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This paper develops a novel slip estimator using the invariant observer design theory and Disturbance Observer (DOB).
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D. Piyabongkarn, R. Rajamani, J. A. Grogg, and J. Y. Lew, “Development and experimental evaluation of a slip angle estimator for vehicle stability control,”
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H. F. Grip, L. Imsland, T. A. Johansen, T. I. Fossen, J. C. Kalkkuhl, and A. Suissa, “Nonlinear vehicle side-slip estimation with friction adaptation,”
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M. Bloesch, C. Gehring, P. Fankhauser, M. Hutter, M. A. Hoepflinger, and R. Siegwart, “State estimation for legged robots on unstable and slippery terrain,” in
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W.-H. Chen, J. Yang, L. Guo, and S. Li, “Disturbance-observer-based control and related methods - an overview,”
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T. D. Barfoot,
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A. Barrau and S. Bonnabel, “The invariant extended Kalman filter as a stable observer,”
2017
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T. Omura and G. Ishigami, “Wheel slip classification method for mobile robot in sandy terrain using in-wheel sensor,”
2017
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M.-R. Bouguelia, R. Gonzalez, K. Iagnemma, and S. Byttner, “Unsupervised classification of slip events for planetary exploration rovers,”
2017
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2017
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J. J. Park, S. Lee, and B. Kuipers, “Discrete-time dynamic modeling and calibration of differential-drive mobile robots with friction,” in
2017
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——, “Invariant Kalman filtering,”
2018
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G. Bledt, P. M. Wensing, S. Ingersoll, and S. Kim, “Contact model fusion for event-based locomotion in unstructured terrains,” in
2018
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J. W. James, N. Pestell, and N. F. Lepora, “Slip detection with a biomimetic tactile sensor,”
2018
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A. Kumar, Z. Fu, D. Pathak, and J. Malik, “RMA: Rapid motor adaptation for legged robots,”
2021
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S. Teng, M. W. Mueller, and K. Sreenath, “Legged robot state estimation in slippery environments using invariant extended Kalman filter with velocity update,” in
2021
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C. Campos, R. Elvira, J. J. G. Rodríguez, J. M. Montiel, and J. D. Tardós, “Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam,”
2021
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A. Agrawal, S. Chen, A. Rai, and K. Sreenath, “Vision-aided dynamic quadrupedal locomotion on discrete terrain using motion libraries,” in
2022
Closest in time.
S. Teng, D. Chen, W. Clark, and M. Ghaffari, “An error-state model predictive control on connected matrix Lie groups for legged robot control,” in
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J. Li, S. Dong, and E. Adelson, “Slip detection with combined tactile and visual information,” in
2018
Cited alongside, same era.
2018
Cited alongside, same era.
R. Gonzalez, D. Apostolopoulos, and K. Iagnemma, “Slippage and immobilization detection for planetary exploration rovers via machine learning and proprioceptive sensing,”
2018
Cited alongside, same era.
N. D. Wallace, H. Kong, A. J. Hill, and S. Sukkarieh, “Receding horizon estimation and control with structured noise blocking for mobile robot slip compensation,” in
2019
Cited alongside, same era.
R. Gonzalez, S. Chandler, and D. Apostolopoulos, “Characterization of machine learning algorithms for slippage estimation in planetary exploration rovers,”
2019
Cited alongside, same era.
J. Kruger, A. Rogg, and R. Gonzalez, “Estimating wheel slip of a planetary exploration rover via unsupervised machine learning,” in
2019
Cited alongside, same era.
R. Hartley, M. Ghaffari, R. M. Eustice, and J. W. Grizzle, “Contact-aided invariant extended Kalman filtering for robot state estimation,”
2020
Cited alongside, same era.
2022
Closest in time.
L. Gan, J. W. Grizzle, R. M. Eustice, and M. Ghaffari, “Energy-based legged robots terrain traversability modeling via deep inverse reinforcement learning,”
2022
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2022
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2022
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P. van Goor and R. Mahony, “EqVIO: An equivariant filter for visual inertial odometry,”
2022
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N. Pico, H.-R. Jung, J. Medrano, M. Abayebas, D. Y. Kim, J.-H. Hwang, and H. Moon, “Climbing control of autonomous mobile robot with estimation of wheel slip and wheel-ground contact angle,”
2022
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M. T. Malinowski, A. Richards, and M. Woods, “Wheel slip prediction for improved rover localization,” in
2022
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2022
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H. Yang, L. Ding, H. Gao, and Z. Deng, “Wheel’s slip ratio and sinkage estimation for planetary rovers moving on deformable terrain,” in
2022
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2022
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A. Vanderkop, N. Kottege, T. Peynot, and P. Corke, “A novel model of interaction dynamics between legged robots and deformable terrain,” in
2022
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M. Ghaffari, R. Zhang, M. Zhu, C. E. Lin, T.-Y. Lin, S. Teng, T. Li, T. Liu, and J. Song, “Progress in symmetry preserving robot perception and control through geometry and learning,”
2022
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S. Teng, A. Jasour, R. Vasudevan, and M. G. Jadidi, “Convex Geometric Motion Planning on Lie Groups via Moment Relaxation,” in
2023
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