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» On-Line Terrain Parameter Estimation for Planetary Rovers
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ICRA
2002
IEEE
109views Robotics» more  ICRA 2002»
10 years 4 months ago
On-Line Terrain Parameter Estimation for Planetary Rovers
Future planetary exploration missions will require rovers to traverse very rough terrain with limited human supervision. Wheel-terrain interaction plays a critical role in rough-t...
Karl Iagnemma, Hassan Shibly, Steven Dubowsky
ICRA
2010
IEEE
146views Robotics» more  ICRA 2010»
9 years 10 months ago
Statistical mobility prediction for planetary surface exploration rovers in uncertain terrain
— Planetary surface exploration rovers must accurately and efficiently predict their mobility on natural, rough terrain. Most approaches to mobility prediction assume precise a p...
Genya Ishigami, Gaurav Kewlani, Karl Iagnemma
ICRA
2008
IEEE
162views Robotics» more  ICRA 2008»
10 years 6 months ago
Vision-based estimation of slip angle for mobile robots and planetary rovers
— For a mobile robot it is critical to detect and compensate for slippage, especially when driving in rough terrain environments. Due to its highly unpredictable nature, drift la...
Giulio Reina, Genya Ishigami, Keiji Nagatani, Kazu...
IROS
2009
IEEE
168views Robotics» more  IROS 2009»
10 years 6 months ago
Slip ratio for lugged wheel of planetary rover in deformable soil: definition and estimation
—The wheel slip ratio is an important state variable in terramechanics research and the control of planetary rovers. Definitions of the slip ratio for a wheel with lugs and metho...
Liang Ding, Haibo Gao, Zongquan Deng, Kazuya Yoshi...
AR
2010
159views more  AR 2010»
9 years 12 months ago
Odometry Correction Using Visual Slip Angle Estimation for Planetary Exploration Rovers
This paper introduces a novel method for slip angle estimation based on visually observing the traces produced by the wheels of a robot on soft, deformable terrain. The proposed a...
Giulio Reina, Genya Ishigami, Keiji Nagatani, Kazu...
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