Implementation for safe low altitude navigation in steep terrain for fixed-wing Aerial Vehicles

Mobile manipulation, Franka arm and ridgeback base launch files and descriptions

Graph-based, sparse radar-inertial odometry estimation

Header only logging library to standardize ros and glog output at compile time.

A computationally efficient and robust LiDAR-inertial odometry (LIO) package

MSF - Modular framework for multi sensor fusion based on an Extended Kalman Filter (EKF)

[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.

Implementation for safe low altitude navigation in steep terrain for fixed-wing Aerial Vehicles

Multi-resolution path planning