The Uncertainty Aware Salted Kalman Filter: State Estimation for Hybrid Systems with Uncertain Guards
J. Joe Payne,Nathan J. Kong,Aaron M. Johnson,J. Joe Payne,Nathan J. Kong,Aaron M. Johnson
In this paper, we present a method for updating robotic state belief through contact with uncertain surfaces and apply this update to a Kalman filter for more accurate state estimation. Examining how guard surface uncertainty affects the time spent in each mode, we derive a novel guard saltation matrix- which maps perturbations prior to hybrid events to perturbations after - accounting for additio...
