Fetching the paper…
Reading the bibliography…
This paper reports on developing a real-time invariant proprioceptive robot state estimation framework called DRIFT.
V. Jurdjevic and H. J. Sussmann, “Control systems on lie groups,”
1972
Earlier work this paper cites.
——, “System theory on group manifolds and coset spaces,”
1972
Earlier work this paper cites.
R. W. Brockett, “Lie theory and control systems defined on spheres,”
1973
Earlier work this paper cites.
A. S. Willsky and S. I. Marcus, “Estimation for bilinear stochastic systems,” in
1975
Earlier work this paper cites.
T. E. Duncan, “Some filtering results in riemann manifolds,”
1977
Earlier work this paper cites.
P. S. Maybeck,
1982
Earlier work this paper cites.
P. H. Milne,
1983
Earlier work this paper cites.
L. A. McGee,
1985
Earlier work this paper cites.
J. Grizzle and S. Marcus, “The structure of nonlinear control systems possessing symmetries,”
1985
Earlier work this paper cites.
S. Salcudean, “A globally convergent angular velocity observer for rigid body motion,”
1991
Earlier work this paper cites.
G. P. Roston and E. P. Krotkov,
1991
Earlier work this paper cites.
Y. Song and J. W. Grizzle, “The extended Kalman filter as a local asymptotic observer for nonlinear discrete-time systems,” in
1992
Earlier work this paper cites.
H. F. Durrant-Whyte, “An autonomous guided vehicle for cargo handling applications,”
1996
Earlier work this paper cites.
S. I. Roumeliotis, G. S. Sukhatme, and G. A. Bekey, “Circumventing dynamic modeling: Evaluation of the error-state Kalman filter applied to mobile robot localization,” in
1999
Earlier work this paper cites.
S. Thrun, “Probabilistic robotics,”
2002
Earlier work this paper cites.
R. Bajaj, S. L. Ranaweera, and D. P. Agrawal, “GPS: location-tracking technology,”
2002
Earlier work this paper cites.
J. Thienel and R. M. Sanner, “A coupled nonlinear spacecraft attitude controller and observer with an unknown constant gyro bias and gyro noise,”
2003
Earlier work this paper cites.
N. Aghannan and P. Rouchon, “An intrinsic observer for a class of lagrangian systems,”
2003
Earlier work this paper cites.
F. L. Markley, “Attitude error representations for Kalman filtering,”
2003
Earlier work this paper cites.
D. Hahnel, W. Burgard, D. Fox, K. Fishkin, and M. Philipose, “Mapping and localization with RFID technology,” in
2004
Earlier work this paper cites.
R. Mahony, T. Hamel, and J.-M. Pflimlin, “Complementary filter design on the special orthogonal group SO(3),” in
2005
Earlier work this paper cites.
N. Trawny and S. I. Roumeliotis, “Indirect Kalman filter for 3d attitude estimation,”
2005
Earlier work this paper cites.
P.-C. Lin, H. Komsuoglu, and D. E. Koditschek, “A leg configuration measurement system for full-body pose estimates in a hexapod robot,”
2005
Earlier work this paper cites.
H. Chae and K. Han, “Combination of RFID and vision for mobile robot localization,” in
2005
Earlier work this paper cites.
T. Hamel and R. Mahony, “Attitude estimation on so [3] based on direct inertial measurements,” in
2006
Earlier work this paper cites.
P.-C. Lin, H. Komsuoglu, and D. E. Koditschek, “Sensor data fusion for body state estimation in a hexapod robot with dynamical gaits,”
2006
Earlier work this paper cites.
S. P. Singh, P. J. Csonka, and K. J. Waldron, “Optical flow aided motion estimation for legged locomotion,” in
2006
Earlier work this paper cites.
A. De Luca, A. Albu-Schaffer, S. Haddadin, and G. Hirzinger, “Collision detection and safe reaction with the dlr-iii lightweight manipulator arm,” in
2006
Earlier work this paper cites.
C. Zhang, M. Kuhn, B. Merkl, A. E. Fathy, and M. Mahfouz, “Accurate uwb indoor localization system utilizing time difference of arrival approach,” in
2006
Earlier work this paper cites.
L. Imsland, T. A. Johansen, T. I. Fossen, H. F. Grip, J. C. Kalkkuhl, and A. Suissa, “Vehicle velocity estimation using nonlinear observers,”
2006
Earlier work this paper cites.
