Kinematics Based Visual Localization for Skid-Steering Robots: Algorithm and Theory. Article Swipe
Xingxing Zuo
,
Mingming Zhang
,
Yiming Chen
,
Guoquan Huang
,
Yong Liu
,
Mingyang Li
·
YOU?
·
· 2020
· Open Access
·
YOU?
·
· 2020
· Open Access
·
To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially for pose estimation (i.e., determining the robot's rotation and position), which is the prerequisite of autonomous navigation. While the general localization algorithms have been extensively studied in research communities, there are still fundamental problems that need to be resolved for localizing skid-steering robots that change their orientation with a skid. To tackle this problem, we propose a probabilistic sliding-window estimator dedicated to skid-steering robots, using measurements from a monocular camera, the wheel encoders, and optionally an inertial measurement unit (IMU). Specifically, we explicitly model the kinematics of skid-steering robots by both track instantaneous centers of rotation (ICRs) and correction factors, which are capable of compensating for the complexity of track-to-terrain interaction, the imperfectness of mechanical design, terrain conditions and smoothness, and so on. To prevent performance reduction in robots' lifelong missions, the time- and location- varying kinematic parameters are estimated online along with pose estimation states in a tightly-coupled manner. More importantly, we conduct in-depth observability analysis for different sensors and design configurations in this paper, which provides us with theoretical tools in making the correct choice when building real commercial robots. In our experiments, we validate the proposed method by both simulation tests and real-world experiments, which demonstrate that our method outperforms competing methods by wide margins.
Related Topics
Concepts
Metadata
- Type
- preprint
- Language
- en
- Landing Page
- https://arxiv.org/pdf/2006.04335.pdf
- OA Status
- green
- References
- 41
- Related Works
- 20
- OpenAlex ID
- https://openalex.org/W3037820929
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W3037820929Canonical identifier for this work in OpenAlex
- Title
-
Kinematics Based Visual Localization for Skid-Steering Robots: Algorithm and Theory.Work title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2020Year of publication
- Publication date
-
2020-06-08Full publication date if available
- Authors
-
Xingxing Zuo, Mingming Zhang, Yiming Chen, Guoquan Huang, Yong Liu, Mingyang LiList of authors in order
- Landing page
-
https://arxiv.org/pdf/2006.04335.pdfPublisher landing page
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/2006.04335.pdfDirect OA link when available
- Concepts
-
Skid (aerodynamics), Robot, Terrain, Kinematics, Inertial measurement unit, Computer science, Simulation, Artificial intelligence, Computer vision, Control engineering, Algorithm, Control theory (sociology), Engineering, Mechanical engineering, Classical mechanics, Physics, Ecology, Biology, Control (management)Top concepts (fields/topics) attached by OpenAlex
- Cited by
-
0Total citation count in OpenAlex
- References (count)
-
41Number of works referenced by this work
- Related works (count)
-
20Other works algorithmically related by OpenAlex
Full payload
| id | https://openalex.org/W3037820929 |
|---|---|
| doi | |
| ids.mag | 3037820929 |
| ids.openalex | https://openalex.org/W3037820929 |
| fwci | |
| type | preprint |
| title | Kinematics Based Visual Localization for Skid-Steering Robots: Algorithm and Theory. |
| biblio.issue | |
| biblio.volume | |
| biblio.last_page | |
| biblio.first_page | |
| topics[0].id | https://openalex.org/T10191 |
| topics[0].field.id | https://openalex.org/fields/22 |
| topics[0].field.display_name | Engineering |
| topics[0].score | 1.0 |
| topics[0].domain.id | https://openalex.org/domains/3 |
| topics[0].domain.display_name | Physical Sciences |
| topics[0].subfield.id | https://openalex.org/subfields/2202 |
