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math.OC2010
A Separation Principle on Lie Groups
Silvere Bonnabel, Philippe Martin, Pierre Rouchon +1
For linear time-invariant systems, a separation principle holds: stable observer and stable state feedback can be designed for the time-invariant system, and the combined observer…
math.OC2008
Coordinated motion design on Lie groups
Alain Sarlette, Silvère Bonnabel, Rodolphe Sepulchre
The present paper proposes a unified geometric framework for coordinated motion on Lie groups. It first gives a general problem formulation and analyzes ensuing conditions for coor…