Related papers: Proprioceptive Invariant Robot State Estimation
Accurate state estimation plays a critical role in ensuring the robust control of humanoid robots, particularly in the context of learning-based control policies for legged robots. However, there is a notable gap in analytical research…
A filter for inertial-based odometry is a recursive method used to estimate the pose from measurements of ego-motion and relative pose. Currently, there is no known filter that guarantees the computation of a globally optimal solution for…
Velocity estimation is of great importance in autonomous racing. Still, existing solutions are characterized by limited accuracy, especially in the case of aggressive driving or poor generalization to unseen road conditions. To address…
Low-cost inertial measurement units (IMUs) are widely utilized in mobile robot localization due to their affordability and ease of integration. However, their complex, nonlinear, and time-varying noise characteristics often lead to…
This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hardware requirements. In contrast to many existing approaches…
Deep Learning (DL) has become essential in various robotics applications due to excelling at processing raw sensory data to extract task specific information from semantic objects. For example, vision-based object-relative navigation relies…
Extended Kalman filtering is a common approach to achieve floating base estimation of a humanoid robot. These filters rely on measurements from an Inertial Measurement Unit (IMU) and relative forward kinematics for estimating the base…
Due to the limitations of the robotic sensors, during a robotic manipulation task, the acquisition of the object's state can be unreliable and noisy. Combining an accurate model of multi-body dynamic system with Bayesian filtering methods…
This paper focuses on an adaptive and fault-tolerant vision-guided robotic system that enables to choose the most appropriate control action if partial or complete failure of the vision system in the short term occurs. Moreover, the…
Kalman filtering has been traditionally applied in three application areas of estimation, state estimation, parameter estimation (a.k.a. model updating), and dual estimation. However, Kalman filter is often not sufficient when experimenting…
Inertial odometry is an attractive solution to the problem of state estimation for agile quadrotor flight. It is inexpensive, lightweight, and it is not affected by perceptual degradation. However, only relying on the integration of the…
Continuum robots are flexible, thin manipulators capable of navigating confined or delicate environments making them well suited for surgical applications. Previous approaches to continuum robot state estimation typically rely on…
When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a…
The main contribution of this paper is a high frequency, low-complexity, on-board visual-inertial odometry system for quadrotor micro air vehicles. The system consists of an extended Kalman filter (EKF) based state estimation algorithm that…
In this paper, we propose a radar odometry structure that directly utilizes radar velocity measurements for dead reckoning while maintaining its ability to update estimations within the Kalman filter framework. Specifically, we employ the…
Kalman filter-based Inertial Navigation System (INS) is a reliable and efficient method to estimate the position of a pedestrian indoors. Classical INS-based methodology which is called IEZ (INS-EKF-ZUPT) makes use of an Extended Kalman…
Accurate estimation of the dynamic states of a synchronous machine (e.g., rotor s angle and speed) is essential in monitoring and controlling transient stability of a power system. It is well known that the covariance matrixes of process…
In the context of autonomous airships, several works in control and guidance use wind velocity to design a control law. However, in general, this information is not directly measured in robotic airships. This paper presents three…
Achieving safe quadrupedal locomotion in real-world environments has attracted much attention in recent years. When walking over uneven terrain, achieving reliable estimation and realising safety-critical control based on the obtained…
A cooperative circumnavigation framework is proposed for multi-quadrotor systems to enclose and track a moving target without reliance on external localization systems. The distinct relationships between quadrotor-quadrotor and…