Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A Low-Cost, Highly Customizable Solution for Position Estimation in
  Modular Robots   Accurate position sensing is important for state estimation and control in
robotics. Reliable and accurate position sensors are usually expensive and
difficult to customize. Incorporating them into systems that have very tight
volume constraints such as modular robots are particularly difficult. PaintPots
are low-cost, reliable, and highly customizable position sensors, but their
performance is highly dependent on the manufacturing and calibration process.
This paper presents a Kalman filter with a simplified observation model
developed to deal with the non-linearity issues that result in the use of
low-cost microcontrollers. In addition, a complete solution for the use of
PaintPots in a variety of sensing modalities including manufacturing,
characterization, and estimation is presented for an example modular robot,
SMORES-EP. This solution can be easily adapted to a wide range of applications.

8
The categories of this paper are: hep-ex
33
The categories of this paper are: plasm-ph
14
The categories of this paper are: math-ph
7
The categories of this paper are: hep-th
30
The categories of this paper are: q-alg
22
The categories of this paper are: chao-dyn
13
The categories of this paper are: quant-ph
19
The categories of this paper are: eess
29
The categories of this paper are: funct-an
27
The categories of this paper are: comp-gas
37
The categories of this paper are: supr-con
12
The categories of this paper are: nucl-th
21
The categories of this paper are: adap-org
26
The categories of this paper are: bayes-an
18
The categories of this paper are: econ
34
The categories of this paper are: chem-ph