| topics[0].subfield.display_name | Aerospace Engineering |
| topics[0].display_name | Robotics and Sensor-Based Localization |
| topics[1].id | https://openalex.org/T10586 |
| topics[1].field.id | https://openalex.org/fields/17 |
| topics[1].field.display_name | Computer Science |
| topics[1].score | 0.9979000091552734 |
| topics[1].domain.id | https://openalex.org/domains/3 |
| topics[1].domain.display_name | Physical Sciences |
| topics[1].subfield.id | https://openalex.org/subfields/1707 |
| topics[1].subfield.display_name | Computer Vision and Pattern Recognition |
| topics[1].display_name | Robotic Path Planning Algorithms |
| topics[2].id | https://openalex.org/T10531 |
| topics[2].field.id | https://openalex.org/fields/17 |
| topics[2].field.display_name | Computer Science |
| topics[2].score | 0.9973000288009644 |
| topics[2].domain.id | https://openalex.org/domains/3 |
| topics[2].domain.display_name | Physical Sciences |
| topics[2].subfield.id | https://openalex.org/subfields/1707 |
| topics[2].subfield.display_name | Computer Vision and Pattern Recognition |
| topics[2].display_name | Advanced Vision and Imaging |
| is_xpac | False |
| apc_list | |
| apc_paid | |
| concepts[0].id | https://openalex.org/C94296324 |
| concepts[0].level | 2 |
| concepts[0].score | 0.8567585945129395 |
| concepts[0].wikidata | https://www.wikidata.org/wiki/Q2234301 |
| concepts[0].display_name | Skid (aerodynamics) |
| concepts[1].id | https://openalex.org/C90509273 |
| concepts[1].level | 2 |
| concepts[1].score | 0.7165671586990356 |
| concepts[1].wikidata | https://www.wikidata.org/wiki/Q11012 |
| concepts[1].display_name | Robot |
| concepts[2].id | https://openalex.org/C161840515 |
| concepts[2].level | 2 |
| concepts[2].score | 0.6326873898506165 |
| concepts[2].wikidata | https://www.wikidata.org/wiki/Q186131 |
| concepts[2].display_name | Terrain |
| concepts[3].id | https://openalex.org/C39920418 |
| concepts[3].level | 2 |
| concepts[3].score | 0.620061457157135 |
| concepts[3].wikidata | https://www.wikidata.org/wiki/Q11476 |
| concepts[3].display_name | Kinematics |
| concepts[4].id | https://openalex.org/C79061980 |
| concepts[4].level | 2 |
| concepts[4].score | 0.5404236316680908 |
| concepts[4].wikidata | https://www.wikidata.org/wiki/Q941680 |
| concepts[4].display_name | Inertial measurement unit |
| concepts[5].id | https://openalex.org/C41008148 |
| concepts[5].level | 0 |
| concepts[5].score | 0.5130435228347778 |
| concepts[5].wikidata | https://www.wikidata.org/wiki/Q21198 |
| concepts[5].display_name | Computer science |
| concepts[6].id | https://openalex.org/C44154836 |
| concepts[6].level | 1 |
| concepts[6].score | 0.4422876238822937 |
| concepts[6].wikidata | https://www.wikidata.org/wiki/Q45045 |
| concepts[6].display_name | Simulation |
| concepts[7].id | https://openalex.org/C154945302 |
| concepts[7].level | 1 |
| concepts[7].score | 0.4100896120071411 |
| concepts[7].wikidata | https://www.wikidata.org/wiki/Q11660 |
| concepts[7].display_name | Artificial intelligence |
| concepts[8].id | https://openalex.org/C31972630 |
| concepts[8].level | 1 |
| concepts[8].score | 0.38465070724487305 |
| concepts[8].wikidata | https://www.wikidata.org/wiki/Q844240 |
| concepts[8].display_name | Computer vision |
| concepts[9].id | https://openalex.org/C133731056 |
| concepts[9].level | 1 |
| concepts[9].score | 0.35385721921920776 |
| concepts[9].wikidata | https://www.wikidata.org/wiki/Q4917288 |
| concepts[9].display_name | Control engineering |
| concepts[10].id | https://openalex.org/C11413529 |
| concepts[10].level | 1 |
| concepts[10].score | 0.32186079025268555 |
| concepts[10].wikidata | https://www.wikidata.org/wiki/Q8366 |
| concepts[10].display_name | Algorithm |
| concepts[11].id | https://openalex.org/C47446073 |
| concepts[11].level | 3 |
| concepts[11].score | 0.3218603730201721 |
| concepts[11].wikidata | https://www.wikidata.org/wiki/Q5165890 |
