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Unanswered Questions

3,164 questions with no upvoted or accepted answers
7 votes
2 answers
643 views

Reward Function for q learning on a robot

I have 2 wheeled differential drive robot which I use pid for low level control to follow line. I implemented q learning which uses samples for 16 iterations then uses them to decide the best position ...
6 votes
0 answers
410 views

Likelihood field sensor model (Probabilistic Robotics, Thrun et al., p.169-174)

I am currently working on the "likelihood field" sensor model (aka "endpoint model") by Thrun et al. (book: Probabilistic Robotics, Thrun et al., p.169-174) In this context I have ...
5 votes
2 answers
381 views

Inferring joint orientation on multi-joint arm

Not a robotics question in the strictest sense, I guess, but related closely enough, I hope: I have an arm-like articulated two(-plus-one)-joint appliance that I want to use as a 3D input device. It ...
4 votes
1 answer
351 views

Motion planning with Gaussian Process Regression

I was recently introduced to Gaussian Process Regression (GPR). I read multiple papers regarding use cases of GPR in robotics, however, they were more or less very limited. Use case from the ...
4 votes
0 answers
488 views

How does marginalization of variables effect least squares SLAM energy function?

Consider a simple example of Bundle Adjustment where I have robot and landmark poses $x = \left[ x_p \text{ } x_m\right]^T$ and measurements given by $z$, such that a simple factor graph can be ...
4 votes
0 answers
579 views

How does one implement a third order complementary filter for estimating altitude using data from an accelerometer and a barometer?

I am working with the CJMCU build of cleanflight on a small drone. As of now, the algorithm for altitude hold uses a first order complementary filter to combine data from the barometer and the ...
3 votes
1 answer
20 views

Freeze version of ROS1 for development/deployment

I am working with ROS Noetic project in a team. Are there any existing techniques/tools for managing a freeze of the ROS rolling release? The intent is to achieve a more stable development and ...
3 votes
0 answers
77 views

Extern Controller, Cannot connect to Webots instance

I installed ROS2 on WSL2, Ubuntu22.04, and follow the tutorial in this link, which helped me install webots on Win11. But when I execute this command ...
3 votes
0 answers
32 views

How to calibrate IMU for large scale deployments possibly using deep neural network

We were testing our visual SLAM algorithm on robots. We were getting poor performance. Then we calculated wite noise and random walk parameters (using kalibr) for the IMU and used it in our algorithm ...
3 votes
0 answers
554 views

How to fuse IMU with encoders in EKF

Background I have a car-like mobile robot (4 wheels, where the forward ones are steering wheels) and I want to estimate its pose and velocity assuming 2D planar motion. I'm trying to solve this ...
3 votes
0 answers
316 views

Nonlinear Sensor Fusion with Space-Time Finite Element and Static Condensation?

I have recently implemented an algorithm for the nonlinear fusion of GNSS, barometer, magnetometer, accelerometer and gyroscope data. The algorithm is based on a space-time finite element where the ...
3 votes
1 answer
118 views

Covariance of Gaussian after sequence of homogeneous transformations

Assume we have a robot that moves and observes landmarks on his path. The path is composed of $k$ poses $s_1 \: ... s_k$ where $s_i = [x,\ y,\ \theta]$. From the sensors, we read the motion ...
3 votes
0 answers
160 views

FABRIK Inverse Kinematics Convergence Proof For Multiple End-Effector Case

Below, I've linked the FABRIK papers, the first of which is particularly relevant to my question, as it shows the convergence proof for the single end effector case, and this makes sense to me. But I ...
3 votes
1 answer
980 views

How to find angular velocity using pure pursuit algorithm?

I have implemented the pure pursuit algorithm for my differential wheeled robot as described in the following paper: http://www.enseignement.polytechnique.fr/profs/informatique/Eric.Goubault/MRIS/...
3 votes
0 answers
95 views

output velocity equation of compliance control

I am trying to implement a compliance controller for a robot arm and stumbled upon an existing code snippet where the compliance velocity of the endeffector is calculated by: $v_{out} = v_{in} + \frac{...

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