186 citations · 446 across the 18 of their papers we have counts for
6 papers · 1 filter
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…