186 citations · 446 across the 18 of their papers we have counts for
16 papers · 1 filter
UAV Position Estimation using a LiDAR-based 3D Object Detection Method
Uthman Olawoye, Jason N. Gross
This paper explores the use of applying a deep learning approach for 3D object detection to compute the relative position of an Unmanned Aerial Vehicle (UAV) from an Unmanned Groun…
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…
Analysis of Scale-Variant Robust Kernel Optimization for Non-linear Least Squares Problems
Shounak Das, Jason Gross
In this article, we present a method for increasing adaptivity of an existing robust estimation algorithm by learning two parameters to better fit the residual distribution. The an…
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…
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…
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.…
Search Planning of a UAV/UGV Team with Localization Uncertainty in a Subterranean Environment
Matteo De Petrillo, Jared Beard, Yu Gu +1
We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterrane…
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.…
Enabling Robust State Estimation through Measurement Error Covariance Adaptation
Ryan M. Watson, Jason N. Gross, Clark N. Taylor +1
Accurate platform localization is an integral component of most robotic systems. As these robotic systems become more ubiquitous, it is necessary to develop robust state estimation…
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…
Robust Navigation In GNSS Degraded Environment Using Graph Optimization
Ryan M. Watson, Jason N. Gross
Robust navigation in urban environments has received a considerable amount of both academic and commercial interest over recent years. This is primarily due to large commercial org…
Evaluation of Kinematic Precise Point Positioning Convergence with an Incremental Graph Optimizer
Ryan M. Watson, Jason N. Gross
Estimation techniques to precisely localize a kinematic platform with GNSS observables can be broadly partitioned into two categories: differential, or undifferenced. The different…