• Closing the Loop with Graphical SLAM 

      Folkesson, John; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-08)
      The problem of simultaneous localization and mapping (SLAM) is addressed using a graphical method. The main contributions are a computational complexity that scales well with the size of the environment, the elimination ...
    • A Modular, Hybrid System Architecture for Autonomous, Urban Driving 

      Wooden, Dave; Powers, Matt; Egerstedt, Magnus B.; Christensen, Henrik I.; Balch, Tucker (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2007-12)
      Autonomous navigation in urban environments inevitably leads to having to switch between various, sometimes conflicting control tasks. Sting Racing, a collaboration between Georgia Tech and SAIC, has developed a modular ...