| concepts[11].display_name | Control theory (sociology) |
| concepts[12].id | https://openalex.org/C127413603 |
| concepts[12].level | 0 |
| concepts[12].score | 0.3060913681983948 |
| concepts[12].wikidata | https://www.wikidata.org/wiki/Q11023 |
| concepts[12].display_name | Engineering |
| concepts[13].id | https://openalex.org/C78519656 |
| concepts[13].level | 1 |
| concepts[13].score | 0.08642807602882385 |
| concepts[13].wikidata | https://www.wikidata.org/wiki/Q101333 |
| concepts[13].display_name | Mechanical engineering |
| concepts[14].id | https://openalex.org/C74650414 |
| concepts[14].level | 1 |
| concepts[14].score | 0.0 |
| concepts[14].wikidata | https://www.wikidata.org/wiki/Q11397 |
| concepts[14].display_name | Classical mechanics |
| concepts[15].id | https://openalex.org/C121332964 |
| concepts[15].level | 0 |
| concepts[15].score | 0.0 |
| concepts[15].wikidata | https://www.wikidata.org/wiki/Q413 |
| concepts[15].display_name | Physics |
| concepts[16].id | https://openalex.org/C18903297 |
| concepts[16].level | 1 |
| concepts[16].score | 0.0 |
| concepts[16].wikidata | https://www.wikidata.org/wiki/Q7150 |
| concepts[16].display_name | Ecology |
| concepts[17].id | https://openalex.org/C86803240 |
| concepts[17].level | 0 |
| concepts[17].score | 0.0 |
| concepts[17].wikidata | https://www.wikidata.org/wiki/Q420 |
| concepts[17].display_name | Biology |
| concepts[18].id | https://openalex.org/C2775924081 |
| concepts[18].level | 2 |
| concepts[18].score | 0.0 |
| concepts[18].wikidata | https://www.wikidata.org/wiki/Q55608371 |
| concepts[18].display_name | Control (management) |
| keywords[0].id | https://openalex.org/keywords/skid |
| keywords[0].score | 0.8567585945129395 |
| keywords[0].display_name | Skid (aerodynamics) |
| keywords[1].id | https://openalex.org/keywords/robot |
| keywords[1].score | 0.7165671586990356 |
| keywords[1].display_name | Robot |
| keywords[2].id | https://openalex.org/keywords/terrain |
| keywords[2].score | 0.6326873898506165 |
| keywords[2].display_name | Terrain |
| keywords[3].id | https://openalex.org/keywords/kinematics |
| keywords[3].score | 0.620061457157135 |
| keywords[3].display_name | Kinematics |
| keywords[4].id | https://openalex.org/keywords/inertial-measurement-unit |
| keywords[4].score | 0.5404236316680908 |
| keywords[4].display_name | Inertial measurement unit |
| keywords[5].id | https://openalex.org/keywords/computer-science |
| keywords[5].score | 0.5130435228347778 |
| keywords[5].display_name | Computer science |
| keywords[6].id | https://openalex.org/keywords/simulation |
| keywords[6].score | 0.4422876238822937 |
| keywords[6].display_name | Simulation |
| keywords[7].id | https://openalex.org/keywords/artificial-intelligence |
| keywords[7].score | 0.4100896120071411 |
| keywords[7].display_name | Artificial intelligence |
| keywords[8].id | https://openalex.org/keywords/computer-vision |
| keywords[8].score | 0.38465070724487305 |
| keywords[8].display_name | Computer vision |
| keywords[9].id | https://openalex.org/keywords/control-engineering |
| keywords[9].score | 0.35385721921920776 |
| keywords[9].display_name | Control engineering |
| keywords[10].id | https://openalex.org/keywords/algorithm |
| keywords[10].score | 0.32186079025268555 |
| keywords[10].display_name | Algorithm |
| keywords[11].id | https://openalex.org/keywords/control-theory |
| keywords[11].score | 0.3218603730201721 |
| keywords[11].display_name | Control theory (sociology) |
| keywords[12].id | https://openalex.org/keywords/engineering |
| keywords[12].score | 0.3060913681983948 |
| keywords[12].display_name | Engineering |
| keywords[13].id | https://openalex.org/keywords/mechanical-engineering |
| keywords[13].score | 0.08642807602882385 |
| keywords[13].display_name | Mechanical engineering |
| language | en |
| locations[0].id | mag:3037820929 |
| locations[0].is_oa | True |
| locations[0].source.id | https://openalex.org/S4306400194 |
