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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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Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation


Apr 19, 2019
Ross Hartley, Maani Ghaffari, Ryan M. Eustice, Jessy W. Grizzle

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Rapid Trajectory Optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped


Mar 15, 2019
Ayonga Hereid, Omar Harib, Ross Hartley, Yukai Gong, 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

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* 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

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

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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

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* 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

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

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