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

DOI10.1016/J.EJCON.2024.101101MaRDI QIDQ6669727FDOQ6669727

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)

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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)

Cites Work

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• A Brownian-Markov stochastic model for cart-like wheeled mobile robots
• Second-order-optimal filtering on SE\((2)\times\mathbb{R}^2\) for the Chaplygin sleigh
• Uncertainty Estimation for Pseudo‐Bayesian Inference Under Complex Sampling
• New results in linear filtering and prediction theory

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