Making Space for Time: The Special Galilean Group and Its Application to Some Robotics Problems
Robotics
2024-10-04 v2 Group Theory
Abstract
The special Galilean group, usually denoted SGal(3), is a 10-dimensional Lie group whose important subgroups include the special orthogonal group, the special Euclidean group, and the group of extended poses. We briefly describe SGal(3) and its Lie algebra and show how the group structure supports a unified representation of uncertainty in space and time. Our aim is to highlight the potential usefulness of this group for several robotics problems.
Cite
@article{arxiv.2409.14276,
title = {Making Space for Time: The Special Galilean Group and Its Application to Some Robotics Problems},
author = {Jonathan Kelly},
journal= {arXiv preprint arXiv:2409.14276},
year = {2024}
}
Comments
In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop From Geometry to General Autonomy of Robotic Systems, Abu Dhabi, United Arab Emirates, October 15, 2024. 3 pages, 1 figure