48 citations · 150 across the 27 of their papers we have counts for
4 papers · 1 filter
On IMU preintegration: A nonlinear observer viewpoint and its application
Bowen Yi, Ian R. Manchester
The inertial measurement unit (IMU) preintegration approach nowadays is widely used in various robotic applications. In this article, we revisit the preintegration theory and propo…
PEBO-SLAM: Observer design for visual inertial SLAM with convergence guarantees
Bowen Yi, Chi Jin, Lei Wang +3
This paper introduces a new linear parameterization to the problem of visual inertial simultaneous localization and mapping (VI-SLAM) -- without any approximation -- for the case o…
Stability Analysis of Trajectories on Manifolds with Applications to Observer and Controller Design
Dongjun Wu, Bowen Yi, Anders Rantzer
This paper examines the local exponential stability (LES) of trajectories for nonlinear systems on Riemannian manifolds. We present necessary and sufficient conditions for LES of a…
Simultaneous Position-and-Stiffness Control of Underactuated Antagonistic Tendon-Driven Continuum Robots
Bowen Yi, Yeman Fan, Dikai Liu +1
Continuum robots have gained widespread popularity due to their inherent compliance and flexibility, particularly their adjustable levels of stiffness for various application scena…