Xihang Yu
Papers
1
Total Citations
17
H-Index
1
About
Xihang Yu is a robotics researcher whose work centers on state estimation and proprioceptive sensing for mobile robots, with a particular focus on slip-aware navigation in challenging terrains. His major contribution lies in developing a fully proprioceptive slip-velocity-aware state estimator that fuses inertial measurement unit data with body velocity measurements using Right Invariant Extended Kalman Filtering and a Disturbance Observer. This approach eliminates reliance on exteroceptive sensors like cameras or LiDAR, enabling robust robot localization even in GPS-denied or visually degraded environments. His most-cited paper, published in 2023, has already garnered 17 citations, reflecting the growing interest in reliable, sensor-frugal estimation methods for field robotics. Yu's work is notable for its theoretical rigor, leveraging invariant observer design to achieve provable convergence properties, while also offering practical utility for robots operating on slippery or uneven surfaces. His research bridges the gap between classical estimation theory and real-world robotic challenges, making him a rising figure in the robotics community.
Research Focus
Key Achievements
Top Papers
- 1