Search Results - Genshe Chen

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    Measurement Along the Path of Unmanned Aerial Vehicles for Best Horizontal Dilution of Precision and Geometric Dilution of Precision

    Measurement Along the Path of Unmanned Aerial Vehicles for Best Horizontal Dilution of Precision and Geometric Dilution of Precision by Yanwu Ding, Dan Shen, Khanh Pham, Genshe Chen

    Published 2025-06-01

    In the zenith-horizon placement for achieving minimum geometric dilution of precision (GDOP), one access node or sensor is positioned along the z-axis, while the remaining nodes are placed symmetrically on a three-dimensional (3D) cone. This configuration yields the minimum GDOP at the cone’s tip, w...

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    Learning-Assisted Multi-IMU Proprioceptive State Estimation for Quadruped Robots

    Learning-Assisted Multi-IMU Proprioceptive State Estimation for Quadruped Robots by Xuanning Liu, Yajie Bao, Peng Cheng, Dan Shen, Zhengyang Fan, Hao Xu, Genshe Chen

    Published 2025-06-01

    This paper presents a learning-assisted approach for state estimation of quadruped robots using observations of proprioceptive sensors, including multiple inertial measurement units (IMUs). Specifically, one body IMU and four additional IMUs attached to each calf link of the robot are used for sensi...

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