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Space-Time Continuum: Continuous Shape and Time State Estimation for Flexible Robots (2409.12302v1)
Published 18 Sep 2024 in cs.RO
Abstract: This extended abstract introduces a novel method for continuous state estimation of continuum robots. We formulate the estimation problem as a factor-graph optimization problem using a novel Gaussian-process prior that is parameterized over both arclength and time. We use this to introduce the first continuous-time-and-space state estimation method for continuum robots.