359 citations · 1.4k across the 40 of their papers we have counts for
4 papers · 1 filter
A simple intrinsic reduced-observer for geodesic flow
Silvere Bonnabel
Aghannan and Rouchon proposed a new design method of asymptotic observers for a class of nonlinear mechanical systems: Lagrangian systems with configuration (position) measurements…
Symmetry-preserving observers for some water tank problems: theory and application to a shallow water model
Didier Auroux, S. Bonnabel
In this paper we consider a tank containing fluid and we want to estimate the horizontal currents when the fluid surface height is measured. The fluid motion is described by shallo…
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…
Riemannian Metric and Geometric Mean for Positive Semidefinite Matrices of Fixed Rank
Silvere Bonnabel, Rodolphe Sepulchre
This paper introduces a new metric and mean on the set of positive semidefinite matrices of fixed-rank. The proposed metric is derived from a well-chosen Riemannian quotient geomet…