2 papers
eess.SY2023
Coriolis Factorizations and their Connections to Riemannian Geometry
Patrick M. Wensing, Jean-Jacques E. Slotine
Many energy-based control strategies for mechanical systems require the choice of a Coriolis factorization satisfying a skew-symmetry property. This paper (a) explores if and when…
cs.RO2015
Analytical SLAM Without Linearization
Feng Tan, Winfried Lohmiller, Jean-Jacques Slotine
This paper solves the classical problem of simultaneous localization and mapping (SLAM) in a fashion which avoids linearized approximations altogether. Based on creating virtual sy…