Ross Hartley, Maani Ghaffari Jadidi, Jessy W. Grizzle, Ryan M. Eustice. Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation. In Hadas Kress-Gazit, Siddhartha Srinivasa, Tom Howard, Nikolay Atanasov, editors, Robotics: Science and Systems XIV, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA, June 26-30, 2018. 2018. [doi]
Abstract is missing.