Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: The Uncertainty Aware Salted Kalman Filter: State Estimation for Hybrid
  Systems with Uncertain Guards   In this paper we present a method for updating robotic state belief through
contact with uncertain surfaces and apply this update to a Kalman filter for
more accurate state estimation. Examining how guard surface uncertainty affects
the time spent in each mode, we derive a guard saltation matrix - which maps
perturbations prior to hybrid events to perturbations after - accounting for
additional variation in the resulting state. Additionally, we propose the use
of parameterized reset functions - capturing how unknown parameters change how
states are mapped from one mode to the next - the Jacobian of which accounts
for the additional uncertainty in the resulting state. The accuracy of these
mappings is shown by simulating sampled distributions through uncertain
transition events and comparing the resulting covariances. Finally, we
integrate these additional terms into the "uncertainty aware Salted Kalman
Filter", uaSKF, and show a peak reduction in average estimation error by 24-60%
on a variety of test conditions and systems.

16
The categories of this paper are: stat
5
The categories of this paper are: gr-qc
28
The categories of this paper are: alg-geom
13
The categories of this paper are: quant-ph
23
The categories of this paper are: solv-int
29
The categories of this paper are: funct-an
20
The categories of this paper are: acc-phys
17
The categories of this paper are: q-fin
0
The categories of this paper are: hep-ph
27
The categories of this paper are: comp-gas
10
The categories of this paper are: q-bio
8
The categories of this paper are: hep-ex
11
The categories of this paper are: hep-lat
35
The categories of this paper are: mtrl-th
31
The categories of this paper are: ao-sci
3
The categories of this paper are: physics