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Obstacle avoidance using raycasting and Riemannian Motion Policies at kHz rates for MAVs


Jan 19, 2023
Michael Pantic, Isar Meijer, Rik Bähnemann, Nikhilesh Alatur, Olov Andersson, Cesar Cadena Lerma, Roland Siegwart, Lionel Ott

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* Accepted to IROS 2023 

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Resilient Terrain Navigation with a 5 DOF Metal Detector Drone


Dec 15, 2022
Patrick Pfreundschuh, Rik Bähnemann, Tim Kazik, Thomas Mantel, Roland Siegwart, Olov Andersson

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A Multi-Segment, Soft Growing Robot with Selective Steering


Dec 07, 2022
Alexander M. Kübler, Sebastián Urdaneta Rivera, Frances B. Raphael, Julian Förster, Roland Siegwart, Allison M. Okamura

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* 7 pages, 12 figures. For associated video, see ancillary files 

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maplab 2.0 -- A Modular and Multi-Modal Mapping Framework


Dec 01, 2022
Andrei Cramariuc, Lukas Bernreiter, Florian Tschopp, Marius Fehr, Victor Reijgwart, Juan Nieto, Roland Siegwart, Cesar Cadena

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Unsupervised Continual Semantic Adaptation through Neural Rendering


Nov 25, 2022
Zhizheng Liu, Francesco Milano, Jonas Frey, Marco Hutter, Roland Siegwart, Hermann Blum, Cesar Cadena

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* Zhizheng Liu and Francesco Milano share first authorship. Hermann Blum and Cesar Cadena share senior authorship. 18 pages, 7 figures, 10 tables 

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A Framework for Collaborative Multi-Robot Mapping using Spectral Graph Wavelets


Nov 02, 2022
Lukas Bernreiter, Shehryar Khattak, Lionel Ott, Roland Siegwart, Marco Hutter, Cesar Cadena

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* arXiv admin note: text overlap with arXiv:2203.00308 

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SphNet: A Spherical Network for Semantic Pointcloud Segmentation


Oct 24, 2022
Lukas Bernreiter, Lionel Ott, Roland Siegwart, Cesar Cadena

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Baking in the Feature: Accelerating Volumetric Segmentation by Rendering Feature Maps


Sep 26, 2022
Kenneth Blomqvist, Lionel Ott, Jen Jen Chung, Roland Siegwart

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3D VSG: Long-term Semantic Scene Change Prediction through 3D Variable Scene Graphs


Sep 16, 2022
Samuel Looper, Javier Rodriguez-Puigvert, Roland Siegwart, Cesar Cadena, Lukas Schmid

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* 8 pages, 4 figures, code to be released at https://github.com/ethz-asl/3d_vsg 

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On the programming effort required to generate Behavior Trees and Finite State Machines for robotic applications


Sep 15, 2022
Matteo Iovino, Julian Förster, Pietro Falco, Jen Jen Chung, Roland Siegwart, Christian Smith

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* Submitted to 2023 IEEE International Conference on Robotics and Automation (ICRA) 

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