Many estimation, planning, and optimal control problems in robotics have an optimization
problem at their core. In most of these optimization problems, the objective to be maximized …

We present visual inertial lidar legged navigation system (VILENS), an odometry system for
legged robots based on factor graphs. The key novelty is the tight fusion of four different …

This paper provides insight into the application of the quadrupedal robot ANYmal in outdoor
missions of industrial inspection (autonomous robot for gas and oil sites [ARGOS] challenge) …

We show dynamic locomotion strategies for wheeled quadrupedal robots that combine the
advantages of both walking and driving. The developed optimization framework tightly …

Wheeled-legged robots have the potential for highly agile and versatile locomotion. The
combination of legs and wheels might be a solution for any real-world application requiring …

The demand and the potential for automation in the construction sector is unmatched,
particularly for increasing environmental sustainability, improving worker safety and …

The task of robotic mobile manipulation poses several scientific challenges that need to be
addressed to execute complex manipulation tasks in unstructured environments, in which …

Modern robotic systems are required to operate in challenging environments, which demand
reliable localization under challenging conditions. LiDAR-based localization methods, such …

The ability to recover from a fall is an essential feature for a legged robot to navigate in
challenging environments robustly. Until today, there has been very little progress on this …

Autonomous mobile manipulation offers a dual advantage of mobility provided by a mobile
platform and dexterity afforded by the manipulator. In this letter, we present a whole-body …