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eess.SY2026★ 3 cited
Quaternion-based Unscented Kalman Filter for Robust Wrench Estimation of Human-UAV Physical Interaction
Hussein Naser, Hashim A. Hashim, Mojtaba Ahmadi
This paper introduces an advanced Quaternion-based Unscented Kalman Filter (QUKF) for real-time, robust estimation of system states and external wrenches in assistive aerial payloa…
eess.SY2026
Adaptive Gain Nonlinear Observer for External Wrench Estimation in Human-UAV Physical Interaction
Hussein N. Naser, Hashim A. Hashim, Mojtaba Ahmadi
This paper presents an Adaptive Gain Nonlinear Observer (AGNO) for estimating the external interaction wrench (forces and torques) in human-UAV physical interaction for assistive p…