Publications (13)
Improved Planetary Rover Inertial Navigation and Wheel Odometry Performance through Periodic Use of Zero-Type Constraints
Cagri Kilic, Jason N. Gross, Nicholas Ohi +5
We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter.…
Lifting systems for finite length modules
Benjamin Katz, Nawaj KC, Kesavan Mohana Sundaram +2
This paper is concerned with lifting modules along a surjective map of noetherian local rings, say . A finitely generated -module is a naive…
A Comparison of Robust Kalman Filters for Improving Wheel-Inertial Odometry in Planetary Rovers
Shounak Das, Cagri Kilic, Ryan Watson +1
This paper compares the performance of adaptive and robust Kalman filter algorithms in improving wheel-inertial odometry on low featured rough terrain. Approaches include classical…
Cohomological support varieties for monomial ideals
Kara Fagerstrom, Julianne Faur, Benjamin Katz +3
Let be a local or positively graded ring with a regular presentation where is a monomial ideal generated by elements on a regular sequence. In Briggs-Grif…
Quasi-Gorenstein morphisms of commutative local dg-algebras
Zachary Nason, Andrew J. Soto Levins, Ryan Watson
We introduce quasi-Gorenstein morphisms of commutative local dg-algebras and use a Gorenstein version of the virtually small property to characterize them, a result which is new ev…
Cohomological support varieties under local homomorphisms
Ryan Watson
Given a bounded complex of finitely generated modules over a commutative noetherian local ring , one assigns to it a variety, , called the cohomological sup…
Review of Factor Graphs for Robust GNSS Applications
Shounak Das, Ryan Watson, Jason Gross
Factor graphs have recently emerged as an alternative solution method for GNSS positioning. In this article, we review how factor graphs are implemented in GNSS, some of their adva…
Flower Interaction Subsystem for a Precision Pollination Robot
Jared Strader, Jennifer Nguyen, Christopher Tatsch +8
Robotic pollinators not only can aid farmers by providing more cost effective and stable methods for pollinating plants but also benefit crop production in environments not suitabl…
Large homomorphisms on the homotopy lie coalgebra
Andrew J. Soto Levins, Ryan Watson
We introduce and study a notion of large homomorphisms on the homotopy lie coalgebra; these homomorphisms are a variant of the large homomorphisms of Levin. As a consequence of our…
ZUPT Aided GNSS Factor Graph with Inertial Navigation Integration for Wheeled Robots
Cagri Kilic, Shounak Das, Eduardo Gutierrez +2
In this work, we demonstrate the importance of zero velocity information for global navigation satellite system (GNSS) based navigation. The effectiveness of using the zero velocit…
Design of an Autonomous Precision Pollination Robot
Nicholas Ohi, Kyle Lassak, Ryan Watson +17
Precision robotic pollination systems can not only fill the gap of declining natural pollinators, but can also surpass them in efficiency and uniformity, helping to feed the fast-g…
Convex Maneuver Planning for Spacecraft Collision Avoidance
Fausto Vega, Jon Arrizabalaga, Ryan Watson +1
Conjunction analysis and maneuver planning for spacecraft collision avoidance remains a manual and time-consuming process, typically involving repeated forward simulations of hand-…
Preliminary Design of the Dragonfly Navigation Filter
Ben Schilling, Timothy G. McGee, Ryan Mitch +1
Dragonfly is scheduled to begin exploring Titan by 2034 using a series of multi-kilometer surface flights. This paper outlines the preliminary design of the navigation filter for t…