T. A. Wenzel, K. Burnham, M. Blundell, and R. Williams, “Dual extended Kalman filter for vehicle state and parameter estimation,”
2006
Earlier work this paper cites.
S. Kwon, K. Yang, and S. Park, “An effective Kalman filter localization method for mobile robots,” in
2006
Earlier work this paper cites.
J. C. Kinsey, R. M. Eustice, and L. L. Whitcomb, “A survey of underwater vehicle navigation: Recent advances and new challenges,” in
2006
Earlier work this paper cites.
P.-M. Lee, B.-H. Jun, K. Kim, J. Lee, T. Aoki, and T. Hyakudome, “Simulation of an inertial acoustic navigation system with range aiding for an autonomous underwater vehicle,”
2007
Earlier work this paper cites.
S. Bonnabel, “Left-invariant extended Kalman filter and attitude estimation,” in
2007
Earlier work this paper cites.
L. Imsland, H. F. Grip, T. A. Johansen, T. I. Fossen, J. C. Kalkkuhl, and A. Suissa, “Nonlinear observer for vehicle velocity with friction and road bank angle adaptation-validation and comparison with an extended Kalman filter,” SAE Technical Paper, Tech. Rep., 2007
2007
Earlier work this paper cites.
L. Imsland, T. A. Johansen, H. F. Grip, and T. I. Fossen, “On non-linear unknown input observers–applied to lateral vehicle velocity estimation on banked roads,”
2007
Earlier work this paper cites.
A. Alcocer, P. Oliveira, and A. Pascoal, “Study and implementation of an ekf gib-based underwater positioning system,”
2007
Earlier work this paper cites.
J. A. Cobano, J. Estremera, and P. G. De Santos, “Location of legged robots in outdoor environments,”
2008
Earlier work this paper cites.
J. K. Hall, N. B. Knoebel, and T. W. McLain, “Quaternion attitude estimation for miniature air vehicles using a multiplicative extended Kalman filter,” in
2008
Earlier work this paper cites.
S. Haddadin, A. Albu-Schaffer, A. De Luca, and G. Hirzinger, “Collision detection and reaction: A contribution to safe physical human-robot interaction,” in
2008
Earlier work this paper cites.
S. Bonnabel, P. Martin, and P. Rouchon, “Non-linear symmetry-preserving observers on lie groups,”
2009
Earlier work this paper cites.
A. H. Lashkari, B. Parhizkar, and M. N. A. Ngan, “Wifi-based indoor positioning system,” in
2010
Earlier work this paper cites.
M. J. Kuhn, J. Turnmire, M. R. Mahfouz, and A. E. Fathy, “Adaptive leading-edge detection in uwb indoor localization,” in
2010
Earlier work this paper cites.
L. Huang, B. He, and T. Zhang, “An autonomous navigation algorithm for underwater vehicles based on inertial measurement units and sonar,” in
2010
Earlier work this paper cites.
G. C. Karras, S. G. Loizou, and K. J. Kyriakopoulos, “On-line state and parameter estimation of an under-actuated underwater vehicle using a modified dual unscented Kalman filter,” in
2010
Earlier work this paper cites.
P. A. Miller, J. A. Farrell, Y. Zhao, and V. Djapic, “Autonomous underwater vehicle navigation,”
2010
Earlier work this paper cites.
V. Madyastha, V. Ravindra, S. Mallikarjunan, and A. Goyal, “Extended Kalman filter vs. error state Kalman filter for aircraft attitude estimation,” in
2011
Earlier work this paper cites.
Ø. Hegrenaes and O. Hallingstad, “Model-aided INS with sea current estimation for robust underwater navigation,”
2011
Cited alongside, same era.
G. S. Chirikjian,
2011
Cited alongside, same era.
M. Barczyk and A. F. Lynch, “Invariant observer design for a helicopter uav aided inertial navigation system,”
2012
Cited alongside, same era.
M. Bloesch, M. Hutter, M. A. Hoepflinger, S. Leutenegger, C. Gehring, C. Remy, and R. Siegwart, “State estimation for legged robots: Consistent fusion of leg kinematics and IMU,” in
2012
Cited alongside, same era.
D. Rudolph and T. A. Wilson, “Doppler velocity log theory and preliminary considerations for design and construction,” in
2012
Cited alongside, same era.
M. Ghaffari Jadidi, M. Patel, J. V. Miro, G. Dissanayake, J. Biehl, and A. Girgensohn, “A radio-inertial localization and tracking system with BLE beacons prior maps,” in
2018
Later among the works it cites.
