21 citations · 40 across the 9 of their papers we have counts for
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Invariant extended Kalman filter on matrix Lie groups
Karmvir Singh Phogat, Dong Eui Chang
We derive symmetry preserving invariant extended Kalman filters (IEKF) on matrix Lie groups. These Kalman filters have an advantage over conventional extended Kalman filters as the…
Model Predictive Tracking Control for Invariant Systems on Matrix Lie Groups via Stable Embedding into Euclidean Spaces
Dong Eui Chang, Karmvir Singh Phogat, Jongeun Choi
For controller design for systems on manifolds embedded in Euclidean space, it is convenient to utilize a theory that requires a single global coordinate system on the ambient Eucl…
Exact isoholonomic motion of the planar Purcell's swimmer
Sudin Kadam, Karmvir Singh Phogat, Ravi N. Banavar +1
In this article we present the discrete-time isoholonomic problem of the planar Purcell's swimmer and solve it using the Discrete-time Pontryagin maximum principle. The 3-link Purc…