Ram Vasudevan

Group-$k$ Consistent Measurement Set Maximization for Robust Outlier Detection

2022 · 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

This paper presents a method for the robust selection of measurements in a simultaneous localization and mapping (SLAM) framework. Existing methods check consistency or compatibility on a pairwise basis, however many measurement types are not …

Can Not Touch This: Real-Time, Safe Motion Planning and Control for Manipulators Under Uncertainty

2025 · IEEE Transactions on Robotics

Ensuring safe, real-time motion planning in arbitrary environments requires a robotic manipulator to avoid collisions, obey joint limits, and account for uncertainties in the mass and inertia of objects and the robot itself. This paper …