Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer
Author:
Affiliation:
1. University of Michigan,Ann Arbor,MI,USA,48109
2. Woven Planet
Funder
NSF
Publisher
IEEE
Link
http://xplorestaging.ieee.org/ielx7/10341341/10341342/10342519.pdf?arnumber=10342519
Reference51 articles.
1. State Estimation for Robotics
2. One-Step Ahead Prediction of Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-inspired Controller
3. Vision-Aided Dynamic Quadrupedal Locomotion on Discrete Terrain Using Motion Libraries
4. An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control
5. Energy-Based Legged Robots Terrain Traversability Modeling via Deep Inverse Reinforcement Learning
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1. Layer Selection for Subtraction and Concatenation: A Method for Visual Velocity Estimation of a Mobile Robot;Bitlis Eren Üniversitesi Fen Bilimleri Dergisi;2024-06-29
2. Joint Estimation of Carrier Airwake and Aircraft Dynamics Using Invariant Extended Kalman Filter;2023 China Automation Congress (CAC);2023-11-17
3. Robust Land Vehicle Positioning with Invariant Kalman Filters and Map-Based Corrections;2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC);2023-09-24
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