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Gmkf: Generalized moment kalman filter for polynomial systems with arbitrary noise
S Teng, H Zhang, D **, A Jasour, M Ghaffari… - ar** on SE (3) via neural ordinary differential equations on Lie groups
This work presents a novel approach for the optimization of dynamic systems on finite-
dimensional Lie groups. We rephrase dynamic systems as so-called neural ordinary …
dimensional Lie groups. We rephrase dynamic systems as so-called neural ordinary …
A comparison between lie group-and lie algebra-based potential functions for geometric impedance control
In this paper, a comparison analysis between geometric impedance controls (GICs) derived
from two different potential functions on SE (3) for robotic manipulators is presented. The first …
from two different potential functions on SE (3) for robotic manipulators is presented. The first …
Convex geometric trajectory tracking using Lie algebraic MPC for autonomous marine vehicles
Controlling marine vehicles in challenging environments is a complex task due to the
presence of nonlinear hydrodynamics and uncertain external disturbances. Despite …
presence of nonlinear hydrodynamics and uncertain external disturbances. Despite …