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eess.SY2024
Translation of Nagumo's Foundational Work on Barrier Functions: On the Location of Integral Curves of Ordinary Differential Equations
Marcel Menner, Eugene Lavretsky
In 1942, Prof. Mitio Nagumo published his seminal paper on the location of integral curves of ordinary differential equations. Nagumo's paper provides the foundation of the set inv…
cs.RO2024
Simultaneous State Estimation and Contact Detection for Legged Robots by Multiple-Model Kalman Filtering
Marcel Menner, Karl Berntorp
This paper proposes an algorithm for combined contact detection and state estimation for legged robots. The proposed algorithm models the robot's movement as a switched system, in…