D. Wisth, M. Camurri, and M. Fallon, “Robust legged robot state estimation using factor graph optimization,”
2019
Later among the works it cites.
F. Jenelten, J. Hwangbo, F. Tresoldi, C. D. Bellicoso, and M. Hutter, “Dynamic locomotion on slippery ground,”
2019
Later among the works it cites.
S. Piperakis, S. Timotheatos, and P. Trahanias, “Unsupervised gait phase estimation for humanoid robot walking,” in
2019
Later among the works it cites.
L. Xiong, X. Xia, Y. Lu, W. Liu, L. Gao, S. Song, Y. Han, and Z. Yu, “IMU-based automated vehicle slip angle and attitude estimation aided by vehicle dynamics,”
2019
Later among the works it cites.
alphaXiv searches the wider corpus for related work and actual follow-ups.
alphaXiv is searching for related work…
2012
Cited alongside, same era.
M. Bloesch, M. Hutter, M. A. Hoepflinger, S. Leutenegger, C. Gehring, C. D. Remy, and R. Siegwart, “State estimation for legged robots-consistent fusion of leg kinematics and IMU,”
2013
Cited alongside, same era.
F. Bonin-Font, J.-P. Beltran, and G. Oliver, “Multisensor aided inertial navigation in 6dof auvs using a multiplicative error state Kalman filter,” in
2013
Cited alongside, same era.
M. Focchi, V. Barasuol, I. Havoutis, J. Buchli, C. Semini, and D. G. Caldwell, “Local reflex generation for obstacle negotiation in quadrupedal locomotion,” in
2013
Cited alongside, same era.
H. Guo, H. Chen, D. Cao, and W. Jin, “Design of a reduced-order non-linear observer for vehicle velocities estimation,”
2013
Cited alongside, same era.
L. Paull, S. Saeedi, M. Seto, and H. Li, “AUV navigation and localization: A review,”
2013
Cited alongside, same era.
A. W. Long, K. C. Wolfe, M. J. Mashner, and G. S. Chirikjian, “The banana distribution is Gaussian: A localization study with exponential coordinates,” in
2013
Cited alongside, same era.
A. Welte, P. Xu, and P. Bonnifait, “Four-wheeled dead-reckoning model calibration using rts smoothing,” in
2019
Later among the works it cites.
B. Katz, J. Di Carlo, and S. Kim, “Mini Cheetah: A platform for pushing the limits of dynamic quadruped control,” in
2019
Later among the works it cites.
2019
Later among the works it cites.
P. Cieślak, “Stonefish: An advanced open-source simulation tool designed for marine robotics, with a ros interface,” in
2019
Later among the works it cites.
M. Ramezani, G. Tinchev, E. Iuganov, and M. Fallon, “Online LiDAR-SLAM for legged robots with robust registration and deep-learned loop closure,” in
2020
Later among the works it cites.
M. Camurri, M. Ramezani, S. Nobili, and M. Fallon, “Pronto: A multi-sensor state estimator for legged robots in real-world scenarios,”
2020
Later among the works it cites.
R. Hartley, M. Ghaffari, R. M. Eustice, and J. W. Grizzle, “Contact-aided invariant extended Kalman filtering for robot state estimation,”
2020
Later among the works it cites.
H.-C. Lin and M. Mistry, “Contact surface estimation via haptic perception,” in
2020
Later among the works it cites.
D. P. Koch, D. O. Wheeler, R. W. Beard, T. W. McLain, and K. M. Brink, “Relative multiplicative extended Kalman filter for observable GPS-denied navigation,”
2020
Later among the works it cites.
P. van Goor, T. Hamel, and R. Mahony, “Equivariant filter (EqF): A general filter design for systems on homogeneous spaces,” in
2020
Later among the works it cites.
——, “Preintegrated velocity bias estimation to overcome contact nonlinearities in legged robot odometry,” in
2020
Later among the works it cites.
G. Fink and C. Semini, “Proprioceptive sensor fusion for quadruped robot state estimation,” in
2020
Later among the works it cites.
H.-W. Chae, J.-H. Choi, and J.-B. Song, “Robust and autonomous stereo visual-inertial navigation for non-holonomic mobile robots,”
2020
Later among the works it cites.
J. G. Mangelson, M. Ghaffari, R. Vasudevan, and R. M. Eustice, “Characterizing the uncertainty of jointly distributed poses in the Lie algebra,”
2020
Later among the works it cites.
——, “AI-IMU dead-reckoning,”
2020
Later among the works it cites.
