Minimum-energy switching geometric filter on Lie groups for differential-drive wheeled mobile robots

DOI10.1016/J.EJCON.2024.101101MaRDI QIDQ6669727zbMATH OpenFDO

Authors Federico Vesentini, Nicola Sansonetto, Luca Di Persio, Riccardo Muradore

Publication date 22 January 2025

Published in European Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/J.EJCON.2024.101101

zbMATH Keywords

hybrid dynamic modelshybrid state-observersKalman filtermobile roboticsstochastic filtering

Mathematics Subject Classification ID

Applications of Lie groups to the sciences; explicit representations (22E70) Automated systems (robots, etc.) in control theory (93C85) Filtering in stochastic control theory (93E11)

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