Search Results for author: Maani Ghaffari Jadidi

Found 4 papers, 2 papers with code

Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation

2 code implementations26 May 2018 Ross Hartley, Maani Ghaffari Jadidi, Jessy W. Grizzle, Ryan M. Eustice

On the basis of the theory of invariant observer design by Barrau and Bonnabel, and in particular, the Invariant EKF (InEKF), we show that the error dynamics of the point contact-inertial system follows a log-linear autonomous differential equation; hence, the observable state variables can be rendered convergent with a domain of attraction that is independent of the system's trajectory.


Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation Using Factor Graphs

no code implementations20 Mar 2018 Ross Hartley, Maani Ghaffari Jadidi, Lu Gan, Jiunn-Kai Huang, Jessy W. Grizzle, Ryan M. Eustice

The factor graph framework is a convenient modeling technique for robotic state estimation where states are represented as nodes, and measurements are modeled as factors.


Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors

no code implementations15 Dec 2017 Ross Hartley, Josh Mangelson, Lu Gan, Maani Ghaffari Jadidi, Jeffrey M. Walls, Ryan M. Eustice, Jessy W. Grizzle

We introduce forward kinematic factors and preintegrated contact factors into a factor graph framework that can be incrementally solved in real-time.


Sampling-based Incremental Information Gathering with Applications to Robotic Exploration and Environmental Monitoring

1 code implementation7 Jul 2016 Maani Ghaffari Jadidi, Jaime Valls Miro, Gamini Dissanayake

Our approach is built on rapidly-exploring information gathering algorithms and benefits from advantages of sampling-based optimal motion planning algorithms.


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