10 citations · 14 across the 13 of their papers we have counts for
4 papers · 1 filter
Chalito: An Extensible Library for Filtering-Based State Estimation in Quadruped Robots
Hilton Marques Souza Santana, João Carlos Virgolino Soares, Marco Antonio Meggiolaro +1
State estimation is essential for quadruped robots, enabling robust locomotion, navigation, and control. While many estimators have been proposed in the literature, existing implem…
Iterated Invariant EKF for 3D Landmark-Aided Inertial Navigation
Hilton Marques Souza Santana, João Carlos Virgolino Soares, Marco Antonio Meggiolaro
Inertial navigation systems aided by three-dimensional landmark measurements constitute a fundamental problem in robotic perception and state estimation. Classical SO(3)-based Exte…
A Proprioceptive-Only Benchmark for Quadruped State Estimation: ATE, RPE, and Runtime Trade-offs Between Filters and Smoothers
Ylenia Nisticò, João Carlos Virgolino Soares, Joan Solà +1
We compare three state-of-the-art proprioceptive state estimators for quadruped robots: MUSE [1], the Invariant Extended Kalman Filter (IEKF) [2], and the Invariant Smoother (IS) […
Iterated Invariant EKF for Quadruped Robot Odometry
Hilton Marques Souza Santana, João Carlos Virgolino Soares, Sven Goffin +4
Kalman filter-based algorithms are fundamental for mobile robots, as they provide a computationally efficient solution to the challenging problem of state estimation. However, they…