Related papers: Classification of Linear Observed Systems on Multi…
This paper proposes a novel distributed interval observer design for linear time-invariant (LTI) discrete-time systems subject to bounded disturbances. In the proposed observer algorithm, each agent in a networked group exchanges…
Visual Simultaneous Localisation and Mapping (VSLAM) is a key enabling technology for small embedded robotic systems such as aerial vehicles. Recent advances in equivariant filter and observer design offer the potential of a new generation…
There are a least uncountably many diffeomorphism types for open manifolds. Hence the classification problem is extremely difficult. We proceed as follows: We define several uniform structures of proper metric spaces and consider their arc…
In this paper we introduce an observer design framework for ordinary differential equation (ODE) systems based on various types of existing or even novel one-parameter symmetries (exact, asymptotic and variational) ending up with a certain…
Nonlinear systems of affine control inputs overarch many sensor fusion instances. Analyzing whether a state variable in such a nonlinear system can be estimated (i.e., observability) informs better estimator design. Among the research on…
In various applications in the field of control engineering the estimation of the state variables of dynamic systems in the presence of unknown inputs plays an important role. Existing methods require the so-called observer matching…
A symmetry-preserving, reduced-order state observer is presented for the unmeasured part of a system's state, where the nonlinear system dynamics exhibit symmetry under the action of a Lie group. Leveraging this symmetry with a moving…
Extensive work has been done on the group classification of systems of equations in the literature. This paper identifies the gap in the literature which concerns the group classification of systems of two autonomous nonlinear second-order…
This paper addresses the problem of Visual-Inertial Odometry (VIO) for rigid body systems evolving in three-dimensional space. We introduce a novel matrix Lie group structure, denoted SE_{3+n}(3), that unifies the pose, gravity, linear…
In this paper, we develop a representation-theoretic formulation of discrete-time linear systems. We show that such systems are naturally viewed as representations of time groups acting on vector spaces, thereby endowing the state space…
This note investigates the distributed estimation problem for continuous-time linear time-invariant (LTI) systems observed by a network of observers. Each observer in the network has access to only part of the output of the observed system,…
Precise localization is a core ability of an autonomous vehicle. It is a prerequisite for motion planning and execution. The well-established localization approaches such as Kalman and particle filters require a probabilistic observation…
The completeness of the group classification of systems of two linear second-order ordinary differential equations with constant coefficients is delineated in the paper. The new cases extend what has been done in the literature. These cases…
Infinite-dimensional control systems with outputs are considered in the Hamiltonian formulation with generalized coordinates. An explicit scheme for constructing a dynamic observer for this class of systems is proposed with arbitrary gain…
This paper presents the equivariant systems theory and observer design for second order kinematic systems on matrix Lie groups. The state of a second order kinematic system on a matrix Lie group is naturally posed on the tangent bundle of…
A simply structured distributed observer is described for estimating the state of a discrete-time, jointly observable, input-free, linear system whose sensed outputs are distributed across a time-varying network. It is explained how to…
In computational anatomy, the Large Deformation Diffeomorphic Metric Mapping (LDDMM) framework has become a central tool for modeling smooth, invertible transformations between shapes such as curves or landmarks. In this paper, we extend…
This paper considers the problem of attitude, position and linear velocity estimation for rigid body systems relying on landmark measurements. We propose two hybrid nonlinear observers on the matrix Lie group $SE_2(3)$, leading to global…
We propose a multi-camera LiDAR-visual-inertial odometry framework, Multi-LVI-SAM, which fuses data from multiple fisheye cameras, LiDAR and inertial sensors for highly accurate and robust state estimation. To enable efficient and…
In this work, the problem of designing observers for estimating a single nonlinear functional of the state is formulated for general nonlinear systems. Notions of functional observer linearization are also formulated, in terms achieving…