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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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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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02/11/2021
Search Planning of a UAV/UGV Team with Localization Uncertainty in a Subterranean Environment
We present a waypoint planning algorithm for an unmanned aerial vehicle ...
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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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10/11/2019
Robust Incremental State Estimation through Covariance Adaptation
Recent advances in the fields of robotics and automation have spurred si...
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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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06/10/2019
Enabling Robust State Estimation through Measurement Error Covariance Adaptation
Accurate platform localization is an integral component of most robotic ...
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06/23/2018
Robust Navigation In GNSS Degraded Environment Using Graph Optimization
Robust navigation in urban environments has received a considerable amou...
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04/11/2018
Evaluation of Kinematic Precise Point Positioning Convergence with an Incremental Graph Optimizer
Estimation techniques to precisely localize a kinematic platform with GN...
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12/12/2017