Kalman Filter: Historical Overview and Review of Its Use in Robotics 60 Years after Its Creation

Table 3

Main filters used in robotics.

Filter	Wheels and legs	Aquatic	Aerial	Manipulators
EKF	Localization	Localization	Control	Control
	Positioning	Trajectory	Navigation and guidance	Parameter estimation
	Trajectory		Parameter identification
	Detection
UKF	Localization	Position estimation	Control	Parameter estimation
	Positioning	Positioning	Parameter identification	Control
	Trajectory
	Detection
AEKF	Localization	Navigation	Navigation and guidance	Control
	Estimation	Localization		Trajectory tracking
				Position estimation
AUKF	Trajectory tracking	Position and direction estimation	Control	Attitude estimation
		Navigation
IEKF	State estimation (position and speed)			State estimation (position and speed)