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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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A Radio-Inertial Localization and Tracking System with BLE Beacons Prior Maps


Jul 26, 2018
Maani Ghaffari Jadidi, Mitesh Patel, Jaime Valls Miro, Gamini Dissanayake, Jacob Biehl, Andreas Girgensohn

* Accepted for IPIN 2018 

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Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation


May 26, 2018
Ross Hartley, Maani Ghaffari Jadidi, Jessy W. Grizzle, Ryan M. Eustice

* Published in the proceedings of Robotics: Science and Systems 2018 

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Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors


Feb 25, 2018
Ross Hartley, Josh Mangelson, Lu Gan, Maani Ghaffari Jadidi, Jeffrey M. Walls, Ryan M. Eustice, Jessy W. Grizzle

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

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Gaussian Process Autonomous Mapping and Exploration for Range Sensing Mobile Robots


Oct 18, 2017
Maani Ghaffari Jadidi, Jaime Valls Miro, Gamini Dissanayake

* Accepted for Autonomous Robots, 33 pages 

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Sampling-based Incremental Information Gathering with Applications to Robotic Exploration and Environmental Monitoring


Sep 23, 2017
Maani Ghaffari Jadidi, Jaime Valls Miro, Gamini Dissanayake

* Revision submitted to IJRR, 49 pages 

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Sparse Bayesian Inference for Dense Semantic Mapping


Sep 22, 2017
Lu Gan, Maani Ghaffari Jadidi, Steven A. Parkison, Ryan M. Eustice

* Submitted to ICRA 2018, 8 pages 

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Gaussian Processes Semantic Map Representation


Jul 05, 2017
Maani Ghaffari Jadidi, Lu Gan, Steven A. Parkison, Jie Li, Ryan M. Eustice

* Accepted for RSS 2017 Workshop on Spatial-Semantic Representations in Robotics 

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Gaussian Processes Online Observation Classification for RSSI-based Low-cost Indoor Positioning Systems


Feb 20, 2017
Maani Ghaffari Jadidi, Mitesh Patel, Jaime Valls Miro

* Accepted for 2017 ICRA, final submission 

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Warped Gaussian Processes Occupancy Mapping with Uncertain Inputs


Jan 04, 2017
Maani Ghaffari Jadidi, Jaime Valls Miro, Gamini Dissanayake

* Accepted for IEEE Robotics and Automation Letters (RA-L) 

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