clark, Jessy W. Grizzle


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Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain


Aug 18, 2021
Jiunn-Kai Huang, Jessy W. Grizzle


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Global Unifying Intrinsic Calibration for Spinning and Solid-State LiDARs


Dec 06, 2020
Jiunn-Kai Huang, Chenxi Feng, Madhav Achar, Maani Ghaffari, Jessy W. Grizzle


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Improvements to Target-Based 3D LiDAR to Camera Calibration


Oct 07, 2019
Jiunn-Kai Huang, Jessy W. Grizzle


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LiDARTag: A Real-Time Fiducial Tag using Point Clouds


Aug 23, 2019
Jiunn-Kai Huang, Maani Ghaffari, Ross Hartley, Lu Gan, Ryan M. Eustice, Jessy W. Grizzle


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Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation Using Factor Graphs


Oct 02, 2018
Ross Hartley, Maani Ghaffari Jadidi, Lu Gan, Jiunn-Kai Huang, Jessy W. Grizzle, Ryan M. Eustice

* Detailed derivations are provided in the supplementary material document listed under "Ancillary files" 

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Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway


Sep 19, 2018
Yukai Gong, Ross Hartley, Xingye Da, Ayonga Hereid, Omar Harib, Jiunn-Kai Huang, Jessy Grizzle

* Associated software will be made open source when paper review is completed 

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