An SE(3)-based invariant EKF is formulated for multi-link manipulator state estimation with autonomous error dynamics, modular per-link structure, state-dependent noise, and exponential mean-square boundedness.
Systems & Control Letters 39, 63–70
3 Pith papers cite this work. Polarity classification is still indexing.
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UNVERDICTED 3representative citing papers
A fully discrete strain-based model for continuum robot dynamics via Lie group variational integrators, combined with an EKF-based observer for states and disturbances, validated on hardware.
Backstepping control tracks effective surface area of non-convex satellites for drag-based orbital control, with asymptotic stability proofs and an extension for solar panel exposure.
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Discrete Geometric Modeling and Extended State Estimation of Continuum Robots
A fully discrete strain-based model for continuum robot dynamics via Lie group variational integrators, combined with an EKF-based observer for states and disturbances, validated on hardware.
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Tracking the Effective Surface Area of Non-Convex Satellites
Backstepping control tracks effective surface area of non-convex satellites for drag-based orbital control, with asymptotic stability proofs and an extension for solar panel exposure.