Estimation of robot states with Poisson process based on EKF approximate of Kushner filter: a completely coordinate free Lie group approach

DOI10.1007/S11012-021-01325-3MaRDI QIDQ6166433zbMATH OpenOpenAlexWikidataFDO

Authors Rohit Rana, Prerna Gaur, Vijyant Agarwal, Harish Parthasarathy

Publication date 2 August 2023

Published in Meccanica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11012-021-01325-3

zbMATH Keywords

Markov processGaussian noiseframe invariancejerk noisejerky torqueKushner-Kallianpur filterOmni bundle robot

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Symmetries, Lie group and Lie algebra methods for problems in mechanics (70G65) Random and stochastic aspects of the mechanics of particles and systems (70L99)

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Cites work

• scientific article; zbMATH DE number 3718234 (Why is no real title available?)
• scientific article; zbMATH DE number 1561756 (Why is no real title available?)
• scientific article; zbMATH DE number 1900037 (Why is no real title available?)
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• Dynamical equations for optimal nonlinear filtering
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• Lévy Processes and Stochastic Calculus
• On the dynamical equations of conditional probability density functions, with applications to optimal stochastic control theory
• Smooth and time-optimal trajectory planning for industrial manipulators along specified paths
• Springer handbook of robotics
• Stochastic processes and filtering theory
• Wick calculus on spaces of generalized functions of compound Poisson white noise

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