3 papers
cs.RO2025
Sensor Model Identification via Simultaneous Model Selection and State Variable Determination
Christian Brommer, Alessandro Fornasier, Jan Steinbrener +1
We present a method for the unattended gray-box identification of sensor models commonly used by localization algorithms in the field of robotics. The objective is to determine the…
cs.RO2024
Equivariant Symmetries for Aided Inertial Navigation
Alessandro Fornasier
Respecting the geometry of the underlying system and exploiting its symmetry have been driving concepts in deriving modern geometric filters for inertial navigation systems (INSs).…
cs.RO2023
Revisiting multi-GNSS Navigation for UAVs -- An Equivariant Filtering Approach
Martin Scheiber, Alessandro Fornasier, Christian Brommer +1
In this work, we explore the recent advances in equivariant filtering for inertial navigation systems to improve state estimation for uncrewed aerial vehicles (UAVs). Traditional s…