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)

zbMATH Keywords

Kalman filterstochastic filteringmobile roboticshybrid dynamic modelshybrid state-observers

Mathematics Subject Classification ID

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

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Cites work

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• scientific article; zbMATH DE number 51724 (Why is no real title available?)
• scientific article; zbMATH DE number 1300852 (Why is no real title available?)
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• Dynamics identification and forecasting of COVID-19 by switching Kalman filters
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• Lévy Processes and Stochastic Calculus
• New results in linear filtering and prediction theory
• Optimal control of hybrid switched systems: a brief survey
• Second-Order-Optimal Filter on Lie Groups for Planar Rigid Bodies
• Second-Order-Optimal Minimum-Energy Filters on Lie Groups
• Second-order-optimal filtering on SE\((2)\times\mathbb{R}^2\) for the Chaplygin sleigh
• Stability and performance of switching Kalman filters
• Stability theory for hybrid dynamical systems
• State Estimation in Stochastic Hybrid Systems With Sparse Observations
• Stochastic models, estimation, and control. Vol. 2,3
• Uncertainty Estimation for Pseudo‐Bayesian Inference Under Complex Sampling

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