Calibration of ground robots

  1. Calibration

    Consider a differential-drive mobile robot equipped with an on-board exteroceptive sensor that can estimate its own motion, e.g., a range-finder. Calibration of this robot involves estimating six parameters: three for the odometry (radii and distance between the wheels), and three for the pose of the sensor with respect to the robot.

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  3. Decentralized Parameter Estimation and Observation for Cooperative Mobile Manipulation of an Unknown Load using Noisy Measurements

    A. Franchi, Petitti, A., and Rizzo, A., “Decentralized Parameter Estimation and Observation for Cooperative Mobile Manipulation of an Unknown Load using Noisy Measurements”, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 5517-5522.

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  4. Decentralized Motion Control for Cooperative Manipulation with a Team of Networked Mobile Manipulators

    A. Petitti, Franchi, A., Di Paola, D., and Rizzo, A., “Decentralized Motion Control for Cooperative Manipulation with a Team of Networked Mobile Manipulators”, in 2016 IEEE Int. Conf. on Robotics and Automation, Stockholm, Sweden, 2016, pp. 441-446.

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