IEEE RA-L

LVI-Q: Robust LiDAR-Visual-Inertial-Kinematic Odometry for Quadruped Robots Using Tightly-Coupled and Efficient Alternating Optimization

Kevin Christiansen Marsim, Minho Oh, Byeongho Yu, Seungjae Lee, I Made Aswin Nahrendra, Hyungtae Lim, Hyun Myung

机构 * School of Electrical Engineering, KAIST (Korea Advanced Institute of Science and Technology)（韩国科学技术院电子工程学院） ； URobotics Corp.（URobotics公司） 纠错

Comments 8 Pages, 9 Figures

Journal ref IEEE Robotics and Automation Letters, vol. 10, no. 10, pp. 10050-10057, Oct. 2025

Contact-Aware Safety in Soft Robots Using High-Order Control Barrier and Lyapunov Functions

Kiwan Wong, Maximilian Stölzle, Wei Xiao, Cosimo Della Santina, Daniela Rus, Gioele Zardini

机构 * Laboratory for Information and Decision Systems, Massachusetts Institute of Technology（信息与决策系统实验室，麻省理工学院） ； Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology（计算机科学与人工智能实验室，麻省理工学院） ； Cognitive Robotics, Delft University of Technology（认知机器人学，代尔夫特理工大学） ； Robotics Engineering Department, Worcester Polytechnic Institute（机器人工程系，沃斯特理工学院） 纠错

Comments 8 pages

Journal ref K. Wong, M. Stölzle, W. Xiao, C. D. Santina, D. Rus and G. Zardini, "Contact-Aware Safety in Soft Robots Using High-Order Control Barrier and Lyapunov Functions," in IEEE Robotics and Automation Letters

Real-Time Linear MPC for Quadrotors on SE(3): An Analytical Koopman-based Realization

Santosh M. Rajkumar, Chengyu Yang, Yuliang Gu, Sheng Cheng, Naira Hovakimyan, Debdipta Goswami

Comments 6 pages, 3 figures, accepted for publication at IEEE Robotics and Automation Letters