| locations[0].source.issn | |
| locations[0].source.type | repository |
| locations[0].source.is_oa | True |
| locations[0].source.issn_l | |
| locations[0].source.is_core | False |
| locations[0].source.is_in_doaj | False |
| locations[0].source.display_name | arXiv (Cornell University) |
| locations[0].source.host_organization | https://openalex.org/I205783295 |
| locations[0].source.host_organization_name | Cornell University |
| locations[0].source.host_organization_lineage | https://openalex.org/I205783295 |
| locations[0].license | |
| locations[0].pdf_url | |
| locations[0].version | submittedVersion |
| locations[0].raw_type | |
| locations[0].license_id | |
| locations[0].is_accepted | False |
| locations[0].is_published | False |
| locations[0].raw_source_name | arXiv (Cornell University) |
| locations[0].landing_page_url | https://arxiv.org/pdf/2006.04335.pdf |
| authorships[0].author.id | https://openalex.org/A5045415760 |
| authorships[0].author.orcid | https://orcid.org/0000-0003-4158-3153 |
| authorships[0].author.display_name | Xingxing Zuo |
| authorships[0].author_position | first |
| authorships[0].raw_author_name | Xingxing Zuo |
| authorships[0].is_corresponding | False |
| authorships[1].author.id | https://openalex.org/A5100381697 |
| authorships[1].author.orcid | https://orcid.org/0000-0002-1202-2675 |
| authorships[1].author.display_name | Mingming Zhang |
| authorships[1].author_position | middle |
| authorships[1].raw_author_name | Mingming Zhang |
| authorships[1].is_corresponding | False |
| authorships[2].author.id | https://openalex.org/A5101694527 |
| authorships[2].author.orcid | https://orcid.org/0000-0003-0508-1527 |
| authorships[2].author.display_name | Yiming Chen |
| authorships[2].author_position | middle |
| authorships[2].raw_author_name | Yiming Chen |
| authorships[2].is_corresponding | False |
| authorships[3].author.id | https://openalex.org/A5008502528 |
| authorships[3].author.orcid | https://orcid.org/0000-0001-9932-0685 |
| authorships[3].author.display_name | Guoquan Huang |
| authorships[3].author_position | middle |
| authorships[3].raw_author_name | Guoquan Huang |
| authorships[3].is_corresponding | False |
| authorships[4].author.id | https://openalex.org/A5101616745 |
| authorships[4].author.orcid | https://orcid.org/0000-0002-3812-9622 |
| authorships[4].author.display_name | Yong Liu |
| authorships[4].author_position | middle |
| authorships[4].raw_author_name | Yong Liu |
| authorships[4].is_corresponding | False |
| authorships[5].author.id | https://openalex.org/A5100443411 |
| authorships[5].author.orcid | https://orcid.org/0000-0002-1854-3076 |
| authorships[5].author.display_name | Mingyang Li |
| authorships[5].author_position | last |
| authorships[5].raw_author_name | Mingyang Li |
| authorships[5].is_corresponding | False |
| has_content.pdf | False |
| has_content.grobid_xml | False |
| is_paratext | False |
| open_access.is_oa | True |
| open_access.oa_url | https://arxiv.org/pdf/2006.04335.pdf |
| open_access.oa_status | green |
| open_access.any_repository_has_fulltext | False |
| created_date | 2025-10-10T00:00:00 |
| display_name | Kinematics Based Visual Localization for Skid-Steering Robots: Algorithm and Theory. |
| has_fulltext | False |
| is_retracted | False |
| updated_date | 2025-10-10T17:16:08.811792 |
| primary_topic.id | https://openalex.org/T10191 |
| primary_topic.field.id | https://openalex.org/fields/22 |
| primary_topic.field.display_name | Engineering |
| primary_topic.score | 1.0 |
| primary_topic.domain.id | https://openalex.org/domains/3 |
| primary_topic.domain.display_name | Physical Sciences |
| primary_topic.subfield.id | https://openalex.org/subfields/2202 |
| primary_topic.subfield.display_name | Aerospace Engineering |
| primary_topic.display_name | Robotics and Sensor-Based Localization |
