The Uncertainty Aware Salted Kalman Filter: State Estimation for Hybrid Systems with Uncertain Guards

• Published in: arXiv.org
• Main Authors: Payne, J Joe, Kong, Nathan J, Johnson, Aaron M
• Format: Paper
• Language: English
• Published: Ithaca Cornell University Library, arXiv.org 29.07.2022
• Subjects: Guards; Hybrid systems; Kalman filters; Perturbation; State estimation; Uncertainty

In this paper we present a method for updating robotic state belief through contact with uncertain surfaces and apply this update to a Kalman filter for more accurate state estimation. Examining how guard surface uncertainty affects the time spent in each mode, we derive a guard saltation matrix - w...