相关论文: A Group Theoretic Metric for Robot State Estimatio…

Predicting future video frames is a challenging task with many downstream applications. Previous work has shown that procedural knowledge enables deep models for complex dynamical settings, however their model ViPro assumed a given ground…

Recently, the robotics community has regained interest in radar-based perception and state estimation. A 2D imaging radar provides dense 360deg information about the environment. Despite the radar antenna's cone of emission and reception,…

Accurate state estimation is a fundamental component of robotic control. In robotic manipulation tasks, as is our focus in this work, state estimation is essential for identifying the positions of objects in the scene, forming the basis of…

In this paper, we focus on motion estimation dedicated for non-holonomic ground robots, by probabilistically fusing measurements from the wheel odometer and exteroceptive sensors. For ground robots, the wheel odometer is widely used in pose…

Today's power generation and distribution networks are quickly moving toward automated control and integration of renewable resources - a complex, integrated system termed the Smart Grid. A key component in planning and managing of Smart…

LiDAR SLAM has become one of the major localization systems for ground vehicles since LiDAR Odometry And Mapping (LOAM). Many extension works on LOAM mainly leverage one specific constraint to improve the performance, e.g., information from…

Fast and versatile locomotion can be achieved with wheeled quadruped robots that drive quickly on flat terrain, but are also able to overcome challenging terrain by adapting their body pose and by making steps. In this paper, we present a…

Globally rising demand for transportation by rail is pushing existing infrastructure to its capacity limits, necessitating the development of accurate, robust, and high-frequency positioning systems to ensure safe and efficient train…

We introduce a model for monocular RGB relative pose estimation of a ground robot that trains from scratch without pose labels nor prior knowledge about the robot's shape or appearance. At training time, we assume: (i) a robot fitted with…

Existing state estimation algorithms for legged robots that rely on proprioceptive sensors often overlook foot slippage and leg deformation in the physical world, leading to large estimation errors. To address this limitation, we propose a…

We consider the problem of training a fully convolutional network to estimate the relative 6D pose of a robot given a camera image, when the robot is equipped with independent controllable LEDs placed in different parts of its body. The…

This paper develops a novel slip estimator using the invariant observer design theory and Disturbance Observer (DOB). The proposed state estimator for mobile robots is fully proprioceptive and combines data from an inertial measurement unit…

Continuous-time batch state estimation using Gaussian processes is an efficient approach to estimate the trajectories of robots over time. In the past, relatively simple physics-motivated priors have been considered for such approaches,…

Cooperative localization and target tracking are essential for multi-robot systems to implement high-level tasks. To this end, we propose a distributed invariant Kalman filter based on covariance intersection for effective multi-robot pose…

This paper deals with the problem of estimating the state of a linear time-invariant system in the presence of sporadically available measurements and external perturbations. An observer with a continuous intersample injection term is…

We study the problem of remote state estimation, in the presence of an eavesdropper. An authorized user estimates the state of a linear plant, based on the data received from a sensor, while the data may also be intercepted by the…

This paper addresses the stability analysis and state estimation of generalized Persidskii systems subject to time-varying delays and external disturbances. The generalized Persidskii class, which couples linear dynamics with sector-bounded…

Collaborative state estimation using different heterogeneous sensors is a fundamental prerequisite for robotic swarms operating in GPS-denied environments, posing a significant research challenge. In this paper, we introduce a centralized…

State estimation is a fundamental requirement in robotics, where the accurate determination of a robot's state is essential for stable operation despite inherent process disturbances and sensor noise. Traditionally, this is achieved through…

This paper presents a robust moving horizon estimation (MHE) approach with provable estimation error bounds for solving the simultaneous localization and mapping (SLAM) problem. We derive sufficient conditions to guarantee robust stability…