| related_works | https://openalex.org/W2983636741, https://openalex.org/W2936797713, https://openalex.org/W3122767460, https://openalex.org/W2947542761, https://openalex.org/W3085480136, https://openalex.org/W2293238851, https://openalex.org/W3176104382, https://openalex.org/W2003184114, https://openalex.org/W3003929669, https://openalex.org/W2169539939, https://openalex.org/W3120444946, https://openalex.org/W3206968312, https://openalex.org/W2169233175, https://openalex.org/W2024503785, https://openalex.org/W2792006036, https://openalex.org/W2321828969, https://openalex.org/W3100780902, https://openalex.org/W2778038863, https://openalex.org/W2889850168, https://openalex.org/W2883702102 |
| cited_by_count | 0 |
| locations_count | 1 |
| best_oa_location.id | mag:3037820929 |
| best_oa_location.is_oa | True |
| best_oa_location.source.id | https://openalex.org/S4306400194 |
| best_oa_location.source.issn | |
| best_oa_location.source.type | repository |
| best_oa_location.source.is_oa | True |
| best_oa_location.source.issn_l | |
| best_oa_location.source.is_core | False |
| best_oa_location.source.is_in_doaj | False |
| best_oa_location.source.display_name | arXiv (Cornell University) |
| best_oa_location.source.host_organization | https://openalex.org/I205783295 |
| best_oa_location.source.host_organization_name | Cornell University |
| best_oa_location.source.host_organization_lineage | https://openalex.org/I205783295 |
| best_oa_location.license | |
| best_oa_location.pdf_url | |
| best_oa_location.version | submittedVersion |
| best_oa_location.raw_type | |
| best_oa_location.license_id | |
| best_oa_location.is_accepted | False |
| best_oa_location.is_published | False |
| best_oa_location.raw_source_name | arXiv (Cornell University) |
| best_oa_location.landing_page_url | https://arxiv.org/pdf/2006.04335.pdf |
| primary_location.id | mag:3037820929 |
| primary_location.is_oa | True |
| primary_location.source.id | https://openalex.org/S4306400194 |
| primary_location.source.issn | |
| primary_location.source.type | repository |
| primary_location.source.is_oa | True |
| primary_location.source.issn_l | |
| primary_location.source.is_core | False |
| primary_location.source.is_in_doaj | False |
| primary_location.source.display_name | arXiv (Cornell University) |
| primary_location.source.host_organization | https://openalex.org/I205783295 |
| primary_location.source.host_organization_name | Cornell University |
| primary_location.source.host_organization_lineage | https://openalex.org/I205783295 |
| primary_location.license | |
| primary_location.pdf_url | |
| primary_location.version | submittedVersion |
| primary_location.raw_type | |
| primary_location.license_id | |
| primary_location.is_accepted | False |
| primary_location.is_published | False |
| primary_location.raw_source_name | arXiv (Cornell University) |
| primary_location.landing_page_url | https://arxiv.org/pdf/2006.04335.pdf |
| publication_date | 2020-06-08 |
| publication_year | 2020 |
| referenced_works | https://openalex.org/W2910261328, https://openalex.org/W2062525513, https://openalex.org/W2938170127, https://openalex.org/W2335829695, https://openalex.org/W2797843868, https://openalex.org/W2167513452, https://openalex.org/W2077751272, https://openalex.org/W2157186802, https://openalex.org/W2745859992, https://openalex.org/W2898749826, https://openalex.org/W2885925038, https://openalex.org/W2091790851, https://openalex.org/W1990398405, https://openalex.org/W2558027072, https://openalex.org/W2118223742, https://openalex.org/W2147536420, https://openalex.org/W2087027772, https://openalex.org/W3003571623, https://openalex.org/W2105467265, https://openalex.org/W2142111022, https://openalex.org/W116077224, https://openalex.org/W3187867541, https://openalex.org/W2115579991, https://openalex.org/W2168539766, https://openalex.org/W2048249748, https://openalex.org/W2033819227, https://openalex.org/W2134349615, https://openalex.org/W1578483761, https://openalex.org/W2968125992, https://openalex.org/W3003813985, https://openalex.org/W2027162577, https://openalex.org/W2027055074, https://openalex.org/W2765689048, https://openalex.org/W2146419316, https://openalex.org/W1532362218, https://openalex.org/W2909157769, https://openalex.org/W2026227513, https://openalex.org/W2736960679, https://openalex.org/W1995266040, https://openalex.org/W1707996405, https://openalex.org/W3104529569 |
