Get our free extension to see links to code for papers anywhere online!

Chrome logo  Add to Chrome

Firefox logo Add to Firefox

Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer


Sep 29, 2022
Xihang Yu, Sangli Teng, Theodor Chakhachiro, Wenzhe Tong, Tingjun Li, Tzu-Yuan Lin, Sarah Koehler, Manuel Ahumada, Jeffrey M. Walls, Maani Ghaffari

Add code

* github repository at https://github.com/UMich-CURLY/slip_detection_DOB. arXiv admin note: text overlap with arXiv:1805.10410 by other authors 

   Access Paper or Ask Questions

  • Share via Twitter
  • Share via Facebook
  • Share via LinkedIn
  • Share via Whatsapp
  • Share via Messenger
  • Share via Email

Multi-Task Learning for Scalable and Dense Multi-Layer Bayesian Map Inference


Jun 28, 2021
Lu Gan, Youngji Kim, Jessy W. Grizzle, Jeffrey M. Walls, Ayoung Kim, Ryan M. Eustice, Maani Ghaffari

Add code


   Access Paper or Ask Questions

  • Share via Twitter
  • Share via Facebook
  • Share via LinkedIn
  • Share via Whatsapp
  • Share via Messenger
  • Share via Email

Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors


Feb 25, 2018
Ross Hartley, Josh Mangelson, Lu Gan, Maani Ghaffari Jadidi, Jeffrey M. Walls, Ryan M. Eustice, Jessy W. Grizzle

Add code

* Detailed derivations are provided in the supplementary material document listed under "Ancillary files" 

   Access Paper or Ask Questions

  • Share via Twitter
  • Share via Facebook
  • Share via LinkedIn
  • Share via Whatsapp
  • Share via Messenger
  • Share via Email