2022
External Wrench Estimation for UAVs Based on Variational Bayesian Unscented Kalman Filter
RA-L 2022
External wrench estimation has become a necessary part in many emerging applications of the Unmanned Aerial Vehicles (UAVs) such as aerial contact tasks, tactile mapping and human-UAV interaction, etc. Since measurement noises of sensors may be unknown or time-varying, this letter proposes a novel e