Add to ORKGInternational audienceWe consider a left-invariant dynamics on an arbitrary Lie group. We show that it is possible, when the output map is right-left equivariant, to build non-linear observers such that the error equation is autonomous. The theory is illustrated by an inertial navigation example
We consider under-actuated, drift-free, invariant systems on matrix Lie groups and show how motion c...
In this paper we consider a noise free class of dynamics encompassing left- and right-invariant on a...
This paper proposes a nonlinear pose observer designed directly on the Lie group structure of the Sp...
International audienceWe consider a left-invariant dynamics on an arbitrary Lie group. We show that ...
International audienceIn this technical note, we give a geometrical framework for the design of obse...
In this paper we introduce a general design approach for observers for left-invariant systems on a L...
This paper deals with the problem of output regulation for left invariant systems defined on general...
International audienceWe analyze the convergence aspects of the invariant extended Kalman filter (IE...
A major motivation for Lie group observers is their application as sensor fusion algorithms for an i...
A wide range of dynamical systems from fields as diverse as mechanics, electrical networks and molec...
The problem of output regulation deals with asymptotic tracking/rejection of a prescribed reference ...
International audienceIn this paper we propose a (non-linear) smoothing algorithm for group-affine o...
This paper presents the equivariant systems theory and observer design for second order kinematic s...
This paper considers the problem of tracking reference trajectories for systems defined on matrix Li...
This paper considers the design of nonlinear state observers for finite-dimensional equivariant kine...
We consider under-actuated, drift-free, invariant systems on matrix Lie groups and show how motion c...
In this paper we consider a noise free class of dynamics encompassing left- and right-invariant on a...
This paper proposes a nonlinear pose observer designed directly on the Lie group structure of the Sp...
International audienceWe consider a left-invariant dynamics on an arbitrary Lie group. We show that ...
International audienceIn this technical note, we give a geometrical framework for the design of obse...
In this paper we introduce a general design approach for observers for left-invariant systems on a L...
This paper deals with the problem of output regulation for left invariant systems defined on general...
International audienceWe analyze the convergence aspects of the invariant extended Kalman filter (IE...
A major motivation for Lie group observers is their application as sensor fusion algorithms for an i...
A wide range of dynamical systems from fields as diverse as mechanics, electrical networks and molec...
The problem of output regulation deals with asymptotic tracking/rejection of a prescribed reference ...
International audienceIn this paper we propose a (non-linear) smoothing algorithm for group-affine o...
This paper presents the equivariant systems theory and observer design for second order kinematic s...
This paper considers the problem of tracking reference trajectories for systems defined on matrix Li...
This paper considers the design of nonlinear state observers for finite-dimensional equivariant kine...
We consider under-actuated, drift-free, invariant systems on matrix Lie groups and show how motion c...
In this paper we consider a noise free class of dynamics encompassing left- and right-invariant on a...
This paper proposes a nonlinear pose observer designed directly on the Lie group structure of the Sp...