1 citations · 1 across the 2 of their papers we have counts for
2 papers
cs.RO2023★ 1 cited
Proprioceptive Invariant Robot State Estimation
Tzu-Yuan Lin, Tingjun Li, Wenzhe Tong +1
This paper reports on developing a real-time invariant proprioceptive robot state estimation framework called DRIFT. A didactic introduction to invariant Kalman filtering is provid…
cs.RO2022
Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer
Xihang Yu, Sangli Teng, Theodor Chakhachiro +7
This paper develops a novel slip estimator using the invariant observer design theory and Disturbance Observer (DOB). The proposed state estimator for mobile robots is fully propri…