This paper provides a new observer design methodology for invariant systems whose state
evolves on a Lie group with outputs in a collection of related homogeneous spaces and …

This paper proposes an attitude estimation methodology for the case where attitude sensors
provide discrete-time samples of vector measurements at different sample rates and with …

This paper considers the design of nonlinear state observers for finite-dimensional
equivariant kinematics of mechanical systems. The observer design problem is approached …

In this paper, we extend the popular integral control technique to systems evolving on Lie
groups. More explicitly, we provide an alternative definition of “integral action” for …

Nonlinear observer design for systems whose state-space evolves on Lie groups is
considered. The proposed method is similar to previously developed nonlinear observers in …

In this article globally exponentially convergent continuous observers for invariant kinematic
systems on finite-dimensional matrix Lie groups has been proposed. Such an observer …

This paper provides a nonlinear attitude estimation method for vehicles performing high
acceleration maneuvers when measurements of linear velocity and the ambient magnetic …

This paper proposes a discrete-time geometric attitude observer for fusing monocular vision
with GPS velocity measurements. The observer takes the relative transformations obtained …

This paper presents an approach for the design of globally asymptotically stable pose and
velocity-bias observers. Based on the generic framework for pose and velocity-bias …

The estimate of a system state, arrived at using measurements, is often used in design of
state controllers in robotics. These measurements are often biased and contain noise. Many …