| referenced_works_count | 41 |
| abstract_inverted_index.a | 79, 87, 98, 178 |
| abstract_inverted_index.In | 213 |
| abstract_inverted_index.To | 0, 81, 154 |
| abstract_inverted_index.an | 106 |
| abstract_inverted_index.be | 68 |
| abstract_inverted_index.by | 120, 221, 236 |
| abstract_inverted_index.in | 57, 158, 177, 194, 203 |
| abstract_inverted_index.is | 7, 42 |
| abstract_inverted_index.of | 8, 45, 117, 125, 134, 139, 144 |
| abstract_inverted_index.on | 25 |
| abstract_inverted_index.so | 152 |
| abstract_inverted_index.to | 12, 67, 92 |
| abstract_inverted_index.us | 199 |
| abstract_inverted_index.we | 85, 112, 183, 216 |
| abstract_inverted_index.and | 16, 27, 39, 104, 128, 149, 151, 164, 191, 225 |
| abstract_inverted_index.are | 61, 132, 169 |
| abstract_inverted_index.due | 11 |
| abstract_inverted_index.for | 31, 70, 136, 188 |
| abstract_inverted_index.its | 13 |
| abstract_inverted_index.on. | 153 |
| abstract_inverted_index.our | 214, 231 |
| abstract_inverted_index.the | 36, 43, 49, 101, 115, 137, 142, 162, 205, 218 |
| abstract_inverted_index.More | 181 |
| abstract_inverted_index.also | 21 |
| abstract_inverted_index.been | 54 |
| abstract_inverted_index.both | 121, 222 |
| abstract_inverted_index.from | 97 |
| abstract_inverted_index.have | 53 |
| abstract_inverted_index.need | 66 |
| abstract_inverted_index.pose | 32, 174 |
| abstract_inverted_index.real | 210 |
| abstract_inverted_index.that | 65, 74, 230 |
| abstract_inverted_index.this | 83, 195 |
| abstract_inverted_index.unit | 109 |
| abstract_inverted_index.when | 208 |
| abstract_inverted_index.wide | 237 |
| abstract_inverted_index.with | 78, 173, 200 |
| abstract_inverted_index.While | 48 |
| abstract_inverted_index.along | 172 |
| abstract_inverted_index.build | 1 |
| abstract_inverted_index.cause | 22 |
| abstract_inverted_index.model | 114 |
| abstract_inverted_index.skid. | 80 |
| abstract_inverted_index.still | 62 |
| abstract_inverted_index.tests | 224 |
| abstract_inverted_index.their | 76 |
| abstract_inverted_index.there | 60 |
| abstract_inverted_index.these | 20 |
| abstract_inverted_index.time- | 163 |
| abstract_inverted_index.tools | 202 |
| abstract_inverted_index.track | 122 |
| abstract_inverted_index.using | 95 |
| abstract_inverted_index.wheel | 102 |
| abstract_inverted_index.which | 41, 131, 197, 228 |
| abstract_inverted_index.(ICRs) | 127 |
| abstract_inverted_index.(IMU). | 110 |
| abstract_inverted_index.(i.e., | 34 |
| abstract_inverted_index.change | 75 |
| abstract_inverted_index.choice | 207 |
| abstract_inverted_index.design | 6, 192 |
| abstract_inverted_index.making | 204 |
| abstract_inverted_index.method | 220, 232 |
| abstract_inverted_index.online | 171 |
| abstract_inverted_index.paper, | 196 |
| abstract_inverted_index.robots | 73, 119 |
| abstract_inverted_index.states | 176 |
| abstract_inverted_index.tackle | 82 |
| abstract_inverted_index.unique | 17 |
| abstract_inverted_index.camera, | 100 |
| abstract_inverted_index.capable | 133 |
| abstract_inverted_index.centers | 124 |
| abstract_inverted_index.conduct | 184 |
| abstract_inverted_index.correct | 206 |
| abstract_inverted_index.design, | 29, 146 |
| abstract_inverted_index.general | 50 |
| abstract_inverted_index.manner. | 180 |
| abstract_inverted_index.methods | 235 |
| abstract_inverted_index.prevent | 155 |
| abstract_inverted_index.propose | 86 |
| abstract_inverted_index.robot's | 37 |
| abstract_inverted_index.robots' | 159 |
| abstract_inverted_index.robots, | 3, 94 |
| abstract_inverted_index.robots. | 212 |
| abstract_inverted_index.sensors | 190 |
