Joaquim Casals

Institut de Robòtica i Informàtica Industrial

Papers

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About

Joaquim Casals is a robotics researcher whose work centers on state estimation, sensor fusion, and modular frameworks for autonomous systems. His most impactful contribution is the development of **WOLF** (2022), a C++ estimation framework built on factor graphs and specifically designed for mobile robotics. This modular framework addresses the critical challenge of flexible, reusable state estimation in complex robotic systems, enabling researchers to efficiently implement and test sensor fusion algorithms. With 13 citations, WOLF has already gained recognition as a practical tool for robotics estimation problems. Casals’ research sits at the intersection of probabilistic robotics, SLAM, and software architecture for autonomous systems, where he focuses on creating scalable, real-time solutions that bridge theoretical estimation methods with real-world deployment. His work is particularly valuable for students and researchers working on multi-sensor integration in mobile robotics, offering a robust foundation for building and benchmarking estimation pipelines. Through WOLF and related contributions, Casals is helping to standardize and simplify the development of state estimation algorithms, making advanced robotics research more accessible and reproducible.