{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/fully-proprioceptive-slip-velocity-aware","title":"Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer","arxiv_id":"2209.15140","date":"2022-09-29","proceeding":null,"authors":["Xihang Yu","Sangli Teng","Theodor Chakhachiro","Wenzhe Tong","Tingjun Li","Tzu-Yuan Lin","Sarah Koehler","Manuel Ahumada","Jeffrey M. Walls","Maani Ghaffari"],"abstract":"This paper develops a novel slip estimator using the invariant observer design theory and Disturbance Observer (DOB). The proposed state estimator for mobile robots is fully proprioceptive and combines data from an inertial measurement unit and body velocity within a Right Invariant Extended Kalman Filter (RI-EKF). By embedding the slip velocity into $\\mathrm{SE}_3(3)$ matrix Lie group, the developed DOB-based RI-EKF provides real-time velocity and slip velocity estimates on different terrains. Experimental results using a Husky wheeled robot confirm the mathematical derivations and effectiveness of the proposed method in estimating the observable state variables. Open-source software is available for download and reproducing the presented results.","url_abs":"https://arxiv.org/abs/2209.15140v2","url_pdf":"https://arxiv.org/pdf/2209.15140v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"fully-proprioceptive-slip-velocity-aware","repo_url":"https://github.com/umich-curly/slip_detection_dob","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2209.15140","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}