The authors propose an invariant zonotopic set-membership filter (InZSMF) on Lie groups for group affine systems with unknown but bounded noise, and show via simulation that it outperforms the Euclidean ZSMF.
A zonotope-based interval estimation method for systems with nonlinear equality constraints,
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The Invariant Zonotopic Set-Membership Filter for State Estimation on Groups
The authors propose an invariant zonotopic set-membership filter (InZSMF) on Lie groups for group affine systems with unknown but bounded noise, and show via simulation that it outperforms the Euclidean ZSMF.