Related papers: Simultaneous State Estimation and Contact Detectio…
In this paper, a method for autonomous segmentation of demonstrated robot movements is proposed. Position data is clustered into Gaussian mixture models (GMMs), and an initial set of segments is identified from the Gaussian basis functions.…
The problem of multisensor multitarget state estimation in the presence of constant but unknown sensor biases is investigated. The classical approach to this problem is to augment the state vector to include the states of all the targets…
The use of state estimation technique offers a means of inferring the rotor-effective wind speed based upon solely standard measurements of the turbine. For the ease of design and computational concerns, such estimators are typically built…
This work addresses the critical lack of precision in state estimation in the Kalman filter for 3D multi-object tracking (MOT) and the ongoing challenge of selecting the appropriate motion model. Existing literature commonly relies on…
This paper presents a novel real-time tracking system capable of improving body pose estimation algorithms in distributed camera networks. The first stage of our approach introduces a linear Kalman filter operating at the body joints level,…
Legged robots carry an IMU, but the inertial solution drifts because consumer-grade IMUs are noisy. However, the feet create intermittent contacts with the environment that can be used to mitigate that drift. This report develops a sequence…
In the first part of this thesis, we present our efforts on experimental validation of the predictive performance of mechanics-based mathematical models on a physical one-legged hopping robot platform. We extend upon a recently proposed…
This paper proposes a novel localization framework based on collaborative training or federated learning paradigm, for highly accurate localization of autonomous vehicles. More specifically, we build on the standard approach of KalmanNet, a…
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…
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…
This paper introduces human-robot sensory augmentation and illustrates it on a tracking task, where performance can be improved by the exchange of sensory information between the robot and its human user. It was recently found that during…
This paper reports on developing a real-time invariant proprioceptive robot state estimation framework called DRIFT. A didactic introduction to invariant Kalman filtering is provided to make this cutting-edge symmetry-preserving approach…
Applications of free-flying robots range from entertainment purposes to aerospace applications. The control algorithm for such systems requires accurate estimation of their states based on sensor feedback. The objective of this paper is to…
The future where the industrial shop-floors witness humans and robots working in unison and the domestic households becoming a shared space for both these agents is not very far. The scientific community has been accelerating towards that…
Modern autonomous systems are purposed for many challenging scenarios, where agents will face unexpected events and complicated tasks. The presence of disturbance noise with control command and unknown inputs can negatively impact robot…
Multi-legged robots with six or more legs are not in common use, despite designs with superior stability, maneuverability, and a low number of actuators being available for over 20 years. This may be in part due to the difficulty in…
Locomotion over soft terrain remains a challenging problem for legged robots. Most of the work done on state estimation for legged robots is designed for rigid contacts, and does not take into account the physical parameters of the terrain.…
Reliable odometry for legged robots without cameras or LiDAR remains challenging due to IMU drift and noisy joint velocity sensing. This paper presents a purely proprioceptive state estimator that uses only IMU and motor measurements to…
In this paper, we consider the problem of multirotor flying robots physically interacting with the environment under wind influence. The result are the first algorithms for simultaneous online estimation of contact and aerodynamic wrenches…
This paper introduces the Terrain Recognition And Contact Force Estimation Paw, a compact and sensorized shoe designed for legged robots. The paw end-effector is made of silicon that deforms upon the application of contact forces, while an…