{"id":"https://openalex.org/W4389665583","doi":"https://doi.org/10.1109/iros55552.2023.10342519","title":"Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer","display_name":"Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665583","doi":"https://doi.org/10.1109/iros55552.2023.10342519"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342519","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342519","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072478236","display_name":"Xihang Yu","orcid":"https://orcid.org/0009-0007-1240-1011"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xihang Yu","raw_affiliation_strings":["University of Michigan,Ann Arbor,MI,USA,48109"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113137536","display_name":"Sangli Teng","orcid":"https://orcid.org/0000-0001-8892-5144"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sangli Teng","raw_affiliation_strings":["University of Michigan,Ann Arbor,MI,USA,48109"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024380922","display_name":"Theodor Chakhachiro","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Theodor Chakhachiro","raw_affiliation_strings":["University of Michigan,Ann Arbor,MI,USA,48109"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010341996","display_name":"Wenzhe Tong","orcid":"https://orcid.org/0009-0005-6605-5893"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wenzhe Tong","raw_affiliation_strings":["University of Michigan,Ann Arbor,MI,USA,48109"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114310102","display_name":"Tingjun Li","orcid":"https://orcid.org/0009-0001-1320-8527"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tingjun Li","raw_affiliation_strings":["University of Michigan,Ann Arbor,MI,USA,48109"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101958946","display_name":"Tzu-Yuan Lin","orcid":"https://orcid.org/0000-0002-3442-8801"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tzu-Yuan Lin","raw_affiliation_strings":["University of Michigan,Ann Arbor,MI,USA,48109"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021754583","display_name":"Sarah Koehler","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sarah Koehler","raw_affiliation_strings":["Woven Planet"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Woven Planet","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015317246","display_name":"Manuel Ahumada","orcid":"https://orcid.org/0000-0002-0589-3296"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Manuel Ahumada","raw_affiliation_strings":["Woven Planet"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Woven Planet","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012218945","display_name":"Jeffrey M. Walls","orcid":"https://orcid.org/0000-0001-6887-7552"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jeffrey M. Walls","raw_affiliation_strings":["Woven Planet"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Woven Planet","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046777734","display_name":"Maani Ghaffari","orcid":"https://orcid.org/0000-0002-4734-4295"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maani Ghaffari","raw_affiliation_strings":["University of Michigan,Ann Arbor,MI,USA,48109"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7427,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.83884075,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"8096","last_page":"8103"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6882239580154419},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.6834458708763123},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6127654910087585},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5585207343101501},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.557937741279602},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5301445722579956},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45438846945762634},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43745383620262146},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.43356359004974365},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.43143612146377563},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.4257616698741913},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3754085898399353},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3054801821708679},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1258608102798462}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6882239580154419},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6834458708763123},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6127654910087585},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5585207343101501},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.557937741279602},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5301445722579956},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45438846945762634},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43745383620262146},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.43356359004974365},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.43143612146377563},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.4257616698741913},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3754085898399353},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3054801821708679},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1258608102798462},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342519","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342519","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.5600000023841858,"display_name":"Climate action"}],"awards":[{"id":"https://openalex.org/G7985365998","display_name":null,"funder_award_id":"2118818","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W1943808550","https://openalex.org/W1977353439","https://openalex.org/W1994993102","https://openalex.org/W1996462566","https://openalex.org/W1997237786","https://openalex.org/W2073288601","https://openalex.org/W2135493101","https://openalex.org/W2155653863","https://openalex.org/W2160626949","https://openalex.org/W2230652337","https://openalex.org/W2279625569","https://openalex.org/W2737383085","https://openalex.org/W2739138241","https://openalex.org/W2745007981","https://openalex.org/W2759943497","https://openalex.org/W2766168346","https://openalex.org/W2776443693","https://openalex.org/W2808902428","https://openalex.org/W2837391606","https://openalex.org/W2889693550","https://openalex.org/W2903976622","https://openalex.org/W2936887342","https://openalex.org/W2951866916","https://openalex.org/W2963614114","https://openalex.org/W2963915174","https://openalex.org/W2966934151","https://openalex.org/W2981924303","https://openalex.org/W3000625188","https://openalex.org/W3043971245","https://openalex.org/W3105311021","https://openalex.org/W3167362483","https://openalex.org/W3175254947","https://openalex.org/W3203184215","https://openalex.org/W3205724045","https://openalex.org/W3206982864","https://openalex.org/W4206050522","https://openalex.org/W4210654447","https://openalex.org/W4213417204","https://openalex.org/W4221140104","https://openalex.org/W4243055393","https://openalex.org/W4253927292","https://openalex.org/W4284974155","https://openalex.org/W4285102209","https://openalex.org/W4289535588","https://openalex.org/W4297900511","https://openalex.org/W4299647187","https://openalex.org/W4312423130","https://openalex.org/W4315471909","https://openalex.org/W4383899755","https://openalex.org/W4385403764","https://openalex.org/W6753082117","https://openalex.org/W6801424817"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W2162299404","https://openalex.org/W2103062922","https://openalex.org/W2902809339","https://openalex.org/W2382856674","https://openalex.org/W2603444553","https://openalex.org/W1573497705","https://openalex.org/W3181155743","https://openalex.org/W2017146877","https://openalex.org/W2050828586"],"abstract_inverted_index":{"This":[0],"paper":[1],"develops":[2],"a":[3,39,77],"novel":[4],"slip":[5,49,68],"estimator":[6,20],"using":[7,76],"the":[8,48,60,82,88,93,105],"invariant":[9],"observer":[10],"design":[11],"theory":[12],"and":[13,27,35,67,85,103],"Disturbance":[14],"Observer":[15],"(DOB).":[16],"The":[17],"proposed":[18,89],"state":[19,95],"for":[21,101],"mobile":[22],"robots":[23],"is":[24,99],"fully":[25],"proprioceptive":[26],"combines":[28],"data":[29],"from":[30],"an":[31],"inertial":[32],"measurement":[33],"unit":[34],"body":[36],"velocity":[37,50,66,69],"within":[38],"Right":[40],"Invariant":[41],"Extended":[42],"Kalman":[43],"Filter":[44],"(RI-EKF).":[45],"By":[46],"embedding":[47],"into":[51],"SE":[52],"<inf":[53],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[54],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">3</inf>":[55],"(3)":[56],"matrix":[57],"Lie":[58],"group,":[59],"developed":[61],"DOB-based":[62],"RI-EKF":[63],"provides":[64],"real-time":[65],"estimates":[70],"on":[71],"different":[72],"terrains.":[73],"Experimental":[74],"results":[75],"Husky":[78],"wheeled":[79],"robot":[80],"confirm":[81],"mathematical":[83],"derivations":[84],"effectiveness":[86],"of":[87],"method":[90],"in":[91],"estimating":[92],"observable":[94],"variables.":[96],"Open-source":[97],"software":[98],"available":[100],"download":[102],"reproducing":[104],"presented":[106],"results.":[107]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
