Haptic Localisation

The first major project of my PhD was to develop methods in haptic localisation for legged robotics. This was in contribution to the EU H2020 Project subTerranean Haptic INvestiGator Project. The following papers are related to this project:

  • Russell Buchanan, Marco Camurri, and Maurice Fallon, “Haptic Sequential Monte Carlo Localization for Quadrupedal Locomotion in Vision-Denied Scenarios,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2020.
  • Russell Buchanan, Jakub Bednarek, Marco Camurri, Michal Nowicki, Krzysztof Walas, Maurice Fallon, “Navigating by Touch: Haptic Sequential Monte Carlo Localization via Geometric Sensing and Terrain Classification,” in Autonomous Robots 2021.
  • M. Łysakowski, M. Nowicki, R. Buchanan, M. Camurri,M. Fallon, K. Walas, “Unsupervised Learning of Terrain Representations for Haptic Monte Carlo Localization” in IEEE International Conference on Robotics and Automation (ICRA), 2022

alt text alt text alt text