Momentum-Based Extended Kalman Filter for Thrust Estimation on Flying Multibody Robots.
Hosameldin Awadalla Omer MohamedGabriele NavaGiuseppe L'ErarioSilvio TraversaroFabio BergontiLuca FiorioPunith Reddy VantedduFrancesco BraghinDaniele PucciPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- extended kalman filter
- multibody
- estimation accuracy
- kalman filter
- kalman filtering
- state estimation
- estimation process
- mobile robot
- motion segmentation
- simultaneous localization and mapping
- dynamic scenes
- motion tracking
- particle filter
- structure from motion
- learning rate
- geometric constraints
- motion model
- articulated objects
- moving objects
- estimation error
- robotic systems
- object tracking
- inertial sensors