The Uncertainty Aware Salted Kalman Filter: State Estimation for Hybrid Systems with Uncertain Guards
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...
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Published in | arXiv.org |
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Main Authors | , , |
Format | Paper |
Language | English |
Published |
Ithaca
Cornell University Library, arXiv.org
29.07.2022
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Subjects | |
Online Access | Get full text |
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