Y. Song, Z. Zhang, J. Wu, Y. Wang, L. Zhao, and S. Huang, “A right invariant extended Kalman filter for object based SLAM,”
2021
Later among the works it cites.
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
Later among the works it cites.
E. R. Potokar, K. Norman, and J. G. Mangelson, “Invariant extended Kalman filtering for underwater navigation,”
2021
Later among the works it cites.
J.-H. Kim, S. Hong, G. Ji, S. Jeon, J. Hwangbo, J.-H. Oh, and H.-W. Park, “Legged robot state estimation with dynamic contact event information,”
2021
Later among the works it cites.
J. Huai, Y. Lin, Y. Zhuang, and M. Shi, “Consistent right-invariant fixed-lag smoother with application to visual inertial SLAM,” in
2021
Later among the works it cites.
R. Mahony and J. Trumpf, “Equivariant filter design for kinematic systems on Lie groups,”
2021
Later among the works it cites.
P. van Goor and R. Mahony, “An equivariant filter for visual inertial odometry,” in
2021
Later among the works it cites.
Y. Luo, C. Guo, and J. Liu, “Equivariant filtering framework for inertial-integrated navigation,”
2021
Later among the works it cites.
Y. Gao, C. Yuan, and Y. Gu, “Invariant extended Kalman filtering for hybrid models of bipedal robot walking,”
2021
Later among the works it cites.
F. Maurelli, S. Krupiński, X. Xiang, and Y. Petillot, “AUV localisation: a review of passive and active techniques,”
2021
Later among the works it cites.
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
2022
Later among the works it cites.
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
Later among the works it cites.
H. Chen, H. Bai, and C. N. Taylor, “Invariant-EKF design for quadcopter wind estimation,” in
2022
Later among the works it cites.
T.-Y. Lin, R. Zhang, J. Yu, and M. Ghaffari, “Legged robot state estimation using invariant Kalman filtering and learned contact events,” in
2022
Later among the works it cites.
Y. Gao, C. Yuan, and Y. Gu, “Invariant filtering for legged humanoid locomotion on a dynamic rigid surface,”
2022
Later among the works it cites.
P. Chauchat, S. Bonnabel, and A. Barrau, “Invariant smoothing with low process noise,” in
2022
Later among the works it cites.
A. Fornasier, Y. Ng, C. Brommer, C. Böhm, R. Mahony, and S. Weiss, “Overcoming bias: Equivariant filter design for biased attitude estimation with online calibration,”
2022
Later among the works it cites.
A. Fornasier, Y. Ng, R. Mahony, and S. Weiss, “Equivariant filter design for inertial navigation systems with input measurement biases,” in
2022
Later among the works it cites.
——, “Eqvio: An equivariant filter for visual inertial odometry,”
2022
Later among the works it cites.
Y. Kim, B. Yu, E. M. Lee, J.-h. Kim, H.-w. Park, and H. Myung, “Step: State estimator for legged robots using a preintegrated foot velocity factor,”
2022
Later among the works it cites.
M. Brossard, A. Barrau, P. Chauchat, and S. Bonnabel, “Associating uncertainty to extended poses for on Lie group IMU preintegration with rotating earth,”
2022
Later among the works it cites.
R. Carroll, “Nasa-developed spherical robots to the rescue,”
2023
Closest in time.
J. Jang, S. Teng, and M. Ghaffari, “Convex geometric trajectory tracking using Lie algebraic MPC for autonomous marine vehicles,”
2023
Closest in time.
C. Liu, C. Jiang, and H. Wang, “Ingvio: A consistent invariant filter for fast and high-accuracy gnss-visual-inertial odometry,”
2023
Closest in time.
P. van Goor, “Equivariant filters for visual spatial awareness,” Ph.D. dissertation, The Australian National University (Australia), 2023
2023
Closest in time.
S. Yang, Z. Zhang, Z. Fu, and Z. Manchester, “Cerberus: Low-drift visual-inertial-leg odometry for agile locomotion,” in
2023
Closest in time.
X. Yu, S. Teng, T. Chakhachiro, W. Tong, T. Li, T.-Y. Lin, S. Koehler, M. Ahumada, J. M. Walls, and M. Ghaffari, “Fully proprioceptive slip-velocity-aware state estimation for mobile robots via invariant Kalman filtering and disturbance observer,” in
2023
Closest in time.
M. Brossard, A. Barrau, and S. Bonnabel, “RINS-W: Robust inertial navigation system on wheels,” in
2075
Closest in time.