LEARNEST: LEARNing Enhanced Model-based State ESTimation for Robots Using Knowledge-based Neural Ordinary Differential Equations
2023 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2023)（2023）
Key words
accurate hybrid model,accurate state estimates,data-driven model,dynamics model,estimation accuracy,horizon estimation,KNODE framework embeds prior knowledge,knowledge-based neural ordinary differential equations,LEARNing enhanced model-based state ESTimation,learning-enhanced state estimation framework,measurement models,neural ordinary differential equation model,nonlinear dynamics,novel model-based state estimation algorithms,prior first-principles model,robotic applications,robotics applications
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