2 papers
eess.SY2018
Higher-Order Nonlinear Complementary Filtering on Lie Groups
David Evan Zlotnik, James Richard Forbes
Nonlinear observer design for systems whose state space evolves on Lie groups is considered. The proposed method is similar to previously developed nonlinear observers in that it i…
cs.RO2015
Differential Geometric SLAM
David Evan Zlotnik, James Richard Forbes
The simultaneous localization and mapping (SLAM) problem is considered in three dimensions. The proposed algorithm, differential geometric SLAM (DG-SLAM), employs methods from diff…