12 citations · 26 across the 5 of their papers we have counts for
5 papers · 1 filter
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…