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06/30/2023
Evaluation of the Benefits of Zero Velocity Update in Decentralized EKF-Based Cooperative Localization Algorithms for GNSS-Denied Multi-Robot Systems
This paper proposes the cooperative use of zero velocity update (ZU) in ...
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07/27/2022
Proprioceptive Slip Detection for Planetary Rovers in Perceptually Degraded Extraterrestrial Environments
Slip detection is of fundamental importance for the safety and efficienc...
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12/15/2021
A Comparison of Robust Kalman Filters for Improving Wheel-Inertial Odometry in Planetary Rovers
This paper compares the performance of adaptive and robust Kalman filter...
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12/14/2021
ZUPT Aided GNSS Factor Graph with Inertial Navigation Integration for Wheeled Robots
In this work, we demonstrate the importance of zero velocity information...
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09/20/2021
NASA Space Robotics Challenge 2 Qualification Round: An Approach to Autonomous Lunar Rover Operations
Plans for establishing a long-term human presence on the Moon will requi...
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03/13/2021
Slip-Based Autonomous ZUPT through Gaussian Process to Improve Planetary Rover Localization
The zero-velocity update (ZUPT) algorithm provides valuable state inform...
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03/22/2020
Team Mountaineers Space Robotic Challenge Phase-2 Qualification Round Preparation Report
Team Mountaineers launched efforts on the NASA Space Robotics Challenge ...
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06/20/2019
Improved Planetary Rover Inertial Navigation and Wheel Odometry Performance through Periodic Use of Zero-Type Constraints
We present an approach to enhance wheeled planetary rover dead-reckoning...
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08/29/2018
Design of an Autonomous Precision Pollination Robot
Precision robotic pollination systems can not only fill the gap of decli...
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12/12/2017