Robustness under concurrent geometric degeneracy and unreliable wheel motion

Establish the robustness of the tightly coupled LiDAR–inertial–kinematic odometry framework for quadrupedal wheel-legged robots when severe LiDAR geometric degeneracy and unreliable wheel motion occur simultaneously.

Background

The experiments evaluate geometric degeneracy and unreliable wheel motion in separate settings. Although the proposed estimator performs well under each condition individually, the paper does not establish its behavior when both severe LiDAR degeneracy and wheel-motion failures occur at the same time. This leaves an unresolved robustness question for combined adverse conditions.