2 papers
eess.SY2025
Equivalence of Left- and Right-Invariant Extended Kalman Filters on Matrix Lie Groups
Finn G. Maurer, Erlend A. Basso, Henrik M. Schmidt-Didlaukies +1
This paper derives the extended Kalman filter (EKF) for continuous-time systems on matrix Lie groups observed through discrete-time measurements. By modeling the system noise on th…
eess.SY2020
Task-Priority Control of Redundant Robotic Systems using Control Lyapunov and Control Barrier Function based Quadratic Programs
Erlend A. Basso, Kristin Y. Pettersen
This paper presents a novel task-priority control framework for redundant robotic systems based on a hierarchy of control Lyapunov function (CLF) and control barrier function (CBF)…