Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile
Robots via Invariant Kalman Filtering and Disturbance Observer

Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer

29 September 2022

Theodor Chakhachiro

Jeffrey M. Walls

Papers citing "Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer"

12 / 12 papers shown

Title
Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups Sangli Teng Tzu-Yuan Lin William Clark Ram Vasudevan Maani Ghaffari AI4CE 27 0 0 05 May 2025
Simultaneous Collision Detection and Force Estimation for Dynamic Quadrupedal Locomotion Ziyi Zhou Stefano Di Cairano Yebin Wang K. Berntorp 40 0 0 24 Apr 2025
Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding Hang Liu Sangli Teng Ben Liu Wei Zhang Maani Ghaffari 72 2 0 03 Mar 2025
Tensegrity Robot Proprioceptive State Estimation with Geometric Constraints W. Tong Tzu-Yuan Lin Jonathan Mi Yicheng Jiang Maani Ghaffari Xiaonan Huang 40 1 0 31 Oct 2024
TURTLMap: Real-time Localization and Dense Mapping of Low-texture Underwater Environments with a Low-cost Unmanned Underwater Vehicle Jingyu Song Onur Bagoren Razan Andigani A. Sethuraman Katherine A. Skinner 27 4 0 02 Aug 2024
Legged Robot State Estimation within Non-inertial Environments Zijian He Sangli Teng Tzu-Yuan Lin Maani Ghaffari Yan Gu 19 4 0 24 Mar 2024
GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise Sangli Teng Harry Zhang David Jin A. Jasour Maani Ghaffari Luca Carlone 35 10 0 07 Mar 2024
Proprioceptive Invariant Robot State Estimation Tzu-Yuan Lin Ting-Ting Li Wenzhe Tong Maani Ghaffari 30 8 0 07 Nov 2023
Uncertainty-Aware Acoustic Localization and Mapping for Underwater Robots Jingyu Song Onur Bagoren Katherine A. Skinner 16 3 0 17 Jul 2023
Convex Geometric Motion Planning on Lie Groups via Moment Relaxation Sangli Teng A. Jasour Ram Vasudevan Maani Ghaffari 31 13 0 23 May 2023
Adapting Rapid Motor Adaptation for Bipedal Robots Ashish Kumar Zhongyu Li Jun Zeng Deepak Pathak K. Sreenath Jitendra Malik 52 62 0 30 May 2022
Invariant Filtering for Legged Humanoid Locomotion on Dynamic Rigid Surfaces Yuan Gao C. Yuan Yan Gu 26 19 0 25 Jan 2022