Related papers: The Geometry and Kinematics of the Matrix Lie Grou…
Classical mathematical techniques such as discrete integration, gradient descent optimization, and state estimation (exemplified by the Runge-Kutta method, Gauss-Newton minimization, and extended Kalman filter or EKF, respectively), rely on…
We propose a new metric for robot state estimation based on the recently introduced $\text{SE}_2(3)$ Lie group definition. Our metric is related to prior metrics for SLAM but explicitly takes into account the linear velocity of the state…
A Lie group is an old mathematical abstract object dating back to the XIX century, when mathematician Sophus Lie laid the foundations of the theory of continuous transformation groups. As it often happens, its usage has spread over diverse…
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…
This paper presents an algorithm that makes novel use of a Lie group representation of position and orientation alongside a constrained extended Kalman filter (CEKF) to accurately estimate pelvis, thigh, and shank kinematics during walking…
The recently introduced matrix group SE2(3) provides a 5x5 matrix representation for the orientation, velocity and position of an object in the 3-D space, a triplet we call "extended pose". In this paper we build on this group to develop a…
While many works exploiting an existing Lie group structure have been proposed for state estimation, in particular the Invariant Extended Kalman Filter (IEKF), few papers address the construction of a group structure that allows casting a…
In this paper, the spacecraft attitude estimation problem has been investigated making use of the concept of matrix Lie group. Through formulation of the attitude and gyroscope bias as elements of SE(3), the corresponding extended Kalman…
We suggest a new algorithm to estimate representations of compact Lie groups from finite samples of their orbits. Different from other reported techniques, our method allows the retrieval of the precise representation type as a direct sum…
In recent years, skeleton-based action recognition has become a popular 3D classification problem. State-of-the-art methods typically first represent each motion sequence as a high-dimensional trajectory on a Lie group with an additional…
Recent work has constructed neural networks that are equivariant to continuous symmetry groups such as 2D and 3D rotations. This is accomplished using explicit Lie group representations to derive the equivariant kernels and nonlinearities.…
Many robotic systems allow independent control of position and orientation (pose), including omnidirectional aerial vehicles, underwater robots, and manipulator end-effectors. In many applications, these systems must follow a continuous…
Lie groups considered as three-dimensional almost paracontact almost paracomplex Riemannian manifolds are investigated. In each basic class of the classification used for the manifolds under consideration, a correspondence is established…
This paper presents a generic motion model to capture mobile robots' dynamic behaviors (translation and rotation). The model is based on statistical models driven by white random processes and is formulated into a full state estimation…
We propose Lie group embedded dynamical neural networks (LieEDNN) and the corresponding learning algorithms based on gradient descent and metric projection on smooth manifold, where we treat Lie group as an intrinsic representation for…
This paper proposes a equivariant filtering (EqF) framework for the inertial-integrated state estimation problem. As the kinematic system of the inertial-integrated navigation can be naturally modeling on the matrix Lie group $SE_2(3)$, the…
This paper introduces a general Lie group framework for modeling continuum soft robots, employing Cosserat rod theory combined with cumulative parameterization on the Lie group SE(3). This novel approach addresses limitations present in…
An unscented Kalman filter for matrix Lie groups is proposed where the time propagation of the state is formulated on the Lie algebra. This is done with the kinematic differential equation of the logarithm, where the inverse of the right…
The future where the industrial shop-floors witness humans and robots working in unison and the domestic households becoming a shared space for both these agents is not very far. The scientific community has been accelerating towards that…
In contrast to conventional robots, accurately modeling the kinematics and statics of continuum robots is challenging due to partially unknown material properties, parasitic effects, or unknown forces acting on the continuous body.…