Author: Cagri Kilic
Affiliation: WVU NAVLAB
Maintainer: Cagri Kilic, cakilic@mix.wvu.edu
Slip-Based Autonomous ZUPT through Gaussian Process to Improve Planetary Rover Proprioceptive Localization
Keywords: Mars Sample Return, planetary rovers, time series prediction, slip, zero velocity update, rover localization
If you find this library useful, please cite the following publication:
[1] Cagri Kilic, Jason N. Gross, Nicholas Ohi, Ryan Watson, Jared Strader, Thomas Swiger, Scott Harper, and Yu Gu: Improved Planetary Rover Inertial Navigation and Wheel Odometry Performance through Periodic Use of Zero-Type Constraints. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019. (arXiv:1906.08849)
@inproceedings{Kilic2019,
author = {Kilic, Cagri and Gross,Jason N. and Ohi,Nicholas and Watson, Ryan and Strader, Jared and Swiger, Thomas and Harper, Scott and Gu, Yu},
booktitle = {2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title = {{Improved Planetary Rover Inertial Navigation and Wheel Odometry Performance through Periodic Use of Zero-Type Constraints}},
year = {2019},
pages={552-559},
doi={10.1109/IROS40897.2019.8967634},
ISSN={2153-0858},
publisher = {IEEE},
}
[2] Cagri Kilic and Jason Gross: Pathfinder GPS, IMU, and Wheel Odometry Data on Various Terrains, IEEE Dataport, November 23, 2020, doi: https://dx.doi.org/10.21227/vz7z-jc84.
@data{Kilic2020Pathfinder,
doi = {10.21227/vz7z-jc84},
url = {https://dx.doi.org/10.21227/vz7z-jc84},
author = {Cagri Kilic; Jason Gross },
publisher = {IEEE Dataport},
title = {Pathfinder GPS, IMU, and Wheel Odometry Data on Various Terrains},
year = {2020} }
}
[3] Cagri Kilic, Nicholas Ohi, Yu Gu, Jason N. Gross: Slip-Based Autonomous ZUPT through Gaussian Process to Improve Planetary Rover Proprioceptive Localization.