{"id":"https://openalex.org/W7153062369","doi":"https://doi.org/10.48550/arxiv.2604.08185","title":"State and Trajectory Estimation of Tensegrity Robots via Factor Graphs and Chebyshev Polynomials","display_name":"State and Trajectory Estimation of Tensegrity Robots via Factor Graphs and Chebyshev Polynomials","publication_year":2026,"publication_date":"2026-04-09","ids":{"openalex":"https://openalex.org/W7153062369","doi":"https://doi.org/10.48550/arxiv.2604.08185"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.08185","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.08185","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.08185","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067291308","display_name":"Edgar Granados","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Granados, Edgar","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024410079","display_name":"Patrick Meng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Meng, Patrick","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133324592","display_name":"Charles Tang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tang, Charles","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133385848","display_name":"Shrimed Sangani","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sangani, Shrimed","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133352479","display_name":"William R. Johnson","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Johnson, William R.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128214987","display_name":"Rebecca Kramer-Bottiglio","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kramer-Bottiglio, Rebecca","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5010667333","display_name":"Kostas E. Bekris","orcid":"https://orcid.org/0000-0002-0675-3324"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bekris, Kostas","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11870","display_name":"Structural Analysis and Optimization","score":0.9664000272750854,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11870","display_name":"Structural Analysis and Optimization","score":0.9664000272750854,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T10534","display_name":"Structural Health Monitoring Techniques","score":0.006800000090152025,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.003800000064074993,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/tensegrity","display_name":"Tensegrity","score":0.9121000170707703},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.661899983882904},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6021999716758728},{"id":"https://openalex.org/keywords/chebyshev-filter","display_name":"Chebyshev filter","score":0.574999988079071},{"id":"https://openalex.org/keywords/chebyshev-polynomials","display_name":"Chebyshev polynomials","score":0.571399986743927},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.47760000824928284},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4390999972820282},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.3560999929904938}],"concepts":[{"id":"https://openalex.org/C182950735","wikidata":"https://www.wikidata.org/wiki/Q1930978","display_name":"Tensegrity","level":2,"score":0.9121000170707703},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.661899983882904},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6021999716758728},{"id":"https://openalex.org/C21424316","wikidata":"https://www.wikidata.org/wiki/Q718621","display_name":"Chebyshev filter","level":2,"score":0.574999988079071},{"id":"https://openalex.org/C129785596","wikidata":"https://www.wikidata.org/wiki/Q619511","display_name":"Chebyshev polynomials","level":2,"score":0.571399986743927},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4887000024318695},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.47760000824928284},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4390999972820282},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3702999949455261},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3666999936103821},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.3560999929904938},{"id":"https://openalex.org/C90119067","wikidata":"https://www.wikidata.org/wiki/Q43260","display_name":"Polynomial","level":2,"score":0.3476000130176544},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3384999930858612},{"id":"https://openalex.org/C2781039887","wikidata":"https://www.wikidata.org/wiki/Q1391724","display_name":"Factor (programming language)","level":2,"score":0.3154999911785126},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.30309998989105225},{"id":"https://openalex.org/C1921717","wikidata":"https://www.wikidata.org/wiki/Q1334846","display_name":"Mahalanobis distance","level":2,"score":0.2892000079154968},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.2752000093460083},{"id":"https://openalex.org/C146380142","wikidata":"https://www.wikidata.org/wiki/Q1137726","display_name":"Directed graph","level":2,"score":0.2702000141143799},{"id":"https://openalex.org/C72169020","wikidata":"https://www.wikidata.org/wiki/Q194404","display_name":"Monotonic function","level":2,"score":0.25290000438690186},{"id":"https://openalex.org/C145242015","wikidata":"https://www.wikidata.org/wiki/Q774123","display_name":"Approximation theory","level":2,"score":0.2524999976158142}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.08185","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.08185","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.08185","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.08185","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Tensegrity":[0],"robots":[1],"offer":[2],"compliance":[3],"and":[4,9,30,113,135,147,157,175],"adaptability,":[5],"but":[6],"their":[7],"nonlinear,":[8],"underconstrained":[10],"dynamics":[11],"make":[12],"state":[13,47,62,174],"estimation":[14,18,50],"challenging.":[15],"Reliable":[16],"continuous-time":[17,173],"of":[19,55,85,94,120],"all":[20],"rigid":[21],"links":[22],"is":[23,90],"crucial":[24],"for":[25,45,178],"closed-loop":[26],"control,":[27],"system":[28],"identification,":[29],"machine":[31],"learning;":[32],"however,":[33],"conventional":[34],"methods":[35],"often":[36],"fall":[37],"short.":[38],"This":[39],"paper":[40],"proposes":[41],"a":[42,56,67,103],"two-stage":[43],"approach":[44,169],"robust":[46],"or":[48,53],"trajectory":[49,176],"(i.e.,":[51],"filtering":[52],"smoothing)":[54],"cable-driven":[57],"tensegrity":[58,180],"robot.":[59],"For":[60],"online":[61],"estimation,":[63],"this":[64,89,98],"work":[65],"introduces":[66],"factor-graph-based":[68],"method,":[69,139],"which":[70],"fuses":[71],"measurements":[72],"from":[73],"an":[74,162],"RGB-D":[75],"camera":[76],"with":[77],"on-board":[78],"cable":[79],"length":[80],"sensors.":[81],"To":[82],"the":[83,86,91,109,126,136,143,168],"best":[84],"authors'":[87],"knowledge,":[88],"first":[92],"application":[93],"factor":[95],"graphs":[96,101],"in":[97,123],"domain.":[99],"Factor":[100],"are":[102,150],"natural":[104],"choice,":[105],"as":[106],"they":[107],"exploit":[108],"robot's":[110],"structural":[111],"properties":[112],"provide":[114],"effective":[115],"sensor":[116],"fusion":[117],"solutions":[118],"capable":[119],"handling":[121],"nonlinearities":[122],"practice.":[124],"Both":[125],"Mahalanobis":[127],"distance-based":[128],"clustering":[129],"algorithm,":[130],"used":[131,140],"to":[132,141,152,161],"handle":[133],"noise,":[134],"Chebyshev":[137],"polynomial":[138],"estimate":[142],"most":[144],"probable":[145],"velocities":[146],"intermediate":[148],"states,":[149],"shown":[151],"perform":[153],"well":[154],"on":[155],"simulated":[156],"real-world":[158],"data,":[159],"compared":[160],"ICP-based":[163],"algorithm.":[164],"Results":[165],"show":[166],"that":[167],"provides":[170],"high":[171],"fidelity,":[172],"estimates":[177],"complex":[179],"robot":[181],"motions.":[182]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-11T00:00:00"}