2 papers
math.GM2026
A Geometric Approach to Structure-Preserving Integrators for Mechanical Systems
Viyom Vivek, David Martin de Diego, Ravi N. Banavar
We develop a geometric framework for the numerical integration of mechanical systems evolving on manifolds. After briefly reviewing classical numerical methods and highlighting the…
cs.RO2025
Robust Orientation Estimation with TRIAD-aided Manifold EKF
Arjun Sadananda, Ravi Banavar, Kavi Arya
The manifold extended Kalman filter (Manifold EKF) has found extensive application for attitude determination. Magnetometers employed as sensors for such attitude determination are…