Equivariance is a common and natural property of many nonlinear control systems,
especially those associated with models of mechatronic and navigation systems. Such …

A wide range of system models in modern robotics and avionics applications admit natural
symmetries. Such systems are termed equivariant and the structure provided by the …

Augmented reality (AR) is an emerging technology that is applied in many fields. One of the
limitations that still prevents AR to be even more widely used relates to the accessibility of …

This letter re-visits the problem of visual-inertial navigation system (VINS) and presents a
novel filter design we dub the multi state constraint equivariant filter (MSC EqF, in analogy to …

Respecting the geometry of the underlying system and exploiting its symmetry have been
driving concepts in deriving modern geometric filters for inertial navigation systems (INSs) …

This paper investigates the global convergence problem of SLAM algorithms, a problem that
has been subject to topological obstacles. This is due to the fact that state-space of attitude …