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Continuum-MultiRobot-Estimation

This repository is part of the following publication:

State Estimation for Continuum Multi-Robot Systems on SE(3)
Sven Lilge, Timothy D. Barfoot, Jessica Burgner-Kahrs
IEEE Transactions on Robotics 2024 (To appear)

Detailed instructions on how to use this code will be added shortly!

Dependencies (C++)

The C++ implementation makes use of both the Eigen library for matrix arithmetic and the Visualization Toolkit for rendering, which need to be installed in order to compile the provided C++ code.

Installation Instructions using CMake (C++)

In the root directory of the C++ code run the following commands:

mkdir build
cd build
cmake ..
make

The code compiles in Debug mode by default, which enables useful asserts (validating inputs etc.) and proper error messages for debugging purposes. Alternatively, the code can be compiled in Release mode, which significantly increases the performance w.r.t. computation speed, by running the following commands:

mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make

Afterwards, you can find compiled examples in the 'examples' folder. From within this folder, you can execute the examples with:

./1_continuum_robot
./2_parallel_continuum_robot
./3_continuous_stewart_gough
./4_collaborative_continuum_robots
./5_fbg_measurements

References

If you found the provided continuum robot state estimation implementation helpful or used parts of it yourself, please refer to it using the following BibTeX entries to cite our work:

[1] State Estimation for Continuum Multi-Robot Systems on SE(3)

@article{Lilge2024,
	title={State Estimation for Continuum Multi-Robot Systems on SE (3)},
	author={Lilge, Sven and Barfoot, Timothy D and Burgner-Kahrs, Jessica},
	journal={arXiv preprint arXiv:2401.13540},
	year={2024}
}

[2] Continuum Robot State Estimation using Gaussian Process Regression on SE(3)

@article{Lilge2022,
	title={Continuum Robot State Estimation using Gaussian Process Regression on SE (3)},
	author={Lilge, Sven and Barfoot, Timothy D and Burgner-Kahrs, Jessica},
	journal={The International Journal of Robotics Research},
	volume={41},
	number={13-14},
	pages={1099--1120},
	year={2022},
	publisher={SAGE Publications Sage UK: London, England}
}