2 papers
cs.RO2025
Cascade IPG Observer for Underwater Robot State Estimation
Kaustubh Joshi, Tianchen Liu, Nikhil Chopra
This paper presents a novel cascade nonlinear observer framework for inertial state estimation. It tackles the problem of intermediate state estimation when external localization i…
cs.RO2025
3D Water Quality Mapping using Invariant Extended Kalman Filtering for Underwater Robot Localization
Kaustubh Joshi, Tianchen Liu, Alan Williams +3
Water quality mapping for critical parameters such as temperature, salinity, and turbidity is crucial for assessing an aquaculture farm's health and yield capacity. Traditional app…