Equivariant filter (eqf)
The kinematics of many systems encountered in robotics, mechatronics, and avionics are
naturally posed on homogeneous spaces; ie, their state lies in a smooth manifold equipped …
naturally posed on homogeneous spaces; ie, their state lies in a smooth manifold equipped …
Overcoming bias: Equivariant filter design for biased attitude estimation with online calibration
Stochastic filters for on-line state estimation are a core technology for autonomous systems.
The performance of such filters is one of the key limiting factors to a system's capability. Both …
The performance of such filters is one of the key limiting factors to a system's capability. Both …
Equivariant symmetries for inertial navigation systems
This paper investigates the problem of inertial navigation system (INS) filter design through
the lens of symmetry. The extended Kalman filter (EKF) and its variants, have been the …
the lens of symmetry. The extended Kalman filter (EKF) and its variants, have been the …
Equivariant filter design for inertial navigation systems with input measurement biases
Inertial Navigation Systems (INS) are a key technology for autonomous vehicles
applications. Recent advances in estimation and filter design for the INS problem have …
applications. Recent advances in estimation and filter design for the INS problem have …
Errors dynamics in affine group systems
Errors dynamics captures the evolution of the state errors between two distinct trajectories,
that are governed by the same system rule but initiated or perturbed differently. In particular …
that are governed by the same system rule but initiated or perturbed differently. In particular …
A note on the extended Kalman filter on a manifold
The kinematics of many control systems, especially in the robotics field, naturally live on
smooth manifolds. Most classical state-estimation algorithms, including the extended …
smooth manifolds. Most classical state-estimation algorithms, including the extended …
Equivariant filter design for discrete-time systems
The kinematics of many nonlinear control systems, especially in the robotics field, admit a
transitive Lie-group symmetry, which is useful in high performance observer design. The …
transitive Lie-group symmetry, which is useful in high performance observer design. The …
Generic controllability of equivariant systems and applications to particle systems and neural networks
A Agrachev, C Letrouit - arXiv preprint arXiv:2404.08289, 2024 - arxiv.org
There exist many examples of systems which have some symmetries, and which one may
monitor with symmetry preserving controls. Since symmetries are preserved along the …
monitor with symmetry preserving controls. Since symmetries are preserved along the …
[HTML][HTML] Desired dynamics-based generalized inverse solver for estimation problems
An important task for estimators is to solve the inverse. However, as the designs of different
estimators for solving the inverse vary widely, it is difficult for engineers to be familiar with all …
estimators for solving the inverse vary widely, it is difficult for engineers to be familiar with all …
State estimation in mechanical systems of fractional-order based on a family of proportional ρ-integral observers
O Martínez-Fuentes, AJ Muñoz-Vázquez… - Nonlinear …, 2023 - Springer
In control theory, there are many proposals to solve the problem of observer design. This
paper studies the Mittag-Leffler stability of a class of dynamic observers for nonlinear …
paper studies the Mittag-Leffler stability of a class of dynamic observers for nonlinear …