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ICRA
2005
IEEE

A Context-Based State Estimation Technique for Hybrid Systems

10 years 3 months ago
A Context-Based State Estimation Technique for Hybrid Systems
— This paper proposes an approach to robust state estimation for mobile robots with intermittent dynamics. The approach consists of identifying the robot’s mode of operation by classifying the output of onboard sensors into mode-specific contexts. The underlying technique seeks to efficiently use available sensor information to enable accurate, high-bandwidth mode identification. Context classification is combined with multiple-model filtering in order to significantly improve the accuracy of state estimates for hybrid systems. This approach is validated in simulation and shown experimentally to produce accurate estimates on a jogging robot using low-cost sensors.
Sarjoun Skaff, Alfred A. Rizzi, Howie Choset, Pei-
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Sarjoun Skaff, Alfred A. Rizzi, Howie Choset, Pei-Chun Lin
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