Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer.
Xihang YuSangli TengTheodor ChakhachiroWenzhe TongTingjun LiTzu-Yuan LinSarah KoehlerManuel AhumadaJeffrey M. WallsMaani GhaffariPublished in: IROS (2023)
Keyphrases
- state estimation
- kalman filtering
- kinematic model
- mobile robot
- simultaneous localization and map building
- kalman filter
- robotic systems
- extended kalman filter
- path planning
- state space model
- motion control
- autonomous robots
- particle filtering
- multi robot
- motion planning
- map building
- multi frame
- mean shift
- infrared
- graph cuts
- particle filter