Overview

Author: Cagri Kilic
Affiliation: WVU NAVLAB
Maintainer: Cagri Kilic, cakilic@mix.wvu.edu

Slip-Based Autonomous ZUPT through Gaussian Process to Improve Planetary Rover Localization

Architecture

Keywords: Mars Sample Return, planetary rovers, time series prediction, slip, zero velocity update, rover localization

Citation

If you find this library useful, please cite the following publication:

[1] Cagri Kilic, Nicholas Ohi, Yu Gu, Jason N. Gross: Slip-Based Autonomous ZUPT through Gaussian Process to Improve Planetary Rover Localization. IEEE Robotics and Automation Letters (RA-L), 2021. https://doi.org/10.1109/LRA.2021.3068893

    @article{Kilic2021,
      author={Kilic, Cagri and Ohi, Nicholas and and Gu, Yu and Gross, Jason N},
      journal={IEEE Robotics and Automation Letters}, 
      title={Slip-Based Autonomous ZUPT through Gaussian Process to Improve Planetary Rover Localization}, 
      year={2021},
      volume={6},
      number={3},
      pages={4782-4789},
      doi={10.1109/LRA.2021.3068893}
      }

[2] Cagri Kilic and Jason Gross: Pathfinder GPS, IMU, and Wheel Odometry Data on Various Terrains, IEEE Dataport, November 23, 2020, doi: https://dx.doi.org/10.21227/vz7z-jc84.

    @data{Kilic2020Pathfinder,
       doi = {10.21227/vz7z-jc84},
       url = {https://dx.doi.org/10.21227/vz7z-jc84},
       author = {Cagri Kilic; Jason Gross },
       publisher = {IEEE Dataport},
       title = {Pathfinder GPS, IMU, and Wheel Odometry Data on Various Terrains},
       year = {2020} } 
        
    }

[3] Cagri Kilic, Jason N. Gross, Nicholas Ohi, Ryan Watson, Jared Strader, Thomas Swiger, Scott Harper, and Yu Gu: Improved Planetary Rover Inertial Navigation and Wheel Odometry Performance through Periodic Use of Zero-Type Constraints. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019. https://doi.org/10.1109/IROS40897.2019.8967634

    @inproceedings{Kilic2019,
        author = {Kilic, Cagri and Gross, Jason N. and Ohi, Nicholas and Watson, Ryan and Strader, Jared and Swiger, Thomas and Harper, Scott and Gu, Yu},
        booktitle = {2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
        title = {{Improved Planetary Rover Inertial Navigation and Wheel Odometry Performance through Periodic Use of Zero-Type Constraints}},
        year = {2019},
        pages={552-559},
        doi={10.1109/IROS40897.2019.8967634},
        ISSN={2153-0858}, 
        publisher = {IEEE},
        
    }