A robot web for distributed many-device localisation
We show that a distributed network of robots or other devices which make measurements of
each other can collaborate to globally localize via efficient ad hoc peer-to-peer …
each other can collaborate to globally localize via efficient ad hoc peer-to-peer …
Barankin, McAulay–Seidman and Cramér–Rao bounds on matrix lie groups
S Labsir, A Renaux, J Vilà-Valls, E Chaumette - Automatica, 2023 - Elsevier
In this article, we first derive a general intrinsic Barankin bound (IBB) for unknown
parameters lying on Lie groups (LGs), and its intrinsic McAulay–Seidman bound (IMSB) …
parameters lying on Lie groups (LGs), and its intrinsic McAulay–Seidman bound (IMSB) …
Exactly sparse delayed state filter on Lie groups for long-term pose graph SLAM
In this paper we propose a simultaneous localization and mapping (SLAM) back-end
solution called the exactly sparse delayed state filter on Lie groups (LG-ESDSF). We derive …
solution called the exactly sparse delayed state filter on Lie groups (LG-ESDSF). We derive …
Variational Bayesian iteration-based invariant Kalman filter for attitude estimation on matrix lie groups
J Wang, Z Chen - Aerospace, 2021 - mdpi.com
Motivated by the rapid progress of aerospace and robotics engineering, the navigation and
control systems on matrix Lie groups have been actively studied in recent years. For rigid …
control systems on matrix Lie groups have been actively studied in recent years. For rigid …
An EKF for Lie groups with application to crane load dynamics
AM Sjøberg, O Egeland - 2019 - ntnuopen.ntnu.no
An extended Kalman filter (EKF) for systems with configuration given by matrix Lie groups is
presented. The error dynamics are given by the logarithm of the Lie group and are based on …
presented. The error dynamics are given by the logarithm of the Lie group and are based on …
Extended object tracking on the affine group aff (2)
With the rise of advanced driver assistance systems and highly automated driving, the
research of highly reliable and accurate tracking algorithms received special attention within …
research of highly reliable and accurate tracking algorithms received special attention within …
Lie algebraic unscented Kalman filter for pose estimation
AM Sjøberg, O Egeland - IEEE Transactions on Automatic …, 2021 - ieeexplore.ieee.org
An unscented Kalman filter (UKF) for matrix Lie groups is proposed where the time
propagation of the state is formulated on the Lie algebra. This is done with the kinematic …
propagation of the state is formulated on the Lie algebra. This is done with the kinematic …
An improved invariant Kalman filter for lie groups attitude dynamics with heavy-tailed process noise
Attitude estimation is a basic task for most spacecraft missions in aerospace engineering
and many Kalman type attitude estimators have been applied to the guidance and …
and many Kalman type attitude estimators have been applied to the guidance and …
Cramér-Rao Bound for Lie Group Parameter Estimation with Euclidean Observations and Unknown Covariance Matrix
S Labsir, S El Bouch, A Renaux… - IEEE Transactions …, 2024 - ieeexplore.ieee.org
This article addresses the problem of computing a Cramér-Rao bound when the likelihood
of Euclidean observations is parameterized by both unknown Lie group (LG) parameters …
of Euclidean observations is parameterized by both unknown Lie group (LG) parameters …
Kuramoto Oscillators and Swarms on Manifolds for Geometry Informed Machine Learning
V Jacimovic - arXiv preprint arXiv:2405.09453, 2024 - arxiv.org
We propose the idea of using Kuramoto models (including their higher-dimensional
generalizations) for machine learning over non-Euclidean data sets. These models are …
generalizations) for machine learning over non-Euclidean data sets. These models are …