3 accepted papers
Highly dynamic maneuvers pose a challenge to conventional state estimators of quadrotors in rapidly tracking the pose. This paper proposes a data-driven Koopman operator-based error-state Kalman filter (K-ESKF) to enhance pose estimation in agile flight. Our method uses the Koopman operator theory t…
Teleoperated robots are believed to play an important role for future applications in industry, medicine and other domains. Examples for this are remote assembly and maintenance, surgery, diagnosis or deep-sea and space exploration. Such applications are made possible by state-of-the-art tactile man…
UAVs require reliable, cost-efficient onboard flight state estimation that achieves high accuracy and robustness to perturbation. We analyze a multi-sensor extended Kalman filter (EKF) based on the work by Leutenegger. The EKF uses measurements from a MEMS-based inertial system, static and dynamic p…