Patrick Varin, Scott Kuindersma. A Constrained Kalman Filter for Rigid Body Systems with Frictional Contact. In Marco Morales, Lydia Tapia, Gildardo Sánchez-Ante, Seth Hutchinson, editors, Algorithmic Foundations of Robotics XIII, Proceedings of the 13th Workshop on the Algorithmic Foundations of Robotics, WAFR 2018, Mérida, Mexico, December 9-11, 2018. Volume 14 of Springer Proceedings in Advanced Robotics, pages 474-490, Springer, 2018. [doi]
Abstract is missing.