78 citations · 188 across the 15 of their papers we have counts for
15 papers
AI-Augmented Model Predictive Control for Safe and Adaptive Rendezvous and Proximity Operations
Luca Sportelli, Tyler Barr, Cagri Kilic +1
Autonomous rendezvous and proximity operations (RPO) in adversarial orbital environments require guidance architectures balancing target pursuit, safety preservation, and real-time…
Learning Contact Representation for Leg Odometry
Emre Girgin, Cagri Kilic
Leg odometry relies on the assumption that the velocity of a foot in stance is zero with respect to the world, which makes accurate contact detection a critical subproblem. Many ap…
OCELOT: Odometry and Contact Estimation for Legged Robots
Emre Girgin, Cagri Kilic
One of the significant challenges in legged robotics is achieving accurate odometry using only onboard proprioceptive sensors. In this study, we present a complete leg odometry pip…
Learning Rock Pushability on Rough Planetary Terrain
Tuba Girgin, Emre Girgin, Cagri Kilic
In the context of mobile navigation in unstructured environments, the predominant approach entails the avoidance of obstacles. The prevailing path planning algorithms are contingen…
Analysis of the Unscented Transform for Cooperative Localization with Ranging-Only Information
Uthman Olawoye, Cagri Kilic, Jason N Gross
Cooperative localization in multi-agent robotic systems is challenging, especially when agents rely on limited information, such as only peer-to-peer range measurements. Two key ch…
Evaluation of the Benefits of Zero Velocity Update in Decentralized EKF-Based Cooperative Localization Algorithms for GNSS-Denied Multi-Robot Systems
Cagri Kilic, Eduardo Gutierrez, Jason N. Gross
This paper proposes the cooperative use of zero velocity update (ZU) in a decentralized extended Kalman filter (DEKF) based localization algorithm for multi-robot systems. The filt…
Proprioceptive Slip Detection for Planetary Rovers in Perceptually Degraded Extraterrestrial Environments
Cagri Kilic, Yu Gu, Jason N. Gross
Slip detection is of fundamental importance for the safety and efficiency of rovers driving on the surface of extraterrestrial bodies. Current planetary rover slip detection system…
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…
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…
NASA Space Robotics Challenge 2 Qualification Round: An Approach to Autonomous Lunar Rover Operations
Cagri Kilic, Bernardo Martinez R., Christopher A. Tatsch +7
Plans for establishing a long-term human presence on the Moon will require substantial increases in robot autonomy and multi-robot coordination to support establishing a lunar outp…
Slip-Based Autonomous ZUPT through Gaussian Process to Improve Planetary Rover Localization
Cagri Kilic, Nicholas Ohi, Yu Gu +1
The zero-velocity update (ZUPT) algorithm provides valuable state information to maintain the inertial navigation system (INS) reliability when stationary conditions are satisfied.…
Team Mountaineers Space Robotic Challenge Phase-2 Qualification Round Preparation Report
Cagri Kilic, Christopher A. Tatsch, Bernardo Martinez R. +3
Team Mountaineers launched efforts on the NASA Space Robotics Challenge Phase-2 (SRC2). The challenge will be held on the lunar terrain with virtual robotic platforms to establish…
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.…
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…
Maximum-Likelihood Power-Distortion Monitoring for GNSS Signal Authentication
Jason N. Gross, Cagri Kilic, Todd E. Humphreys
We propose an extension to the so-called PD detector. The PD detector jointly monitors received power and correlation profile distortion to detect the presence of GNSS carry-off-ty…