| abstract_inverted_index.studied | 56 |
| abstract_inverted_index.terrain | 147 |
| abstract_inverted_index.varying | 166 |
| abstract_inverted_index.However, | 19 |
| abstract_inverted_index.analysis | 187 |
| abstract_inverted_index.building | 209 |
| abstract_inverted_index.factors, | 130 |
| abstract_inverted_index.in-depth | 185 |
| abstract_inverted_index.inertial | 107 |
| abstract_inverted_index.lifelong | 160 |
| abstract_inverted_index.margins. | 238 |
| abstract_inverted_index.problem, | 84 |
| abstract_inverted_index.problems | 64 |
| abstract_inverted_index.proposed | 219 |
| abstract_inverted_index.provides | 198 |
| abstract_inverted_index.research | 58 |
| abstract_inverted_index.resolved | 69 |
| abstract_inverted_index.rotation | 38, 126 |
| abstract_inverted_index.software | 26 |
| abstract_inverted_index.validate | 217 |
| abstract_inverted_index.algorithm | 28 |
| abstract_inverted_index.competing | 234 |
| abstract_inverted_index.dedicated | 91 |
| abstract_inverted_index.different | 189 |
| abstract_inverted_index.encoders, | 103 |
| abstract_inverted_index.estimated | 170 |
| abstract_inverted_index.estimator | 90 |
| abstract_inverted_index.increased | 9 |
| abstract_inverted_index.kinematic | 167 |
| abstract_inverted_index.location- | 165 |
| abstract_inverted_index.missions, | 161 |
| abstract_inverted_index.monocular | 99 |
| abstract_inverted_index.reduction | 157 |
| abstract_inverted_index.algorithms | 52 |
| abstract_inverted_index.autonomous | 46 |
| abstract_inverted_index.challenges | 24 |
| abstract_inverted_index.commercial | 2, 211 |
| abstract_inverted_index.complexity | 138 |
| abstract_inverted_index.conditions | 148 |
| abstract_inverted_index.correction | 129 |
| abstract_inverted_index.especially | 30 |
| abstract_inverted_index.estimation | 33, 175 |
| abstract_inverted_index.explicitly | 113 |
| abstract_inverted_index.kinematics | 116 |
| abstract_inverted_index.localizing | 71 |
| abstract_inverted_index.mechanical | 5, 145 |
| abstract_inverted_index.mechanism. | 18 |
| abstract_inverted_index.optionally | 105 |
| abstract_inverted_index.parameters | 168 |
| abstract_inverted_index.popularity | 10 |
| abstract_inverted_index.position), | 40 |
| abstract_inverted_index.real-world | 226 |
| abstract_inverted_index.simplicity | 15 |
| abstract_inverted_index.simulation | 223 |
| abstract_inverted_index.demonstrate | 229 |
| abstract_inverted_index.determining | 35 |
| abstract_inverted_index.extensively | 55 |
| abstract_inverted_index.fundamental | 63 |
| abstract_inverted_index.measurement | 108 |
| abstract_inverted_index.navigation. | 47 |
| abstract_inverted_index.orientation | 77 |
| abstract_inverted_index.outperforms | 233 |
| abstract_inverted_index.performance | 156 |
| abstract_inverted_index.significant | 23 |
| abstract_inverted_index.smoothness, | 150 |
| abstract_inverted_index.theoretical | 201 |
| abstract_inverted_index.communities, | 59 |
| abstract_inverted_index.compensating | 135 |
| abstract_inverted_index.experiments, | 215, 227 |
| abstract_inverted_index.importantly, | 182 |
| abstract_inverted_index.interaction, | 141 |
| abstract_inverted_index.localization | 51 |
| abstract_inverted_index.measurements | 96 |
| abstract_inverted_index.prerequisite | 44 |
| abstract_inverted_index.Specifically, | 111 |
| abstract_inverted_index.imperfectness | 143 |
| abstract_inverted_index.instantaneous | 123 |
| abstract_inverted_index.manufacturing | 14 |
| abstract_inverted_index.observability | 186 |
| abstract_inverted_index.probabilistic | 88 |
| abstract_inverted_index.skid-steering | 4, 72, 93, 118 |
| abstract_inverted_index.configurations | 193 |
| abstract_inverted_index.sliding-window | 89 |
| abstract_inverted_index.tightly-coupled | 179 |
| abstract_inverted_index.track-to-terrain | 140 |
| cited_by_percentile_year | |
| countries_distinct_count | 0 |
| institutions_distinct_count | 6 |
| citation_normalized_percentile |